WO2022131962A1 - Способ определения деформации элементов конструкции дельта-робота - Google Patents
Способ определения деформации элементов конструкции дельта-робота Download PDFInfo
- Publication number
- WO2022131962A1 WO2022131962A1 PCT/RU2021/050409 RU2021050409W WO2022131962A1 WO 2022131962 A1 WO2022131962 A1 WO 2022131962A1 RU 2021050409 W RU2021050409 W RU 2021050409W WO 2022131962 A1 WO2022131962 A1 WO 2022131962A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- deformation
- laser light
- grid
- light source
- arm
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Definitions
- the invention relates to measuring technology, in particular, to means for measuring deformations of structural elements of devices, preferably a delta robot, which appear only in the process of its movement.
- a device for measuring deformation of a structure which contains a channel, a transmitter connected to the first end of the channel, a receiver connected to the second end of the channel, and a controller.
- the channel is deformable, the controller instructs the transmitter to transmit a signal, instructs the receiver to capture one or more measurements of the transmitted signal, and determines the channel bend based on the one or more measurements.
- the transmitter is a light source
- the channel is an optical fiber
- the receiver is a photodiode.
- the channel is made of a material whose refractive index changes depending on the applied mechanical stress.
- the strain measurement device may also include a polarizer located between the transmitter and the channel, and a wave plate located between the channel and the receiver (US 10429210 B 1 , 10/01/2019).
- the device provides a system for detecting the deformation of the object based on laser measurements.
- the strain detection system comprises a laser radiation unit, a light uniformization unit, a light filtering unit, a light condensation unit, a photoelectric conversion unit, a signal conversion unit, a signal analysis and processing unit, a storage unit, a display unit, and an input unit.
- the deformation detection system projects a light strip at a position perpendicular to the contour of the object being measured.
- the photoelectric conversion unit is used to receive the light strip, so that one part of the light of the light strip is blocked by the measured object, another part of the light is projected onto the photoelectric conversion unit, an electrical signal is output, then the deformation of the measured object is calculated according to the change in the electrical signal, after which it is stored and displayed .
- the technical solution provides an object deformation detection system based on laser measurement, which improves the accuracy and efficiency of anti-interference when measuring object deformation (CN 209147939 U, 07/23/2019). Closest to the presented technical solutions is a device for measuring the displacement, deformation and/or deformation force of a mechanical component.
- the device contains means for emitting and receiving a light beam, while the aforementioned means are mechanically combined with a common base.
- Optical transmission means are also provided, which intercept the light beam, ensuring its transmission (FR 2599138 A1, 11/27/1987).
- the task to be solved by the present invention is the development and creation of a highly efficient and publicly available method for determining the deformation of the structural elements of a delta robot, which manifests itself directly during its movement, which eliminates the above disadvantages.
- the technical result of the claimed invention is to increase efficiency and reduce operating costs when determining the deformation of the delta robot arm during its movement.
- a method for determining the deformation of the delta robot lever, which manifests itself only in motion according to which a laser light source is first installed on one side of the lever, a grid of photodiodes is installed on the other side of the lever, and the laser light source and the grid of photodiodes are installed so that in the absence of deformation of the lever, the laser light source is directed exactly to the center of the grid of photodiodes, after which the delta robot moves directly during which the location of the laser light source relative to the center of the grid of photodiodes is determined, in case of detecting a displacement of the laser light source relative to the center of the grid from photodiodes make a conclusion about the presence of deformation of the lever.
- a lever can be used as a structural element.
- Figure 1 shows a schematic representation of a device designed to implement the presented method for determining the deformation of the structural elements of the delta robot, which appears only in the process of its movement.
- the implementation of this method for determining the deformation of the delta robot structural elements, which manifests itself only in the process of its movement, will be considered using the example of the deformation of the upper and lower arms of the delta robot.
- the Delta Robot is a high-speed piece of equipment that moves using a carriage.
- accelerations on the carriage can reach 15g, i.e. during the movement of the delta robot, its levers (both upper and lower) experience significant loads, the result of which is their deformation.
- there is a need to detect it in a timely manner since the presence of deformation of the levers affects the positioning accuracy, since if the lever is slightly bent, then the geometry of the delta robot has changed, the position of the carriage will differ from the calculated position.
- a laser light source is attached to the upper arm on one side, i.e. beam-point, on the other side of the lever, a grid of photodiodes is installed, preferably consisting of 4 identical segments.
- the laser light source and the grid of photodiodes are installed as follows. that in the absence of deformation of the lever, the beam-point is directed clearly to the center of the grid of photodiodes. The beam-point, falling on all 4 sectors of the photodiode, produces the same signal on them (the same output voltage).
- the process of its movement begins. Directly during which the location of the beam-point relative to the center of the grid of photodiodes is determined. In the event that, for example, during movement, the photodiode matrix shifts down relative to the beam, and the laser spot is higher than the starting point, then the lever is bent down.
- the proposed method allows you to record signals with any frequency and does not require additional calculations.
- the typical laser beam diameter is 3 mm. This means that with a shift of 0.5 mm there should be a significant change in the signal from the photodiode. Accordingly, the increase in the area of the illuminated area should be more than 10% of the total area of the photodiode (due to the measurement error).
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112021006456.8T DE112021006456T5 (de) | 2020-12-17 | 2021-12-02 | Verfahren zur Bestimmung der Verformung von Strukturelementen eines Deltaroboters |
US18/268,275 US20240060769A1 (en) | 2020-12-17 | 2021-12-02 | Method for Determining the Deformation of Structural Elements of a Delta Robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU2020141901A RU2766916C1 (ru) | 2020-12-17 | 2020-12-17 | Способ определения деформации элементов конструкции дельта-робота, которая проявляется только в процессе его движения |
RU2020141901 | 2020-12-17 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022131962A1 true WO2022131962A1 (ru) | 2022-06-23 |
Family
ID=80736790
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/RU2021/050409 WO2022131962A1 (ru) | 2020-12-17 | 2021-12-02 | Способ определения деформации элементов конструкции дельта-робота |
Country Status (3)
Country | Link |
---|---|
DE (1) | DE112021006456T5 (ru) |
RU (1) | RU2766916C1 (ru) |
WO (1) | WO2022131962A1 (ru) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08157188A (ja) * | 1994-12-08 | 1996-06-18 | Kobe Steel Ltd | クレーンにおけるブームのたわみ検出方法及び作業半径算出方法並びに作業半径算出装置 |
CN106363605A (zh) * | 2016-09-21 | 2017-02-01 | 河南理工大学 | 带连杆变形误差检测的三自由度并联机构 |
CN209468052U (zh) * | 2019-01-25 | 2019-10-08 | 大连恒亚仪器仪表有限公司 | 起重机拱度、挠度、导轨平顺度综合检测仪 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2599138B1 (fr) | 1986-05-20 | 1991-04-12 | Sealol | Dispositif de mesure de deplacement, de deformation et/ou d'effort de deformation d'une piece mecanique |
RU2474787C1 (ru) * | 2011-08-12 | 2013-02-10 | Федеральное государственное унитарное предприятие "ВСЕРОССИЙСКИЙ НАУЧНО-ИССЛЕДОВАТЕЛЬСКИЙ ИНСТИТУТ ОПТИКО-ФИЗИЧЕСКИХ ИЗМЕРЕНИЙ" (ФГУП "ВНИИОФИ") | Устройство для измерения формы поверхности трехмерного объекта |
CN104634244A (zh) * | 2014-12-31 | 2015-05-20 | 河南理工大学 | 三自由度并联机构运动平台位姿检测装置及其检测方法 |
US10429210B1 (en) | 2016-09-20 | 2019-10-01 | Facebook Technologies, Llc | Birefringence deformation sensing apparatus having a controller to instruct the function of a transmitter and a receiver |
RU2671787C1 (ru) * | 2017-07-10 | 2018-11-06 | Общество с ограниченной ответственностью "Эйдос - Робототехника" | Способ повышения точности позиционирования промышленного робота |
-
2020
- 2020-12-17 RU RU2020141901A patent/RU2766916C1/ru active
-
2021
- 2021-12-02 DE DE112021006456.8T patent/DE112021006456T5/de active Pending
- 2021-12-02 WO PCT/RU2021/050409 patent/WO2022131962A1/ru active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08157188A (ja) * | 1994-12-08 | 1996-06-18 | Kobe Steel Ltd | クレーンにおけるブームのたわみ検出方法及び作業半径算出方法並びに作業半径算出装置 |
CN106363605A (zh) * | 2016-09-21 | 2017-02-01 | 河南理工大学 | 带连杆变形误差检测的三自由度并联机构 |
CN209468052U (zh) * | 2019-01-25 | 2019-10-08 | 大连恒亚仪器仪表有限公司 | 起重机拱度、挠度、导轨平顺度综合检测仪 |
Also Published As
Publication number | Publication date |
---|---|
DE112021006456T5 (de) | 2024-02-22 |
RU2766916C1 (ru) | 2022-03-16 |
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