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Industrial robot performance measurement method based on laser tracker

A laser tracker, industrial robot technology, applied in the direction of instruments, measuring devices, etc., can solve the problems of long measurement time, complicated operation process, low measurement accuracy, etc., and achieve short measurement time, high measurement accuracy and high technical level requirements Effect

Active Publication Date: 2017-01-04
浙江谱麦科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a laser tracker-based industrial tracker with high measurement accuracy, simple operation and short measurement time in order to overcome the disadvantages of low measurement accuracy, complicated operation process and long measurement time of the measurement method in the prior art. Robot performance measurement method

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  • Industrial robot performance measurement method based on laser tracker
  • Industrial robot performance measurement method based on laser tracker
  • Industrial robot performance measurement method based on laser tracker

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0058] Such as figure 1 The illustrated embodiment is a method for measuring the performance of an industrial robot based on a laser tracker, including a laser tracker, a computer and a teach pendant located on the robot, and the computer is electrically connected to the laser tracker and the teach pendant respectively; including the following step:

[0059] Step 100, establish robot tool coordinate system

[0060] Fix 5 laser target balls on the fixture at the end of the robot, select one of the target balls as the TCP point, and move the robot to n=8 positions that are not on the same straight line in the motion space in turn, and the posture of the robot at each position are changed;

[0061] The laser tracker measures n sets of position data m(i)=(xm(i), ym(i), zm(i)) of TCP points, i=1, 2,..., n;

[0062] The computer reads the pose da...

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Abstract

The present invention discloses an industrial robot performance measurement method based on a laser tracker. The method comprises the laser tracker, a computer and a demonstrator arranged on a robot, and the computer is connected with the laser tracker and the demonstrator separately and electrically. The method comprises the following steps of establishing a robot tool coordinate system; collimating coordinates; determining a robot measurement plane and a test pose; selecting the distance accuracy as a measurement item; using the laser tracker to measure the spatial position data of two laser target spheres; using the computer to calculate a measurement distance and an instruction distance; using the computer to output a distance accuracy index, and generating a test report. The industrial robot performance measurement method based on the laser tracker of the present invention has the characteristics of being able to realize the robot performance measurement accurately, being high in measurement accuracy, simple in operation and short in measurement time.

Description

technical field [0001] The invention relates to the technical field of electronic measurement and data processing, in particular to a laser tracker-based industrial robot performance measurement method with high measurement accuracy, simple operation and short measurement time. Background technique [0002] Industrial robots are the core equipment for modern production and assembly line operations. According to relevant national regulations, it is necessary to measure the performance of the robots after leaving the factory or after long-term use to ensure that the performance of the robots can meet the specified accuracy requirements. "GB / T 12642-2013 Industrial Robot Performance Specifications and Test Methods" clearly and detailedly elaborates on various performance indicators of industrial robots. The specification stipulates 14 performance indicators and test methods that need to be measured for industrial robots. The 14 indicators are required to be tested multiple tim...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D21/00
CPCG01D21/00
Inventor 贺惠农施威涛黄宝丽孙颖
Owner 浙江谱麦科技有限公司
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