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Robot track precision measuring method

A technology for precision measurement and robotics, applied in measuring devices, instruments, optical devices, etc., can solve problems such as expensive, unsuitable for mass production of robots, rapid trajectory accuracy measurement, etc.

Active Publication Date: 2015-01-14
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to accurately measure the trajectory accuracy of the robot, the existing methods mainly rely on laser trackers or 3D vision equipment for 3D measurement of robots. However, this 3D measurement equipment is a precision instrument, expensive, and not suitable for mass production of robots and production sites. Fast Track Accuracy Measurement

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Embodiment approach

[0015] S10: Form more than two strip lines on a smooth flat workbench, take the strip line in the middle as the target scale line, and arrange other strip lines symmetrically on both sides of the target scale line. The strip lines can be formed by various methods, such as machining, and can also be formed by laser emission. figure 1 The striplines shown in are formed on a planar workbench by laser firing.

[0016] figure 1 As shown, on a smooth flat workbench 1, laser emitters 2 placed side by side are used to form a series of strips of light with known intervals and parallel to each other on the workbench 1, and the line width of the strips of light is limited to A certain range, generally not more than 100μm. The number of strips of light and the size of the interval depend on the design trajectory accuracy value of the robot. figure 1 4 strips of light are displayed in , namely, strip 3, strip 4, strip 5, and strip 6. Among them, the interval between strip 4 and strip 3 ...

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Abstract

The invention provides a robot track precision measuring method. The robot track precision measuring method comprises the steps that two or more strip-shaped light rays are formed on a smooth plane workbench, and a middle position line is selected as a target scale line; the starting point and the end point of the target scale line serve as tail end demonstration points of a robot, a laser range finder is moved till the light spots sent by the laser range finder coincide with the tail end demonstration points respectively; the track precision of the robot is determined according to the position change of a stroke of the light spots between the two tail end demonstration points. The precision measuring method is economical and high in performance cost ratio, and the track precision of the robot can be quickly and accurately measured.

Description

technical field [0001] The invention belongs to a method for measuring robot performance, and mainly relates to a method for measuring robot trajectory accuracy. Background technique [0002] When the arc welding robot is performing arc welding operations, it needs to independently complete various straight line and arc welding, and has high requirements for trajectory accuracy. Robot trajectory accuracy has become an important indicator to measure robot performance, which is listed in relevant national standards for industrial robots. In order to accurately measure the trajectory accuracy of robots, the existing methods mainly rely on laser trackers or 3D vision equipment for 3D measurement of robots. However, this 3D measurement equipment is a precision instrument and is expensive, so it is not suitable for mass production of robots and on-site production. Fast trajectory accuracy measurement. Contents of the invention [0003] The main purpose of the present invention...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 曲道奎冯亚磊徐方邹风山张鹏马壮
Owner SHENYANG SIASUN ROBOT & AUTOMATION