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An angle measurement device capable of realizing joint module calibration and an angle error compensation method

An angle measuring device and angle error technology, which is applied to measuring devices, angle/taper measurement, angle measurement, etc., can solve the problems of not considering non-geometric parameter errors, low investment cost, cumbersome calculation process, etc., and achieve easy assembly and operation Convenience and the effect of improving measurement accuracy

Active Publication Date: 2021-10-15
HEFEI UNIV OF TECH
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  • Application Information

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Problems solved by technology

Off-line error compensation does not require real-time feedback devices, low investment cost, does not depend on external equipment information, but does not consider errors caused by non-geometric parameters, and the calculation process is cumbersome

Method used

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  • An angle measurement device capable of realizing joint module calibration and an angle error compensation method
  • An angle measurement device capable of realizing joint module calibration and an angle error compensation method
  • An angle measurement device capable of realizing joint module calibration and an angle error compensation method

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Embodiment Construction

[0038] In this example, if figure 1 As shown, an angle measuring device of a joint module is provided with a base composed of aluminum profiles 6 and fixing plates 5 on an optical table 7, which is fixed together by a plurality of aluminum profiles 6 through a plurality of corner fittings 8 and Combined into an inner hollow cuboid structure, thereby the bottom surface of the cuboid structure is fixed on the optical table 7 by the corner piece 8; the top surface of the cuboid structure is fixed on the fixed plate 5; fixed structure.

[0039] An autocollimator 1 is also arranged on the optical platform 7 and is kept at the same height as the polygonal prism 2 , and the extension line of the lens barrel of the autocollimator 1 passes through the center of the polygonal prism 2 .

[0040] Such as image 3 As shown, a joint module 4 is fixedly arranged under the fixed plate 5 made of 6061 aluminum alloy, a stepped shaft 3 is arranged on the rotation shaft of the joint module 4, a...

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Abstract

The invention discloses an angle measurement device and an angle error compensation method capable of realizing the calibration of a joint module. The joint module is fixed to a fixed plate, and an aluminum profile is used to place it on an optical platform; the ladder shaft is fixed to the joint module. On the rotation axis of the device, fix the polyhedral prism to the stepped shaft, the polyhedral prism, the stepped shaft and the joint module are concentric; place the autocollimator on the same optical platform as this device; control the rotation of the joint module to multi-faceted The prism combined with the autocollimator is used as a reference to calibrate the angle measurement error of the joint module. The invention can realize the calibration of the joint precision of a coordinate measuring machine or a robot, so that the angle error measurement and compensation can be completed simply and effectively without affecting the joint precision and mechanically.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to an angle measurement device and an angle error compensation method capable of realizing robot joint module calibration. Background technique [0002] Today, with the rapid development of industrial technology, industrial robots have gradually entered the industrial assembly line production chain due to their advantages of speed, flexibility, and low long-term investment costs, and began to gradually replace manual operations. They are widely used in automobiles, molds, aerospace, shipbuilding, etc. Machinery and other machining industries. With the wide application of robots, there are many product models and poor parts versatility. It is extremely important to develop a modular robotic arm with higher integration, stronger reliability and better versatility. Among them, the joint module that constitutes the key to the modular robotic arm has also become the focus of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/26G01B5/24G01C1/00
CPCG01B5/24G01B11/26G01C1/00
Inventor 韩梁胡鹏浩占瑜毅胡毅刘善林王宏涛郑辰雅
Owner HEFEI UNIV OF TECH
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