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High-efficiency six-degree-of-freedom parallel robot precision test device

A testing device and degree-of-freedom technology, used in manipulators, manufacturing tools, etc., can solve problems such as low efficiency and affect the promotion of six-degree-of-freedom parallel robot engineering, and achieve the effects of high stiffness, reduced testing workload, and high precision.

Active Publication Date: 2020-10-13
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Problems solved by technology

Most of the existing test methods are single-dimensional measurement, and the test system needs to be rebuilt before measuring the next dimension, which requires a lot of time to debug the new test system, which is inefficient and seriously affects the engineering promotion of six-degree-of-freedom parallel robots. There is an urgent need to study a high-efficiency six-degree-of-freedom parallel robot precision testing device

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Embodiment Construction

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0029] It should be noted that, in the description of the present invention, the terms "horizontal", "vertical", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and It is not to indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, or operate in a particular orientation, and thus should not be construed as limiting the invention.

[0030] Such as Figure 1~3 As shown, a high-efficiency six-degr...

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Abstract

The invention discloses a high-efficiency six-degree-of-freedom parallel robot precision testing device, comprising: a dual-frequency laser interferometer; three laser beams intersecting; a cube prism, which is arranged in the center of the moving platform of the six-degree-of-freedom parallel robot to be tested, and is located on the optical path of one laser beam, and the other two laser beams are respectively irradiated to the cube through two turning mirrors. on the mirror surface of the prism, and the three laser beams are perpendicular to three mutually orthogonal mirror surfaces of the cubic prism respectively, and an interference mirror is respectively arranged on the last straight line optical path of the three laser beams; the self-collimating light pipe, its optical path and One mirror surface of the cube prism not irradiated by the three laser beams is vertical. The invention can greatly improve the test efficiency, has high precision and is convenient for debugging, and can carry out precise tests on six-degree-of-freedom parallel robots of various specifications.

Description

technical field [0001] The invention relates to the field of mechanical equipment. More specifically, the present invention relates to a high-efficiency six-degree-of-freedom parallel robot precision testing device. Background technique [0002] Compared with serial robots, parallel robots have the advantages of high precision, high rigidity, small additional inertia, small volume, and simple structure, so they have been widely used. The existing six-degree-of-freedom parallel robot can achieve linear accuracy at the micron level and angular accuracy at the arc-second level, and is widely used in various applications that require precise pointing. The resolution along the six dimensions of the existing six-degree-of-freedom parallel robot can reach sub-micron or even lower, and the repeat positioning accuracy can reach the micron level or even lower. Such high precision requires extremely strict requirements for testing equipment. Sufficiently high accuracy and resolution,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 赵海波赵伟国薛闯
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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