Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement

An industrial robot and measurement system technology, applied in the field of wire-drawn measurement systems, can solve the problems of high price, high environmental requirements, and low precision, and achieve the effects of long service life, large movement space, and high accuracy

Active Publication Date: 2014-12-24
SHANGHAI UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

One of the existing robot calibration methods on the market is to use cameras for tracking and manual programming, which has low precision and has relatively high environmental requirements due to camera light; the other is to use laser interferometers for tracking and calibration, which are generally used in On the machine tool, its precision is high, but the realization of space detection is difficult and expensive

Method used

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  • Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement
  • Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement
  • Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement

Examples

Experimental program
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Effect test

Embodiment 1

[0025] see figure 1 and figure 2 , a wire-drawn measurement system for spatial pose accuracy and trajectory measurement of industrial robots, including an industrial robot 1, a measurement assembly including a positioning disc 2, a measurement adapter 3, a wire-drawn encoder 4, a measuring rod 5, and a data line 6, A data acquisition card 7 and a computing terminal 8; the positioning disc 2 is coaxially installed on the end effector of the industrial robot 1 and can rotate freely, and three measuring adapters 3 are installed on the lower surface of the positioning disc 2, and the three measuring adapters The installation base points of 3 are not collinear; every four described wire-guide encoders 4 form a group, and each group of four wire-guy encoders 4 is respectively installed on the corresponding measuring rod 5, and the corresponding one is connected by four test cables. Measuring adapter 2, the base points of the twelve wire-drawing encoders 4 are in one plane, and the...

Embodiment 2

[0036] see image 3 , this embodiment is basically the same as Embodiment 1, the difference is that the measuring rod 5 is not used, and the twelve wire-guide encoders 4 are randomly placed, but it must be ensured that the base points of the twelve wire-guy encoders 4 are basically at one Plane and the center point where each group is located does not coincide with the other two groups. In each group, it must be ensured that the four points of the four wire-guide encoders 4 are not collinear. Repeat the measurement method of Example 1 to obtain the same result. It reflects the simplicity, reliability and low environmental requirements of the method, and is suitable for industrial field operations.

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Abstract

The invention discloses a cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement. The measurement system comprises an industrial robot, and a measurement assembly comprises a positioning disc, measurement adapters, cable encoders, data lines, a data acquisition card and a computing terminal. According to the measurement system, the cable encoders are used as main bodies for measurement, test cable lengths of the cable encoders are used for being converted into point location coordinate value changes on a robot end effector, the measurement system is applicable to the industrial field, the service life of test equipment is long, the motion space of the robot is large, and the measured data accuracy is high. By the aid of the measurement system and the measurement method, poses of the robot can be measured in real time conveniently, the structure is simple, the motion space is large, and the precision is high.

Description

technical field [0001] The invention relates to a wire-drawing measuring system and a measuring method used for space pose accuracy and trajectory measurement of an industrial robot. Background technique [0002] Industrial robots, as a representative of production automation, are widely used in various fields of industry, such as arc welding, spot welding, handling, packaging and other operations on automated production lines in automobile manufacturing, chemical and other industries. Industrial robots replace humans to complete high-quality work in automated production, improving the production efficiency and quality of products. Therefore, there are strict requirements on the accurate positioning, speed and acceleration of industrial robots in space when they are moving. In general, when industrial robots leave the factory, they need to calibrate the pose accuracy, as well as detect the speed and acceleration during the movement. One of the existing robot calibration met...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 鲍晟宋韬洪银芳何永义郭帅陆左锋
Owner SHANGHAI UNIV
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