Pose accuracy and pose repeatability detection device and detection method for industrial robot

Abstract

The invention discloses a pose accuracy and pose repeatability detection device for an industrial robot. The device comprises an end effector for testing, a measuring rack and a four-axis measuring instrument; the measuring rack comprises a mounting bottom plate, a stand column and a sample standard needle; the four-axis measuring instrument comprises an X-axis micrometer table, a Y-axis micrometer table, an R-axis micrometer rotary table and a Z-axis micrometer table; and the Z-axis moving platform is fixedly connected with a position detection claw and a posture detection claw. The method for detecting the pose accuracy and repeatability through the detection device comprises the following steps: (1) mounting the end effector for testing; 2) mounting the measuring rack; 3) calibrating a test point; 4) calibrating the four-axis measuring instrument; 5) measuring the position accuracy and position repeatability; and 6) measuring the attitude accuracy and attitude repeatability. The detection device is simple in structure, portable, low in production cost and convenient to install; and the detection method is simple to operate, can detect most industrial robots, and is beneficial to improving the product quality of the industrial robots.

Description

technical field [0001] The invention relates to the field of robot performance detection, in particular to an industrial robot pose accuracy and pose repeatability detection device and detection method. Background technique [0002] An industrial robot is a multi-degree-of-freedom machine device for the industrial field, and the position and attitude of its end effector are the composite results of multi-axis motion. Its pose accuracy and pose repeatability are an important index to measure the technical performance of industrial robots, and are of great significance for industrial robots to maintain a stable working state. [0003] GB / T12642 introduced the detection method of pose accuracy and pose repeatability, and also introduced several detection devices, but the existing pose accuracy and pose repeatability detection devices have complex structures, high prices, and difficult operation. It is cumbersome, has high technical requirements for the operator, and the detect...

AI Technical Summary

Problems solved by technology

[0003] GB / T12642 introduced the detection method of pose accuracy and pose repeatability, and also introduced several detection devices, but the existing pose accuracy and pose repeatability detection devices have complex structures, high prices, and difficult operation. It is cumbersome, has high technical requirements for the operator, and the detection cost remains high, so it is not suitable for promotion and use.

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