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Robot pose error measuring system and method in Cartesian coordinate mode

A technology of error measurement and Cartesian coordinates, applied in the direction of measuring devices, measuring angles, instruments, etc., can solve the problems of expensive equipment, large workload, cumbersome data collection, etc., and achieve the effects of low development cost, improved efficiency, and convenient system maintenance.

Inactive Publication Date: 2013-04-03
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide a robot pose error measurement system in the form of rectangular coordinates, aiming to solve the problems of cumbersome data collection, heavy workload and expensive equipment in the existing measurement technology

Method used

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  • Robot pose error measuring system and method in Cartesian coordinate mode
  • Robot pose error measuring system and method in Cartesian coordinate mode

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Embodiment

[0028] The present invention includes a frame 1 , a guiding unit, a driving unit, a measuring unit, a robot 9 and a workpiece 10 . Such as figure 1 As shown, the guide unit in this embodiment refers to four sets of linear guide rails, which are the first set of linear guide rails 2-1, the second set of linear guide rails 2-2, the third set of linear guide rails 2-3 and the fourth set of linear guide rails. Guide rails 2-4, each set of linear guide rails includes ball screws, sliders, baffles, buffer rubber sleeves, etc.; the drive unit includes belt transmission 3, reducer 5 and four AC servo motors 4; the measuring unit consists of six sets The laser displacement sensor 8 and a touch panel 7 constitute.

[0029] In this embodiment, the first and second sets of linear guide rails are installed horizontally on the frame 1, and the ball screws inside the first and second sets of linear guide rails are connected through the belt transmission device 3 at the end far away from the...

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Abstract

The invention discloses a robot pose error measuring system and a robot pose error measuring method in a Cartesian coordinate mode. The robot pose error measuring system comprises a machine frame, a guiding unit, a driving unit, a measuring unit, a robot and a workpiece, wherein the guiding unit is arranged on the machine frame and is driven by the driving unit; the measuring unit is arranged on the guiding unit; the workpiece is clamped at a tail end of the robot; and the driving unit drives the guiding unit to move to drive the measuring unit to move so as to measure pose parameters of the robot. The problems of complicated data collection, large workload and expensive equipment in the conventional measuring technology are solved.

Description

technical field [0001] The invention relates to a robot pose error measurement system, in particular to a robot pose error measurement system and method using a geometric measurement method for rectangular coordinates. Background technique [0002] When industrial robot products leave the factory, it is necessary to measure the position and posture error to determine whether it is qualified. The commonly used measurement methods are: theodolite measurement, laser measurement, follow-up contact position and posture measurement, etc. [0003] Theodolite measurement means that the coordinates of the target point on the end manipulator of the industrial robot can be measured by two theodolites, and the transformation relationship between the two theodolites can also be calculated by the readings of theodolites. The measurement accuracy of this system is very high, at a distance of 1m The internal precision can reach 0.02mm, but the cost of measurement is also very high. [0004...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01B11/26
Inventor 张铁邹焱飚梅雪川李波
Owner SOUTH CHINA UNIV OF TECH
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