CN104236629A - Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot - Google Patents
Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot Download PDFInfo
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- CN104236629A CN104236629A CN201410474330.4A CN201410474330A CN104236629A CN 104236629 A CN104236629 A CN 104236629A CN 201410474330 A CN201410474330 A CN 201410474330A CN 104236629 A CN104236629 A CN 104236629A
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Abstract
The invention discloses a pull wire type measuring system and method applied to spatial location accuracy and track measurement of an industrial robot. The system comprises the industrial robot. A measuring assembly comprises a measurement adapter, pull wire encoders, a data acquisition card and a computing terminal. The measurement adapter is mounted on an end effector of the industrial robot. The four pull wire encoders are connected with the measurement adapter through four testing cables. Base points of the four pull wire encoders are located in the same plane and are non-colinear. Extension lines of the four testing cables intersect at one point in space. The pull wire encoders are connected with the data acquisition card through wires. The data acquisition card is connected with the computing terminal. By means of the method, position information of the end effector of the industrial robot can be obtained, and the moving track of the industrial robot can be described in real time and the real-time speed and acceleration of the industrial robot can be computed when the industrial robot moves. The pull wire type measuring system is simple in structure, convenient to operate, large in movement space and high in accuracy.
Description
Technical field
The present invention relates to a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement and measuring method.
Background technology
Industrial robot, as the representative of the production automation, is widely used and the every field of industry, as in the operation such as arc-welding, spot welding, carrying, packaging on the industry such as automobile making, chemical industry automatic production line.Industrial robot replaces people to complete high-quality work in automated production, improves production efficiency and the quality of product, therefore will have strict requirement to the size of industrial robot accurate location spatially and speed, acceleration when moving.Generally, time industrial robot dispatches from the factory, all need the calibration positioning precision, and the detection of motion process medium velocity and acceleration.On market, the existing robot calibration mode first adopts camera to follow the tracks of, and adopt manual programming, its precision is low, and due to the causes such as shooting light higher to environmental requirement; It two is adopt the tracking calibration such as laser interferometer, and generally apply on lathe, its precision is high, but space detects that to realize difficulty large, and expensive.
Summary of the invention
The object of the invention is to solve prior art Problems existing, a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement and measuring method are provided, its measuring accuracy is high, good reliability, space scope is large, and low to environmental requirement, be applicable to industry spot.
For achieving the above object, design of the present invention is:
Four the test cables utilizing draw wire encoder to pull out, catch on the measurement adapter that end effector of robot is installed, making four to test cable meets at a bit at bearing of trend, according to the length variations of the test cable of data collecting card reflection, and the space geometry relation of test cable and sounding rod, converse the coordinate position on end effector of robot, and depict real time kinematics track according to coordinate position during robot continuous moving, calculate speed and the acceleration of end effector of robot.
According to foregoing invention design, the present invention adopts following technical proposals:
For a stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, comprise industrial robot, measurement components comprises measurement adapter, draw wire encoder, data collecting card and computing terminal; Described measurement adapter is arranged on industrial robot end effector; Four described draw wire encoder are connected by four test cables measures adapters, and the basic point of four draw wire encoder is in same plane and 4 not conllinear, and the extended lines of four test cables spatially meet at a bit; Described draw wire encoder is by wire connection data capture card, and described data collecting card connects computing terminal.
Described computing terminal is desk-top computer or portable computer.Native system also comprises two sounding rods, and four described draw wire encoder are arranged on the two ends of sounding rod respectively.
For a stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement, concrete steps are as follows:
A. choose arbitrarily two draw wire encoder, fed back to the length value of computing terminal two test cable by data collecting card, measure the distance of these two draw wire encoder, obtain the triangle be made up of this three limits;
B. the angle of test cable and two the draw wire encoder basic point lines in base is calculated by process of iteration;
C. the volume coordinate initial value of the point on industrial robot end effector is solved by leg-of-mutton space geometry relation;
D. repeat step a-c, obtain the spatial value being coordinated the end effector obtained by different draw wire encoder between two, carry out error minimize process, finally obtain end effector position coordinate;
E. the end effector of mobile industrial robot, makes it change position, thus obtains the length value of different test cables; Repeat step a-d, calculate the different position coordinate of end effector with computing terminal;
F. handle industrial robot, end effector is moved, the real-time spatial coordinate location of end effector recorded by computing terminal, forms real-time track route; According to sampling interval, the moving track calculation obtained by computing terminal goes out speed and the acceleration of end effector.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technical progress:
The present invention adopts draw wire encoder as the main body measured, utilize the test length of cable of draw wire encoder to the position coordinate value change converted on end effector of robot, be applicable to industry spot, testing apparatus long service life, robot motion space is large, and the data accuracy recorded is high.
Accompanying drawing explanation
Fig. 1 is the measurement mechanism schematic diagram of the embodiment of the present invention one.
Fig. 2 is the measurement mechanism schematic diagram of the embodiment of the present invention two.
Embodiment
Details are as follows by reference to the accompanying drawings for embodiments of the invention:
Embodiment one:
See Fig. 1, a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, comprises industrial robot 1, and measurement components comprises measures adapter 2, sounding rod 3, draw wire encoder 4, data collecting card 5 and desk-top computer 6; Described measurement adapter 2 is arranged on industrial robot 1 end effector; Four described draw wire encoder 4 are arranged on the two ends of sounding rod 3 respectively, four described draw wire encoder 4 are connected by four test cables measures adapter 2, the basic point of four draw wire encoder 4 is in same plane and 4 not conllinear, and the extended lines of four test cables spatially meet at a bit; Described draw wire encoder 4 is by wire connection data capture card 5, and described data collecting card 5 connects desk-top computer 6.Data collecting card 5 in the present embodiment adopts NI PXI6602 industrial computer.
For a stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement, concrete steps are as follows:
A. choose two draw wire encoder 4 on same sounding rod 3, fed back to the length value of desk-top computer 6 two test cable by data collecting card 5, measure the distance of these two draw wire encoder 4, obtain the triangle be made up of this three limits;
B. the angle of test cable and two the draw wire encoder 4 basic point lines in base is calculated by process of iteration;
C. the volume coordinate initial value of the point on industrial robot 1 end effector is solved by leg-of-mutton space geometry relation;
D. repeat step a-c, obtain the spatial value being coordinated the end effector obtained by different draw wire encoder 4 between two, carry out error minimize process, finally obtain end effector position coordinate;
E. the end effector of mobile industrial robot 1, makes it change position, thus obtains the length value of different test cables; Repeat step a-d, calculate the different position coordinate of end effector with desk-top computer 6;
F. handle industrial robot 1, end effector is moved, and the real-time spatial coordinate location of end effector recorded by desk-top computer 6, forms real-time track route; According to sampling interval, the moving track calculation obtained by desk-top computer 6 goes out speed and the acceleration of end effector.
Embodiment two:
See Fig. 2, the present embodiment is substantially identical with embodiment one, difference is, is removed by the sounding rod of two in embodiment one 3, makes four draw wire encoder 4 be installed on other Plane Installation pedestals, ensure the substantially coplanar and not conllinear of four draw wire encoder 4 mounting points, adopt portable computer 7 simultaneously, repeat the measuring method of embodiment one, also can obtain identical result, fully demonstrate the simplicity of this method, reliability and low to environmental requirement, be applicable to industry spot operation.
Claims (4)
1. the stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, comprise industrial robot (1), it is characterized in that, measurement components comprises measures adapter (2), draw wire encoder (4), data collecting card (5) and computing terminal; Described measurement adapter (2) is arranged on industrial robot (1) end effector; Four described draw wire encoder (4) are connected by four test cables measures adapter (2), and the basic point of four draw wire encoder (4) is in same plane and 4 not conllinear, and the extended lines of four test cables spatially meet at a bit; Described draw wire encoder (4) is by wire connection data capture card (5), and described data collecting card (5) connects computing terminal.
2. the stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement according to claim 1, it is characterized in that, described computing terminal is desk-top computer (6) or portable computer (7).
3. the stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement according to claim 1, it is characterized in that, native system also comprises two sounding rods (3), and four described draw wire encoder (4) are arranged on the two ends of sounding rod (3) respectively.
4., for a stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement, it is characterized in that, concrete steps are as follows:
A. choose arbitrarily two draw wire encoder (4), fed back to the length value of computing terminal two test cable by data collecting card (5), measure the distance of these two draw wire encoder (4), obtain the triangle be made up of this three limits;
B. the angle of test cable and two draw wire encoder (4) the basic point lines in base is calculated by process of iteration;
C. the volume coordinate initial value of the point on industrial robot (1) end effector is solved by leg-of-mutton space geometry relation;
D. repeat step a-c, obtain the spatial value being coordinated the end effector obtained by different draw wire encoder (4) between two, carry out error minimize process, finally obtain end effector position coordinate;
E. the end effector of mobile industrial robot (1), makes it change position, thus obtains the length value of different test cables; Repeat step a-d, calculate the different position coordinate of end effector with computing terminal;
F. handle industrial robot (1), end effector is moved, the real-time spatial coordinate location of end effector recorded by computing terminal, forms real-time track route; According to sampling interval, the moving track calculation obtained by computing terminal goes out speed and the acceleration of end effector.
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| CN201410474330.4A CN104236629B (en) | 2014-09-17 | 2014-09-17 | Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot |
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Cited By (10)
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|---|---|---|---|---|
| CN104236543A (en) * | 2014-09-17 | 2014-12-24 | 上海大学 | Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement |
| CN106042001A (en) * | 2016-06-04 | 2016-10-26 | 上海大学 | Measurement device for tail spatial position of robot |
| CN106092009A (en) * | 2016-06-29 | 2016-11-09 | 南京航空航天大学 | A kind of initial position calibration steps of the movable measuring mechanism of website based on draw wire encoder |
| CN106292338A (en) * | 2016-10-20 | 2017-01-04 | 青岛海豚智能装备有限公司 | A kind of robot kinematics and Verification on Kinetic Model system and method |
| CN106468548A (en) * | 2015-08-18 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axle kinetic measurement robot motions |
| CN106514716A (en) * | 2016-11-14 | 2017-03-22 | 固高科技(深圳)有限公司 | Robot calibration system, distance measurement device and calibration method |
| CN107363810A (en) * | 2017-07-17 | 2017-11-21 | 上海大学 | More sphere bracing wires measure adapter mechanism |
| CN108106583A (en) * | 2018-02-14 | 2018-06-01 | 山东建筑大学 | A kind of numerical control device terminal position real-time measurement system and measuring method |
| CN109099873A (en) * | 2018-09-30 | 2018-12-28 | 成都睿乐达机器人科技有限公司 | A kind of indexing single-line type method for measuring spatial location and device |
| CN110801366A (en) * | 2019-11-01 | 2020-02-18 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Passive track error detection device and method for rocker type rehabilitation mechanism |
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| CN104236543B (en) * | 2014-09-17 | 2017-06-23 | 上海大学 | For industrial robot spatial pose precision and the stay-supported measuring system and measuring method of trajectory measurement |
| CN104236543A (en) * | 2014-09-17 | 2014-12-24 | 上海大学 | Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement |
| CN106468548B (en) * | 2015-08-18 | 2019-12-03 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axis dynamic robot measurement movement |
| CN106468548A (en) * | 2015-08-18 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axle kinetic measurement robot motions |
| CN106042001A (en) * | 2016-06-04 | 2016-10-26 | 上海大学 | Measurement device for tail spatial position of robot |
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| CN106092009B (en) * | 2016-06-29 | 2018-07-20 | 南京航空航天大学 | A kind of initial position calibration method of the movable measuring mechanism of website based on draw wire encoder |
| CN106092009A (en) * | 2016-06-29 | 2016-11-09 | 南京航空航天大学 | A kind of initial position calibration steps of the movable measuring mechanism of website based on draw wire encoder |
| CN106292338A (en) * | 2016-10-20 | 2017-01-04 | 青岛海豚智能装备有限公司 | A kind of robot kinematics and Verification on Kinetic Model system and method |
| CN106292338B (en) * | 2016-10-20 | 2024-05-03 | 南京泰宝赫科技有限公司 | Robot kinematics and dynamics model verification system and method |
| CN106514716A (en) * | 2016-11-14 | 2017-03-22 | 固高科技(深圳)有限公司 | Robot calibration system, distance measurement device and calibration method |
| CN106514716B (en) * | 2016-11-14 | 2018-12-21 | 固高科技(深圳)有限公司 | Robot calibration system, distance-measuring device and scaling method |
| CN107363810A (en) * | 2017-07-17 | 2017-11-21 | 上海大学 | More sphere bracing wires measure adapter mechanism |
| CN108106583A (en) * | 2018-02-14 | 2018-06-01 | 山东建筑大学 | A kind of numerical control device terminal position real-time measurement system and measuring method |
| CN109099873B (en) * | 2018-09-30 | 2023-10-13 | 成都睿乐达机器人科技有限公司 | Indexing single-line type space position measurement method and device |
| CN109099873A (en) * | 2018-09-30 | 2018-12-28 | 成都睿乐达机器人科技有限公司 | A kind of indexing single-line type method for measuring spatial location and device |
| CN110801366A (en) * | 2019-11-01 | 2020-02-18 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Passive track error detection device and method for rocker type rehabilitation mechanism |
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