A psd-based measurement method for repeatability and synergy of industrial robots
A technology of industrial robots and measurement methods, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as the inability to measure the three-dimensional space coordinates of light spots, and achieve the effect of improving measurement accuracy
Active Publication Date: 2022-05-10
杭州徕之测量技术有限公司
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Problems solved by technology
[0004] In order to solve the problems existing in the background technology, the present invention provides a PSD-based industrial robot repeatability and collaborative measurement method, which can be used to solve the technical problem that the existing PSD position sensor cannot measure the three-dimensional space coordinates of the light spot
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[0042] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0043] Specific implementation devices such as figure 1 and figure 2 As shown, two industrial robots 1 are installed relative to each other, and a measuring component is installed between the ends of the two industrial robots 1. The measuring component includes two parts: a measuring unit and a transmitting unit. The transmitting unit includes a laser transmitter 2 and a beam splitter 3. The measurement unit is mainly composed of two biaxial PSD sensors 4, 5 and a mounting seat, the two biaxial PSD sensors 4, 5 are fixed and installed perpendicular to each other through the mounting seats, and the laser emitter 2 emits laser light which is reflected by the beam splitter 3 and After transmission, they are incident on two biaxial PSD sensors 4 and 5 respectively.
[0044] The laser transmitter 2 is fixedly installed at the end of an in...
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The invention discloses a PSD-based measurement method for repeatability and coordination of industrial robots. Select the command position or reference position in the motion trajectory; control the end of the industrial robot to repeat multiple movements according to the motion trajectory, measure the coordinates of the actual position, and obtain the center of gravity of the position cluster; the respective ends of the two industrial robots are under the control of the motion control system Maintain synchronous movement, measure the relative position of the movement between the ends of the two industrial robots; process and obtain the position repeatability value and multi-machine coordination value; summarize the multiple values to draw a graph, as a discrete degree curve, as the measurement result. The present invention can solve the limitation that the existing PSD position sensor can only measure one-dimensional and two-dimensional position coordinates without changing the measurement accuracy of the PSD position sensor, measure the position coordinates of the three-dimensional space, and expand the use of the PSD position sensor Scenes and measurement objects.
Description
technical field [0001] The present invention relates to a device for measuring the performance of industrial robots, in particular to a method for measuring spatial position repeatability (hereinafter referred to as "repeatability") of industrial robot motion based on PSD and multi-machine coordination (hereinafter referred to as "Synergism") measurement method. Background technique [0002] The PSD position sensor is an optical detector that measures the continuous position of a light spot on the detector surface. It is a new type of photoelectric device, or coordinate photocell. It is a non-segmented device that converts the position of a light spot on a photosensitive surface into an electrical signal. PSD is composed of P substrate, PIN photodiode and surface resistance. It has the advantages of high position resolution, fast response speed and simple processing circuit. [0003] Existing PSD position sensors can only measure one-dimensional and two-dimensional coord...
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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1664B25J9/1679B25J9/1602B25J9/1661B25J19/0095
Inventor 沈斌罗鸣王廷项俊
Owner 杭州徕之测量技术有限公司