Measurement mode based on repeated positioning precision of six-axis robot

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to a measurement mode based on the repeated positioning precision of a six-axis robot. The measurement mode based on the repeated positioning precision of the six-axis robot refers to comprising three high-precision contact type side distance sensors and a measurement mode, wherein the high-precision contact type side distance sensors adopt Keyence GT2 series displacement distance measuring sensors, each high-precision contact type side distance sensor uses a DL-EC1A Keyence communication module, each DL-EC1A Keyence communication module uses an Ethercat communication protocol, and each DL-EC1A Keyence communication module is connected with a Thinget robot controller; the measurement mode comprises the following steps of S1, installing a standard test block at the tail end of a flange of the six-axis robot, and using a robot demonstrator for point position demonstration. According to the measurement mode based on the repeated positioning precision of the six-axis robot, compared with a laser tracking instrument, a displacement sensor is used for measurement, so that the sensor is smaller and more convenient, the maintenance cost is low, special test software is written for the test process, workers are easier to master, and test popularization of factory production is facilitated.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a measuring method based on the repeated positioning accuracy of a six-axis robot. Background technique [0002] With the continuous development of industrial technology in modern society, the degree of automation is getting higher and higher, and the application of industrial robots is becoming wider and wider, so the quality inspection of industrial robots is becoming more and more important. [0003] Repeated positioning accuracy is one of the most important performance indicators of industrial robots. There are two common measurement methods at present. That is, the robot is detected by a laser tracker or a three-coordinate measuring machine. Both of these two methods require the use of high-end precision measuring equipment, and they also have high requirements for the technical level of the measuring personnel. The existing measurement of the repeat positioning a...

AI Technical Summary

Problems solved by technology

[0004] Based on the existing measurement of repetitive positioning accuracy of industrial robots proposed in the background technology, laser tracking instruments are mainly used. This method requires a lot of measurement preparations, takes a long time, and has high technical requirements for testers, resulting in relatively complicated measurement methods. The technical problem of reducing the practicability of the measurement method, the present invention proposes a measurement method based on the repeated positioning accuracy of a six-axis robot

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