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Checking fixture and method for testing plane positioning accuracy of end picker

A technology of plane positioning and testing end, applied in the direction of instruments, measuring devices, mechanical measuring devices, etc., can solve the problems of high cost, easy to be affected by surrounding vibration, high requirements for optical and algorithm expertise, and achieve convenient operation and simple structure. Effect

Active Publication Date: 2022-01-25
SUZHOU ZIJINGANG INTELLIGENT MFG EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to achieve this technical function, many in-plane positioning accuracy detection devices have been proposed, but most of the in-plane positioning accuracy detection devices use camera algorithm processing, laser interferometers, etc., which are not only costly, but also easily affected by surrounding vibrations. Requires high professional knowledge of optics and algorithms, and does not have good promotion

Method used

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  • Checking fixture and method for testing plane positioning accuracy of end picker
  • Checking fixture and method for testing plane positioning accuracy of end picker
  • Checking fixture and method for testing plane positioning accuracy of end picker

Examples

Experimental program
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Effect test

Embodiment 1

[0056]The present invention provides a checker for testing the plane positioning accuracy of an end effector, and the end effector 401 refers to a tool mounted on a flange at the end of a robot or a motion module. The positioning accuracy in the plane includes position and angle errors. The position error can be obtained by the coordinate deviation before and after a certain point movement, and the angle error can be obtained by the position angle before and after a certain edge movement. For this reason, on the end effector 401 Set two vertical sides, by measuring the coordinate values ​​of the points on the two edges before and after the movement of the end picker 401, solve the linear equations of the two vertical sides, and finally solve the coordinate deviation of the intersection point of the two straight lines and the angular deviation of a certain vertical side, the end picker The coordinate deviation of the corresponding intersection point before and after the movement...

Embodiment 2

[0068] An embodiment of the present invention provides a detection method based on the inspection tool described in any one of Embodiment 1, such as Image 6 shown, including the following steps:

[0069] (1) coordinates of four points A, B, C, and D on the known end picker 401: A(x A ,y A ), B(x B ,y B ), C(x C ,y C ), D(x D ,y D ), where: y A 、y B 、x C 、x D Marked by the 4 "V" grooves of the square 301, x A 、x B 、y C 、y D Read by the first dial gauge 212 and the second dial gauge, after the end picker 401 moves, get E, F, G, H four points, the coordinates are: E(x E ,y A ), F(x F ,y B ), G(x C ,y G ), H(x D ,y H ), x E 、x F 、y G 、y H Read by the first dial gauge 212 and the second dial gauge; Definition A, the point of intersection of the line segment between the B point and the line segment between the C, D point is O 1 point;

[0070] (2) Define the intersection of the line segment between E and F points and the line segment between G and H poin...

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Abstract

The invention discloses a checker and method for testing the plane positioning accuracy of an end picker. The checker includes a first detection unit and a second detection unit, which are arranged perpendicular to each other and have the same structure, and both include: a first detection unit and a second detection unit. A linear guide rail and a second linear guide rail are parallel to each other; a third linear guide rail is perpendicular to the first linear guide rail and the second linear guide rail, and its two ends are respectively connected to the first linear guide rail and the second linear guide rail. The two linear guide rails are slidingly connected; the direction of the detection heads of the first dial gauge and the second dial gauge are parallel to each other, and both are connected with the third linear guide rail through a dial gauge adjusting mechanism. The invention has simple structure and convenient operation, and can greatly improve the positioning accuracy of the end picker plane.

Description

technical field [0001] The invention belongs to the technical field of plane positioning accuracy testing, and in particular relates to a checking fixture and method for testing the plane positioning accuracy of an end picker. Background technique [0002] In the prior art, there are many application occasions that require detection of in-plane positioning accuracy. In order to achieve this technical function, many in-plane positioning accuracy detection devices have been proposed, but most of the in-plane positioning accuracy detection devices use camera algorithm processing, laser interferometers, etc., which are not only costly, but also easily affected by surrounding vibrations. It requires high professional knowledge of optics and algorithms, and it does not have good promotion. Contents of the invention [0003] In view of the above problems, the present invention proposes a checking tool and method for testing the plane positioning accuracy of the end effector, whi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B5/00G01B5/24
Inventor 傅建中徐正华张树盛徐月同章道华
Owner SUZHOU ZIJINGANG INTELLIGENT MFG EQUIP
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