Multi-joint robot geometric dimension accuracy calibration device and method based on standard gauge

Abstract

The invention relates to a multi-joint robot geometric dimension accuracy calibration device and method based on a standard gauge, and belongs to the technical field of high-precision detection. The multi-joint robot geometric dimension accuracy calibration device comprises a dial indicator and a standard gauge block. The dial indicator is rigidly connected with a flange plate at the tail end of arobot. The standard gauge block is fixed to a workbench. The top end of the dial indicator fixed to the flange plate at the tail end of the robot is perpendicular to a surface to be detected by the standard gauge block, but does not make contact with the surface to be detected by the standard gauge block. The invention further provides a calibration method used for calibrating the geometric dimension of a mechanical arm of a robot through the calibration device. By adoption of the device and method, the simple dial indicator and the simple standard gauge block are used for detecting relativeerrors of the tail end of the robot, so that the influences of accumulative errors are avoided, and changes, caused by variations of the environmental temperature, of the geometric dimension of the robot are compensated; and the method can achieve detection based on analysis in three directions in a three-dimensional spatial coordinate system, so that detection data are more comprehensive.

Description

technical field [0001] This patent relates to a multi-joint robotic arm geometric dimension accuracy calibration device and calibration method based on a standard measuring tool, which belongs to the technical field of high-precision detection. Background technique [0002] At present, the detection and correction of robot positioning accuracy generally adopt the following methods: use laser tracker, infrared sensor and other equipment to track and monitor the end position error of the robot, and use high-definition cameras and other visual detection equipment to detect the end position. Wait. In this process, the error between the detection tool and the robot will be transmitted to the positioning accuracy data at the end of the robot, thus affecting the accuracy of detection and correction, and because the positioning accuracy of the robot is difficult to measure through physical measuring tools, the general detection methods are With the help of high-precision sensors or...

AI Technical Summary

Problems solved by technology

In this process, the error between the detection tool and the robot will be transmitted to the positioning accuracy data at the end of the robot, thus affecting the accuracy of detection and correction, and because the positioning accuracy of the robot is difficult to measure through physical measuring tools, the general detection methods are With the help of high-precision sensors or laser instruments, not only the cost is high, but also due to the complexity of the instrument itself, the measurement process often requires a special laboratory environment and testing personnel to complete, which limits the practicability of such methods

[0003] At present, the most commonly used method in the field of robot error detection and parameter correction is to use high-precision sensors and laser trackers to detect the absolute positioning accuracy of the end, but such equipment is usually expensive and requires professional operators and professional laboratories. , the accuracy of other low-priced equipment cannot be guaranteed

[0004] Another method is to use the vision system for parameter calibration and error detection, but due to the limitations of cameras and image recognition, it is generally difficult to achieve high accuracy

[0005] However, the above methods have many limitations: laser inspection equipment is not only expensive, but also requires extremely strict experimental conditions, which is not suitable for use in a factory environment; visual inspection systems generally require very cumbersome distortion correction procedures due to lens distortion and image recognition technology and a specific experimental environment, generally used to guide industrial robots; general robot manufacturers and users need a simple operation, high precision, relatively low cost, and can perform high-precision positioning accuracy on the end of the robot in the actual working environment. Methods to detect and correct

Therefore, the measurement cost of the above methods is high, and it is not suitable for general enterprises to detect the repeated positioning accuracy of the robot end.

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