CN112536822A - Spatial trajectory precision measuring device and method - Google Patents
Spatial trajectory precision measuring device and method Download PDFInfo
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- CN112536822A CN112536822A CN202011409797.2A CN202011409797A CN112536822A CN 112536822 A CN112536822 A CN 112536822A CN 202011409797 A CN202011409797 A CN 202011409797A CN 112536822 A CN112536822 A CN 112536822A
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- 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
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- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a device and a method for measuring space track precision, wherein the device comprises a chassis, a base, an azimuth angle rotary table, a first absolute value encoder, a pitch angle rotary table, a second absolute value encoder and a radial guide rail mechanism; the device can be used for measuring the precision of the space dynamic trajectory of the industrial robot, and can identify and correct the DH parameters of the robot by using a least square method according to precision data, so that the positioning precision of the robot is improved; the measuring method is characterized in that a precise standard steel ball fixed at the end point of the radial telescopic mechanism is adsorbed on a magnetic ball seat fixed at the tail end of the robot, the three-dimensional measuring mechanism moves passively along with the robot, the position of the standard steel ball under a ball coordinate system is firstly converted to the position under a coordinate system of the three-dimensional measuring mechanism and then converted to the position under a robot base coordinate system, and the converted coordinate position is subtracted from the position of the standard steel ball directly read under the robot base coordinate system to obtain the space dynamic trajectory precision of the robot.
Description
Technical Field
The invention relates to the technical field of robot track precision, in particular to a device and a method for measuring space track precision.
Background
The track accuracy of the robot becomes an important index for measuring the performance of the robot, and is listed in the relevant national standards of industrial robots. The current track precision measurement of industrial robots mainly adopts a laser tracker or three-dimensional vision equipment, and the three-dimensional measurement equipment belongs to precision instruments, is expensive and is not suitable for the rapid track precision measurement of robot mass production and production sites. In addition, the existing robot track precision measuring device has high cost and poor portability and practicability, so that the design of the space track precision measuring device and the method which have simple structure and good measurement precision and can meet the requirements of industrial robots and have good portability and practicability is very necessary.
Disclosure of Invention
The present invention is directed to a device and a method for measuring spatial trajectory precision, so as to solve the above problems in the background art.
The purpose of the invention can be realized by the following technical scheme:
a space trajectory precision measuring device comprises a chassis, a base, an azimuth angle rotary table, a pitch angle rotary table and a radial guide rail mechanism, wherein the top center of the chassis is fixedly connected with the bottom end of the vertically arranged base, and the top end of the base is provided with an azimuth angle rotary table, the top of the azimuth angle rotary table is provided with a first absolute value encoder through an azimuth angle rotary shaft, and the top of the first absolute value encoder is provided with a pitch angle rotary table, the pitch angle rotary table is provided with a pitch angle rotary shaft, and the pitch angle rotary shaft is provided with a second absolute value encoder, a radial guide rail mechanism is arranged on the pitch angle rotating shaft and comprises a carbon fiber guide rail, a grating reading head, a grating ruler and a standard steel ball, and the carbon fiber guide rail is vertically arranged at the central hole of the pitch angle rotating shaft, the carbon fiber guide rail is also provided with a grating reading head and a grating ruler, and the tail end of the grating ruler is fixedly provided with a standard steel ball.
As a further scheme of the invention: and the axis of the pitch angle rotating shaft is orthogonal to the axis of the azimuth angle rotating shaft.
As a further scheme of the invention: the grating ruler is fixedly attached to one side of the carbon fiber guide rail, and the shortest distance connecting line between the spherical center of the standard steel ball and the axis of the grating ruler is parallel to the carbon fiber guide rail.
As a further scheme of the invention: and one side of the carbon fiber guide rail, which is close to the pitch angle rotating shaft, is matched with the grating reading head in a sliding connection manner, and the grating reading head and the pitch angle rotating shaft are fixedly arranged.
A method for measuring the precision of a spatial track comprises the following steps:
step S1: setting a reference coordinate system { N } of a three-dimensional spherical coordinate mechanism, wherein an origin is arranged at the center of a base of the azimuth turntable; setting a spherical coordinate reference system { O }, wherein the origin is arranged at the intersection point of the center line of the azimuth angle rotating shaft and the center line of the pitch angle rotating shaft; setting a robot base coordinate reference system { M }, wherein an origin is arranged in the center of a robot base;
step S2: fixing the magnetic ball seat at the tail end of the robot, and enabling the magnetic ball seat to suck the standard steel ball;
step S3: giving an instruction of a robot motion track, recording data of a first absolute value encoder, a grating ruler and a second absolute value encoder, obtaining the dynamic position (R, theta, phi) of a standard steel ball in a spherical coordinate { O }, and simultaneously reading the position (Xr, Yr, Zr) of the standard steel ball under a robot base coordinate system { M };
step S4: the space position coordinate (X) of the standard steel ball relative to the reference coordinate system { N } of the three-dimensional measuring mechanism is obtained through the conversion formula (a)b,Yb,Zb) The formula is as follows:
step S5: the position (X) of a standard steel ball in a three-dimensional mechanism reference coordinate system { N }b,Yb,Zb) Converted to the robot-based coordinate system { M }, (MXb,MYb,MZb) The conversion formula is shown as (b) and (c) below,
referred to as a rotational transformation, representing the orientation of the coordinate system { N } relative to the coordinate system { M },MPNreferred to as translation transformation, represents a translation vector of the coordinate system { N } relative to the coordinate system { M },
a unit direction vector of an I axis under a j coordinate system is represented;
step S6: converting the standard steel ball into the position of the robot base coordinate system (M) by a formula (MXb,MYb,MZb) Subtracting the standard steel ball position (Xr, Yr, Zr) directly read under the robot base coordinate system { M } to calculate the robot track precision, the formula is as follows
As a further scheme of the invention: in step S3, R is the radial length measured by the grating read head; a pitch angle measured by the first absolute value encoder; Φ is the azimuth angle measured by the second absolute value encoder.
As a further scheme of the invention: in step S3, when the robot moves, the three-dimensional spherical coordinate mechanism makes passive following movement.
As a further scheme of the invention: in the step S4, h is a relative distance between the point O and the origin of the reference coordinate system (X, Y, Z), and the point O is an intersection of the origin of the three-dimensional spherical coordinate system (R, θ, Φ), the azimuth angle rotation axis, and the pitch angle rotation axis.
Compared with the prior art, the invention has the following beneficial effects: according to the space track precision measuring device and method, the precision of the dynamic track of the industrial robot is measured in a mode that an azimuth angle rotary table and a pitch angle rotary table with mutually orthogonal rotating shafts and a radial guide rail mechanism passing through the intersection point of the two rotating shafts are adopted, robot DH parameters can be identified and corrected by a least square method according to precision data, and the positioning precision of the robot is improved. In addition, the device has the advantages of portability, low cost, good practicability and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is a schematic view of the structure of the measurement state of the present invention;
FIG. 3 is a schematic view of a three-dimensional spherical coordinate system of the present invention;
in the figure: 1. a chassis; 2. a base; 3. an azimuth turntable; 31. a first absolute value encoder; 4. a pitch angle turntable; 41. a second absolute value encoder; 5. a radial guide rail mechanism; 51. a carbon fiber guide rail; 52. a grating read head; 53. a grating scale; 54. and (5) standard steel balls.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a space track precision measuring device comprises a chassis 1, a base 2, an azimuth angle rotary table 3, a pitch angle rotary table 4 and a radial guide rail mechanism 5, wherein the top center of the chassis 1 is fixedly connected with the bottom end of the vertically arranged base 2, the top end of the base 2 is provided with the azimuth angle rotary table 3, the top of the azimuth angle rotary table 3 is provided with a first absolute value encoder 31 through an azimuth angle rotary shaft, the top of the first absolute value encoder 31 is provided with the pitch angle rotary table 4, the pitch angle rotary table 4 is provided with a pitch angle rotary shaft, the pitch angle rotary shaft is provided with a second absolute value encoder 41, the pitch angle rotary shaft is provided with the radial guide rail mechanism 5, the axis of the pitch angle rotary shaft is orthogonal to the axis of the azimuth angle rotary shaft, the radial guide rail mechanism 5 comprises a carbon fiber guide rail 51, a grating read head 52, a grating ruler 53, the carbon fiber guide rail 51 is also provided with a grating reading head 52 and a grating ruler 53, the tail end of the grating ruler 53 is fixedly provided with a standard steel ball 54, the grating ruler 53 is fixedly attached to one side of the carbon fiber guide rail 51, the shortest distance connecting line of the spherical center of the standard steel ball 54 and the axis of the grating ruler 53 is parallel to the carbon fiber guide rail 51, one side of the carbon fiber guide rail 51 close to the pitch angle rotating shaft is matched and connected with the grating reading head 52 in a sliding mode, and the grating reading head 52 and the pitch angle rotating shaft are fixedly arranged.
A method for measuring the precision of a spatial track comprises the following steps:
step S1: a reference coordinate system { N } of the three-dimensional spherical coordinate mechanism is set, and an origin is arranged at the center of a base 2 of the azimuth turntable 3; setting a spherical coordinate reference system { O }, wherein the origin is arranged at the intersection point of the center line of the azimuth angle rotating shaft and the center line of the pitch angle rotating shaft; setting a robot base coordinate reference system { M }, wherein an origin is arranged in the center of a robot base;
step S2: fixing the magnetic ball seat at the tail end of the robot, and enabling the magnetic ball seat to attract the standard steel ball 54;
step S3: giving an instruction of a robot motion track, recording data of the first absolute value encoder 31, the grating ruler 53 and the second absolute value encoder 41, knowing a dynamic position (R, theta and phi) of the standard steel ball 54 in a spherical coordinate system { O }, and simultaneously reading a position (Xr, Yr and Zr) of the standard steel ball 54 under a robot base coordinate system { M };
step S4: the spatial position coordinate (X) of the standard steel ball 54 relative to the reference coordinate system { N } of the three-dimensional measuring mechanism is obtained by the conversion formula (a)b,Yb,Zb) The formula is as follows:
step S5: the position (X) of a standard steel ball in a three-dimensional mechanism reference coordinate system { N }b,Yb,Zb) Converted to the robot-based coordinate system { M }, (MXb,MYb,MZb) The conversion formula is shown as (b) and (c) below,
referred to as a rotational transformation, representing the orientation of the coordinate system { N } relative to the coordinate system { M },MPNreferred to as translation transformation, represents a translation vector of the coordinate system { N } relative to the coordinate system { M },
a unit direction vector of an I axis under a j coordinate system is represented;
step S6: the standard steel ball 54 is converted into the position (M) in the robot base coordinate system by a formulaMXb,MYb,MZb) Subtracting the position (Xr, Yr, Zr) of the standard steel ball 54 directly read under the robot base coordinate system { M } to calculate the robot track precision, the formula is as follows
Based on the above, the working principle of the invention is as follows: a precise standard steel ball 54 fixed at the end point of the radial telescopic mechanism 5 is adsorbed on a magnetic ball seat fixed at the tail end of the robot, and the space position coordinate (X) of the center of the tail end ball seatb,Yb,Zb) The position error of the center of the ball seat at the tail end of the robot can be obtained by subtracting the coordinate position of the standard steel ball 54 (R, theta, phi) on the three-dimensional ball coordinate mechanism from the motion command position of the robot.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a space track precision measurement device, its characterized in that, including chassis (1), base (2), azimuth angle revolving stage (3), angle of pitch revolving stage (4) and radial guide rail mechanism (5), the top center of chassis (1) and base (2) bottom rigid coupling of vertical setting, and the top of base (2) installs azimuth angle revolving stage (3), first absolute value encoder (31) are installed through the azimuth angle pivot in the top of azimuth angle revolving stage (3), and the top of first insulation to value encoder (31) installs angle of pitch revolving stage (4), install the angle of pitch pivot on angle revolving stage (4), and install second absolute value encoder (41) in the angle of pitch pivot to install radial guide rail mechanism (5) in the angle of pitch pivot, radial guide rail mechanism (5) include carbon fiber guide rail (51), The carbon fiber grating comprises a grating reading head (52), a grating ruler (53) and a standard steel ball (54), wherein a carbon fiber guide rail (51) is vertically arranged at a central hole of a pitch angle rotating shaft, the grating reading head (52) and the grating ruler (53) are further arranged on the carbon fiber guide rail (51), and the standard steel ball (54) is fixedly arranged at the tail end of the grating ruler (53).
2. The spatial trajectory accuracy measuring device of claim 1, wherein the axes of the pitch axis and the azimuth axis are orthogonal.
3. The spatial trajectory precision measuring device according to claim 1, wherein the grating ruler (53) is fixedly attached to one side of the carbon fiber guide rail (51), and a connection line of the sphere center of the standard steel ball (54) and the shortest distance of the axis of the grating ruler (53) is parallel to the carbon fiber guide rail (51).
4. The spatial trajectory precision measuring device as claimed in claim 1, wherein one side of the carbon fiber guide rail (51) close to the pitch angle rotating shaft is in sliding connection with the grating reading head (52), and the grating reading head (52) is fixedly arranged with the pitch angle rotating shaft.
5. A spatial trajectory accuracy measuring method, which is implemented using a spatial trajectory accuracy measuring device according to any one of claims 1 to 4, the method comprising the steps of:
step S1: a reference coordinate system { N } of the three-dimensional spherical coordinate mechanism is set, and an origin is arranged at the center of a base (2) of the azimuth turntable (3); setting a spherical coordinate reference system { O }, wherein the origin is arranged at the intersection point of the center line of the azimuth angle rotating shaft and the center line of the pitch angle rotating shaft; setting a robot base coordinate reference system { M }, wherein an origin is arranged in the center of a robot base;
step S2: fixing the magnetic ball seat at the tail end of the robot, and enabling the magnetic ball seat to suck a standard steel ball (54);
step S3: giving an instruction of a robot motion track, recording data of a first absolute value encoder (31), a grating ruler (53) and a second absolute value encoder (41), knowing a dynamic position (R, theta, phi) of a standard steel ball (54) in a spherical coordinate system { O }, and simultaneously reading a position (Xr, Yr, Zr) of the standard steel ball (54) in a robot base coordinate system { M };
step S4: by passingThe conversion formula (a) obtains the space position coordinate (X) of the standard steel ball (54) relative to the reference coordinate system { N } of the three-dimensional measuring mechanismb,Yb,Zb) The formula is as follows:
step S5: the position (X) of a standard steel ball in a three-dimensional mechanism reference coordinate system { N }b,Yb,Zb) Converted to the robot-based coordinate system { M }, (MXb,MYb,MZb) The conversion formula is shown as (b) and (c) below,
referred to as a rotational transformation, representing the orientation of the coordinate system { N } relative to the coordinate system { M },MPNreferred to as translation transformation, represents a translation vector of the coordinate system { N } relative to the coordinate system { M },
a unit direction vector of an I axis under a j coordinate system is represented;
step S6: the standard steel ball (54) is converted into the position (M) in the robot base coordinate system by a formulaMXb,MYb,MZb) Subtracting the position (Xr, Yr, Zr) of the standard steel ball (54) directly read under the robot base coordinate system { M } to calculate the robot track precision, and the formula is as follows
6. The method of measuring spatial trajectory accuracy according to claim 5, wherein in step S3, R is a radial length measured by a grating read head (52); theta is a pitch angle measured by the first absolute value encoder (31); Φ is an azimuth angle measured by the second absolute value encoder (41).
7. The method for measuring the spatial trajectory accuracy according to claim 5, wherein in step S3, the three-dimensional spherical coordinate mechanism performs passive following motion when the robot moves.
8. The method according to claim 5, wherein in step S4, h is the relative distance between the O point and the origin of the reference coordinate system (X, Y, Z), and the O point is the intersection point of the origin of the three-dimensional spherical coordinate system (R, θ, Φ) and the azimuth angle rotation axis and the pitch angle rotation axis.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113483708A (en) * | 2021-07-22 | 2021-10-08 | 山东建筑大学 | Position measurement system and calibration method based on planar polar coordinate system |
| CN114839642A (en) * | 2022-03-15 | 2022-08-02 | 广东电网有限责任公司广州供电局 | Electric transmission line external damage prevention online monitoring method and device based on TOF camera |
| CN115359048A (en) * | 2022-10-19 | 2022-11-18 | 中国工程物理研究院应用电子学研究所 | Real-time dynamic alignment measurement method based on closed-loop tracking and aiming and tracking and aiming device |
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Application publication date: 20210323 |