A machine arm-based contact five-dimensional pose automatic measurement device

By using a contact-type five-dimensional pose automatic measurement device based on a six-axis robotic arm, the device acquires the surface points of the object being measured through contact measurement, thus solving the problems of poor robustness and low measurement accuracy of non-contact measurement devices and realizing accurate pose measurement in complex environments.

CN117928449BActive Publication Date: 2026-06-02INST OF MACHINERY MFG TECH CHINA ACAD OF ENG PHYSICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
INST OF MACHINERY MFG TECH CHINA ACAD OF ENG PHYSICS
Filing Date
2024-01-29
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Existing non-contact measuring devices have poor robustness and low measurement reliability in automated assembly. They cannot accurately measure relative pose and are easily affected by factors such as the surface roughness, color, light intensity, and feature occlusion of the workpiece being measured.

Method used

A contact-type five-dimensional pose automatic measurement device based on a six-axis robotic arm is adopted. The six-axis robotic arm drives the measuring rod and probe to move in the whole space to perform contact measurement, acquire multiple points on the surface of the object being measured, and use the processing system to record and process the coordinates of the probe to simulate the pose of the object.

Benefits of technology

It effectively avoids the problem of low measurement accuracy caused by optical reflection and uneven illumination, and can accurately measure relative pose under feature occlusion, thus improving the robustness and accuracy of measurement.

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Abstract

The application discloses a kind of five-dimensional pose automatic measurement device based on contact type machine arm, including six-axis machine arm, control mechanism, measuring mechanism and processing system, the free end of the six-axis machine arm can be moved to the arbitrary one coordinate of three-dimensional space;The control mechanism is connected with the six-axis machine arm, for controlling the six-axis machine arm;The measuring mechanism is arranged at the free end of the six-axis machine arm, and the measuring mechanism is equipped with at least two measuring rods, and the end of the measuring rod is equipped with probe, and the probe is used to carry out contact type measurement to measured object;The processing system is connected with the measuring mechanism, for recording the all coordinates of the contact point of the measuring rod and measured object, to form coordinate group, and the coordinate group is handled, to simulate the pose of measured object.It faces automation assembly, and can solve the problem that existing non-contact measurement device measurement robustness is poor, leading to unable accurate measurement relative pose.
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