CN106903717A - A kind of 3 D locating device for industry mechanical arm location position - Google Patents

Abstract

The present invention provides a kind of 3 D locating device for industry mechanical arm location position, including column bases, column lead screw assembly, X-axis component, Y-axis component etc., X-axis component is separately fixed on column lead screw assembly and column bases with Y-axis component, Z axis straight line slide unit module launches laser with the red and green laser transmitter on Z axis straight line slide unit module in Y-axis in X-axis, so as to realize demarcating the coordinate of manipulator specified location.Compared with conventional method, the present invention is not used in arm end during positioning increases extra device, and visual in image, simple to operate, low cost is easy for installation.

Description

A three-dimensional positioning device for position calibration of industrial manipulator

technical field

The invention relates to a measuring device capable of detecting the three-dimensional Cartesian coordinates before and after the movement of a manipulator in a certain space, in particular to a three-dimensional positioning device for position calibration of an industrial manipulator.

Background technique

The manipulator is a new type of device developed in the process of mechanization and automation. It is a multifunctional machine that can be automatically positioned and controlled and can be reprogrammed to change. In the modern production process, manipulators are widely used in automatic production lines. The development and production of robots has become a new technology that has developed rapidly in the high-tech neighborhood. It further promotes the development of manipulators, making manipulators It can better realize the organic combination with mechanization and automation. Therefore, the manipulator has received the attention of many departments and has been used more and more widely.

The manipulator calibration is one of the key technologies for the practical application of off-line programming technology. Through calibration, the pose error of the manipulator can be greatly reduced, and then the absolute accuracy of the manipulator can be improved to the level of repeatability. The so-called calibration is the application of advanced measurement methods and The model-based parameter identification method identifies the exact parameters of the manipulator model, thereby improving the absolute accuracy of the manipulator. The result of the calibration is a set of identified manipulator parameters. These parameters can be used by manipulator manufacturers as product quality inspection indicators, and can also be used as Manipulator users improve the absolute precision of the manipulator.

In the calibration process, the measurement method is an extremely important factor. Foreign countries have started research work in this area since the 1980s, and have formed a variety of measurement methods. The measurement system used for the static accuracy calibration of robots includes dual theodolite poses Measuring system, three-coordinate machine and articulated multi-rod follow-up measuring system. The systems used for robot dynamic precision calibration mainly include laser tracking system, CCD interactive measuring system, ultrasonic measuring system, position measuring system and measuring system with proximity sensor High cost and cumbersome testing methods are the main problems of these measurement systems.

In order to improve work efficiency and save costs, a three-dimensional positioning device for manipulator position calibration is designed in this paper. By controlling the X-axis, Y-axis, and Z-axis motors to drive the movement of the laser transmitter, the laser beam specifies the position of the end of the manipulator. Positioning, so as to directly read the parameters of the end of the manipulator in the three-dimensional Cartesian coordinate system. This method has intuitive image, simple operation, low cost and convenient installation. At the same time, since the X-axis and Y-axis use high-precision ball screws, and the Z-axis uses a high-precision linear slide module, and there is no need to add additional devices at the end of the manipulator during the positioning process, the movement model of the manipulator will not change. , so the measurement accuracy is higher.

Contents of the invention

The object of the present invention is to provide a three-dimensional positioning device for position calibration of industrial manipulators.

The purpose of the present invention is achieved in this way: including column base, X-axis assembly, Y-axis assembly, column screw assembly, column screw assembly includes column base installed on the upper end face of column base, installed in the column base The column driving motor, the trapezoidal screw connected to the output end of the column driving motor and extending out of the column base, the column screw nut installed on the trapezoidal screw, and the lifting beam fixedly connected with the column screw nut;

The Y-axis assembly includes a Y-axis adjustment plate arranged on the side of the column base, a pair of Y-axis bearing seats installed on the Y-axis adjustment plate, a Y-axis lead screw installed in the Y-axis bearing seat, and a Y-axis screw installed on the Y-axis The Y-axis lead screw nut on the lead screw, the Y-axis mobile slide plate fixedly connected with the Y-axis lead screw nut, the horizontal rotation motor seat installed on the Y-axis mobile slide plate, the horizontal rotation motor and the horizontal rotation motor seat installed on the horizontal rotation motor seat The rotary reducer, the Y-axis slip ring connected with the output shaft of the horizontal rotary reducer, the Y-axis connection flange connected with the Y-axis slip ring, the Z-axis Y base connected with the Y-axis flange lower surface, installed on The two Z-axis Y linear slide modules on the Z-axis Y base, the green laser seat and the red laser seat of the Y-axis assembly respectively arranged on the two Z-axis Y linear module groups, respectively installed on the Y-axis assembly The green laser and red laser of the Y-axis assembly on the green laser seat and red laser seat, the output shaft of the Y-axis motor is connected to the upper end of the Y-axis screw, and the outer ring of the Y-axis slip ring is connected to the horizontal rotation motor seat through screws , the two Z-axis Y linear slide modules are respectively driven by drive motors;

The X-axis assembly includes an aluminum profile cross arm connected to the lifting beam, a pair of X-axis bearing seats installed at the lower end of the aluminum profile cross-arm, an X-axis lead screw installed in the X-axis bearing seat, and an X-axis lead screw installed in the X-axis bearing seat. The X-axis screw nut on the top, the X-axis moving slide plate fixedly connected with the X-axis lead screw nut, the vertical rotation motor base installed on the X-axis moving slide plate, the vertical rotation motor and the vertical rotation motor installed on the vertical rotation motor base Reducer, X-axis slip ring connected to the output shaft of the vertical rotation reducer, X-axis connection flange connected to the X-axis slip ring, Z-axis X base connected to the lower end of the X-axis flange, installed on the Z The two Z-axis X linear slide modules on the axis X base, the green laser seat and the red laser seat of the X-axis assembly respectively installed on the two Z-axis X linear module groups, respectively installed on the X-axis assembly The green laser and red laser of the X-axis assembly on the green laser seat and the red laser seat, the output shaft of the X-axis motor is connected to the end of the X-axis screw, and the outer ring of the X-axis slip ring is connected to the horizontal rotation motor seat through screws , the two Z-axis X linear slide modules are respectively driven by drive motors.

The present invention also includes such structural features:

1. The column screw assembly also includes a column lower limit base arranged at the upper end of the trapezoidal screw and a column lower limit base arranged at the middle and lower sections of the trapezoidal screw. A column auxiliary guide rod that plays a guiding role, the column auxiliary guide rod passes through the lower limit base of the column and the lifting beam from bottom to top, and a column guide rod sliding sleeve is also arranged between the lifting beam and the column auxiliary guide rod.

2. There is also a cable-stayed reinforced truss between the aluminum profile cross arm and the auxiliary guide rod of the column.

3. The Y-axis slip ring connected to the output shaft of the horizontal rotation reducer refers to the connection between the output shaft of the horizontal rotation reducer and the inner ring of the Y-axis slip ring; the X-axis slip ring connected to the output shaft of the vertical rotation reducer refers to the vertical rotation The reducer output shaft is connected with the inner ring of the X-axis slip ring.

Compared with the prior art, the beneficial effect of the present invention is: the three-dimensional positioning of the present invention mainly relies on the laser to locate the specified position of the manipulator, and does not need to install additional devices on the manipulator, thereby ensuring that the manipulator moves independently and is not affected by the measuring device. Interference, intuitive image, easy installation. The invention is easy to operate, the X-axis, Y-axis, and Z-axis are independently driven without interference, and all movements adopt high-precision ball screw and linear slide module, with high movement precision. Compared with transmission measurement methods such as CCD interactive measurement system and ultrasonic measurement system, the cost is lower.

A three-dimensional positioning device used for manipulator position calibration according to the present invention can measure the Cartesian coordinate measurement range of manipulator motion as follows:

(1) The X-axis is 0-1000mm;

(2) The Y axis is 0~1000mm;

(3) The Z axis is 0~400mm;

(4) The height of the lifting beam can be adjusted from 1500 to 3000mm

The main technical parameters of a three-dimensional positioning device for manipulator position calibration of the present invention are:

(1) The total height is 3100mm;

(2) The total length is 2000mm;

(3) The total width is 600mm;

(4) The total weight is ~300kg

By changing the length of the X-axis assembly and Y-axis assembly and the Z-axis linear slide module, the Cartesian coordinate measurement range can be changed, so as to adapt to the measurement of the three-dimensional position of different types of manipulators.

Description of drawings

Fig. 1 is a front view of a three-dimensional positioning device for manipulator position calibration according to the present invention;

Fig. 2 is an X-axis front view of a three-dimensional positioning device for manipulator position calibration according to the present invention;

Fig. 3 is an X-axis axonometric view of a three-dimensional positioning device for manipulator position calibration according to the present invention;

Fig. 4 is a Y-axis front view of a three-dimensional positioning device for manipulator position calibration according to the present invention;

Fig. 5 is a Y-axis isometric view of a three-dimensional positioning device for manipulator position calibration according to the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

1 to 5, a three-dimensional positioning device for manipulator position calibration of the present invention is composed of a column base 1, a column drive motor 2, a column drive motor seat 3, a column motor drive coupling 4, a column base 5, and a column Guide rod 6, column bottom angular contact roller bearing 7, trapezoidal screw 8, column auxiliary guide rod 9, limit clamp 10, column lower limit base 11, column screw nut 12, column guide rod sliding sleeve 13, reinforcement Truss 14, column top angle contact roller bearing 15, trapezoidal screw lock nut 16, column base cover 17, column upper limit base 18, cable-stayed reinforced truss 19, lifting beam 20, aluminum profile cross arm 21, X axis Motor 22, X-axis reducer 23, X-axis bearing seat a24, X-axis coupling 25, X-axis angular contact ball bearing a26, X-axis screw 27, X-axis moving slide 28, X-axis screw nut 29, X-axis Shaft bearing seat b30, X-axis angular contact ball bearing b31, vertical rotation motor seat 32, vertical rotation motor 33, slip ring limit screw 34, vertical rotation reducer 35, Z-axis x linear slide module 36, red laser seat 37, slide module limit 38, Z-axis x base 39, X-axis rotation positioning screw 40, green laser seat 41, green laser emitter 42, X-axis slip ring 43, X-axis connecting flange 44, red Laser transmitter 45, X-axis moving guide rod 46, red laser slide table drive motor 47, green laser slide table drive motor 48, Y-axis motor 49, Y-axis reducer 50, Y-axis bearing seat b51, Y-axis coupling 52, Y-axis angular contact ball bearing b53, Y-axis screw 54, sliding table module limit 55, Z-axis y linear sliding table module 56, red laser seat 57, red laser emitter 58, horizontal rotation motor 59, y-axis slip ring 60, y-axis connecting flange 61, green laser seat 62, green laser emitter 63, slip ring limit screw 64, Z-axis y base 65, horizontal rotation reducer 66, y-axis screw nut 67, Y-axis moving slide 68, y-axis adjustment plate 69, y-axis bearing seat b70, y-axis angular contact ball bearing b71, y-axis moving guide rod 72, red laser slide drive motor 73, green laser slide drive motor 74, components such as manipulator 75 are formed.

Simply put, the present invention mainly includes: column base, column screw assembly, X-axis assembly, Y-axis assembly, Z-axis linear slide module on X-axis, Z-axis linear slide module on Y-axis, red and Green laser transmitter, etc. Its feature is that the X-axis assembly is driven by the column screw assembly to move up and down to a suitable position, the X-axis assembly and the Y-axis assembly move to the vicinity of the plane designated by the manipulator, and the Z-axis linear slide module drives the red laser transmitter to make the red laser accurate. Irradiate at the designated position of the manipulator.

The column base 1 is fixed on the ground. The column base 1 is a hollow shell with a Y-axis assembly installed on its side, and a column drive motor seat 3 is installed inside through threads. The column drive installed on the column drive motor seat The motor 2 is connected with the lead screw 8 through a shaft coupling, thereby driving the lead screw to rotate. And the column lead screw nut 12 is fixed on the lifting beam 20 by screws, thereby driving it to move up and down. The post auxiliary guide rod 9 that plays an auxiliary guiding role is installed on the post base 5 by bolts. The column upper limit base 18 and the column lower limit base 11 and the limit clamp 10 installed on the auxiliary guide rod top simultaneously fix the trapezoidal screw and the auxiliary guide rod on the one hand, keep the overall stability of the device, and also play a role It has reached the limiting effect on the limit position of the movement of the lifting crossbeam. In order to prevent the lifting beam from being stuck when it moves, a column guide rod sliding sleeve 13 has also been designed between the auxiliary guide rod and the lifting beam. The column angular contact roller bearings 7 and 15 installed at the two ends of the trapezoidal screw not only ensure the carrying capacity of the trapezoidal screw, but also make the movement of the trapezoidal screw stable. The aluminum cross arm 21 is fixed on the trapezoidal lead screw through the cable-stayed reinforcing truss 19 and the lifting beam 20, and is driven to move up and down by the lead screw nut. Also, the X-axis assembly is bolted to the aluminum cross-arm.

The X-axis assembly includes a motor-driven precision ball screw assembly and a Z-axis assembly on the X-axis. Specifically, the X-axis lead screw is fixed on the X-axis bearing housings 24 and 30 through angular contact ball bearings 31 and 26, and the bearing housings are fixed on the aluminum cross-arm by bolts. The X-axis motor 22 drives the X-axis lead screw to rotate through the reducer 23 and the shaft coupling 25, drives the moving slide plate 28 installed on the lead screw nut 29 and the vertical rotation motor base 32 to move linearly, and moves the guide rod 46 by the X-axis guide and support. The vertical rotating motor 33 and the reducer 35 that drive the rotation of the Z-axis components on the X-axis are installed on the motor base through screws, the output shaft of the reducer and the connecting flange 44 are fixed on the inner ring of the slip ring, and the outer ring of the X-axis slip ring The slip ring limit screw 34 is fixed under the motor base, which ensures that the motor output shaft can continue to rotate without winding. A linear sliding table module 36 is installed under the Z-axis x base 39 fixed under the X-axis connecting flange, and the red laser emitter 45 and the green laser emitter 42 are fixed on the red laser seat 37 and the green laser emitter 42 on the slide table by screws. On the green laser seat 41. And are respectively driven by the red laser slide table drive motor 47 and the green laser slide table drive motor 48 on the linear slide table module, so as to perform linear movement on the Z axis.

The structure of the Y-axis assembly is the same as that of the X-axis assembly. The difference is that the X-axis assembly is fixed on the aluminum profile cross arm and rotates horizontally to measure the X-axis coordinates in the vertical direction. The Y-axis assembly is fixed on the column base 1 and rotates vertically. , measure the Y-axis coordinate in the horizontal direction.

The column base 1 is placed on the ground and is fixed. Its side is connected with Y-axis adjusting plate 69 with screw, is connected with column base 5 with bolt above. The function of the column base is to position the column roller bearing and the column guide rod 6. The same column lower limit base 11 and the column upper limit variety 18 also play a role in fixing the trapezoidal screw 8 and the column guide rod 6 at the limit position. effect. The column driving motor 2 located in the column base drives the trapezoidal screw to rotate through the coupling, thereby driving the lifting beam to move up and down, thereby realizing the function of adjusting the X-axis assembly to move up and down. The Y-axis adjustment plate fixed on the base of the column is perpendicular to the ground, and the Y-axis motor 49 on the Y-axis assembly drives the Y-axis screw 54 to rotate through the coupling, and then drives the Y-axis moving slide plate 68 to move up and down, thereby realizing the Y-axis movement. Up and down transformation of axis coordinates. After the horizontal rotation motor on the Y-axis assembly is decelerated by the horizontal rotation reducer 66, the output shaft of the reducer drives the Y-axis Y base 65 to rotate through the Y-axis connection flange 61 connected in the Y-axis slip ring 60. When the Z-axis Y When the base is perpendicular to the Y-axis lead screw 54, the Z-axis coordinate system is established. Through the red laser slide drive motor 73 and the green laser slide drive motor 74, the positions of the red laser emitter 58 and the green laser emitter 63 can be adjusted on the Z-axis linear slide module respectively, and then the position of the manipulator can be calibrated on the Z axis. . Choose red laser or green laser for marking according to the position of the manipulator. The X-axis assembly is fixed on the aluminum cross-arm 21 by bolts, parallel to the ground, perpendicular to the Y-axis adjustment plate, and moves up and down together with the lifting beam 20 through the column trapezoidal screw nut. After being decelerated by the reducer, the X-axis motor 22 on the X-axis assembly drives the X-axis moving slide plate 28 to move through the screw nut, thereby realizing the left-right transformation of the X-axis coordinates. After being decelerated by the reducer, the vertical rotating motor 33 drives the Z-axis linear slide module on the X-axis to rotate through the flange in the X-axis slip ring 43, making it perpendicular to the X-axis screw, and the Z-axis coordinates on the X-axis Build complete. Through the red laser slide drive motor 47 and the green laser slide drive motor 48, the positions of the red laser emitter 42 and the green laser emitter 45 can be adjusted on the Z-axis linear slide module respectively, and then the position of the manipulator can be calibrated on the Z axis. . Choose red laser or green laser for marking according to the position of the manipulator.

The working process of the three-dimensional positioning device for manipulator position calibration of the present invention is mainly divided into preparation work, zero point calibration before manipulator movement, and coordinate calibration after manipulator movement.

Preparations: first place the column base 1 in a suitable position, turn on the power, adjust the column drive motor 2, and the torque acts on the trapezoidal screw through the reducer, so that the nut drives the lifting beam 20 to rise, and the X-axis assembly is lifted to a certain level. Height, so that it does not interfere with the movement route of the manipulator. Select on the manipulator to specify the position, which is convenient for the laser beam irradiation on the X-axis component and the Y-axis component for positioning.

Zero point calibration before manipulator movement: first adjust the Y-axis motor 49, the torque is transmitted to the Y-axis screw 54 through the reducer and coupling, and drives the Y-axis moving slide 68 to move in a straight line. When it moves to the same level as the marked position of the manipulator , stop moving. Adjust the horizontal rotation motor, which is the level of the Z-axis Y linear slide module 56, and adjust the more suitable slide drive motor in the red or green laser, so that the corresponding color laser is irradiated on the designated position of the manipulator. Afterwards, perform the above operations on the relevant motors on the X-axis assembly, so that the laser beam of the same color on the X-axis assembly is irradiated at the designated position of the manipulator, and use the X-axis, Y-axis, and Z-axis parameters at this time as the coordinate origin. At this point, the zero point calibration before the movement of the manipulator is completed.

Coordinate calibration after the movement of the manipulator: After the movement of the manipulator, repeat the same steps in step (2), so that the laser beams of the same color on the Z component on the Y-axis and X-axis components as in step (2) position the designated position of the manipulator. At this time, the positions of the X-axis, Y-axis and Z-axis coordinates are the coordinates in the Cartesian coordinate system after the movement of the manipulator, and the position calibration of the manipulator is completed.

In summary, a three-dimensional positioning device for manipulator position calibration according to the present invention mainly relies on laser irradiation to locate the designated position of the manipulator, without installing additional devices on the manipulator, thereby ensuring that the manipulator moves independently without interference from the measuring device. The invention is easy to operate, the X-axis, Y-axis, and Z-axis are independently driven without interference, and all movements adopt high-precision ball screw and linear slide module, with high movement precision. Compared with transmission measurement methods such as CCD interactive measurement system and ultrasonic measurement system, the cost is lower.

The X-axis, Y-axis and Z-axis of the present invention all use servo motors for closed-loop control, integrate the X-axis, Y-axis and Z-axis of the Cartesian coordinate system into a whole, and adjust the position of the red or green laser emitter on the Z-axis to The position specified by the manipulator is positioned. At this time, the coordinates of the red or green laser transmitter are the relative coordinates of the position specified by the manipulator. This invention has the characteristics of intuitive image, flexible operation, and convenient installation.

Claims (5)

1. A three-dimensional positioning device for position calibration of an industrial manipulator, characterized in that: it includes a column base, an X-axis assembly, a Y-axis assembly, and a column screw assembly, and the column screw assembly includes an end surface mounted on the column base The column base, the column drive motor installed in the column base, the trapezoidal screw connected with the output end of the column drive motor and extending out of the column base, the column screw nut installed on the trapezoidal screw, and the column screw The lifting beam fixed by the bar nut; The Y-axis assembly includes a Y-axis adjustment plate arranged on the side of the column base, a pair of Y-axis bearing seats installed on the Y-axis adjustment plate, a Y-axis lead screw installed in the Y-axis bearing seat, and a Y-axis screw installed on the Y-axis The Y-axis lead screw nut on the lead screw, the Y-axis mobile slide plate fixedly connected with the Y-axis lead screw nut, the horizontal rotation motor seat installed on the Y-axis mobile slide plate, the horizontal rotation motor and the horizontal rotation motor seat installed on the horizontal rotation motor seat The rotary reducer, the Y-axis slip ring connected with the output shaft of the horizontal rotary reducer, the Y-axis connection flange connected with the Y-axis slip ring, the Z-axis Y base connected with the Y-axis flange lower surface, installed on The two Z-axis Y linear slide modules on the Z-axis Y base, the green laser seat and the red laser seat of the Y-axis assembly respectively arranged on the two Z-axis Y linear module groups, respectively installed on the Y-axis assembly The green laser and red laser of the Y-axis assembly on the green laser seat and red laser seat, the output shaft of the Y-axis motor is connected to the upper end of the Y-axis screw, and the outer ring of the Y-axis slip ring is connected to the horizontal rotation motor seat through screws , the two Z-axis Y linear slide modules are respectively driven by drive motors; The X-axis assembly includes an aluminum profile cross arm connected to the lifting beam, a pair of X-axis bearing seats installed at the lower end of the aluminum profile cross-arm, an X-axis lead screw installed in the X-axis bearing seat, and an X-axis lead screw installed in the X-axis bearing seat. The X-axis screw nut on the top, the X-axis moving slide plate fixedly connected with the X-axis lead screw nut, the vertical rotation motor base installed on the X-axis moving slide plate, the vertical rotation motor and the vertical rotation motor installed on the vertical rotation motor base Reducer, X-axis slip ring connected to the output shaft of the vertical rotation reducer, X-axis connection flange connected to the X-axis slip ring, Z-axis X base connected to the lower end of the X-axis flange, installed on the Z The two Z-axis X linear slide modules on the axis X base, the green laser seat and the red laser seat of the X-axis assembly respectively installed on the two Z-axis X linear module groups, respectively installed on the X-axis assembly The green laser and red laser of the X-axis assembly on the green laser seat and the red laser seat, the output shaft of the X-axis motor is connected to the end of the X-axis screw, and the outer ring of the X-axis slip ring is connected to the horizontal rotation motor seat through screws , the two Z-axis X linear slide modules are respectively driven by drive motors. 2. A three-dimensional positioning device for position calibration of industrial manipulators according to claim 1, characterized in that: the column screw assembly also includes a lower limit base of the column arranged on the upper end of the trapezoidal screw and a lower limit base arranged on the trapezoidal screw. The lower limit base of the column in the middle and lower section of the screw, and two auxiliary column guide rods for guiding are arranged between the upper limit base of the column and the column base. The auxiliary guide rods of the column pass through the lower limit base of the column and the lifting A column guide rod sliding sleeve is also arranged between the beam, the lifting beam and the column auxiliary guide rod. 3. A three-dimensional positioning device for position calibration of industrial manipulators according to claim 1 or 2, characterized in that: a cable-stayed reinforcement truss is also arranged between the aluminum profile cross arm and the auxiliary guide rod of the column. 4. A three-dimensional positioning device for position calibration of an industrial manipulator according to claim 1 or 2, characterized in that: the Y-axis slip ring connected to the output shaft of the horizontal rotation reducer means the output shaft of the horizontal rotation reducer and the The inner ring connection of the Y-axis slip ring; the X-axis slip ring connected with the output shaft of the vertical rotation reducer refers to the connection between the output shaft of the vertical rotation reducer and the inner ring of the X-axis slip ring. 5. A three-dimensional positioning device for position calibration of industrial manipulators according to claim 3, characterized in that: the Y-axis slip ring connected to the output shaft of the horizontal rotation reducer refers to the output shaft of the horizontal rotation reducer and the Y-axis The inner ring connection of the slip ring; the X-axis slip ring connected to the output shaft of the vertical rotation reducer refers to the connection between the output shaft of the vertical rotation reducer and the inner ring of the X-axis slip ring.