Device and method for measuring spatial repeated positioning accuracy at tail end of mechanical arm

Abstract

The invention provides a device for measuring repeated positioning accuracy of an actuator at a tail end of a mechanical arm. The device comprises probe type measuring devices, a clamping device, a mechanical arm tail end probe ball and a computer; the clamping device is formed by connecting three mutually perpendicular structural plates, each plate comprises a through hole capable of fixing the probe type measuring devices, the clamping rod of each probe type measuring device passes through the through hole, and probes of the three probe type measuring devices are arranged in the clamping device; spherical probe balls are installed at the tail end of the mechanical arm, the mechanical arm is operated and the probe balls are moved to the inner side of the clamping device, and the probe balls at the tail end of the mechanical arm are tangent to the probes of the three probe type measuring devices at the same time. Correspondingly, the invention further provides a method for measuring the repeated positioning accuracy of an actuator at a tail end of a mechanical arm, the values of the three probe type measuring devices of the device are introduced into a computer, and the precise coordinates of the probe center of the mechanical arm can be obtained through numerical calculation. With a simple structure, convenient operation and low cost, the device and method can reduce labor andmanufacturing cost greatly.

Description

technical field [0001] The invention belongs to the technical field of industrial automation control, and in particular relates to a device and method for measuring the spatial repeatability positioning accuracy of the end of a mechanical arm. Background technique [0002] As a representative of modern mechanical equipment, robotic arms are widely used in automobile manufacturing, shipbuilding, aerospace, machining and other fields. The robotic arm can replace manual work to complete various dangerous, heavy and highly repetitive tasks, and has the advantages of good safety performance, high efficiency, and good completion quality. As an important parameter of the manipulator, the repeat positioning accuracy of the space at the end of the manipulator is of great significance to ensure the working accuracy of the manipulator. The traditional measurement method, the wire drawing method, is bulky, has low measurement accuracy, and is inconvenient to move the device. The modern ...

AI Technical Summary

Problems solved by technology

As an important parameter of the manipulator, the repeat positioning accuracy of the space at the end of the manipulator is of great significance to ensure the working accuracy of the manipulator. The traditional measurement method, the wire drawing method, is bulky, has low measurement accuracy, and is inconvenient to move the device. The modern measurement method laser interferometry High measurement accuracy, expensive, poor portability

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