A mechanism for improving the accuracy of online position measurement

Abstract

The present invention discloses a mechanism for improving the accuracy of online position measurement, comprising a support plate and a foot, wherein the bottom end of the support plate is provided with a foot at a uniform position, the foot is bolted to the support plate by screws, the top end of the support plate is provided with a column one at a left position, the column one is bolted to the support plate by screws, a calibration block one is provided at the top position of the column one, the calibration block one is bolted to a position of the column by screws, and the measured feature and the reference coordinate calibration block one and the calibration block two are photographed at the same time, and the calculation is performed using a formula. The position calculation completely eliminates the influence of the robot kinematic model and introduces the error of alignment, but the alignment error is much smaller than the error of the robot kinematic model and can be corrected and improved by various methods. In this way, the accuracy of position measurement is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field related to the measurement of industrial products, and in particular relates to a mechanism for improving the online measurement accuracy of position. Background Art

[0002] Online optical measurement systems have been a hot topic in the measurement industry in recent years and represent the future development trend. Usually, the system is integrated into the production line and uses an industrial robot equipped with a three-dimensional optical system to achieve 100% measurement of the product. It is a typical product of intelligent manufacturing. The most important thing in position measurement is the accuracy of the coordinate transformation relationship. In the existing position algorithm, the robot's kinematic model is a major factor that directly affects the accuracy of the calculation. As we all know, the robot's kinematic model is a non-orthogonal matrix and is affected by factors such as angle feedback error, joint angle wear, and temperature deformation. Its accuracy cannot be improved, which is a global problem.

[0003] The existing measurement technology of industrial products has the following problems: In the existing position algorithm, the robot's kinematic model is a major factor that directly affects the accuracy of the calculation. As we all know, the robot's kinematic model is a non-orthogonal matrix and is affected by factors such as angle feedback error, joint angle wear, and temperature deformation. Its accuracy cannot be improved, which is a global problem. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanism for improving the accuracy of online position measurement, so as to solve the problem that in the existing position algorithm proposed in the above background technology, the robot's kinematic model, as a major factor, directly affects the calculation accuracy. It is well known that the robot's kinematic model is a non-orthogonal matrix, and is affected by factors such as angle feedback error, joint angle wear, temperature deformation, etc., and its accuracy cannot be improved, which is a global problem.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A mechanism for improving the accuracy of online position measurement, comprising a support plate and a foot, wherein the bottom end of the support plate is provided with a foot at a uniform position, the foot is bolted to the support plate by screws, the top end of the support plate is provided with a column at a left position, the column is bolted to the support plate by screws, a calibration block is provided at the top end of the column, the calibration block is bolted to a column by screws, an adjustment device is provided at the left position of the calibration block, the adjustment device is bolted to a calibration block by screws, and the top end of the support plate is provided with a A fixing frame one, the fixing frame one is connected to the support plate by screws and bolts, a fixing frame two is arranged at the right side of the fixing frame one, the fixing frame two is connected to the support plate by screws and bolts, a column two is arranged at the right side of the fixing frame two, the column two is connected to the support plate by screws and bolts, a calibration block two is arranged at the top position of the column two, the calibration block two is connected to the column two by screws and bolts, the calibration block one and the calibration block two are provided with a shaft at the upper position, the shaft is transversely sleeved to the calibration block one and the calibration block two, and a product to be measured is arranged at the annular surface position of the shaft.

[0007] Preferably, there are six feet in total, the sizes and dimensions of the feet are consistent, the feet are vertically parallel to each other, and the connection between the feet and the support plate is set at a right angle of ninety degrees.

[0008] Preferably, the edge of the support plate is subjected to passivation and grinding treatment, the surface of the support plate is subjected to anti-corrosion treatment, and the support plate is subjected to pressure resistance treatment.

[0009] Preferably, the column one and the column two are arranged vertically and parallel to each other, the top ends of the column one and the column two are arranged in a planar structure, and the connection points between the column one and the column two and the support plate are arranged at a right angle of ninety degrees.

[0010] Preferably, the shaft rod is in a cylindrical structure, the two ends of the shaft rod are of the same height, and the surface of the shaft rod is treated for corrosion resistance.

[0011] Preferably, the calibration block 1 is provided with circular holes at uniform positions, the calibration block 1 is completely fitted to a column, and the connection between the calibration block 1 and the column 1 is arranged at a right angle of ninety degrees.

[0012] Compared with the prior art, the present invention provides a mechanism for improving the online position measurement accuracy, which has the following beneficial effects:

[0013] The present invention adopts the reference coordinate method. The product positioning tooling is usually aligned with the product coordinate system. Based on this, we install calibration blocks 1 and 2 of the reference coordinates on the positioning tooling. The calibration blocks 1 and 2 have data under the product coordinates. In the position measurement of a certain point, we photograph the measured feature and the reference coordinate calibration blocks 1 and 2 in the same three-dimensional photo, and use the formula for calculation. The position calculation completely eliminates the influence of the robot kinematic model and introduces the error of alignment. However, the alignment error is much smaller than the error of the robot kinematic model and can be corrected and improved through various methods. In this way, the accuracy of position measurement is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0015] Figure 1 This is a schematic diagram of the front view structure of a mechanism for improving the online position measurement accuracy proposed by the present invention;

[0016] In the figure: 1. foot pad; 2. support plate; 3. column 1; 4. adjustment device; 5. calibration block 1; 6. shaft; 7. fixing frame 1; 8. product to be measured; 9. fixing frame 2; 10. calibration block 2; 11. column 2. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1 , the present invention provides a technical solution:

[0019] A mechanism for improving the accuracy of online position measurement, comprising a support plate 2 and a foot 1, wherein the bottom end of the support plate 2 is provided with a foot 1 at a uniform position, the foot 1 is bolted to the support plate 2 by screws, the edge of the support plate 2 is passivated and polished, the surface of the support plate 2 is anti-corrosive, the support plate 2 is subjected to pressure resistance treatment, a total of six foot pads 1 are provided, the size and size specifications of the foot pads 1 are uniformly arranged, the foot pads 1 are vertically parallel to each other, the connection between the foot pad 1 and the support plate 2 is arranged at a right angle of ninety degrees, and the support plate 2 is A column 3 is provided at the top at the left position, and the column 3 is bolted to the support plate 2 by screws. A calibration block 5 is provided at the top position of the column 3, and the calibration block 5 is bolted to the column 3 by screws. An adjustment device 4 is provided at the left position of the calibration block 5, and the adjustment device 4 is bolted to the calibration block 5 by screws. A fixing frame 7 is provided at the top of the support plate 2 at the middle position, and the fixing frame 7 is bolted to the support plate 2 by screws. A fixing frame 29 is provided at the right position of the fixing frame 7. The second column 9 is bolted to the support plate 2 by screws, and a column 2 11 is arranged at the right side of the fixing frame 29, and the column 2 11 is bolted to the support plate 2 by screws. The column 13 and the column 2 11 are arranged vertically and parallel to each other, and the tops of the column 13 and the column 2 11 are arranged in a plane structure, and the connection between the column 13 and the column 2 11 and the support plate 2 is arranged at a right angle of 90 degrees, and a calibration block 2 10 is arranged at the top position of the column 2 11, and the calibration block 2 10 is bolted to the column 2 11 by screws, and the calibration block 15 is at a uniform position. A circular hole is provided, and the calibration block 5 is completely fitted on the column 3. The connection between the calibration block 5 and the column 3 is set at a right angle of ninety degrees. The calibration block 15 and the calibration block 2 10 are provided with a shaft 6 at the upper position. The shaft 6 is laterally sleeved to the calibration block 15 and the calibration block 2 10. The shaft 6 is a cylindrical structure. The two ends of the shaft 6 are at the same height. The surface of the shaft 6 is treated with anti-corrosion. The measured product 8 is set at the annular surface of the shaft 6. The equipment can greatly improve the accuracy of position measurement through the calibration block 5.

[0020] Working principle and use process of the present invention: After the present invention is installed, when the device is used, the product positioning tool is usually aligned with the product coordinate system. Based on this, we install the calibration block 1 5 and the calibration block 2 10 of the reference coordinate on the positioning tool. The calibration block 1 5 and the calibration block 2 10 have data under the product coordinate. In the position measurement of a certain point, we simultaneously photograph the measured feature and the reference coordinate calibration block 1 5 and the calibration block 2 10 in the same three-dimensional photo. Therefore, the general formula for calculating the position of the feature is:

[0021] [x,y,z] 零件坐标 =[reference block registration matrix]×[relative position homogeneous matrix]×[x,y,z] 视觉坐标

[0022] From the above relationship, it can be seen that this position calculation completely eliminates the influence of the robot kinematic model and introduces a registration error. However, the registration error is much smaller than the error of the robot kinematic model and can be corrected and improved through various methods. In this way, the accuracy of position measurement is greatly improved.

[0023] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanism for improving the accuracy of online position measurement, comprising a support plate (2) and a foot (1), characterized in that: The bottom end of the support plate (2) is provided with a foot (1) at a uniform position, and the foot (1) is connected to the support plate (2) by screws. The top end of the support plate (2) is provided with a column (3) at a left position, and the column (3) is connected to the support plate (2) by screws. A calibration block (5) is provided at the top end of the column (3), and the calibration block (5) is connected to the column (3) by screws. An adjustment device (4) is provided at the left position of the calibration block (5), and the adjustment device (4) is connected to the calibration block (5) by screws. A fixing frame (7) is provided at the top end of the support plate (2) at a middle position, and the fixing frame (7) is connected to the support plate (2) by screws. The fixing frame 1 (7) is provided at the right side thereof with a fixing frame 2 (9), the fixing frame 2 (9) being connected to the support plate (2) by screw bolts, the fixing frame 2 (9) is provided at the right side thereof with a column 2 (11), the column 2 (11) being connected to the support plate (2) by screw bolts, the top end of the column 2 (11) is provided with a calibration block 2 (10), the calibration block 2 (10) being connected to the column 2 (11) by screw bolts, the calibration block 1 (5) and the calibration block 2 (10) are provided with an axle rod (6) at the upper position, the axle rod (6) being transversely sleeved to the calibration block 1 (5) and the calibration block 2 (10), and the measured product (8) is provided at the annular surface of the axle rod (6).

2. A mechanism for improving the online position measurement accuracy according to claim 1, characterized in that: A total of six pads (1) are provided, and the sizes and dimensions of the pads (1) are uniformly arranged. The pads (1) are arranged vertically and in parallel with each other, and the connection between the pads (1) and the support plate (2) is arranged at a right angle of ninety degrees.

3. A mechanism for improving the online position measurement accuracy according to claim 1, characterized in that: The edge of the support plate (2) has been subjected to passivation and grinding treatment, the surface of the support plate (2) has been subjected to anti-corrosion treatment, and the support plate (2) has been subjected to pressure resistance treatment.

4. A mechanism for improving the online position measurement accuracy according to claim 1, characterized in that: The first column (3) and the second column (11) are arranged vertically and parallel to each other, the top ends of the first column (3) and the second column (11) are arranged in a plane structure, and the connection points between the first column (3) and the second column (11) and the support plate (2) are arranged at a right angle of ninety degrees.

5. The mechanism for improving the online position measurement accuracy according to claim 1, characterized in that: The shaft rod (6) is arranged in a cylindrical structure, the two ends of the shaft rod (6) are of the same height, and the surface of the shaft rod (6) has been subjected to an anti-corrosion treatment.

6. The mechanism for improving the online position measurement accuracy according to claim 1, characterized in that: The calibration block 1 (5) is provided with circular holes at uniform positions. The calibration block 1 (5) is completely fitted on the column 1 (3). The connection between the calibration block 1 (5) and the column 1 (3) is arranged at a right angle of ninety degrees.

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