CN104493808A - System and method for pull-on-the-cable measurement of spatial pose precision and tracks of moving component - Google Patents
System and method for pull-on-the-cable measurement of spatial pose precision and tracks of moving component Download PDFInfo
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- CN104493808A CN104493808A CN201410689996.1A CN201410689996A CN104493808A CN 104493808 A CN104493808 A CN 104493808A CN 201410689996 A CN201410689996 A CN 201410689996A CN 104493808 A CN104493808 A CN 104493808A
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Abstract
The invention discloses a system and a method for pull-on-the-cable measurement of spatial pose precision and tracks of a moving component. Based on a parallel mechanism principle, the system and the method are used for measurement of the spatial pose precision and the tracks of the moving component of large equipment like an industrial robot or vertical milling machine. The system comprises a positioning disk, eight ball joints or universal joints, eight pull-on-the-cable displacement sensors, a data line, a data acquisition card and a computer. Eight test cables pulled out of the eight pull-on-the-cable displacement sensors are connected with the eight ball joints or universal joints mounted on the positioning disk on the moving component, the eight pull-on-the-cable displacement sensors are connected to the data acquisition card, and the computer is used for acquiring data and performing analytical calculation, so that poses of the moving component is obtained. When the moving component moves, the moving tracks can be described in real time, and real-time speed and real-time accelerated speed are calculated. The system has the advantages that the poses and the moving tracks of the moving component of the large equipment such as the robot or vertical milling machine can be measured simply and conveniently in real time, and accordingly, the system is low in cost, simple in structure, large in moving space and high in precision.
Description
Technical field
The present invention relates to a kind of moving component spatial pose precision and track stay-supported measuring system and method.
Background technology
The main equipment such as industrial robot and vertical knee-type milling machine, as the representative of the production automation, is widely used and the every field of industry.In the operation such as arc-welding, spot welding, carrying, packaging of industrial robot on the industry such as automobile making, chemical industry automatic production line, vertical knee-type milling machine is applicable to the plane, inclined-plane, groove, hole etc. of processing various parts, is the desirable process equipment of the industries such as machine-building, mould, instrument, instrument, automobile, motorcycle.These large industry equipments replace people to complete high-quality work in automated production, improve production efficiency and the quality of product, therefore will have strict requirement to the size of accurate location spatially during the motion of their moving component and speed, acceleration.Generally, time it dispatches from the factory, all need the calibration carrying out pose accuracy, and the detection of motion process medium velocity and acceleration.On market, the existing calibrating mode first adopts camera to follow the tracks of, and adopt manual programming, its precision is low, and due to the causes such as shooting light higher to environmental requirement; It two is adopt the tracking calibration such as laser interferometer, and generally apply on lathe, its precision is high, but space detects that to realize difficulty large, and expensive.
Summary of the invention
The object of the invention is to solve prior art Problems existing, a kind of moving component spatial pose precision and track stay-supported measuring system and method are provided, its draw wire encoder quantity used is few, cost is low, is applicable to main equipment, and certainty of measurement is high, good reliability, space scope is large, and low to environmental requirement, is applicable to industry spot.
For achieving the above object, design of the present invention is:
Draw wire encoder draws eight test cables, be connected with eight ball-joints be arranged on positioning disc or universal joint, positioning disc is coaxially connected with main equipment moving component and free to rotate, be linked to data collecting card outside described draw wire encoder simultaneously, data acquisition and calculating is carried out by the software for calculation on computer or hand-held calculating display unit, calculate the pose of moving component, when moving component moves, real-time calculating pose, obtain moving component space motion path, and real-time speed and acceleration information can be calculated.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of moving component spatial pose precision and track stay-supported measuring system, based on parallel principle, the spatial pose precision of moving component of main equipment and track that comprise industrial robot or vertical knee-type milling machine are measured, measuring system comprises positioning disc, ball-joint or universal joint, draw wire encoder, data wire, data collecting card and computer; The moving component that described positioning disc is coaxially arranged on main equipment can freely rotate, eight ball-joints or universal joint are arranged on the lower surface of positioning disc, and eight test cables that eight draw wire encoder stretch out are connected on eight ball-joints or universal joint; The mounting means of eight draw wire encoder is random emplacement type or uses measuring stick, must ensure that the basic point of eight draw wire encoder is in a plane substantially, and any 3 not conllinear, avoid interfering; Eight draw wire encoder are by data wire connection data capture card, and described data collecting card connects computer.
Native system also comprises measuring stick, and eight draw wire encoder described in each and every one are arranged on corresponding measuring stick respectively.
A kind of moving component spatial pose precision and track stay-supported measuring method, concrete steps are as follows:
A. measure the basic point air line distance between any two of any six draw wire encoder manually or automatically, and fed back the length value obtaining these six test cables by data collecting card;
B. after the spatial distribution between known above-mentioned six test length of cables and six draw wire encoder, as one group, according to the positive kinematics principle simultaneous equations of parallel institution, and utilize newton-pressgang pine method to carry out iterating obtaining analytic solutions, calculate one group of pose initial value of moving component;
C. by permutation and combination, again choosing six different draw wire encoder is one group, repeats step a-b, obtains many group moving component pose initial values respectively, carries out error minimize process, obtain the accurate pose solution of moving component one to the set of pose initial value;
D. handle main equipment, its moving component is moved, change the length of the test cable of eight draw wire encoder, repeat step a-c, obtain the different positions and pose solution of moving component;
E. moving component real-time pose under computer recording, forms real-time track route; According to the sampling interval, the moving track calculation obtained by computer goes out speed and the acceleration of moving component.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technological progress:
The present invention adopts draw wire encoder as the main body measured, utilize the test length of cable of draw wire encoder to carry out the position coordinate value change of scaling motion parts, be applicable to industry spot, testing equipment long service life, moving component space is large, and the data accuracy recorded is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of moving component spatial pose precision of the present invention and track stay-supported measuring system.
Detailed description of the invention
Details are as follows by reference to the accompanying drawings for embodiments of the invention:
See Fig. 1, a kind of moving component spatial pose precision and track stay-supported measuring system, based on parallel principle, the spatial pose precision of moving component of main equipment 1 and track that comprise industrial robot or vertical knee-type milling machine are measured, measuring system comprises positioning disc 2, ball-joint or universal joint 3, draw wire encoder 4, data wire 6, data collecting card 7 and computer 8; The moving component that described positioning disc 2 is coaxially arranged on main equipment 1 can freely rotate, eight ball-joints or universal joint 3 are arranged on the lower surface of positioning disc 2, and eight test cables that eight draw wire encoder 4 stretch out are connected on eight ball-joints or universal joint 3; The mounting means of eight draw wire encoder 4, for using measuring stick 5, must ensure that the basic point of eight draw wire encoder 4 is in a plane substantially, and any 3 not conllinear, avoid interfering; Eight draw wire encoder 4 are by data wire 6 connection data capture card 7, and described data collecting card 7 connects computer 8.
Also comprise four measuring sticks 5, eight draw wire encoder 4 described in each and every one in the present embodiment to be arranged on respectively on corresponding measuring stick 5.
A kind of moving component spatial pose precision and track stay-supported measuring method, concrete steps are as follows:
A. measure the basic point air line distance between any two of any six draw wire encoder 4 manually or automatically, and fed back the length value obtaining these six test cables by data collecting card 7;
B. after the spatial distribution between known above-mentioned six test length of cables and six draw wire encoder 4, as one group, according to the positive kinematics principle simultaneous equations of parallel institution, and utilize newton-pressgang pine method to carry out iterating obtaining analytic solutions, calculate one group of pose initial value of moving component;
C. by permutation and combination, again choosing different six draw wire encoder 4 is one group, repeats step a-b, obtains many group moving component pose initial values respectively, carries out error minimize process, obtain the accurate pose solution of moving component one to the set of pose initial value;
D. handle main equipment 1, its moving component is moved, change the length of the test cable of eight draw wire encoder 4, repeat step a-c, obtain the different positions and pose solution of moving component;
E. moving component real-time pose recorded by computer 8, forms real-time track route; According to the sampling interval, the moving track calculation obtained by computer 8 goes out speed and the acceleration of moving component.
Claims (3)
1. a moving component spatial pose precision and track stay-supported measuring system, based on parallel principle, the spatial pose precision of moving component of main equipment (1) and track that comprise industrial robot or vertical knee-type milling machine are measured, it is characterized in that, measuring system comprises positioning disc (2), ball-joint or universal joint (3), draw wire encoder (4); Data wire (6), data collecting card (7) and computer (8); The moving component that described positioning disc (2) is coaxially arranged on main equipment (1) can freely rotate, eight ball-joints or universal joint (3) are arranged on the lower surface of positioning disc (2), and eight test cables that eight draw wire encoder (4) are stretched out are connected on eight ball-joints or universal joint (3); The mounting means of eight draw wire encoder (4) is random emplacement type or uses measuring stick (5), must ensure that the basic point of eight draw wire encoder (4) is in a plane substantially, and any 3 not conllinear, avoid interfering; Eight draw wire encoder (4) are by data wire (6) connection data capture card (7), and described data collecting card (7) connects computer (8).
2. moving component spatial pose precision according to claim 1 and track stay-supported measuring system, is characterized in that: native system also comprises measuring stick (5), and eight draw wire encoder (4) described in each and every one are arranged on corresponding measuring stick (5) respectively.
3. moving component spatial pose precision and a track stay-supported measuring method, it is characterized in that, concrete steps are as follows:
A. measure the basic point air line distance between any two of any six draw wire encoder (4) manually or automatically, and fed back the length value obtaining these six test cables by data collecting card (7);
B. after the spatial distribution between known above-mentioned six test length of cables and six draw wire encoder (4), as one group, according to the positive kinematics principle simultaneous equations of parallel institution, and utilize newton-pressgang pine method to carry out iterating obtaining analytic solutions, calculate one group of pose initial value of moving component;
C. by permutation and combination, again choosing six different draw wire encoder (4) is one group, repeats step a-b, obtains many group moving component pose initial values respectively, carries out error minimize process, obtain the accurate pose solution of moving component one to the set of pose initial value;
D. handle main equipment (1), its moving component is moved, change the length of the test cable of eight draw wire encoder (4), repeat step a-c, obtain the different positions and pose solution of moving component;
E. moving component real-time pose recorded by computer (8), forms real-time track route; According to the sampling interval, the moving track calculation obtained by computer (8) goes out speed and the acceleration of moving component.
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Cited By (8)
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| CN106292338A (en) * | 2016-10-20 | 2017-01-04 | 青岛海豚智能装备有限公司 | A kind of robot kinematics and Verification on Kinetic Model system and method |
| CN106468548A (en) * | 2015-08-18 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axle kinetic measurement robot motions |
| CN107030732A (en) * | 2017-05-04 | 2017-08-11 | 中北大学 | Parallel/hybrid mechanism and robot performance's parameter test system |
| CN107532930A (en) * | 2015-04-29 | 2018-01-02 | 瑞尼斯豪公司 | The method for determining subdivision error |
| CN108801137A (en) * | 2018-06-15 | 2018-11-13 | 中南大学 | A method of for detecting flexible parallel connection platform's position and pose |
| CN109732596A (en) * | 2018-12-29 | 2019-05-10 | 南京工程学院 | Industrial robot rigidity identification system based on six-dimensional virtual joint model and identification method thereof |
| CN110280029A (en) * | 2019-08-02 | 2019-09-27 | 北京北特圣迪科技发展有限公司 | The quick compilation device and compilation method of a kind of 3d space demonstration flight track |
| WO2020135608A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市越疆科技有限公司 | Industrial robot demonstration track recurrence method and system and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107532930A (en) * | 2015-04-29 | 2018-01-02 | 瑞尼斯豪公司 | The method for determining subdivision error |
| CN106468548B (en) * | 2015-08-18 | 2019-12-03 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axis dynamic robot measurement movement |
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| CN107030732A (en) * | 2017-05-04 | 2017-08-11 | 中北大学 | Parallel/hybrid mechanism and robot performance's parameter test system |
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| CN108801137B (en) * | 2018-06-15 | 2019-12-03 | 中南大学 | A method of for detecting flexible parallel connection platform's position and pose |
| WO2020135608A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市越疆科技有限公司 | Industrial robot demonstration track recurrence method and system and robot |
| CN109732596B (en) * | 2018-12-29 | 2021-06-15 | 南京工程学院 | Industrial robot rigidity identification system based on six-dimensional virtual joint model and identification method thereof |
| CN109732596A (en) * | 2018-12-29 | 2019-05-10 | 南京工程学院 | Industrial robot rigidity identification system based on six-dimensional virtual joint model and identification method thereof |
| CN110280029A (en) * | 2019-08-02 | 2019-09-27 | 北京北特圣迪科技发展有限公司 | The quick compilation device and compilation method of a kind of 3d space demonstration flight track |
| CN110280029B (en) * | 2019-08-02 | 2024-03-15 | 北京北特圣迪科技发展有限公司 | Quick painting device and method for 3D space flight performance track |
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