CN106903717B - A kind of 3 D locating device for industry mechanical arm location position - Google Patents
A kind of 3 D locating device for industry mechanical arm location position Download PDFInfo
- Publication number
- CN106903717B CN106903717B CN201710185981.5A CN201710185981A CN106903717B CN 106903717 B CN106903717 B CN 106903717B CN 201710185981 A CN201710185981 A CN 201710185981A CN 106903717 B CN106903717 B CN 106903717B
- Authority
- CN
- China
- Prior art keywords
- axis
- column
- slip ring
- base
- screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 12
- 229910052782 aluminium Inorganic materials 0.000 claims description 12
- ZLHLYESIHSHXGM-UHFFFAOYSA-N 4,6-dimethyl-1h-imidazo[1,2-a]purin-9-one Chemical group N=1C(C)=CN(C2=O)C=1N(C)C1=C2NC=N1 ZLHLYESIHSHXGM-UHFFFAOYSA-N 0.000 claims 2
- 230000003014 reinforcing effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 20
- 230000033001 locomotion Effects 0.000 description 18
- 238000005259 measurement Methods 0.000 description 11
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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 and Y-axis component are separately fixed on column lead screw assembly and column bases, Z axis straight line slide unit mould group emits laser with green laser transmitter with the red in Z axis straight line slide unit mould group in Y-axis in X-axis, to realize the coordinate calibration to manipulator designated position.It being compared with the traditional method, the present invention does not have to increase additional device in arm end during positioning, and it is visual in image, it is easy to operate, it is at low cost, it is easy for installation.
Description
Technical field
The present invention relates to one kind may be implemented in certain space, sits to before robot movement with post exercise three-dimensional right angle
Mark the measuring device detected more particularly to a kind of 3 D locating device for industry mechanical arm location position.
Background technique
Manipulator is a kind of new device to grow up during mechanization, automated production, is that a kind of energy is automatic
Change location control and multi-purpose machine of the Reprogrammable sequence to change.In present-day procedure, manipulator is widely transported
For the Men Xinxing that in automatic assembly line, the development and production of robot are had become in high-tech neighborhood, and hair hall is got up rapidly
Technology, it more promotes the development of manipulator, manipulator is better achieved organic with mechanization and automation
In conjunction with.Therefore, manipulator has been received by the attention of many departments, and more and more extensive is applied.
And manipulator demarcating is that one of the key technology of off-line programming technique functionization can be by manipulator by calibration
Position and attitude error is greatly lowered, and then the so-called calibration of the horizontal that the absolute precision of manipulator is increased to repeatable accuracy is exactly to answer
The accurate parameter of Manipulator Model is picked out with advanced measurement means and the parameter identification method based on model, to improve machine
The process calibration of tool hand absolute precision the result is that one group of identified robot parameter, these parameters can be raw for manipulator
Producer is produced as product quality inspection index, or manipulator user and improves the absolute precision of manipulator
During calibration, measurement means are that an extremely important factor foreign countries have begun to from the eighties at this
The research work of aspect, forms many measuring methods, and the measuring system for the calibration of robot static accuracy includes double ends latitude
The system that instrument pose measurement system, three coordinate machine and the more bar tracking measurement system of joint type are used for Robotic Dynamic precision calibration
Mainly there are laser tracking system, CCD interaction measuring system, ultrasonic measurement system, position measuring system and is sensed with close
The measuring system of device is at high cost, cumbersome test method is main problem existing for these measuring systems
To improve working efficiency, save the cost devises a kind of three-dimensional localization dress for position of manipulator calibration herein
It sets, the movement of laser emitter is driven by control X-axis, Y-axis, Z axis motor, by laser beam to the end designated position of manipulator
It is positioned, to directly read parameter of the arm end in three-dimensional cartesian coordinate system.This method is visual in image, operation
Simply, at low cost, it is easy for installation.Simultaneously as X-axis, Y-axis, using high-accuracy ball-screw, Z axis uses high-precision straight line
Slide unit mould group, and do not have to increase additional device in arm end during positioning, robot movement model will not
There is change, so measurement accuracy is higher.
Summary of the invention
The purpose of the invention is to provide a kind of 3 D locating device for industry mechanical arm location position.
The object of the present invention is achieved like this: including column bases, X-axis component, Y-axis component, column lead screw assembly, standing
Column lead screw assembly include the upright post base for being mounted on column bases upper surface, the column driving motor being mounted in column bases,
Connect with the column driving motor output end and trapezoidal screw extending out to outside column bases, the column being mounted on trapezoidal screw
Feed screw nut, the hoisting cross beam being connected with column feed screw nut；
A pair of of Y that the Y-axis component includes the Y-axis adjustment plate that column bases side is arranged in, is mounted in Y-axis adjustment plate
Bearing housing, the Y-axis lead screw being mounted in Y-axis bearing block, the Y-axis feed screw nut being mounted on Y-axis lead screw and Y-axis lead screw spiral shell
The connected Y-axis moving slide board of mother, is mounted on horizontal rotation motor cabinet at the horizontal rotation motor cabinet being mounted on Y-axis moving slide board
On horizontal rotation motor and rotate horizontally retarder, with rotate horizontally reducer output shaft connect Y-axis slip ring, and Y-axis cunning
The Z axis Y pedestal of Y-axis mounting flange and Y-axis mounting flange lower end surface that ring connects, two Z being mounted on Z axis Y pedestal
The green laser seat and red laser of axis Y straight line slide unit mould group, the Y-axis component being separately positioned in two Z axis Y straight line die station groups
The green laser and red laser of seat, the Y-axis component being separately mounted on the green laser seat and red laser seat of Y-axis component
The output shaft of device, y-axis motor is connect with the upper end of Y-axis lead screw, and the outer ring of Y-axis slip ring by screw and rotates horizontally motor cabinet company
It connects, two Z axis Y straight line slide unit Mo Zu are driven by driving motor respectively；
The X-axis component includes the aluminum profile transverse arm connecting with hoisting cross beam, a pair of of the X for being mounted on aluminum profile transverse arm lower end
Bearing housing, the X-axis lead screw being mounted in X-axis bearing block, the X-axis feed screw nut being mounted on X-axis lead screw and X-axis lead screw spiral shell
The connected X-axis moving slide board of mother, is mounted on vertical rotary motor cabinet at the vertical rotary motor cabinet being mounted on X-axis moving slide board
On vertical rotary motor and vertical rotary motor reducer, the X-axis slip ring and X that are connect with vertical rotary reducer output shaft
The Z axis X pedestal of X-axis mounting flange and X-axis mounting flange lower end surface that slip ring shaft connects is mounted on Z axis X pedestal
Two Z axis X straight line slide unit mould groups, the green laser seat of the X-axis component being separately positioned in two Z axis X straight line die station groups and red
Color laser bench, the green laser of the X-axis component being separately mounted on the green laser seat and red laser seat of X-axis component and red
The output shaft of color laser, X-axis motor is connect with the end of X-axis lead screw, and the outer ring of X-axis slip ring by screw and rotates horizontally electricity
Base connection, two Z axis X straight line slide unit Mo Zu are driven by driving motor respectively.
The invention also includes structure features some in this way:
1. the column lead screw assembly further includes that the column lower limit pedestal that trapezoidal screw upper end is arranged in and setting exist
The column lower limit pedestal of trapezoidal screw middle and lower sections is additionally provided with two between column upper limit pedestal and upright post base and leads
To the column secondary guide of effect, column secondary guide sequentially passes through column lower limit pedestal and hoisting cross beam from the bottom to top, rises
Column guide rod sliding sleeve is additionally provided between drop crossbeam and column secondary guide.
2. being additionally provided with oblique pull between aluminum profile transverse arm and column secondary guide reinforces truss.
3. referring to that rotating horizontally reducer output shaft and Y-axis slides with the Y-axis slip ring that reducer output shaft is connect is rotated horizontally
The inner ring of ring connects；The X-axis slip ring connecting with vertical rotary reducer output shaft refers to vertical rotary reducer output shaft and X-axis
The inner ring of slip ring connects.
Compared with prior art, the beneficial effects of the present invention are: three-dimensional localization of the invention mainly relies on laser to machine
The irradiation of tool hand designated position is positioned, without installing attachment device on a robotic arm, thus ensure that manipulator self contained function,
It is not interfered by measuring device, it is visual in image, it is easy for installation.Operation of the present invention is simple, and X-axis, Y-axis, Z axis independently drive, will not shape
At interference, and all movements, all using high precision ball lead screw and straight line slide unit mould group, kinematic accuracy is high.Compared to CCD interaction
It is lower that measuring system, ultrasonic measurement system etc. are driven measurement method cost.
The right angle that a kind of 3 D locating device for position of manipulator calibration of the invention can measure robot movement is sat
Mark measurement range are as follows:
(1) X-axis is 0~1000mm；
(2) Y-axis is 0~1000mm；
(3) Z axis is 0~400mm；
(4) hoisting cross beam adjustment height is 1500~3000mm
A kind of 3 D locating device important technological parameters for position of manipulator calibration of the invention are as follows:
(1) total height is 3100mm；
(2) total length is 2000mm；
(3) overall width is 600mm；
(4) total weight is~300kg
Rectangular co-ordinate measurement can be changed by the length of change X-axis component and Y-axis component and Z axis straight line slide unit mould group
Range, to adapt to the measurement of different model manipulator three-dimensional position.
Detailed description of the invention
Fig. 1 is a kind of 3 D locating device main view for position of manipulator calibration of the invention；
Fig. 2 is a kind of 3 D locating device X-axis main view for position of manipulator calibration of the invention；
Fig. 3 is a kind of 3 D locating device X-axis axonometric drawing for position of manipulator calibration of the invention；
Fig. 4 is a kind of 3 D locating device Y-axis main view for position of manipulator calibration of the invention；
Fig. 5 is a kind of 3 D locating device Y-axis axonometric drawing for position of manipulator calibration of the invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 5, a kind of 3 D locating device of position of manipulator calibration of the invention is stood by column bases 1
Column driving motor 2, column driving motor seat 3, column motor driven shaft coupling 4, upright post base 5, column guide rod 6, column base angle
Contact roller bearing 7, trapezoidal screw 8, column secondary guide 9 limit clip 10, column lower limit pedestal 11, column lead screw spiral shell
Mother 12, column guide rod sliding sleeve 13 reinforce truss 14, column top angular contact roller bearing 15, trapezoidal screw locking nut 16, column
Pedestal capping 17, column upper limit pedestal 18, oblique pull reinforcement truss 19, hoisting cross beam 20, aluminum profile transverse arm 21, X-axis motor 22,
X-axis retarder 23, X-axis bearing block a24, X-axis shaft coupling 25, X-axis angular contact ball bearing a26, X-axis lead screw 27, X-axis moving slide board
28, X-axis feed screw nut 29, X-axis bearing block b30, X-axis angular contact ball bearing b31, vertical rotary motor cabinet 32, vertical rotary electricity
Machine 33, slip ring stop screw 34, vertical rotary retarder 35, Z axis x straight line slide unit mould group 36, red laser seat 37, slide unit mould group
Limit 38, Z axis x pedestal 39, X-axis rotational positioning screw 40, green laser seat 41, green laser transmitter 42, X-axis slip ring 43, X
Axis connection ring flange 44, red laser transmitter 45, X-axis moving leader 46, red laser slide unit driving motor 47, green laser
Slide unit driving motor 48, y-axis motor 49, Y-axis retarder 50, Y-axis bearing block b51, Y-axis shaft coupling 52, Y-axis angular contact ball bearing
B53, Y-axis lead screw 54, slide unit mould group limit 55, Z axis y straight line slide unit mould group 56, red laser seat 57, red laser transmitter
58, rotate horizontally motor 59, y-axis slip ring 60, y-axis mounting flange 61, green laser seat 62, green laser transmitter 63, cunning
Ring stop screw 64, Z axis y pedestal 65 rotate horizontally retarder 66, y-axis feed screw nut 67, Y-axis moving slide board 68, y-axis adjustment
Plate 69, y-axis bearing block b70, y-axis angular contact ball bearing b71, y-axis moving leader 72, red laser slide unit driving motor 73 is green
Color laser slide unit driving motor 74, the equal components composition of manipulator 75.
Briefly, the invention mainly comprises column bases, column lead screw assembly, X-axis component, Y-axis component, Z in X-axis
Axis straight line slide unit mould group, Z axis straight line slide unit mould group in Y-axis are red with green laser transmitter etc..It is characterized in that by column lead screw
Component drives X-axis component to move up and down suitable position, and X-axis component and Y-axis component are moved to mechanical finger to determine position plane attached
Closely, Z axis straight line slide unit mould group drives red laser transmitter, and red laser is made accurately to be radiated at manipulator designated position.
Column bases 1 fix on the ground, and column bases 1 are a hollow shells, and side is equipped with Y-axis component,
Its inside is equipped with column driving motor seat 3 by screw thread, and the column driving motor 2 being mounted on column driving motor seat passes through
Shaft coupling is connected with trapezoidal screw 8, so that trapezoidal screw be driven to rotate.And column feed screw nut 12 is fixed by screws in liter
It drops on crossbeam 20, so that it be driven to move up and down.The column secondary guide 9 for playing auxiliary guiding role is mounted on column by bolt
On pedestal 5.It is mounted on the column upper limit pedestal 18 and column lower limit pedestal 11 and limit clip on secondary guide top simultaneously
10, on the one hand fixed trapezoidal screw and secondary guide, maintain the overall stability of device, on the other hand also play to lifting
The position-limiting action of the extreme position of crossbeam movement.It is stuck when to prevent hoisting cross beam from moving, secondary guide and hoisting cross beam it
Between column guide rod sliding sleeve 13 has also been devised,.The column angular contact roller bearing 7 for being mounted on trapezoidal screw both ends ensure that with 15
The bearing capacity of trapezoidal screw, and make trapezoidal screw motion stabilization.Aluminum profile transverse arm 21 reinforces truss 19 and lifting by oblique pull
Crossbeam 20 is fixed on trapezoidal screw, drives it to move up and down by feed screw nut.Also, X-axis component is bolted on aluminium
On profile transverse arm.
The X-axis component includes Z axis component in motor driven precision ball screw component and X-axis.Specially X-axis lead screw is logical
It crosses angular contact ball bearing 31 and 26 to be fixed on X-axis bearing block 24 and 30, bearing block is bolted on aluminum profile transverse arm.
X-axis motor 22 drives the rotation of X-axis lead screw by retarder 23 and shaft coupling 25, drives the mobile cunning being mounted on feed screw nut 29
Plate 28 moves linearly with vertical rotary motor cabinet 32, and is oriented to and is supported by X-axis moving leader 46.Play driving X-axis
The vertical rotary motor 33 and retarder 35 of upper Z axis component rotation are mounted on motor cabinet by screw, reducer output shaft and
Mounting flange 44 is fixed on slip ring inner ring, X-axis slip ring outer ring by slip ring stop screw 34 be fixed on motor cabinet in the following, this
Sample ensures that motor output shaft can persistently rotate without coiling.The Z axis x pedestal 39 being fixed under X-axis mounting flange
It is mounted below straight line slide unit mould group 36, red laser transmitter 45 and green laser transmitter 42 are fixed by screws in slide unit
On red laser seat 37 and green laser seat 41 on.And respectively by the red laser slide unit driving motor in straight line slide unit mould group
47 respectively drive with green laser slide unit driving motor 48, to carry out the linear movement on Z axis.
The Y-axis component is identical as X-axis modular construction, and difference is that X-axis component is fixed on aluminum profile transverse arm, level rotation
Turn, survey the X axis coordinate of vertical direction, Y-axis component is fixed on column bases 1, vertical rotary, and the Y-axis surveyed in horizontal direction is sat
Mark.
Column bases 1 are placed in ground, fixed.Its side is connected to Y-axis adjustment plate 69 with screw, uses bolt above
It is connected to upright post base 5.The effect of upright post base is that column roller bearing is positioned with column guide rod 6, same column
Lower limit pedestal 11 and column upper limit a variety of 18 are also to play to be fixed on position-limiting action to trapezoidal screw 8 and column guide rod 6.
Column driving motor 2 in column bases drives trapezoidal screw rotation by shaft coupling, to drive the upper of hoisting cross beam
Lower movement, to realize the function that adjustment X-axis component moves up and down.And be fixed on the Y-axis adjustment plates of column bases vertically with
Ground, the y-axis motor 49 on Y-axis component drives Y-axis lead screw 54 to rotate by shaft coupling, and then drives Y-axis moving slide board 68
It moves up and down, to realize the upper down conversion of Y axis coordinate.Horizontal rotation motor on Y-axis component is by rotating horizontally retarder
After 66 slow down, reducer output shaft drives Z axis Y pedestal 65 to rotate by the Y-axis mounting flange 61 connected in Y-axis slip ring 60,
When Z axis Y pedestal is perpendicular to Y-axis lead screw 54, Z axis establishment of coordinate system is completed.By red laser slide unit driving motor 73 with it is green
Color laser slide unit driving motor 74 can adjust red laser transmitter 58 and green laser in Z axis straight line slide unit mould group respectively
The position of transmitter 63, and then Z axis calibration is carried out to position of manipulator.According to manipulator position select red laser or
Green laser is marked.X-axis component is bolted on aluminum profile transverse arm 21, is parallel to ground, is adjusted perpendicular to Y-axis
Plate is moved up and down by column trapezoidal screw nut together with hoisting cross beam 20.X-axis motor 22 passes through retarder on X-axis component
After deceleration, it is mobile that X-axis moving slide board 28 is driven by feed screw nut, to realize the left and right transformation of X axis coordinate.Vertical rotary electricity
Machine 33 drives the Z axis straight line slide unit mould group in X-axis to rotate after retarder slows down, through the ring flange in X-axis slip ring 43, makes
Perpendicular to X-axis lead screw, in X-axis, Z axis coordinate is established completes.Pass through red laser slide unit driving motor 47 and green laser slide unit
Driving motor 48 can adjust red laser transmitter 42 and green laser transmitter 45 in Z axis straight line slide unit mould group respectively
Position, and then Z axis calibration is carried out to position of manipulator.According to manipulator position select red laser or green laser into
Line flag.
A kind of course of work of 3 D locating device for position of manipulator calibration of the invention is broadly divided into beam worker
Make, Zero calibration before robot movement, coordinate is demarcated after robot movement.
Preparation: being placed in suitable position for column bases 1 first, power on, adjusting post driving motor 2, power
Square acts on trapezoidal screw through retarder, increase nut driving hoisting cross beam 20, is lifted X-axis component to certain altitude, makes
It does not interfere with robot movement route.It is chosen on a robotic arm with designated position, this position is convenient for X-axis component and Y-axis component
On laser beam irradiation, positioned.
Zero calibration before robot movement: adjusting y-axis motor 49, torque are transmitted to Y-axis through retarder and shaft coupling first
On lead screw 54, Y-axis moving slide board 68 is driven to move linearly, when it is moved to manipulator mark position same level,
Stop movement.It adjusts and rotates horizontally motor, be that Z axis Y straight line slide unit mould group 56 is horizontal, adjust appropriate in red or green laser
Slide unit driving motor, make corresponding color laser irradiation on manipulator designated position.Later, to mutually powered-down on X-axis component
Machine carries out aforesaid operations, so that same color laser beam on X-axis component is radiated at manipulator designated position, and with X-axis at this time, Y
Axis, Z axis parameter are as coordinate origin.At this point, Zero calibration is completed before robot movement.
Coordinate is demarcated after robot movement: after robot movement, being repeated the same steps in step (2), is made Y-axis and X-axis
Laser beam on Z component on component with same color in step (2) positions manipulator designated position.At this point, X-axis, Y
The position of axis and Z axis coordinate is the coordinate after manipulator is mobile in rectangular coordinate system, and position of manipulator calibration is completed.
To sum up, a kind of 3 D locating device for position of manipulator calibration of the invention mainly relies on laser to machinery
The irradiation of hand designated position is positioned, without installing attachment device on a robotic arm, to ensure that manipulator self contained function, no
It is interfered by measuring device.Operation of the present invention is simple, and X-axis, Y-axis, Z axis independently drive, and not will form interference, and all movements are all adopted
With high precision ball lead screw and straight line slide unit mould group, kinematic accuracy height.Compared to CCD interaction measuring system, ultrasonic measurement system
The transmission such as system measurement method cost is lower.
X-axis, Y-axis and Z axis of the invention is all made of servo motor and carries out closed-loop control, by rectangular coordinate system X-axis, Y-axis and Z
Axis is integrated into an entirety, carries out by adjusting position red or green laser transmitter on Z axis to manipulator designated position
Positioning, red or green laser transmitter coordinate is the relative coordinate of manipulator designated position at this time, which has shape
As intuitive, flexible operation, it is easy for installation the features such as.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185981.5A CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710185981.5A CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903717A CN106903717A (en) | 2017-06-30 |
| CN106903717B true CN106903717B (en) | 2019-04-12 |
Family
ID=59194531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710185981.5A Active CN106903717B (en) | 2017-03-27 | 2017-03-27 | A kind of 3 D locating device for industry mechanical arm location position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903717B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107940171A (en) * | 2018-01-02 | 2018-04-20 | 哈尔滨海映天初科技有限公司 | A kind of three-dimensional scaling glide base |
| CN111113376B (en) * | 2019-12-02 | 2021-04-13 | 江苏理工学院 | A truss manipulator fixing device and its fixing method |
| CN111136643A (en) * | 2020-01-14 | 2020-05-12 | 山东理工职业学院 | Intelligent connecting rod type manipulator |
| CN112873210B (en) * | 2021-02-08 | 2022-05-03 | 哈尔滨岛田大鹏工业股份有限公司 | Calibration device for mechanical arm point location calibration |
| CN114838659B (en) * | 2022-04-26 | 2024-04-12 | 深圳市商汤科技有限公司 | Manipulator testing device, testing method, calibration method and storage medium |
| CN118700165B (en) * | 2024-08-30 | 2024-11-26 | 中国科学院长春光学精密机械与物理研究所 | TCP calibration method, device and storage medium for industrial robot abrasive belt tools |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261118A (en) * | 2008-04-17 | 2008-09-10 | 天津大学 | Method and system for rapid and automatic three-dimensional shape online measurement based on robot |
| DE102009017491A1 (en) * | 2009-04-15 | 2010-11-11 | Kuka Roboter Gmbh | System and method for measuring a manipulator |
| CN104298244B (en) * | 2013-07-17 | 2016-12-28 | 刘永 | A kind of localization method of industrial robot three-dimensional real-time high-precision positioner |
-
2017
- 2017-03-27 CN CN201710185981.5A patent/CN106903717B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106903717A (en) | 2017-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106903717B (en) | A kind of 3 D locating device for industry mechanical arm location position | |
| CN105382631B (en) | A kind of detection device and method of five-axle number control machine tool rotation axis error | |
| CN101619965B (en) | Wheel-pair automatic measuring device | |
| CN103307977B (en) | The field measurement apparatus of huge revolving class workpiece inner wall size, system and method | |
| CN106017359B (en) | A kind of high-power transformer iron core vision detection system | |
| CN203259123U (en) | Large-scale revolution workpiece inner wall size measurement apparatus and system thereof | |
| CN101804470B (en) | Automatic hole making system and method for wing body butt joint | |
| CN104197856B (en) | A kind of surface profile measurement workbench in place | |
| CN111060063A (en) | Automatic positioning and aligning device and method for rotary barrel parts of cartridge receiver | |
| CN111076658B (en) | A non-contact positioning and alignment device and method for a casing rotating body part with a coating layer | |
| KR20100090458A (en) | Cnc machinery tool having vision system | |
| CN109552450B (en) | An automatic assembly machine for a power compartment | |
| CN203003897U (en) | Triaxial numerical control material-sorting manipulator for wheel spoke | |
| CN201744691U (en) | Wing body docking automatic hole making system | |
| CN114136984A (en) | Multifunctional detection platform for cutter and use method | |
| CN205748274U (en) | A kind of motor stator dimension measuring device | |
| CN106352795A (en) | Vision measuring device and method for flexible manufacturing | |
| CN212320647U (en) | Rotary scanning equipment for circular object | |
| CN105352983A (en) | Spatial position regulation method | |
| CN204085464U (en) | A kind of surface profile measurement worktable in place | |
| CN206567584U (en) | A kind of portable Milling Motion in Three-axes NC | |
| CN209887571U (en) | Accurate positioner of jar body equipment | |
| CN107186701A (en) | A kind of teaching mechanical arm parameter calibration device and method of 3-freedom parallel mechanism | |
| CN213481129U (en) | Novel target simulation fitting motion platform | |
| CN110378901B (en) | A Depth Camera-based Center Measurement and Pruning Control Method for Spherical Flowers and Trees |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |