Double-arm robot performance measuring method based on multiple laser trackers

A technology of laser tracker and measurement method, which is applied to manipulators, manufacturing tools, etc., can solve the problems of long time consumption, substandard measurement accuracy, and inability to achieve simultaneous measurement of two arms, and achieves the effect of simple test process and high measurement accuracy.

Active Publication Date: 2019-10-25
杭州亿恒科技有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-laser tracker based robot tracking system in order to overcome the problems that the single-arm robot performance measurement method in the prior art cannot realize the simultaneous measurement of both arms, the measurement accuracy is not up to standard, and the test process takes a long time. Performance measurement method of dual-arm robot

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  • Double-arm robot performance measuring method based on multiple laser trackers
  • Double-arm robot performance measuring method based on multiple laser trackers
  • Double-arm robot performance measuring method based on multiple laser trackers

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] Such as figure 1 , figure 2 , Figure 4 The illustrated embodiment is a method for measuring the performance of a dual-arm robot based on a multi-laser tracker, comprising the following steps:

[0048] (1-1) Establish a dual-arm robot tool coordinate system;

[0049] The dual-arm robot includes a first mechanical arm 1, a second mechanical arm 2, and a processor 3 installed on a base 9. Both the first mechanical arm and the second mechanical arm include 6 joints, and the 6 joints are arranged sequentially from bottom to top as Joints 1 to 6 also include a teaching pendant 4, two laser trackers 5, a host computer 6 and a controller 7; the processor is electrically connected to the teaching pendant, the first mechanical arm and the second mechanical arm respectively, The controller is electrically connected to the teaching pendant, th...

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Abstract

The invention discloses a double-arm robot performance measuring method based on multiple laser trackers. The double-arm robot performance measuring method based on the multiple laser trackers comprises the following steps that (1-1) a double-arm robot tool coordinate system is established; (1-2) a coordinate conversion relation between base coordinate systems of the laser trackers and base coordinate systems of mechanical arms is established; (1-3) a public base coordinate system is unified; (1-4) robot performance measurement point planning is performed; (1-5) the laser trackers and an I / O synchronization technology are used for simultaneously measuring a double-arm robot; and (1-6) and data processing is performed, and a test report is generated. The double-arm robot performance measuring method has the characteristics that two arms of the double-arm robot can be simultaneously measured, the linkage characteristics of the two-arm robot can be evaluated, the movement points of the two arms do not need to be aligned in timing sequence, the measurement precision is high, and the test process is simple.

Description

technical field [0001] The invention relates to the technical field of SCARA robots, in particular to a method for measuring the performance of a dual-arm robot based on a multi-laser tracker. Background technique [0002] Robots are one of the core equipment for realizing intelligent manufacturing and digital factories. The precision requirements of robots in various application fields are getting higher and higher, and the measurement of robot performance has great practical significance for the improvement of the quality of the robot industry. At present, the national standard "GB / T 12642-2013 Industrial Robot Performance Specifications and Test Methods" is generally used for performance measurement and accuracy assurance of robots that have undergone significant changes in the factory or use environment. This performance specification mainly specifies 14 parameter indicators and corresponding test methods for determining the performance level of industrial robots for si...

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Application Information

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IPC IPC(8): B25J19/00B25J19/02
CPCB25J19/00B25J19/0095B25J19/022
Inventor 陈章位贺惠农张翔
Owner 杭州亿恒科技有限公司
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