Robot 3D repeated positioning precision test system

Abstract

The present invention discloses a robot 3D repeated positioning precision test system. The system is characterized in that the system comprises a reflector, sensors, brackets, a controller, a vertical column, and a base, the reflector is rigidly connected to a robot end and moves and rotates with the robot end, three sensors are fixed to three brackets in a direction of pairwise orthogonal and three laser beams are projected to the reflector at the same time, the brackets are reliably fixed to the vertical column and are responsible for positioning and fixing the sensors, and the controller is arranged at one side of the vertical column. The sensors are laser displacement sensors with an external trigger function, the controller is formed by a collector, a cache, a processor, a trigger, a display device, and a communication interface, the synchronous acquisition of three-dimensional coordinates can be realized, and a synchronization error is avoided. At the same time, the invention discloses a calibrator and a corresponding sensor azimuth calibration method.

Description

technical field [0001] The invention relates to a robot three-dimensional repetitive positioning accuracy testing system, in particular to a robot three-dimensional repetitive positioning accuracy testing system based on a laser displacement sensor and a synchronous acquisition controller. Background technique [0002] The robot is an open-loop kinematic structure. The angle value of the joint rotation is obtained through the angle measuring device (usually an incremental code disc), and the spatial pose of the current robot end effector is obtained through the robot kinematics model. Due to the inevitable existence of various errors in the mechanical manufacturing and assembly, encoder, motion control and other links in the robot production process, the gravity deformation, thermal deformation, gap and wear and other random errors in the use of the robot, etc., the robot Compared with the ideal value, the actual spatial pose of the end usually has a large deviation, which a...

AI Technical Summary

Problems solved by technology

[0004] (1) The three sensors work relatively independently, and are respectively connected to data acquisition systems such as PLC or industrial computer, so the synchronization of sampling by the three sensors cannot be guaranteed

Moreover, the acquisition process generally involves communication with each sensor one by one. The actual time required to obtain a set of three-dimensional coordinates is three times the sampling period of a single sensor, which leads to a decrease in the test speed of the entire system and cannot meet the needs of rapid production;

[0005] (2) The positioning method of the sensor and the bracket and the bracket itself is not good. The three sensors cannot guarantee reliable and accurate orthogonal positioning accuracy (such as 2015100985690), or the three sensors cannot be flexibly adjusted (such as 2014101018958);

[0006] (3) The reflective surface of the laser displacement sensor directly adopts the surface at the end of the robot body, the measurement accuracy of the sensor cannot be guaranteed, and the accuracy of different surfaces cannot be guaranteed to be consistent;

[0007] (4) Various existing methods cannot guarantee that the intersection points of the measurement lines of the three laser displacement sensors are at the same point in space, which will result in a large positioning measurement error

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