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A device for detecting the positioning accuracy of the robot in the plane

A technology of positioning accuracy and robotics, applied in the direction of mechanical devices, measuring devices, mechanical measuring devices, etc., can solve the problems of high requirements for optical and algorithm expertise, small impact of surrounding vibration, and unfavorable large-scale promotion, etc., to achieve compact structure, The effect of high precision and easy promotion

Active Publication Date: 2022-07-29
SUZHOU ZIJINGANG INTELLIGENT MFG EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the in-plane positioning accuracy detection devices in the prior art use camera algorithm processing or laser interferometers, which are not only costly, but also require little influence from surrounding vibrations, and require high expertise in optics and algorithms, which is not conducive to large-scale promotion

Method used

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  • A device for detecting the positioning accuracy of the robot in the plane
  • A device for detecting the positioning accuracy of the robot in the plane
  • A device for detecting the positioning accuracy of the robot in the plane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] like Figure 1(a)-Figure 1(b) As shown, the design principle of the device for detecting the positioning accuracy of the robot in the plane proposed in the present invention is specifically: set the first sharp cone 2 to be coaxially fixed with the flange of the robot to be tested, and at the same time have a cut edge (that is, the first section Plate) and the flange axis of the robot are fixed in parallel, the distance between the sharp cone and the trimming edge is the design radius, and the design radius is required to be as large as possible. During the repeated positioning of the center of the robot flange, the position of the cusp of the first cone 2 may change, and the cutting edge may have a corner. The second sharp cone 14 is installed on the micrometer measuring tool (including the X / Y direction micrometer slide table 7, the angle measuring table 9, etc.), and the center point of the robot flange is determined by the point-to-point alignment of the second shar...

Embodiment 2

[0053] Based on Embodiment 1, the differences between this embodiment of the present invention and Embodiment 1 are:

[0054] In a specific implementation of the embodiment of the present invention, in order to ensure that the center line of the second sharp cone 14 coincides with the rotation center of the rotation angle measuring table 9, the rotating arm 10 is provided with a circular hole, and the rotation angle measurement The mounting surface of the table 9 is provided with a cavity, the circular hole is coaxial with the cavity, and the cavity is coaxially nested with the turntable of the angle measuring table 9. Before installing the second cone 14, the calibration The shaft is inserted into the round hole of the cone fixing block 13 and the rotating arm 10, and then the corner block 11 is fixedly connected with the rotating arm 10. For details, see image 3 .

Embodiment 3

[0056] Based on Embodiment 1, the differences between this embodiment of the present invention and Embodiment 1 are:

[0057] In a specific implementation of the embodiment of the present invention, the rotating arm 10 is further provided with a dial indicator fixing seat 15, the dial indicator 16 is installed on the dial indicator fixing seat 15, and the dial indicator The contacts of 16 are in the same plane as the centerline of the second taper 14 . In the specific implementation process, in order to facilitate the adjustment of the position of the dial indicator fixing seat 15 , the rotating arm 10 is provided with a waist-shaped hole, and the dial indicator fixing seat 15 is embedded in the waist-shaped hole. The cross-section of the dial indicator fixing seat 15 is L-shaped, one end of which is connected with the rotating arm 10, and the other end is provided with a through hole, which is used for the contact of the dial indicator 16 to pass through and connect to the fi...

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PUM

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Abstract

The invention discloses a device for detecting the in-plane positioning accuracy of a robot, comprising a first sharp cone, a second sharp cone, a bottom plate, an X / Y direction micrometer slide table, an X direction micrometer, a Y direction micrometer, a rotation angle measuring table, Angle adjustment part, rotating arm, Z direction adjustment part, cantilever plate and dial indicator; the first cone is fixed to the robot to be tested; the second cone is located below the first cone; the X / Y direction micrometer slide table and bottom plate Connected; the X-direction micrometer and Y-direction micrometer are arranged on the X / Y direction micrometer slide table; the angle measuring table is connected with the X / Y direction micrometer slide table; the angle adjusting part and the angle scale line are arranged on the angle measuring table; The rotation angle measuring table is connected; the Z-direction adjustment piece is connected with the rotating arm and the second sharp cone respectively; the first sharp cone is connected with the cantilever plate; the cantilever plate includes a first segment plate that is perpendicular to the rotating arm; , the contacts are in contact with the first segment plate. The invention is simple in principle, compact in structure, high in precision, low in cost and strong in versatility.

Description

technical field [0001] The invention belongs to the technical field of precision detection equipment, and in particular relates to a device for detecting the positioning precision in a robot plane. Background technique [0002] With the continuous development of the industry, the detection of the positioning accuracy in the plane is required in many industrial production occasions. Most of the in-plane positioning accuracy detection devices in the prior art use camera algorithm processing or laser interferometers, which not only cost high, but also require little influence of surrounding vibrations, and require high expertise in optics and algorithms, which is not conducive to large-scale promotion. SUMMARY OF THE INVENTION [0003] In view of the above problems, the present invention proposes a device for detecting the positioning accuracy in a robot plane, which is simple in principle, compact in structure, high in accuracy, low in cost, strong in versatility, easy to us...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B5/00
CPCG01B5/00
Inventor 徐月同徐正华张树盛章道华傅建中
Owner SUZHOU ZIJINGANG INTELLIGENT MFG EQUIP