Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot

An industrial robot, spatial positioning technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of high environmental requirements, high price, low precision, etc., and achieve the effect of large movement space, long service life and high accuracy

Active Publication Date: 2014-12-24
SHANGHAI UNIV
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  • Abstract
  • 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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  • Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot
  • Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot

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Embodiment 1

[0022] see figure 1 , a wire-drawn measurement system for spatial positioning accuracy and trajectory measurement of industrial robots, comprising an industrial robot 1, the measurement components include a measurement adapter 2, a measuring rod 3, a wire-drawn encoder 4, a data acquisition card 5 and a desktop computer 6; The measuring adapter 2 is mounted on the end effector of the industrial robot 1; the four wire-drawing encoders 4 are mounted on both ends of the measuring rod 3 respectively, and the four wire-drawing encoders 4 are connected to the measuring adapter 2 through four test cables , the base points of the four wire-drawing encoders 4 are on the same plane and the four points are not collinear, and the extension lines of the four test cables intersect at one point in space; the wire-drawing encoders 4 are connected to the data acquisition card 5 by wires, and the The data acquisition card 5 is connected to a desktop computer 6 . The data acquisition card 5 in ...

Embodiment 2

[0031] see figure 2 , this embodiment is basically the same as Embodiment 1, the difference is that the two measuring rods 3 in Embodiment 1 are removed, so that the four wire encoders 4 are installed on other plane mounting bases to ensure that the four wire encoders The mounting points of the device 4 are basically coplanar and non-collinear. At the same time, the portable computer 7 is used to repeat the measurement method of Embodiment 1, and the same result can be obtained, which fully reflects the simplicity, reliability and low environmental requirements of the method. Suitable for industrial site operations.

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Abstract

The invention discloses a pull wire type measuring system and method applied to spatial location accuracy and track measurement of an industrial robot. The system comprises the industrial robot. A measuring assembly comprises a measurement adapter, pull wire encoders, a data acquisition card and a computing terminal. The measurement adapter is mounted on an end effector of the industrial robot. The four pull wire encoders are connected with the measurement adapter through four testing cables. Base points of the four pull wire encoders are located in the same plane and are non-colinear. Extension lines of the four testing cables intersect at one point in space. The pull wire encoders are connected with the data acquisition card through wires. The data acquisition card is connected with the computing terminal. By means of the method, position information of the end effector of the industrial robot can be obtained, and the moving track of the industrial robot can be described in real time and the real-time speed and acceleration of the industrial robot can be computed when the industrial robot moves. The pull wire type measuring system is simple in structure, convenient to operate, large in movement space and high in accuracy.

Description

technical field [0001] The invention relates to a wire-drawing measuring system and a measuring method for spatial positioning accuracy and trajectory measurement of industrial robots. 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 their positioning accuracy and detect their speed and acceleration during motion. One of the existing robot calibration meth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D21/02
Inventor 鲍晟宋韬洪银芳何永义郭帅陆左锋
Owner SHANGHAI UNIV
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