CN114770605B - Robot measurement and calibration system - Google Patents

Abstract

The present invention relates to the field of robot calibration technology, and in particular to a robot measurement and calibration system, comprising a measurement and calibration mechanism, a robot and a measuring head installed at the end of the robot; the measurement and calibration mechanism comprises a base, a frame, a pedestal, a measuring platform, a translation component, a rotation component and a flip adjustment component, the measuring platform is used for docking with the measuring head; the base and the frame are connected by a rotation component; the frame and the pedestal are connected by a flip adjustment component, and the frame and the pedestal are rotationally connected, and the pedestal and the measuring platform are connected by a translation component. The robot measurement and calibration system and method have the advantages of compact structure, convenient assembly, easy operation, wide application and low cost, which can obtain coordinate information of the end of the robot, provide a data source for performance analysis of the robot, realize calibration and measurement of the robot, and ensure that the obtained accuracy meets application requirements while greatly reducing the cost.

Description

Robot measurement and calibration system

Technical Field

The present invention relates to the technical field of robot calibration, and in particular to a robot measurement and calibration system.

Background Art

In recent years, more and more companies in the manufacturing industry have adopted robots to complete corresponding tasks such as handling, assembly, and inspection. During the working process, the robot needs to calibrate and compensate its working accuracy to ensure that it has sufficient accuracy and stability when performing tasks. Generally, when the robot leaves the factory, the manufacturer will first complete the calibration of the robot to ensure that the robot's positioning accuracy meets the application requirements. However, with the normal use of the robot, the robot will gradually wear out, or when the robot fails, the absolute positioning accuracy of the robot cannot be guaranteed during re-disassembly and reassembly. Usually, in such a situation, the user must contact the robot manufacturer for recalibration, which is not only expensive, but also affects the production progress. As an auxiliary tool, the accuracy of low-priced measuring equipment cannot be guaranteed, and most companies cannot afford high-precision equipment. Among them, the three-coordinate measuring instrument is a common large-scale three-dimensional measurement system for spatial measurement. It is widely used in reverse engineering and can measure the surface feature parameters of the workpiece with high accuracy, but the disadvantage of this system is that it is too large, bulky, expensive, and inconvenient to move. Another commonly used one is the laser tracker, which has high measurement accuracy and a wide measurement range, but its dynamic measurement speed is limited and the price is too expensive. Generally, small and medium-sized enterprises have not introduced a large number of high-precision measurement equipment due to cost control reasons.

Therefore, how to design a robot calibration measurement system that is compact, easy to install, suitable for a wide range of occasions, and especially low in cost to improve the stability and accuracy of current robot applications in the manufacturing field has become an urgent problem to be solved.

Summary of the invention

The technical problem to be solved by the present invention is: in order to overcome the problem that the dynamic measurement speed of the laser tracker in the prior art is limited and the price is too expensive, and general small and medium-sized enterprises have not introduced a large number of high-precision measurement equipment due to cost control reasons, a robot measurement and calibration system is provided.

The technical solution adopted by the present invention to solve the technical problem is: a robot measurement and calibration system, including a measurement and calibration mechanism, a robot and a measuring head installed at the end of the robot;

The measurement and calibration mechanism comprises a base, a frame, a pedestal, a measuring table, a translation component, a rotation component and a flip adjustment component, and the measuring table is used for docking with the measuring head;

The base and the frame are connected via a rotating assembly, and the rotating assembly is used to drive the frame to rotate so that the measuring table rotates;

The frame and the base are connected via a flip adjustment assembly, and the frame and the base are rotatably connected, and the flip adjustment assembly is used to drive the frame to flip so that the measuring table flips;

The base and the measuring platform are connected by a translation component, and the translation component is used to drive the measuring platform to translate. The robot measurement and calibration system and method have a compact structure, are easy to assemble, easy to operate, suitable for a wide range of occasions and have a low cost. The coordinate information of the robot terminal is obtained, and a data source is provided for the performance analysis of the robot, so as to realize the calibration and measurement of the robot, thereby greatly reducing the cost and ensuring that the obtained accuracy meets the application requirements.

In order to solve the problem of how to achieve three-dimensional measurement of the measuring head, the flip axis of the base (13) is further perpendicular to the rotation axis of the frame.

In order to solve the problem of how to arrange the base, it further includes that a plurality of rotating shafts are installed on the base, the axes of the rotating shafts are parallel, and the rotating shafts and the frame are rotatably connected through bearings.

In order to solve the problem of how to arrange the translation assembly, the translation assembly further includes a guide rail, a slide table matching the slide rail, a translation connecting seat, a driving wheel, a driven wheel, a synchronous belt and a translation motor. The guide rail is fixedly connected to the base, the guide rail is slidably connected to the slide table, the driving wheel and the driven wheel are rotatably installed on the base, the output end of the translation motor is transmission-connected to the driving wheel, the synchronous belt is wound around the driving wheel and the driven wheel, and the synchronous belt is connected to the slide table through the translation connecting seat, and the slide table moves along the guide rail following the synchronous belt.

In order to solve the problem of how to arrange the flip adjustment component, the flip adjustment component further includes a transfer seat, a flip motor and a connecting component;

One end of the adapter is fixedly connected to the base, and the other end passes through the cavity formed by the synchronous belt and is connected to the output end of the connecting component;

The flip motor is used to provide power for the adapter to drive the base to flip, and the output end of the flip motor is transmission-connected to the input end of the connecting component.

In order to solve the problem of how to arrange the connecting component, the connecting component further includes a rotating pair and a connecting rod, the input end of the rotating pair and the output end of the flip motor are fixedly connected, the output end of the rotating pair and the input end of the connecting rod are rotatably connected, and the output end of the connecting rod and the adapter are rotatably connected.

In order to solve the problem of how to arrange the rotating assembly, the rotating assembly further includes a rotating motor, an external gear and an internal gear;

The rotating motor is mounted on the frame, the internal gear is mounted on the top surface of the base, the frame and the top surface of the base are rotatably connected, and the internal gear is located between the frame and the base, the output end of the rotating motor is transmission-connected to the external gear, and the external gear is meshed with the internal gear;

When the rotating motor is started, the outer gear rotates and revolves along the circumference of the inner gear;

The rotating assembly further comprises a conductive slip ring, which is mounted on the base and is used to detect the rotation angle of the frame.

In order to solve the problem of supporting the base, a supporting assembly is further installed on the base, and the supporting assembly includes a supporting seat and a fixing nut. The bottom surface of the base contacts the supporting seat, the top surface of the base contacts the fixing nut, and the supporting seat and the fixing nut are threadedly connected.

In order to solve the problem of energy supply of the system, the measurement and calibration mechanism further includes a lithium battery for providing energy for electrical components in the measurement and calibration mechanism, and the lithium battery is installed on the base through a battery mounting bracket.

The beneficial effects of the present invention are as follows: the present invention provides a robot measurement and calibration system, which has a compact structure, is easy to assemble, easy to operate, suitable for a wide range of occasions and has a low cost. The system and method can obtain the coordinate information of the robot terminal, provide a data source for the performance analysis of the robot, realize the calibration and measurement of the robot, and ensure that the obtained accuracy meets the application requirements while greatly reducing the cost.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is further described below in conjunction with the accompanying drawings and embodiments.

FIG1 is a schematic diagram of a three-dimensional structure of the present invention;

FIG2 is a schematic diagram of the three-dimensional structure of the measurement and calibration mechanism of the present invention;

FIG3 is a schematic diagram of the three-dimensional structure of the measurement and calibration mechanism of the present invention from another viewing angle;

FIG. 4 is a schematic structural diagram of a rotating assembly of the present invention.

In the figure: 1. measurement and calibration mechanism, 11. base, 12. frame, 13. base, 131. rotating shaft, 14. measuring table, 2. robot, 21. measuring head, 3. translation assembly, 31. guide rail, 32. slide, 33. translation connecting seat, 34. driving wheel, 35. driven wheel, 36. synchronous belt, 37. translation motor, 4. rotating assembly, 41. rotating motor, 42. external gear, 43. internal gear, 44. conductive slip ring, 5. flip adjustment assembly, 51. adapter, 52. flip motor, 53. connecting assembly, 531. rotating pair, 532. connecting rod, 6. supporting assembly, 61. supporting seat, 62. fixing nut, 7. lithium battery, 71. battery mounting bracket.

DETAILED DESCRIPTION

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

FIG1 is a schematic diagram of the structure of the present invention, a robot measurement and calibration system, comprising a measurement and calibration mechanism 1, a robot 2, and a measuring head 21 installed at the end of the robot 2;

As shown in FIG. 2 , FIG. 3 , and FIG. 4 , the measurement and calibration mechanism 1 includes a base 11 , a frame 12 , a pedestal 13 , a measurement platform 14 , a translation component 3 , a rotation component 4 , and a flip adjustment component 5 , and the measurement platform 14 is used for docking with the measurement head 21 ;

The base 11 and the frame 12 are connected via a rotating assembly 4, and the rotating assembly 4 is used to drive the frame 12 to rotate so that the measuring platform 14 rotates;

The frame 12 and the base 13 are connected via a flip adjustment assembly 5, and the frame 12 and the base 13 are rotatably connected. The flip adjustment assembly 5 is used to drive the frame 12 to flip so that the measuring table 14 flips;

The base 13 and the measuring platform 14 are connected by a translation component 3, and the translation component 3 is used to drive the measuring platform 14 to translate. The robot measurement and calibration system and method have a compact structure, are easy to assemble, easy to operate, suitable for a wide range of occasions and have a low cost. The coordinate information of the robot terminal is obtained, and a data source is provided for the performance analysis of the robot, so as to realize the calibration and measurement of the robot, thereby greatly reducing the cost and ensuring that the obtained accuracy meets the application requirements.

The turning axis of the base (13) is perpendicular to the rotation axis of the frame 12.

A plurality of rotating shafts 131 are mounted on the base 13 . The axes of the rotating shafts 131 are parallel. The rotating shafts 131 are rotatably connected to the frame 12 via bearings.

As shown in Figures 2 and 3, the translation assembly 3 includes a guide rail 31, a slide 32 matching the slide rail, a translation connection seat 33, a driving wheel 34, a driven wheel 35, a synchronous belt 36 and a translation motor 37. The guide rail 31 is fixedly connected to the base 13, the guide rail 31 is slidably connected to the slide 32, the driving wheel 34 and the driven wheel 35 are both rotatably mounted on the base 13, the output end of the translation motor 37 is transmission-connected to the driving wheel 34, and the synchronous belt 36 is wound around the driving wheel 34 and The synchronous belt 36 is on the driven wheel 35, and the synchronous belt 36 is connected to the slide 32 through the translation connecting seat 33. The slide 32 moves along the guide rail 31 following the synchronous belt 36, and the linear movement freedom is achieved by driving the synchronous belt 36 through the translation motor 37 fixed on the measuring table 14 to achieve the linear movement of the measuring slide 32, so that the measuring system has the linear movement freedom in a fixed posture, and utilizes the high precision of linear motion to collect data at multiple positions of the robot end to ensure the accuracy of the robot error measurement.

As shown in FIG. 2 and FIG. 3 , the flip adjustment assembly 5 includes an adapter 51 , a flip motor 52 and a connecting assembly 53 ;

One end of the adapter 51 is fixedly connected to the base 13, and the other end passes through the cavity formed by the synchronous belt 36 and is connected to the output end of the connecting component 53;

The flip motor 52 is used to provide power for the adapter 51 to drive the base 13 to flip, and the output end of the flip motor 52 is drivingly connected to the input end of the connecting component 53.

As shown in Figure 2, the connecting component 53 includes a rotating pair 531 and a connecting rod 532. The input end of the rotating pair 531 is fixedly connected to the output end of the flip motor 52, the output end of the rotating pair 531 is rotationally connected to the input end of the connecting rod 532, and the output end of the connecting rod 532 is rotationally connected to the adapter 51. The pitch freedom of the measuring system is achieved by the flip motor 52 driving the connecting component 53 to realize the pitch of the measuring platform 21. The connecting rod 532 is connected to the measuring platform 14 through the rotating pair 531. The connecting component 53 can realize the movement range of the measuring platform 0-90°.

As shown in FIG4 , the rotating assembly 4 includes a rotating motor 41 , an external gear 42 and an internal gear 43 ;

The rotating motor 41 is mounted on the frame 12, the internal gear 43 is mounted on the top surface of the base 11, the frame 12 and the top surface of the base 11 are rotatably connected, and the internal gear 43 is located between the frame 12 and the base 11, the output end of the rotating motor 41 is transmission-connected to the external gear 42, and the external gear 42 and the internal gear 43 are meshed;

When the rotating motor 41 is started, the outer gear 42 rotates and revolves along the circumference of the inner gear 43;

The rotating assembly 4 also includes a conductive slip ring 44, which is installed on the base 11 and is used to detect the rotation angle of the frame 12; the rotational freedom around the base 11 in the measuring system is achieved by gear transmission, and the internal gear 43 is fixed on the base 11, and the external gear 42 is connected to the fixed internal gear 43 through a rotating motor 41 to engage with the internal gear 43. When the motor rotates, it drives the measuring system to achieve rotational motion. By installing the conductive slip ring 44 in the base 13, the rotational motion range of the measuring system can reach 0-360°, thereby ensuring the measuring range of the measuring system and the adaptability to measuring working conditions.

A support assembly 6 is installed on the base 11, and the support assembly 6 includes a support seat 61 and a fixing nut 62. The bottom surface of the base 11 contacts the support seat 61, and the top surface of the base 11 contacts the fixing nut 62. The support seat 61 and the fixing nut 62 are threadedly connected.

As shown in Figures 2, 3 and 4, the measurement and calibration mechanism 1 also includes a lithium battery 7 for providing energy for electrical components in the measurement and calibration mechanism 1. The lithium battery 7 is installed on the base 11 through a battery mounting bracket 71, so that the measurement and calibration system does not require an external power supply to work, can effectively adapt to the factory environment, reduce on-site preparation work, and realize rapid error measurement and calibration of the robot 2.

Working principle: During the calibration process of robot 2, a measurement and calibration system is arranged at the working site of robot 2, and a measuring head 21 is installed at the end of robot 2. Robot 2 is controlled to drive the measuring head 21 to contact the measurement and calibration system, and the relative position relationship between the measurement and calibration system and robot 2 is solved according to the movement of the joints of robot 2; on this basis, the movement of the translation motor 37, flip motor 52 and rotation motor 41 of the posture adjustment measurement and calibration system is realized to change the posture of the calibration measurement system, and the movement of the translation motor 37, flip motor 52 and rotation motor 41 is recorded; in the new posture, robot 2 is driven to move, driving the measuring head 21 at the end of robot 2 to contact the measurement and calibration system, and the joint DH parameter error value and calibration of robot 2 are realized by continuously repeating the above process.

Specifically, the measurement and calibration system has three degrees of freedom, namely, rotation around the base 11, pitch of the measuring table 14, and linear movement of the measuring table 14; during the calibration process of the robot 2, according to the pre-set calibration motion trajectory, the translation motor 37, flip motor 52 and rotation motor 41 of the measurement and calibration system are driven respectively to realize the posture change of the end measuring table of the measurement and calibration system in space, drive the robot 2 to follow the end measuring table 14 of the measurement and calibration system, and record the motion of each joint of the robot 2; by matching the motion relationship between the translation motor 37, flip motor 52 and rotation motor 41 of the measurement and calibration system and the motion of each joint of the robot, the robot DH parameters are error identified, and the DH parameters in the robot control system are calibrated and compensated.

Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims (6)

1. The robot measurement calibration system is characterized by comprising a measurement calibration mechanism (1), a robot (2) and a measurement head (21) arranged at the tail end of the robot (2);

The measuring calibration mechanism (1) comprises a base (11), a frame (12), a base (13), a measuring table (14), a translation component (3), a rotation component (4) and a turnover adjusting component (5), wherein the measuring table (14) is used for butt joint of a measuring head (21);

The base (11) is connected with the frame (12) through a rotating assembly (4), and the rotating assembly (4) is used for driving the frame (12) to rotate so that the measuring table (14) rotates;

the device is characterized in that the frame (12) is connected with the base (13) through a turnover adjusting component (5), the frame (12) is rotationally connected with the base (13), the turnover adjusting component (5) is used for driving the frame (12) to turn over so as to enable the measuring table (14) to turn over, the turnover adjusting component (5) comprises a switching seat (51), a turnover motor (52) and a connecting component (53), one end of the switching seat (51) is fixedly connected with the base (13), the other end of the switching seat passes through a cavity formed by surrounding of the synchronous belt (36) and is connected with the output end of the connecting component (53), the turnover motor (52) is used for driving the switching seat (51) to turn over so as to provide power, and the output end of the turnover motor (52) is in transmission connection with the input end of the connecting component (53);

The base (13) is connected with the measuring table (14) through the translation assembly (3), and the translation assembly (3) is used for driving the measuring table (14) to translate, so that the measuring system has the degree of freedom of linear movement under a fixed posture;

The overturning axis of the base (13) is perpendicular to the rotating axis of the frame (12);

The connecting assembly (53) comprises a revolute pair (531) and a connecting rod (532), wherein the input end of the revolute pair (531) is fixedly connected with the output end of the overturning motor (52), the output end of the revolute pair (531) is rotationally connected with the input end of the connecting rod (532), and the output end of the connecting rod (532) is rotationally connected with the adapter seat (51).

2. The robotic measurement calibration system according to claim 1, wherein: the base (13) is provided with a plurality of rotating shafts (131), the axes of the rotating shafts (131) are parallel, and the rotating shafts (131) are rotatably connected with the frame (12) through bearings.

3. The robotic measurement calibration system according to claim 1, wherein: the translation subassembly (3) include guide rail (31), with slide rail assorted slip table (32), translation connecting seat (33), action wheel (34), follow driving wheel (35), hold-in range (36) and translation motor (37), guide rail (31) and base (13) fixed connection, guide rail (31) and slip table (32) sliding connection, action wheel (34) and follow driving wheel (35) all rotate install in on base (13), the output and action wheel (34) transmission of translation motor (37) are connected, hold-in range (36) are around establishing on action wheel (34) and follow driving wheel (35), just hold-in range (36) are connected through translation connecting seat (33) and slip table (32), slip table (32) follow hold-in range (36) and remove along guide rail (31).

4. The robotic measurement calibration system according to claim 1, wherein: the rotating assembly (4) comprises a rotating motor (41), an external gear (42) and an internal gear (43);

The rotary motor (41) is arranged on the frame (12), the internal gear (43) is arranged on the top surface of the base (11), the frame (12) is rotationally connected with the top surface of the base (11), the internal gear (43) is positioned between the frame (12) and the base (11), the output end of the rotary motor (41) is in transmission connection with the external gear (42), and the external gear (42) is meshed with the internal gear (43);

when the rotary motor (41) is started, the external gear (42) rotates and revolves along the circumferential direction of the internal gear (43);

the rotating assembly (4) further comprises an electrically conductive slip ring (44), wherein the electrically conductive slip ring (44) is mounted on the base (11) and is used for detecting the rotation angle of the frame (12).

5. The robotic measurement calibration system according to claim 1, wherein: support assembly (6) are installed on base (11), support assembly (6) are including supporting seat (61) and fixation nut (62), base (11) bottom surface and supporting seat (61) contact, base (11) top surface and fixation nut (62) contact, supporting seat (61) and fixation nut (62) threaded connection.

6. The robotic measurement calibration system according to claim 1, wherein: the measuring calibration mechanism (1) further comprises a lithium battery (7) for providing energy for the electric elements in the measuring calibration mechanism (1), and the lithium battery (7) is mounted on the base (11) through a battery mounting bracket (71).