CN105466320B - Industrial robot track and position detecting device - Google Patents

Abstract

The invention discloses an industrial robot track and position detection device. It is mainly composed of a ball bar mechanism, a base, a first rotary encoder mechanism, a second rotary encoder mechanism and an end effector, wherein the end effector includes an electromagnetic chuck and a magnetic connecting rod, and the electromagnetic chuck is fixed on the robot flange. One end of the magnetic connecting rod is tightly adsorbed on the electromagnetic chuck, the other end of the magnetic connecting rod is magnetic, and is connected with the first precision ball through a spherical pair; the first precision ball is connected to the first precision ball on the base through the ball rod mechanism. Two precision balls, the second precision ball is connected with the first rotary encoder mechanism and the second rotary encoder mechanism in the horizontal rotation direction. The invention can obtain the position and trajectory characteristics of the robot, is easy to carry, is very convenient to install and disassemble, and can meet the needs of on-site detection.

Description

Industrial robot trajectory and position detection device

technical field

The invention relates to a detection device, in particular to an industrial robot track and position detection device.

Background technique

Among the industrial robot performance test methods listed in the national standard GB/T 12642, the methods related to position detection and trajectory detection of industrial robots include test probe method, trajectory comparison method, trilateration method, polar coordinate measurement method, and triangulation method. , inertial measurement method, coordinate measurement method, trajectory description method, etc. In terms of position and trajectory detection, the current relatively mature method is the laser tracker method. The latest laser tracker is the Leica AT960 series laser tracker, which can use its internal absolute rangefinder (AIFM) to achieve accurate tracking of the moving joints of industrial robots. , High-speed measurement, the measurement range can reach 120 meters in diameter. Although this method can accurately and efficiently detect robots, it has the disadvantage of being expensive.

Contents of the invention

The object of the present invention is to provide an industrial robot track and position detection device, which realizes the detection of the position characteristics and circular arc trajectory characteristics of the industrial robot.

The technical scheme adopted in the present invention is:

The present invention is mainly composed of a ball bar mechanism, a base, a first rotary encoder mechanism, a second rotary encoder mechanism and an end effector, wherein the end effector includes an electromagnetic chuck and a magnetic connecting rod, and the electromagnetic chuck is fixed on the flange of the robot One end of the magnetic connecting rod is tightly adsorbed on the electromagnetic chuck, and the other end of the magnetic connecting rod is magnetic, and is connected with the first precision ball through a spherical pair; the first precision ball is connected to the base through the ball rod mechanism The second precision ball is connected with the first rotary encoder mechanism and the second rotary encoder mechanism in the horizontal rotation direction of the second precision ball.

The club mechanism includes a telescopic fiber rod, a high-precision displacement sensor, a first main rod and a second main rod, one end of the telescopic fiber rod is fixedly connected to the first precision ball, and the other end is connected to one end of the first main rod The first main rod is fixedly connected with each other, and a high-precision displacement sensor is installed inside the first main rod. The thread pair is coaxially socketed, and the other end of the second main rod is fixedly connected to the second precision ball.

An extension rod for lengthening is installed between the first main rod and the second main rod, and the extension rods are coaxially socketed with the two main rods respectively through thread pairs, and the extension rods can adopt three different lengths The first extension rod or the second extension rod or the third extension rod.

The data line of the high-precision displacement sensor is connected to the computer through the small hole on the side of the first main rod, and the change of the expansion and contraction of the stretchable fiber rod is transmitted to the computer.

The upper part of the base is equipped with a metal ball holder with a spherical inner wall, the second precision ball is installed in the metal ball holder and contacts the spherical surface, the second precision ball is processed with a circle of ball rings in the warp direction, and the inner wall of the metal ball holder is processed The magnetic groove fits with the second precision ball ring, the center of the inner wall of the metal ball holder is concentric with the center of the second precision ball, and the other end of the second main rod is fixed to the ball ring of the second precision ball place.

The first rotary encoder mechanism includes a first rotary encoder, the lower part of the base is a semi-closed hollow cylindrical structure, the top of the first metal shaft passes through the base and is coaxially fixed to the bottom of the metal ball holder; the first metal shaft The bottom end is connected with the first rotary encoder installed inside the base through the first coupling. The first rotary encoder is installed in the hollow cylinder of the base. The first metal shaft and the center of the second precision ball are aligned with each other. on the same axis perpendicular to the horizontal plane.

The second rotary encoder mechanism includes a second rotary encoder, one end of the second metal shaft is fixed to the side center of the second precision ball, the second metal shaft is perpendicular to the second main rod and the first metal shaft, and the second metal shaft is perpendicular to the second main rod and the first metal shaft. The axes of the two metal shafts pass through the center of the second precision ball; the other end of the second metal shaft is connected to the second rotary encoder through the second coupling, the second rotary encoder is installed on the bracket, and the bracket passes through the bottom The installed roller is on the top surface of the base, and is driven by the rotation of the second precision ball to rotate around its center.

Both the first precision ball and the second precision ball are made of stainless steel.

The present invention realizes the detection of the position and trajectory of the industrial robot, and a high-precision displacement sensor is installed in its retractable fiber rod. When the length of the rod changes, the inner rod moves into the coil, the inductance coefficient changes, and the detection circuit converts the inductance signal The displacement signal with a resolution of 0.1μm is transmitted to the PC through the interface, and its accuracy is detected by the laser interferometer to reach ±0.5μm (at 20°C). Through the high-precision displacement sensor, the club mechanism uses two-axis linkage to perform arc motion, so as to analyze the radius change of the arc and the trajectory characteristics of the arc.

The present invention takes the center of the second precision ball as the origin of the coordinates, the z-axis direction is vertically upward, the y-axis direction is parallel to the long side of the marble slab and is directed from the base to the robot, and the x-axis direction is determined according to the right-hand rule to establish coordinates Tie. Through the center distance r between the first precision ball and the second precision ball, the azimuth angle measured by the first rotary encoder The elevation angle θ measured by the second rotary encoder and the three spherical coordinate parameters determine the actual position (x, y, z) of the robot. Since the command position of the robot is known, the robot can be obtained according to the calculation method specified in GB/T12642 location characteristics.

In the present invention, by letting the robot run a section of an arc or a full circle, a high-precision displacement sensor measures the small offset of the radius in the aforementioned motion, the data is collected by the BALLBAR V5. To the trajectory, since the command trajectory of the robot is known, the trajectory characteristics of the robot can be obtained according to the calculation method specified in GB/T12642.

The beneficial effects that the present invention has are:

The invention realizes the detection and acquisition of the trajectory and position characteristics of the robot, and obtains multiple sets of data on different hemispherical surfaces by adding different extension rods, so that the detection data is not single.

The invention is easy to carry, very convenient to install and disassemble, and can meet the needs of on-site detection.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a partially enlarged schematic diagram of the second rotary encoder mechanism.

Fig. 3 is a partially enlarged schematic diagram of the first rotary encoder mechanism.

Figure 4 is a perspective view of the first stem.

Fig. 5 is a schematic structural view of the extension rod.

In the figure: 1. Electromagnetic sucker, 2. Magnetic connecting rod, 3. The first precision ball, 4. Retractable fiber rod, 5. The first main rod, 6. The second main rod, 7. Metal ball holder, 8 , the second precision ball, 9, the second rotary encoder, 10, the bracket, 11, the first rotary encoder, 12, the base, 13, the marble plate, 14, the robot, 15, the computer, 16, the second joint Shaft device, 17, second metal shaft, 18, first metal shaft, 19, first coupling, 20, high-precision displacement sensor, 21, first extension rod, 22, second extension rod, 23, third extension rod.

detailed description

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Figure 1, the present invention is mainly composed of a ball bar mechanism, a base 12, a first rotary encoder mechanism, a second rotary encoder mechanism and an end effector, wherein the end effector includes an electromagnetic chuck 1 and a magnetic connecting rod 2 , the electromagnetic chuck 1 is fixedly connected to the flange of the robot 14, and one end of the magnetic connecting rod 2 is tightly adsorbed on the electromagnetic chuck 1 to ensure that there will be no relative movement between the magnetic connecting rod 2 and the electromagnetic chuck 1, and the other end of the magnetic connecting rod 2 One end is magnetic, and is connected with the first precision ball 3 through a spherical pair; the first precision ball 3 is connected to the second precision ball 8 on the base 12 through a club mechanism, and the second precision ball 8 rotates horizontally Direction is connected with a first rotary encoder mechanism and a second rotary encoder mechanism.

In FIG. 1 , the overall structure of the device can be better expressed, and the industrial robot 14 is only for illustration, and does not represent its actual size.

As shown in Figures 1 and 4, the club mechanism includes a telescopic fiber rod 4, a high-precision displacement sensor 20, a first main rod 5 and a second main rod 6, and one end of the telescopic fiber rod 4 is connected to the first precision ball 3 Fixed connection, the other end is fixedly connected with one end of the first main rod 5, the first main rod 5 is equipped with a high-precision displacement sensor 20, and the high-precision displacement sensor 20 is connected with the telescopic part of the telescopic fiber rod 4 to measure the change of its expansion and contraction , the other end of the first main rod 5 and one end of the second main rod 6 are coaxially socketed through a thread pair, and the other end of the second main rod 6 is fixedly connected to the second precision ball 8 .

An extension rod for lengthening is additionally installed between the first main rod 5 and the second main rod 6, and the extension rod is connected with the two main rods respectively by thread pair coaxial socket, as shown in Figure 5, the extension rod can be Three different lengths of the first extension rod 21 or the second extension rod 22 or the third extension rod 23 are used.

The data line of the high-precision displacement sensor 20 is connected to the computer 15 through the small hole on the side of the first main rod 5, and the change of the expansion and contraction of the stretchable fiber rod 4 is transmitted to the computer 15,

As shown in Figure 3, a metal ball holder 7 with a spherical inner wall is installed on the upper part of the base 12, and the second precision ball 8 is installed in the metal ball holder 7 and contacts with the spherical surface. ring, the inner wall of the metal ball holder 7 is processed with a magnetic groove that matches the ring of the second precision ball 8 balls, the center of the inner wall of the metal ball holder 7 is concentric with the center of the second precision ball 8, and the second main rod 6 The other end is affixed to the ball ring place of the second precision ball 8 .

As shown in Figure 3, the first rotary encoder mechanism includes a first rotary encoder 11, the lower part of the base 12 is a semi-closed hollow cylindrical structure, and the top end of the first metal shaft 18 passes through the base 12 and is the same as the bottom of the metal ball holder 7. The shaft is fixed, and the center of the upper bottom surface of the hollow cylinder is provided with a small hole that passes through the first metal shaft 18 and has a diameter that matches the diameter. The upper bottom surface of the hollow cylinder is processed with an annular magnetic block for absorbing the metal ball holder 7. The upper bottom surface forms a rotating pair with the metal ball holder 7 through the cooperation of the annular magnetic block and the small hole; the bottom end of the first metal shaft 18 is connected to the first rotary encoder 11 installed inside the base 12 through the first coupling 19 Connected, the first rotary encoder 11 is installed in the hollow cylinder of the base 12, the first metal shaft 18 and the center of the second precision ball 8 are on the same axis perpendicular to the horizontal plane.

As shown in Figure 2, the second rotary encoder mechanism includes a second rotary encoder 9, one end of the second metal shaft 17 is fixed to the center of the side of the second precision ball 8, and the second metal shaft 17 is perpendicular to the second main rod 6 and the first metal shaft 18, the axis of the second metal shaft 17 passes through the center of the second precision ball 8; the other end of the second metal shaft 17 is connected with the second rotary encoder 9 through the second coupling 16 , the second rotary encoder 9 is installed on the bracket 10, the bracket 10 is mounted on the top surface of the base 12 through the rollers installed at the bottom, and rotates around its center of circle under the rotation of the second precision ball 8.

Both the first precision ball 3 and the second precision ball 8 are made of stainless steel.

The concrete implementation process of the present invention is as follows:

Trajectory detection: the operating robot 14 takes the center o of the second precision ball 8 as the center, and the initial center-of-sphere distance d between the second precision ball 8 and the first precision ball 3 (at this time, the telescopic fiber rod 4 The displacement is 0) as the radius, and runs a section of arc from 0° to 360° on the horizontal plane passing the center o of the second precision ball 8, or passing the center o of the second precision ball 8 and with The second precision ball 8-ball ring runs on a vertical plane parallel to the circumferential plane and runs a range from 0° to 180°. The small offset of the radius in the aforementioned motion is measured by a high-precision displacement sensor, and it is controlled by BALLBAR V5.8.1 The software collects the data, and draws the actual trajectory of the robot 14 based on the point cloud data, and obtains multiple sets of data by adding or replacing the extension rod according to the above method. These data are further analyzed according to the calculation method stipulated in GB/T12642 to obtain the robot 14 trajectory characteristics.

Position detection: take the center o of the second precision ball 8 as the coordinate origin, the z-axis direction is vertically upward, the y-axis direction is parallel to the long side of the marble plate 13 and is directed from the base 12 to the robot 14, and the x-axis direction obeys the right hand Then, establish a coordinate system. The operating robot 14 moves to a hemisphere with the point o as the center of the sphere, and the initial distance d between the second precision ball 8 and the first precision ball 3 (the displacement of the telescopic fiber rod 4 is zero at this moment) A specified position (a, b, c) on the surface, the high-precision displacement sensor 20 will feed back the displacement s of the telescopic fiber rod 4 to the computer 15, and the distance between the first precision ball 3 and the second precision ball 8 can be obtained. The center distance of the current position r=d+s, the azimuth angle that can be measured by the first rotary encoder 11 The elevation angle θ measurable by the second rotary encoder 9 .

according to The three spherical coordinate parameters are converted to obtain the actual position (x, y, z) of the robot 14, where z=rcosθ, according to this method, after obtaining multiple sets of detection data, install or replace the extension rod and repeat the above steps, and finally summarize all the detection data, and analyze the detection data according to the calculation method specified in GB/T12642 to obtain the position of the robot 14 characteristic.

In this implementation process, the robot 14 should not encounter obstacles during the operation, and the arc trajectory of the operation of the robot 14 can be obtained through the displacement change of the retractable fiber rod 4 during the operation of the robot 14 . If the trajectory accuracy of the robot 14 is high enough, the circle where the arc trajectory drawn by its point cloud data is located is a true circle, and if an error occurs, the true circle will be deformed.

In this implementation process, the first rotary encoder 11 and the second rotary encoder 9 cooperate with the high-precision displacement sensor 20 inside the retractable fiber rod 4 to determine that the robot 14 is running on a specific hemispherical surface in the form of spherical coordinates. spatial location.

From the above process, it can be seen that the present invention has prominent and remarkable technical effects, realizes the detection and acquisition of various data such as the trajectory and position characteristics of the robot, and is convenient to carry and disassemble, which can meet the needs of on-site detection.

Claims (7)

1. An industrial robot trajectory and position detection device is characterized in that: it is mainly composed of a ball bar mechanism, a base (12), a first rotary encoder mechanism, a second rotary encoder mechanism and an end effector, wherein the end effector The device includes an electromagnetic chuck (1) and a magnetic connecting rod (2), the electromagnetic chuck (1) is fixedly connected to the flange of the robot (14), one end of the magnetic connecting rod (2) is tightly adsorbed on the electromagnetic chuck (1), and the magnetic connection The other end of the rod (2) is magnetic, and is connected with the first precision ball (3) through a spherical pair; the first precision ball (3) is connected to the second precision ball (12) on the base (12) through the ball rod mechanism. The small ball (8), the second precision small ball (8) is connected with the first rotary encoder mechanism and the second rotary encoder mechanism in the horizontal rotation direction; The ball bar mechanism includes a telescopic fiber rod (4), a high-precision displacement sensor (20), a first main rod (5) and a second main rod (6), and one end of the telescopic fiber rod (4) is connected to the second main rod A precision ball (3) is fixedly connected, and the other end is fixedly connected with one end of the first main rod (5). The first main rod (5) is equipped with a high-precision displacement sensor (20), a high-precision displacement sensor (20) Connect with the telescopic part of the telescopic fiber rod (4) to measure the change of its stretching amount, the other end of the first main rod (5) and one end of the second main rod (6) are coaxially socketed through the thread pair, and the second main rod (6) The other end is affixed to the second precision ball (8). 2. The track and position detection device of an industrial robot according to claim 1, characterized in that: an extension for lengthening is installed between the first main rod (5) and the second main rod (6). Rod, the extension rod is connected with the two main rods through thread pair coaxial socket respectively, and the extension rod adopts the first extension rod (21) or the second extension rod (22) or the third extension rod ( twenty three). 3. An industrial robot trajectory and position detection device according to claim 1, characterized in that: the data line of the high-precision displacement sensor (20) passes through the small hole on the side of the first main rod (5) It is connected to the computer (15), and the change of the stretching amount of the stretchable fiber rod (4) is transmitted to the computer (15). 4. A kind of industrial robot track and position detection device according to claim 1, it is characterized in that: described base (12) top is installed with the metal ball holder (7) that inner wall is spherical surface, and the second precision ball (8) Installed in the metal ball holder (7) and in contact with the spherical surface, the second precision ball (8) is processed with a circle of ball rings in the warp direction, and the inner wall of the metal ball holder (7) is processed with the second precision ball (8) The magnetic groove that fits the ball ring, the ball center of the spherical inner wall of the metal ball holder (7) is concentric with the ball center of the second precision ball (8), and the other end of the second main rod (6) is fixed to the second precision ball (8) at the ball ring. 5. An industrial robot trajectory and position detection device according to claim 1, characterized in that: said first rotary encoder mechanism comprises a first rotary encoder (11), and the lower part of the base (12) is a half Closed hollow cylindrical structure, the top of the first metal shaft (18) passes through the base (12) and is coaxially fixed to the bottom of the metal ball holder (7); the bottom end of the first metal shaft (18) passes through the first coupling ( 19) Connect with the first rotary encoder (11) installed inside the base (12), the first rotary encoder (11) is installed in the hollow cylinder of the base (12), the first metal shaft (18) and The center of the second precision ball (8) is on the same axis perpendicular to the horizontal plane. 6. An industrial robot trajectory and position detection device according to claim 1, characterized in that: said second rotary encoder mechanism comprises a second rotary encoder (9), and one end of the second metal shaft (17) Fixed to the center of the side of the second precision ball (8), the second metal shaft (17) is perpendicular to the second main rod (6) and the first metal shaft (18), and the axis of the second metal shaft (17) passes through The center of the second precision ball (8); the other end of the second metal shaft (17) is connected with the second rotary encoder (9) by the second coupling (16), and the second rotary encoder (9) ) is installed on the support (10), and the support (10) is mounted on the top surface of the base (12) by the rollers installed at the bottom, and rotates around its center of circle under the rotation drive of the second precision ball (8). 7. An industrial robot track and position detection device according to claim 1, characterized in that: the first precision ball (3) and the second precision ball (8) are made of stainless steel.