Industrial robot performance measurement method

A technology of industrial robots and measurement methods, applied in measurement devices, instruments, etc., can solve the problems of long measurement time, complicated operation process, and low measurement accuracy, and achieve the effect of short measurement time, high measurement accuracy, and high technical level requirements.

Active Publication Date: 2017-01-04
浙江谱麦科技有限公司
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Problems solved by technology

[0003] The purpose of the invention is to provide a performance measurement method for industrial robots with high measurement accuracy, simple operation and short measureme

Method used

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as figure 1 The illustrated embodiment is a method for measuring the performance of an industrial robot, comprising a laser tracker, a computer and a teach pendant located on the robot, and the computer is electrically connected to the laser tracker and the teach pendant respectively; comprises the following steps:

[0049] Step 100, establish robot tool coordinate system

[0050] Fix 5 laser target balls on the fixture at the end of the robot, select one of the target balls as the TCP point, and move the robot to 10 positions in the motion space that are not on the same straight line in turn, and the posture of the robot at each position is adjusted. Variety;

[0051] Laser tracker measures 10 sets of position data of TCP points m(i)=(xm(i), ym(i), zm(i)), i=1, 2,...,10;

[0052] The computer reads 10 sets of pose data at the end ...

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Abstract

The present invention discloses an industrial robot performance measurement method. A laser tracker, a computer and a demonstrator arranged on the robot are provided. The computer is electrically connected with the laser tracker and the demonstrator. The method comprises the following steps: establishing the tool coordinates of the robot; performing coordinate collimation; determining the measurement plane and the test pose of the robot; selecting the pose accuracy as a measurement project; measuring the space position data of a TCP point through the laser tracker; calculating the position accuracy and the pose accuracy; and calculating the output position accuracy and the pose accuracy to generate a test report. The industrial robot performance measurement method can accurately realize the robot performance measurement, and is high in measurement precision, simple to operate and short in measurement time.

Description

technical field [0001] The invention relates to the technical field of electronic measurement and data processing, in particular to an industrial robot performance measurement method with high measurement accuracy, simple operation and short measurement time. Background technique [0002] Industrial robots are the core equipment for modern production and assembly line operations. According to relevant national regulations, it is necessary to measure the performance of the robots after leaving the factory or after long-term use to ensure that the performance of the robots can meet the specified accuracy requirements. "GB / T 12642-2013 Industrial Robot Performance Specifications and Test Methods" clearly and detailedly elaborates on various performance indicators of industrial robots. The specification stipulates 14 performance indicators and test methods that need to be measured for industrial robots. The 14 indicators are required to be tested multiple times during the measu...

Claims

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Application Information

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IPC IPC(8): G01D21/00
CPCG01D21/00
Inventor 贺惠农施威涛黄宝丽孙颖
Owner 浙江谱麦科技有限公司
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