A detection mechanism and detection method for manipulator working position deviation

Abstract

The invention discloses a detection mechanism and a detection method for the deviation of the working position of a manipulator. The detection mechanism includes a mounting plate arranged above the manipulator, a longitudinal guide sleeve connected to the mounting plate, a pointed cone rod arranged in the guide sleeve and protruding downward from the guide sleeve, and the displacement of the mounting plate above the tapered rod. The sensor and the flat-end column and the conical-end flat-head column installed side by side on the upper end of the mechanical hand, the detection end of the displacement sensor is against the top of the pointed cone rod, the limit edge is set in the guide sleeve, and the pointed cone rod is set on the upper end of the limit edge The limited end, the pointed cone rod is located above the flat end column and the conical end flat head column, and the top surface of the flat end column and the top surface of the conical end flat head column are on the same plane. The detection method uses a displacement sensor to detect the relative position of the pointed cone rod and the top surface of the flat end column, and the top surface of the tapered end flat head column, and judges the offset direction and distance of the mechanical hand assembly. The invention can realize automatic error prevention inspection, has lower cost and higher work efficiency.

Description

technical field [0001] The invention relates to the technical field of detection equipment and methods, in particular to a mechanism and method for detecting the deviation of the working position of a manipulator. Background technique [0002] In the prior art, work processes such as dispensing, oiling, soldering, assembly, and handling are often completed by joint robots or XYZ three-axis coordinate robots. The joint robot or XYZ three-axis coordinate robot often causes the working position of the manipulator to deviate due to the replacement of the tooling on the manipulator, the replacement of the manipulator or the working head, and the maintenance of the manipulator, which causes the robot to interfere when it is working. At this time, it is necessary to quickly and automatically detect the origin of the working position of the manipulator to determine whether the origin of the working position deviates from the allowable range. [0003] In the prior art, there are aut...

AI Technical Summary

Problems solved by technology

[0004] 1. Using video camera equipment to automatically track, the software and hardware of the video camera analysis system are expensive, occupying the production cycle and affecting work efficiency;

[0005] 2. Equipped with hardware mandrel, manual calibration, low efficiency, human misjudgment may be possible, and automatic error-proof inspection cannot be realized;

[0006] 3. Configure measuring tools and manually calibrate, which is inefficient and cannot realize automatic error-proof inspection

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