CN106903717A - A kind of 3 D locating device for industry mechanical arm location position - Google Patents
A kind of 3 D locating device for industry mechanical arm location position Download PDFInfo
- Publication number
- CN106903717A CN106903717A CN201710185981.5A CN201710185981A CN106903717A CN 106903717 A CN106903717 A CN 106903717A CN 201710185981 A CN201710185981 A CN 201710185981A CN 106903717 A CN106903717 A CN 106903717A
- Authority
- CN
- China
- Prior art keywords
- axis
- column
- slip ring
- output shaft
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of 3 D locating device for industry mechanical arm location position, including column bases, column lead screw assembly, X-axis component, Y-axis component etc., X-axis component is separately fixed on column lead screw assembly and column bases with Y-axis component, Z axis straight line slide unit module launches laser with the red and green laser transmitter on Z axis straight line slide unit module in Y-axis in X-axis, so as to realize demarcating the coordinate of manipulator specified location.Compared with conventional method, the present invention is not used in arm end during positioning increases extra device, and visual in image, simple to operate, low cost is easy for installation.
Description
Technical field
Can be realized in certain space the present invention relates to one kind, to being sat with post exercise three-dimensional right angle before robot movement
The measurement apparatus that mark is detected, more particularly to a kind of 3 D locating device for industry mechanical arm location position.
Background technology
Manipulator is a kind of new device grown up during mechanization, automated production, is that a kind of energy is automatic
Change location control and multi-purpose machine of the Reprogrammable sequence to change.In present-day procedure, manipulator is widely transported
For in automatic assembly line, the development and production of robot have turned into high-tech neighborhood, send out rapidly one that hall gets up it is emerging
Technology, it more promotes the development of manipulator so that manipulator can be better achieved with mechanization and automation it is organic
With reference to.Therefore, manipulator has been received by the attention of many departments, and is more and more widely applied.
And manipulator demarcating is one of the practical key technology of off-line programming technique by the way that demarcate can be by manipulator
Position and attitude error is greatly lowered, and then the so-called demarcation of horizontal that the absolute precision of manipulator is brought up into repeatable accuracy is exactly to answer
With advanced measurement means and the parameter identification method based on model picks out the accurate parameter of Manipulator Model, so as to improve machine
The result that the process of tool hand absolute precision is demarcated is one group of identified robot parameter, and these parameters can give birth to for manipulator
Producer is produced as product quality inspection index, it is also possible to the absolute precision of manipulator is improved for manipulator user
During demarcation, measurement means are that an extremely important factor foreign countries have been begun at this from the eighties
The research work of aspect, forms many measuring methods, and double ends latitude is included for the measuring system that robot static accuracy is demarcated
The system that instrument pose measurement system, three coordinate machine and many bar tracking measurement system of joint type are used for Robotic Dynamic precision calibration
It is main to have laser tracking system, CCD interactions measuring system, ultrasonic measurement system, position measuring system and sensed with close
It is subject matter that these measuring systems are present that the measuring system high cost of device, method of testing be cumbersome
It is cost-effective to improve operating efficiency, a kind of three-dimensional localization dress demarcated for position of manipulator is devised herein
Put, the movement of generating laser is driven by controlling X-axis, Y-axis, Z axis motor, by laser beam to the end specified location of manipulator
Positioned, so as to directly read parameter of the arm end in three-dimensional cartesian coordinate system.This method is visual in image, operation
Simply, low cost, it is easy for installation.Simultaneously as X-axis, Y-axis use high-accuracy ball-screw, Z axis use high accuracy straight line
Slide unit module, and the extra device of arm end increase is not used in during positioning, robot movement model will not
There is change, so certainty of measurement is higher.
The content of the invention
The invention aims to provide a kind of 3 D locating device for industry mechanical arm location position.
The object of the present invention is achieved like this：Including column bases, X-axis component, Y-axis component, column lead screw assembly, stand
Post lead screw assembly include installed in the upright post base of column bases upper surface, the column motor in column bases,
It is being connected with column motor output end and extend out to the trapezoidal screw outside column bases, the column on trapezoidal screw
Feed screw nut and the connected hoisting cross beam of column feed screw nut；
The Y-axis component includes being arranged on the Y-axis adjustment plate of column bases side, a pair of Y in Y-axis adjustment plate
Bearing housing, the Y-axis leading screw in Y-axis bearing block, the Y-axis feed screw nut on Y-axis leading screw and Y-axis leading screw spiral shell
The connected Y-axis moving slide board of mother, the horizontal rotation motor cabinet on Y-axis moving slide board, installed in horizontal rotation motor cabinet
On horizontal rotation motor and horizontal rotation decelerator and horizontal rotation reducer output shaft connection Y-axis slip ring and Y-axis cunning
The Y-axis mounting flange of ring connection and Z axis Y pedestals, two Z on Z axis Y pedestals of Y-axis mounting flange lower surface
The green laser seat and red laser of axle Y straight line slide units module, the Y-axis component being separately positioned in two Z axis Y straight line die station groups
Seat, the green laser of the Y-axis component being separately mounted on the green laser of Y-axis component seat and red laser seat and red laser
Device, the output shaft of y-axis motor is connected with the upper end of Y-axis leading screw, and the outer ring of Y-axis slip ring is connected by screw with horizontal rotation motor cabinet
Connect, two Z axis Y straight line slide units modules are driven by motor respectively；
The X-axis component includes the aluminium section bar transverse arm, a pair of the X installed in aluminium section bar transverse arm lower end that are connected with hoisting cross beam
Bearing housing, the X-axis leading screw in X-axis bearing block, the X-axis feed screw nut on X-axis leading screw and X-axis leading screw spiral shell
The connected X-axis moving slide board of mother, the vertical rotary motor cabinet on X-axis moving slide board, installed in vertical rotary motor cabinet
On vertical rotary motor and vertical rotary motor reducer and vertical rotary reducer output shaft connection X-axis slip ring and X
Slip ring shaft connection X-axis mounting flange and X-axis mounting flange lower surface Z axis X pedestals, on Z axis X pedestals
Two Z axis X straight line slide units modules, the green laser seat of the X-axis component being separately positioned in two Z axis X straight line die station groups and red
Color laser bench, the green laser of X-axis component being separately mounted on the green laser of X-axis component seat and red laser seat and red
Color laser, the output shaft of X-axis motor is connected with the end of X-axis leading screw, and the outer ring of X-axis slip ring is by screw and horizontal rotation electricity
Support is connected, and two Z axis X straight line slide units modules are driven by motor respectively.
Present invention additionally comprises such some architectural features：
1. column lead screw assembly described in also includes being arranged on the column lower limit base of trapezoidal screw upper end and is arranged on
The column lower limit base of hypomere in trapezoidal screw, two is additionally provided between column upper limit base and upright post base and is led
To the column secondary guide of effect, column secondary guide sequentially passes through column lower limit base and hoisting cross beam from the bottom to top, rises
Column guide rod sliding sleeve is additionally provided between drop crossbeam and column secondary guide.
2. oblique pull is additionally provided between aluminium section bar transverse arm and column secondary guide and strengthens truss.
3. the Y-axis slip ring being connected with horizontal rotation reducer output shaft refers to that horizontal rotation reducer output shaft is slided with Y-axis
The inner ring connection of ring；The X-axis slip ring being connected with vertical rotary reducer output shaft refers to vertical rotary reducer output shaft and X-axis
The inner ring connection of slip ring.
Compared with prior art, the beneficial effects of the invention are as follows：Three-dimensional localization of the invention is mainly by laser to machine
The irradiation of tool hand specified location is positioned, without installing attachment device on a robotic arm, so as to ensure that manipulator self contained function,
Do not disturbed by measurement apparatus, it is visual in image, it is easy for installation.The present invention is simple to operate, and X-axis, Y-axis, Z axis independently drive, will not shape
Into interference, and all motions, all using high precision ball leading screw and straight line slide unit module, kinematic accuracy is high.Interacted compared to CCD
The transmission measuring method cost such as measuring system, ultrasonic measurement system is lower.
A kind of right angle of measurable robot movement of 3 D locating device demarcated for position of manipulator of the invention is sat
Marking measurement range is：
(1) X-axis is 0~1000mm；
(2) Y-axis is 0~1000mm；
(3) Z axis are 0~400mm；
(4) hoisting cross beam adjustment height is 1500~3000mm
It is of the invention it is a kind of for position of manipulator demarcate 3 D locating device important technological parameters be：
(1) total height is 3100mm；
(2) total length is 2000mm；
(3) overall width is 600mm；
(4) gross weight is~300kg
Rectangular co-ordinate measurement can be changed by changing X-axis component and the length of Y-axis component and Z axis straight line slide unit module
Scope, so as to adapt to the measurement of different model manipulator three-dimensional position.
Brief description of the drawings
Fig. 1 is a kind of 3 D locating device front view demarcated for position of manipulator of the invention；
Fig. 2 is a kind of 3 D locating device X-axis front view demarcated for position of manipulator of the invention；
Fig. 3 is a kind of 3 D locating device X-axis axonometric drawing demarcated for position of manipulator of the invention；
Fig. 4 is a kind of 3 D locating device Y-axis front view demarcated for position of manipulator of the invention；
Fig. 5 is a kind of 3 D locating device Y-axis axonometric drawing demarcated for position of manipulator of the invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 5, the 3 D locating device that a kind of position of manipulator of the invention is demarcated is, by column bases 1, to stand
Post motor 2, column motor seat 3, column motor drives shaft coupling 4, upright post base 5, column guide rod 6, column base angle
Contact roller bearing 7, trapezoidal screw 8, column secondary guide 9, spacing clip 10, column lower limit base 11, column leading screw spiral shell
Female 12, column guide rod sliding sleeve 13 strengthens truss 14, column top angular contact roller bearing 15, trapezoidal screw locking nut 16, column
Base capping 17, column upper limit base 18, oblique pull reinforcement truss 19, hoisting cross beam 20, aluminium section bar transverse arm 21, X-axis motor 22,
X-axis decelerator 23, X-axis bearing block a24, X-axis shaft coupling 25, X-axis angular contact ball bearing a26, X-axis leading screw 27, X-axis moving slide board
28, X-axis feed screw nut 29, X-axis bearing block b30, X-axis angular contact ball bearing b31, vertical rotary motor cabinet 32, vertical rotary electricity
Machine 33, slip ring stop screw 34, vertical rotary decelerator 35, Z axis x straight line slide units module 36, red laser seat 37, slide unit module
Spacing 38, Z axis x pedestal 39, X-axis rotational positioning screw 40, green laser seat 41, green laser transmitter 42, X-axis slip ring 43, X
Axle mounting flange 44, red laser transmitter 45, X-axis moving leader 46, red laser slide unit motor 47, green laser
Slide unit motor 48, y-axis motor 49, Y-axis decelerator 50, Y-axis bearing block b51, Y-axis shaft coupling 52, Y-axis angular contact ball bearing
B53, Y-axis leading screw 54, slide unit module spacing 55, Z axis y straight line slide units module 56, red laser seat 57, red laser transmitter
58, motor 59 is horizontally rotated, y-axis slip ring 60, y-axis mounting flange 61, green laser seat 62, green laser transmitter 63 is sliding
Ring stop screw 64, Z axis y pedestals 65 horizontally rotate decelerator 66, y-axis feed screw nut 67, Y-axis moving slide board 68, y-axis adjustment
Plate 69, y-axis bearing block b70, y-axis angular contact ball bearing b71, y-axis moving leader 72, red laser slide unit motor 73 is green
Color laser slide unit motor 74, the grade of manipulator 75 parts composition.
Briefly, the invention mainly comprises：Column bases, column lead screw assembly, X-axis component, Y-axis component, Z in X-axis
Axle straight line slide unit module, Z axis straight line slide unit module in Y-axis, red and green laser transmitter etc..It is characterized in that by column leading screw
Component drives X-axis component to move up and down correct position, and X-axis component and Y-axis component move to mechanical finger to determine position plane attached
Closely, Z axis straight line slide unit module drives red laser transmitter, red laser is accurately radiated at manipulator specified location.
Column bases 1 are fixed on the ground, and column bases 1 are a hollow housings, and its side is provided with Y-axis component,
Column motor seat 3 is provided with by screw thread inside it, the column motor 2 on column motor seat passes through
Shaft coupling is connected with trapezoidal screw 8, so as to drive trapezoidal screw to rotate.And column feed screw nut 12 is fixed by screws in liter
On drop crossbeam 20, so as to drive it to move up and down.The column secondary guide 9 for playing auxiliary guide effect is arranged on column by bolt
On base 5.The column upper limit base 18 and column lower limit base 11 and spacing clip on secondary guide top are arranged on simultaneously
10, on the one hand fixed trapezoidal screw and secondary guide, maintain the resistance to overturning of device, on the other hand also play to lifting
The position-limiting action of the extreme position of crossbeam motion.To prevent hoisting cross beam stuck when moving, secondary guide and hoisting cross beam it
Between have also been devised column guide rod sliding sleeve 13,.Column angular contact roller bearing 7 installed in trapezoidal screw two ends ensure that with 15
The bearing capacity of trapezoidal screw, makes trapezoidal screw motion stabilization again.Aluminium section bar transverse arm 21 strengthens truss 19 with lifting by oblique pull
Crossbeam 20 is fixed on trapezoidal screw, drives it to move up and down by feed screw nut.Also, X-axis component is bolted on aluminium
On section bar transverse arm.
The X-axis component includes that motor drives precision ball screw component with Z axis component in X-axis.Specially X-axis leading screw leads to
Cross angular contact ball bearing 31 and 26 to be fixed on X-axis bearing block 24 and 30, bearing block is bolted on aluminium section bar transverse arm.
X-axis motor 22 drives X-axis leading screw to rotate by decelerator 23 and shaft coupling 25, drives the mobile cunning on feed screw nut 29
Plate 28 is moved linearly with vertical rotary motor cabinet 32, and is oriented to and is supported by X-axis moving leader 46.Rise and drive X-axis
The vertical rotary motor 33 of upper Z axis component rotation is arranged on motor cabinet with decelerator 35 by screw, reducer output shaft with
Mounting flange 44 is fixed on slip ring inner ring, and X-axis slip ring outer ring is fixed on below motor cabinet by slip ring stop screw 34, this
Sample ensures that motor output shaft can persistently rotate without coiling.It is fixed on the Z axis x pedestals 39 under X-axis mounting flange
Straight line slide unit module 36 is mounted below, red laser transmitter 45 is fixed by screws in slide unit with green laser transmitter 42
On red laser seat 37 with green laser seat 41 on.And respectively by the red laser slide unit motor on straight line slide unit module
47 drive respectively with green laser slide unit motor 48, so as to carry out the rectilinear movement on Z axis.
The Y-axis component is identical with X-axis modular construction, and difference is that X-axis component is fixed on aluminium section bar transverse arm, level rotation
Turn, survey the X-axis coordinate of vertical direction, Y-axis component is fixed on column bases 1, vertical rotary, the Y-axis surveyed in horizontal direction is sat
Mark.
Column bases 1 are placed in ground, maintain static.Its side mode connects for screw Y-axis adjustment plate 69, and bolt is used above
It is connected to upright post base 5.The effect of upright post base is that column roller bearing is positioned with column guide rod 6, same column
Lower limit base 11 and column upper limit various 18 are also to play to be fixed on position-limiting action to trapezoidal screw 8 and column guide rod 6.
Column motor 2 in column bases drives trapezoidal screw to rotate by shaft coupling, so as to drive the upper of hoisting cross beam
Lower movement, it is achieved thereby that the function that adjustment X-axis component is moved up and down.And be fixed on the Y-axis adjustment plate of column bases vertically with
Ground, the y-axis motor 49 on Y-axis component drives Y-axis leading screw 54 to rotate by shaft coupling, and then drives Y-axis moving slide board 68
Move up and down, so as to realize the upper down conversion of Y-axis coordinate.Horizontal rotation motor on Y-axis component is by horizontal rotation decelerator
After 66 slow down, reducer output shaft drives Z axis Y pedestals 65 to rotate by the Y-axis mounting flange 61 of connection in Y-axis slip ring 60,
When Z axis Y pedestals are perpendicular to Y-axis leading screw 54, Z axis establishment of coordinate system is completed.By red laser slide unit motor 73 with it is green
Color laser slide unit motor 74 can adjust red laser transmitter 58 and green laser on Z axis straight line slide unit module respectively
The position of transmitter 63, and then Z axis demarcation is carried out to position of manipulator.According to manipulator position select red laser or
Green laser is marked.X-axis component is bolted on aluminium section bar transverse arm 21, parallel to ground, perpendicular to Y-axis adjustment
Plate, moves up and down together with hoisting cross beam 20 by column trapezoidal screw nut.X-axis motor 22 is by decelerator on X-axis component
After deceleration, X-axis moving slide board 28 is driven to move by feed screw nut, so as to the left and right for realizing X-axis coordinate converts.Vertical rotary electricity
Machine 33 is made by after decelerator deceleration, being driven the Z axis straight line slide unit module in X-axis to rotate by the ring flange in X-axis slip ring 43
Perpendicular to X-axis leading screw, in X-axis Z axis coordinate set up complete.By red laser slide unit motor 47 and green laser slide unit
Motor 48 can adjust red laser transmitter 42 with green laser transmitter 45 on Z axis straight line slide unit module respectively
Position, and then Z axis demarcation is carried out to position of manipulator.Red laser or green laser is selected to enter according to manipulator position
Line flag.
A kind of course of work of 3 D locating device demarcated for position of manipulator of the invention is broadly divided into beam worker
Make, Zero calibration before robot movement, coordinate is demarcated after robot movement.
Preparation：Column bases 1 are placed in correct position first, are switched on power, adjusting post motor 2, power
Square is acted on trapezoidal screw through decelerator, makes nut drive hoisting cross beam 20 to rise, and lifting X-axis component makes to certain altitude
It does not interfere with robot movement route.Choose on a robotic arm with specified location, X-axis component and Y-axis component are easy in this position
On laser beam irradiation, positioned.
Zero calibration before robot movement：Y-axis motor 49 is adjusted first, and torque is delivered to Y-axis through decelerator and shaft coupling
On leading screw 54, Y-axis moving slide board 68 is driven to be moved linearly, when it moves to manipulator mark position same level,
Stop movement.Regulation horizontal rotation motor, is the level of Z axis Y straight line slide units module 56, appropriate in regulation red or green laser
Slide unit motor, respective color laser is radiated in manipulator specified location.Afterwards, to mutually powered-down on X-axis component
Machine carries out aforesaid operations, same color laser beam on X-axis component is radiated at manipulator specified location, and with X-axis now, Y
Axle, Z axis parameter are used as the origin of coordinates.Now, Zero calibration is completed before robot movement.
Coordinate is demarcated after robot movement：After robot movement, the same steps in repeat step (2) make Y-axis and X-axis
Laser beam on Z components on component with same color in step (2) is positioned to manipulator specified location.Now, X-axis, Y
Axle is the coordinate after manipulator is moved in rectangular coordinate system with the position of Z axis coordinate, and position of manipulator is demarcated and completed.
To sum up, a kind of 3 D locating device demarcated for position of manipulator of the invention is mainly by laser to machinery
The irradiation of hand specified location is positioned, without installing attachment device on a robotic arm, so as to ensure that manipulator self contained function, no
Disturbed by measurement apparatus.The present invention is simple to operate, and X-axis, Y-axis, Z axis independently drive, and will not form interference, and all motions are all adopted
With high precision ball leading screw and straight line slide unit module, kinematic accuracy is high.Compared to CCD interactions measuring system, ultrasonic measurement system
The transmission measuring method cost such as system is lower.
X-axis of the invention, Y-axis and Z axis carry out closed-loop control using servomotor, by rectangular coordinate system X-axis, Y-axis and Z
Axle is integrated into an entirety, and manipulator specified location is carried out by the position for adjusting red or green laser transmitter on Z axis
Positioning, now the coordinate of red or green laser transmitter is the relative coordinate of manipulator specified location, and the invention has shape
As directly perceived, operate flexibly, the features such as easy for installation.
Claims (5)
1. a kind of 3 D locating device for industry mechanical arm location position, it is characterised in that：Including column bases, X-axis group
Part, Y-axis component, column lead screw assembly, column lead screw assembly include being arranged on the upright post base of column bases upper surface, are arranged on
Column motor in column bases and the connection of column motor output end and extend out to the trapezoidal silk outside column bases
The connected hoisting cross beam of thick stick, the column feed screw nut on trapezoidal screw and column feed screw nut；
The Y-axis component includes being arranged on the Y-axis adjustment plate of column bases side, a pair of Y-axis axles in Y-axis adjustment plate
Bearing, the Y-axis leading screw in Y-axis bearing block, the Y-axis feed screw nut on Y-axis leading screw and Y-axis feed screw nut are consolidated
Even Y-axis moving slide board, on Y-axis moving slide board horizontal rotation motor cabinet, installed in horizontal rotation motor cabinet on
Horizontal rotation motor and horizontal rotation decelerator and the Y-axis slip ring and Y-axis slip ring of horizontal rotation reducer output shaft connection connect
Y-axis mounting flange and the Z axis Y pedestals of Y-axis mounting flange lower surface, the two Z axis Y on Z axis Y pedestals for connecing
Straight line slide unit module, the green laser seat of the Y-axis component being separately positioned in two Z axis Y straight line die station groups and red laser seat,
The green laser and red laser of the Y-axis component being separately mounted on the green laser of Y-axis component seat and red laser seat,
The output shaft of y-axis motor is connected with the upper end of Y-axis leading screw, and the outer ring of Y-axis slip ring is connected by screw with horizontal rotation motor cabinet,
Two Z axis Y straight line slide units modules are driven by motor respectively；
The X-axis component includes the aluminium section bar transverse arm, a pair of the X-axis axles installed in aluminium section bar transverse arm lower end that are connected with hoisting cross beam
Bearing, the X-axis leading screw in X-axis bearing block, the X-axis feed screw nut on X-axis leading screw and X-axis feed screw nut are consolidated
Even X-axis moving slide board, the vertical rotary motor cabinet on X-axis moving slide board, on vertical rotary motor cabinet
Vertical rotary motor and vertical rotary motor reducer and the X-axis slip ring and X-axis of the connection of vertical rotary reducer output shaft are slided
The X-axis mounting flange of ring connection and Z axis X pedestals, two Z on Z axis X pedestals of X-axis mounting flange lower surface
The green laser seat and red laser of axle X straight line slide units module, the X-axis component being separately positioned in two Z axis X straight line die station groups
Seat, the green laser of the X-axis component being separately mounted on the green laser of X-axis component seat and red laser seat and red laser
Device, the output shaft of X-axis motor is connected with the end of X-axis leading screw, and the outer ring of X-axis slip ring is connected by screw with horizontal rotation motor cabinet
Connect, two Z axis X straight line slide units modules are driven by motor respectively.
2. a kind of 3 D locating device for industry mechanical arm location position according to claim 1, it is characterised in that：
The column lead screw assembly also includes being arranged on the column lower limit base of trapezoidal screw upper end and is arranged in trapezoidal screw
The column lower limit base of hypomere, be additionally provided between column upper limit base and upright post base two play the guiding role it is vertical
Post secondary guide, column secondary guide sequentially passes through column lower limit base and hoisting cross beam from the bottom to top, hoisting cross beam with it is vertical
Column guide rod sliding sleeve is additionally provided between post secondary guide.
3. a kind of 3 D locating device for industry mechanical arm location position according to claim 1 and 2, its feature exists
In：Oblique pull is additionally provided between aluminium section bar transverse arm and column secondary guide and strengthens truss.
4. a kind of 3 D locating device for industry mechanical arm location position according to claim 1 and 2, its feature exists
In：The Y-axis slip ring being connected with horizontal rotation reducer output shaft refers to the inner ring for horizontally rotating reducer output shaft and Y-axis slip ring
Connection；The X-axis slip ring being connected with vertical rotary reducer output shaft refers in vertical rotary reducer output shaft and X-axis slip ring
Circle connection.
5. a kind of 3 D locating device for industry mechanical arm location position according to claim 3, it is characterised in that：
The Y-axis slip ring being connected with horizontal rotation reducer output shaft refers to horizontally rotate reducer output shaft to connect with the inner ring of Y-axis slip ring
Connect；The X-axis slip ring being connected with vertical rotary reducer output shaft refers to the inner ring of vertical rotary reducer output shaft and X-axis slip ring
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185981.5A CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185981.5A CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903717A true CN106903717A (en) | 2017-06-30 |
| CN106903717B CN106903717B (en) | 2019-04-12 |
Family
ID=59194531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710185981.5A Active CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903717B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107940171A (en) * | 2018-01-02 | 2018-04-20 | 哈尔滨海映天初科技有限公司 | A kind of three-dimensional scaling glide base |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111136643A (en) * | 2020-01-14 | 2020-05-12 | 山东理工职业学院 | Intelligent connecting rod type manipulator |
| CN112873210A (en) * | 2021-02-08 | 2021-06-01 | 柳斯 | Calibration device for mechanical arm point location calibration |
| CN114838659A (en) * | 2022-04-26 | 2022-08-02 | 深圳市商汤科技有限公司 | Manipulator testing device, testing method, calibration method and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261118A (en) * | 2008-04-17 | 2008-09-10 | 天津大学 | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN104298244A (en) * | 2013-07-17 | 2015-01-21 | 刘永 | Industrial robot three-dimensional real-time and high-precision positioning device and method |
-
2017
- 2017-03-27 CN CN201710185981.5A patent/CN106903717B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261118A (en) * | 2008-04-17 | 2008-09-10 | 天津大学 | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot |
| EP2248636A1 (en) * | 2009-04-15 | 2010-11-10 | KUKA Roboter GmbH | System and a method for measuring a manipulator |
| CN104298244A (en) * | 2013-07-17 | 2015-01-21 | 刘永 | Industrial robot three-dimensional real-time and high-precision positioning device and method |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107940171A (en) * | 2018-01-02 | 2018-04-20 | 哈尔滨海映天初科技有限公司 | A kind of three-dimensional scaling glide base |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111113376B (en) * | 2019-12-02 | 2021-04-13 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111136643A (en) * | 2020-01-14 | 2020-05-12 | 山东理工职业学院 | Intelligent connecting rod type manipulator |
| CN112873210A (en) * | 2021-02-08 | 2021-06-01 | 柳斯 | Calibration device for mechanical arm point location calibration |
| CN112873210B (en) * | 2021-02-08 | 2022-05-03 | 哈尔滨岛田大鹏工业股份有限公司 | Calibration device for mechanical arm point location calibration |
| CN114838659A (en) * | 2022-04-26 | 2022-08-02 | 深圳市商汤科技有限公司 | Manipulator testing device, testing method, calibration method and storage medium |
| CN114838659B (en) * | 2022-04-26 | 2024-04-12 | 深圳市商汤科技有限公司 | Manipulator testing device, testing method, calibration method and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106903717B (en) | 2019-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106903717A (en) | A kind of 3 D locating device for industry mechanical arm location position | |
| WO2021208230A1 (en) | Intelligent assembly control system | |
| CN106625665B (en) | A kind of drilling milling machine device people's system of packaged type automatic addressing | |
| KR101013749B1 (en) | CNC Machinery tool having vision system | |
| CN203259123U (en) | Large-scale revolution workpiece inner wall size measurement apparatus and system thereof | |
| CN103759941B (en) | A kind of Measuring of Axis Rotating Accuracy detection method | |
| CN101804470B (en) | Automatic hole making system and method for wing body butt joint | |
| CN111060063B (en) | Automatic positioning and aligning device and method for rotary barrel parts of cartridge receiver | |
| CN103307977A (en) | Field measuring device, system and method of inner wall size of large rotary workpiece | |
| CN101619965A (en) | Wheel-pair automatic measuring device | |
| CN109781005A (en) | Using the poor shell class workpiece fitted position measuring system and method for bidifly optical sensor | |
| CN109000127A (en) | A kind of instrument and equipment self-level(l)ing device and its method | |
| CN102636137A (en) | REVO (Resident Encrypted Variable Output) measuring head position posture calibrating method in joint arm type coordinate measuring machine | |
| CN201744691U (en) | Automatic hole making system for butt joint of wing bodies | |
| CN107554552A (en) | A kind of track comprehensive detection platform based on machine vision | |
| CN106352795A (en) | Vision measuring device and method for flexible manufacturing | |
| CN205748274U (en) | A kind of motor stator dimension measuring device | |
| CN114136984A (en) | Multifunctional detection platform for cutter and use method | |
| CN212983492U (en) | Quick intelligent fine adjustment system for CRTS III type track slab | |
| CN117605249A (en) | Construction robot suitable for multi-size floor tile pasting operation | |
| CN212320647U (en) | Rotary scanning equipment for circular object | |
| CN209887571U (en) | Accurate positioner of jar body equipment | |
| CN111059422A (en) | VR locator with quick locate function | |
| CN114268188B (en) | Large corrugated pipe assembly method | |
| CN203312095U (en) | Switch operating mechanism accurate installation platform of full degree of freedom adjustment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |