Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Active-passive joint-arm type measuring robot

A measurement robot, active and passive technology, applied in the field of robots, can solve the problems affecting the measurement accuracy, unable to obtain the position of the origin coordinate system, unable to meet the measurement accuracy requirements, etc., to achieve high measurement accuracy, easy handling, and avoid measurement errors.

Inactive Publication Date: 2009-07-29
廊坊智通机器人系统有限公司
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the deceleration mechanism connected to the front end of the motor, such as the reducer, the inherent mechanical error of the harmonic component cannot be compensated and eliminated. That is to say, for the mechanical error of the robot itself, the data collected by the encoder cannot truly reflect Even if there is no contour error in the trajectory planning of the robot, and there is no tracking error in each single-axis control level, the measurement accuracy will still be affected by the existence of inherent mechanical errors.
On the other hand, the encoder only collects the rotation angle of the motor itself, not the actual rotation angle of each joint end, so the obtained data only calculates the position of the end gripper of the robot itself relative to the origin coordinate system, but cannot get The position of the measured point of the measured object relative to the origin coordinate system cannot meet the measurement accuracy requirements

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Active-passive joint-arm type measuring robot
  • Active-passive joint-arm type measuring robot
  • Active-passive joint-arm type measuring robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] Such as figure 1 , figure 2 As shown, the present invention mainly includes I shaft assembly 10 , II shaft assembly 30 , III shaft assembly 50 , IV shaft assembly 70 and V shaft assembly 90 .

[0026] Such as figure 2 , image 3 As shown, the I-shaft assembly 1 of the present invention comprises a support 11, extends downwards at the top of the support 11 and fixes a shaft cylinder 12, and the bottom of the shaft cylinder 12 is provided with a worm gear reducer 13 of the prior art. One side of the casing of the device 13 is connected to an I-axis motor 15 through a flange 14, and the I-axis motor 15 is connected to the worm 17 of the speed reducer 13 through a coupling 16, and the worm gear output shaft 18 meshed with the worm 17 passes through an electromagnetic clutch 19 It is connected with an I-shaft (main output shaft) 20 coaxial wit...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an active and passive articulated arm type measuring robot, which comprises sequentially connected I-axis assemblies, II-axis assemblies, III-axis assemblies, IV-axis assemblies and V-axis assemblies; The transmission device and active-passive switching device, the encoders for measuring the output rotation angle of each shaft are directly connected to the output shafts of each shaft assembly, or indirectly connected to the output shafts of each shaft assembly through corresponding geometric relationships. The invention combines the advantages of the traditional three-coordinate measuring machine and the existing passive articulated arm measuring machine, and at the same time makes up for the accuracy problem of the traditional industrial robot and the deficiency that the passive articulated arm measuring arm can only passively collect data. The measurement accuracy is high, and at the same time, it can also actively carry out trajectory planning. The encoder can collect the final motion angle of each joint axis, thereby avoiding the step loss of the stepping motor and the mechanical error between the components of the harmonic reducer. The invention can be widely used in the measurement or inspection process of various products.

Description

technical field [0001] The invention relates to a robot, in particular to an active and passive articulated arm type measuring robot. Background technique [0002] The traditional three-coordinate measuring machine can actually be regarded as a CNC machine tool, except that the former is used to measure dimensions, tolerances, error comparison, etc., and the latter is used for processing. The measurement range of the three-coordinate measuring machine is large or small. The small one is only about 1 meter or more. The large one can directly measure the shape of the whole vehicle, and the measurement accuracy will also be affected by the structure, material, drive system, grating ruler and other links. influences. The resolution of the grating scale of the three-coordinate measuring machine is generally 0.0005mm, and the measurement accuracy is affected by many environmental factors such as temperature, humidity, and vibration at that time. Compared with traditional measuri...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00G01B21/04
Inventor 甘中学孙云权董佳伟罗兵李成群
Owner 廊坊智通机器人系统有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products