System and method for pull-on-the-cable measurement of spatial pose precision and tracks of moving component

A technology of moving parts and measuring systems, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of high price, high environmental requirements, and low precision, and achieve the effects of high accuracy, large movement space, and long service life

Active Publication Date: 2015-04-08
SHANGHAI UNIV
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Problems solved by technology

One of the existing calibration methods on the market is to use a camera for tracking and manual programming, which has low precision and has relatively high environmental requirements due to the camera light; the o

Method used

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  • System and method for pull-on-the-cable measurement of spatial pose precision and tracks of moving component

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Embodiment Construction

[0018] Embodiments of the present invention are described in detail as follows in conjunction with accompanying drawings:

[0019] see figure 1 , a space pose accuracy and trajectory measurement system for moving parts. Based on the principle of parallel mechanism, it measures the space pose accuracy and trajectory of moving parts of large-scale equipment 1 including industrial robots or vertical milling machines. The measurement system includes positioning Disc 2, ball joint or universal joint 3, cable encoder 4, data cable 6, data acquisition card 7 and computer 8; the positioning disc 2 is coaxially installed on the moving parts of large equipment 1 and can rotate freely , eight ball joints or universal joints 3 are installed on the lower surface of the positioning disc 2, and eight test cables protruding from the eight pull wire encoders 4 are respectively connected to the eight ball joints or universal joints 3; the eight pull wires The installation method of the encoder...

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Abstract

The invention discloses a system and a method for pull-on-the-cable measurement of spatial pose precision and tracks of a moving component. Based on a parallel mechanism principle, the system and the method are used for measurement of the spatial pose precision and the tracks of the moving component of large equipment like an industrial robot or vertical milling machine. The system comprises a positioning disk, eight ball joints or universal joints, eight pull-on-the-cable displacement sensors, a data line, a data acquisition card and a computer. Eight test cables pulled out of the eight pull-on-the-cable displacement sensors are connected with the eight ball joints or universal joints mounted on the positioning disk on the moving component, the eight pull-on-the-cable displacement sensors are connected to the data acquisition card, and the computer is used for acquiring data and performing analytical calculation, so that poses of the moving component is obtained. When the moving component moves, the moving tracks can be described in real time, and real-time speed and real-time accelerated speed are calculated. The system has the advantages that the poses and the moving tracks of the moving component of the large equipment such as the robot or vertical milling machine can be measured simply and conveniently in real time, and accordingly, the system is low in cost, simple in structure, large in moving space and high in precision.

Description

technical field [0001] The invention relates to a measuring system and method for space pose accuracy and trajectory of a moving part. Background technique [0002] Large-scale equipment such as industrial robots and vertical milling machines, as representatives of production automation, are widely used in various fields of industry. Industrial robots are used in arc welding, spot welding, handling, packaging and other operations on automated production lines in automobile manufacturing, chemical and other industries. Vertical milling machines are suitable for processing planes, slopes, grooves, holes, etc. of various parts. Ideal processing equipment for industries such as manufacturing, molds, instruments, meters, automobiles, and motorcycles. These large-scale industrial equipment replace human beings to complete high-quality work in automated production, which improves the production efficiency and quality of products. Therefore, there are strict requirements on the acc...

Claims

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Application Information

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IPC IPC(8): B25J1/00B25J13/00
Inventor 鲍晟宋韬洪银芳高慧慧
Owner SHANGHAI UNIV
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