Industrial robot joint idle stroke testing device and measuring method thereof

A technology of industrial robots and testing devices, which is applied in the direction of manipulators and manufacturing tools, can solve the problems of time-consuming, labor-intensive, and grease-increased costs, and achieve the effects of high measurement efficiency, high measurement accuracy, and convenient operation

Active Publication Date: 2021-06-04
EFORT INTELLIGENT EQUIP CO LTD
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  • Claims
  • Application Information

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Problems solved by technology

This method is time-consuming, labor-intensive, and refilling grease increases costs and other disadvantages

Method used

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  • Industrial robot joint idle stroke testing device and measuring method thereof
  • Industrial robot joint idle stroke testing device and measuring method thereof
  • Industrial robot joint idle stroke testing device and measuring method thereof

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Embodiment Construction

[0030] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0031] Such as Figure 1 to Figure 3 As shown, an industrial robot joint air travel test device includes:

[0032] The displacement sensor bracket 3 is connected with the industrial robot swivel seat 4 by bolts to provide positioning support;

[0033] The displacement sensor 1 is arranged on the displacement sensor bracket 3 and is used to measure the displacement of the robot arm around the J2 axis.

[0034] The displacement sensor bracket 3 is provided with a fastening knob 2 for tightening the displacement sensor 1 .

[0035] The displacement sensor bracket 3 is fixedly connected with the displacement sensor 1 .

[0036] The T-shaped bottom of described displacement sensor support 3 is connected with industrial robot swivel seat 4 bolts by the hole of two φ 10.

[0037] Compared ...

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Abstract

The invention relates to the technical field of robot performance testing, in particular to an industrial robot joint idle stroke testing device and a measuring method thereof. The industrial robot joint idle stroke testing device comprises a displacement sensor support and a displacement sensor, and the specific using steps of the device are as follows, S1, an industrial robot joint idle stroke testing platform is built; S2, the robot stops at the posture 1; S3, when the robot stops at the posture 1; S4, a torque is loaded; S5, the value of the displacement sensor is read; S6, the step 3 and the step 4 are repeated to obtain a joint angle of a posture 3; S7, the steps from the step 3 to the step 5 are repeated for three times, and three groups of alpha1 and alpha2 data are recorded; and S8, the joint idle stroke of a robot is calculated according to the recorded data. Compared with the prior art, the displacement sensor is used for multiple times of measurement to obtain multiple shaft joint angles, the measurement device is high in measurement precision, no extra measurement deviation is introduced except for connecting rod deformation of a robot body, meanwhile, operation is easy, convenient and rapid, and manpower, material resources and working hours consumed by robot disassembly and assembly are omitted.

Description

technical field [0001] The invention relates to the technical field of robot performance testing, in particular to an industrial robot joint air travel testing device and a measuring method thereof. Background technique [0002] An industrial robot is an automatic mechanical device that can be automatically controlled, reprogrammed, multi-functional, and multi-degree-of-freedom. The absolute positioning accuracy of the robot is low, and the joint space is an important factor affecting the absolute accuracy. It is mainly manifested in the following aspects: 1. Industrial robots belong to the multi-link series coupling structure, similar to cantilever beams, so the main error sources of absolute accuracy include the deformation of connecting rods and joints; The stiffness of the output shaft and the influence of the backlash between the output gear and the reducer; 3. The size of the joint space reflects the size of the joint deformation to a certain extent. Therefore, the o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李晓光冯海生储华龙苗想亮王俊奇陈青贺军杰
Owner EFORT INTELLIGENT EQUIP CO LTD
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