A detection device for measuring the accuracy and repeatability of an industrial robot's posture

Abstract

The present invention provides a detection device for measuring the accuracy and repeatability of the posture of an industrial robot, which relates to the field of robot detection, and includes a workbench, a robot body is arranged on the top of the workbench, a plug-in column is fixedly connected to the output end of the robot body, and a detection mechanism for detecting the accuracy of the robot body using the plug-in column is arranged on the workbench. During the detection, the detection device for measuring the accuracy and repeatability of the posture of an industrial robot first installs the robot body to control the robot body to vertically press the limiting hole in the center of the top cover of one of the detection mechanisms, and then resets, rotates 180 degrees, and then vertically presses the limiting hole in the center of the top cover of the detection mechanism on the other side, and repeats this process. When the position error of the plug-in column is within the allowable range, the plug-in column contacts the counting button after passing through the limiting hole, and the counting button is pressed, so that the counter displays a number plus one.

Description

Technical Field

[0001] The invention relates to the technical field of robot detection, in particular to a detection device for measuring the position and posture accuracy and repeatability of an industrial robot. Background Art

[0002] Industrial robots are multi-degree-of-freedom machine devices for the industrial field. The position and posture of their end effectors are the composite results of multi-axis motion. The position accuracy and position repeatability are important indicators for measuring the technical performance of industrial robots, and are of great significance for maintaining a stable working state of industrial robots.

[0003] GB / T12642 introduces several detection devices for posture accuracy and posture repeatability, but the existing posture accuracy and posture repeatability detection devices have complex equipment structures, high prices, cumbersome operations, and high technical requirements for operators, making it inconvenient to conduct rapid and intuitive comparative tests on the posture accuracy of multiple industrial robots. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a detection device for measuring the position accuracy and repeatability of an industrial robot, which solves the problems raised in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a detection device for measuring the posture accuracy and repeatability of an industrial robot, comprising a workbench, a robot body is arranged on the top of the workbench, an output end of the robot body is fixedly connected with a plug, and a detection mechanism for detecting the accuracy of the robot body using the plug is arranged on the workbench.

[0008] Preferably, the robot body is installed at the center of the workbench, and the number of the detection mechanisms is two, and the two detection mechanisms are symmetrically arranged on both sides of the robot body.

[0009] Preferably, the detection mechanism includes a base, a balloon, a lifting box, a lifting column, a slider, a top cover, a spring, a needle, a counting button, a single-chip microcomputer, and a counter. A balloon is arranged above the base, a lifting box is arranged above the balloon, a lifting column is arranged on the outside of the lifting box, a vertical slide groove is provided on the lifting column, a slider is slidably fitted on the slide groove, the slider is fixedly connected to the lifting box, a top cover is arranged above the lifting box, a counting button is fixedly connected to the center of the lifting box, a limiting hole corresponding to the counting button is provided on the top cover, and a limit hole is formed between the top cover and the bottom surface of the inner cavity of the lifting box. A plurality of springs are fixedly connected thereto, a puncture needle is fixedly connected to the bottom of the top cover, a through hole matching the puncture needle is provided on the bottom surface of the inner cavity of the lifting box, the single-chip microcomputer and the counter are both arranged on a workbench, the counting button, the counter and the robot body are all electrically connected to the single-chip microcomputer, when the position error of the pin is pressed within an allowable range, the pin contacts the counting button after passing through the limit hole, the counting button is pressed, the number displayed on the counter increases by one, and when the pin error is too large and is pressed on the top cover, the top cover drops, so that the puncture needle at the bottom of the top cover passes through the through hole and contacts the balloon, the balloon explodes, and the lifting box loses support and drops to the base.

[0010] Preferably, the number of the lifting columns is set to four, and the four lifting columns are arranged at equal angles with the lifting box as the center.

[0011] Preferably, a first limiting ring for preventing the slider from falling out is fixedly connected to the top of the lifting column, and a second limiting ring for preventing the top cover from falling out is fixedly connected to the inner side of the top of the lifting box.

[0012] Preferably, the number of the puncture needles is set to be multiple, and the multiple puncture needles are evenly distributed around the limiting hole.

[0013] Preferably, the diameter of the through hole is larger than the diameter of the plug post, a mounting plate is fixedly connected to the workbench, and the counter is fixedly connected to the mounting plate.

[0014] Preferably, it also includes a reminder mechanism for reminding the experimenter that the balloon has been punctured, the reminder mechanism includes a laser transmitter, a laser receiver, and an alarm light, the lifting columns on both sides of the balloon are respectively inlaid with a laser transmitter and a laser receiver, and the positions of the laser transmitter and the laser receiver correspond to each other, the alarm light is fixedly connected to the mounting plate, the alarm light and the laser receiver are both electrically connected to the single-chip microcomputer, when the balloon explodes, the lifting box descends to the base, so that the obstruction between the laser receiver and the laser transmitter disappears, at this time the laser receiver corresponds to the laser transmitter, the laser receiver receives the laser from the laser transmitter, the laser receiver sends a signal to the single-chip microcomputer, and the single-chip microcomputer controls the alarm light to flash.

[0015] (III) Beneficial effects

[0016] The present invention provides a detection device for measuring the accuracy and repeatability of the posture of an industrial robot. It has the following beneficial effects:

[0017] 1. The detection device for measuring the posture accuracy and repeatability of industrial robots, during the detection, first install the robot body to control the robot body to vertically press the limit hole in the center of the top cover of one of the detection mechanisms, then reset, rotate 180 degrees and vertically press the limit hole in the center of the top cover of the detection mechanism on the other side, and repeat this process. When the position error of the pin is within the allowable range, the pin contacts the counting button after passing through the limit hole, and the counting button is pressed, so that the number displayed on the counter increases by one. When the pin error is too large and is pressed on the top cover, the top cover drops, so that the pin at the bottom of the top cover passes through the through hole and contacts the balloon, the balloon explodes, and the lifting box loses support and drops to the base. Although the robot body will Continue to work, but because the lifting box has fallen onto the base, it is impossible to increase the number on the counter later. When the balloons of all the test organizations have burst, the two counters will be able to display when the two balloons have repeated the action for the nth time. Add the numbers obtained from the two counters and take the average. The larger the average, the higher the posture accuracy, and the smaller the average, the lower the posture accuracy. By testing multiple different industrial robots and comparing the averages, we can clearly know which industrial robot has a higher posture accuracy. The detection method is simple to operate, and can perform quick and intuitive comparative detection on most industrial robots, which helps to improve the product quality of industrial robots.

[0018] 2. The detection device for measuring the posture accuracy and repeatability of the industrial robot can adjust the diameter difference between the plug column and the limit hole by adjusting the diameter of the plug column. The larger the diameter difference, the larger the allowable error, and the smaller the diameter difference, the smaller the allowable error.

[0019] 3. The detection device for measuring the position accuracy and repeatability of the industrial robot can control the alarm light to flash after the balloon explodes through the setting of the reminder mechanism, thereby reminding the tester that the robot body has produced excessive errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the testing mechanism of the present invention;

[0022] Figure 3 It is an exploded diagram of the test mechanism structure of the present invention;

[0023] Figure 4 It is a schematic diagram of the top cover structure of the present invention.

[0024] In the figure: 1 workbench, 2 robot body, 3 plug-in column, 4 detection mechanism, 5 single chip microcomputer, 6 mounting plate, 7 counter, 8 alarm light, 9 base, 10 balloon, 11 lifting box, 12 lifting column, 13 top cover, 14 laser transmitter, 15 slider, 16 first limit ring, 17 second limit ring, 18 laser receiver, 19 counting button, 20 spring, 21 needle. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0026] The embodiment of the present invention provides a detection device for measuring the accuracy and repeatability of an industrial robot posture. Figure 1-4 As shown, it includes a workbench 1, a robot body 2 is arranged on the top of the workbench 1, a plug 3 is fixedly connected to the output end of the robot body 2, and a detection mechanism 4 for detecting the accuracy of the robot body 2 using the plug 3 is arranged on the workbench 1. The robot body 2 is installed at the center of the workbench 1, and two detection mechanisms 4 are provided, and the two detection mechanisms 4 are symmetrically arranged on both sides of the robot body 2. The detection mechanism 4 includes a base 9, a balloon 10, a lifting box 11, a lifting column 12, a slider 15, a top cover 13, a spring 20, a needle 21, a counting button 19, a single-chip computer 5, and a counter 7. A balloon 10 is arranged above the base 9, a lifting box 11 is arranged above the balloon 10, a lifting column 12 is arranged on the outside of the lifting box 11, a vertical slide groove is provided on the lifting column 12, a slider 15 is slidably matched on the slide groove, and the slider 15 is fixedly connected to the lifting box 11, a top cover 13 is arranged above the lifting box 11, a counting button 19 is fixedly connected to the center of the lifting box 11, a limiting hole corresponding to the counting button 19 is provided on the top cover 13, and a fixed position between the top cover 13 and the bottom surface of the inner cavity of the lifting box 11 A plurality of springs 20 are connected, a puncture needle 21 is fixedly connected to the bottom of the top cover 13, a through hole matching the puncture needle 21 is provided on the bottom surface of the inner cavity of the lifting box 11, the single-chip microcomputer 5 and the counter 7 are both arranged on the workbench 1, the counting button 19, the counter 7 and the robot body 2 are all electrically connected to the single-chip microcomputer 5, when the position error of the pressed column 3 is within the allowable range, the column 3 passes through the limit hole and contacts the counting button 19, the counting button 19 is pressed, so that the counter 7 displays a number plus one, and when the error of the column 3 is too large and is pressed on the top cover 13, the top cover 13 descends, so that the puncture needle 21 at the bottom of the top cover 13 passes through the through hole and contacts the balloon 10, the balloon 10 explodes, and the lifting box 11 loses support and descends to the base 9.

[0027] During the inspection, the robot body 2 is first installed and controlled to vertically press the limiting hole in the center of the top cover 13 of one of the inspection mechanisms 4, then reset, rotate 180 degrees, and vertically press the limiting hole in the center of the top cover 13 of the inspection mechanism 4 on the other side, and repeat this process. When the position error of the pin 3 is within the allowable range, the pin 3 passes through the limiting hole and contacts the counting button 19. The counting button 19 is pressed, causing the counter 7 to display a number plus one. When the error of the pin 3 is too large and is pressed on the top cover 13, the top cover 13 drops, causing the puncture needle 21 at the bottom of the top cover 13 to pass through the through hole and contact the balloon 10. The balloon 10 explodes, and the lifting box 11 loses support and drops to the base 9. Although the robot body 2 will continue to Continue to work, but because the lifting box 11 has fallen onto the base 9, it is impossible to increase the number on the counter 7 later. When the balloons 10 of all the test mechanisms have burst, the two counters 7 can display when the two balloons 10 have repeated the action for the number of times. The numbers obtained by the two counters 7 are added and the average is taken. The larger the average, the higher the posture accuracy, and the smaller the average, the lower the posture accuracy. By testing multiple different industrial robots and comparing the averages obtained, it is possible to clearly know which industrial robot has a higher posture accuracy. The detection method is simple to operate, and can perform quick and intuitive comparative detection on most industrial robots, which is helpful to improve the product quality of industrial robots.

[0028] The number of lifting columns 12 is set to four, and the four lifting columns 12 are set at equal angles with the lifting box 11 as the center. A first limiting ring 16 for preventing the slider 15 from falling out is fixedly connected to the top of the lifting column 12, and a second limiting ring 17 for preventing the top cover 13 from falling out is fixedly connected to the inner side of the top of the lifting box 11. The number of puncture needles 21 is set to multiple, and multiple puncture needles 21 are evenly distributed around the limiting hole. The diameter of the through hole is larger than the diameter of the plug column 3. A mounting plate 6 is fixedly connected to the workbench 1, and a counter 7 is fixedly connected to the mounting plate 6. By adjusting the diameter of the plug column 3, the diameter difference between the plug column 3 and the limiting hole can be adjusted. The larger the diameter difference, the larger the allowable error, and the smaller the diameter difference, the smaller the allowable error.

[0029] It also includes a reminder mechanism for reminding the experimenter that the balloon 10 has been punctured, the reminder mechanism includes a laser transmitter 14, a laser receiver 18, and an alarm light 8. The lifting columns 12 on both sides of the balloon 10 are respectively inlaid with the laser transmitter 14 and the laser receiver 18, and the positions of the laser transmitter 14 and the laser receiver 18 correspond to each other. The alarm light 8 is fixedly connected to the mounting plate 6. The alarm light 8 and the laser receiver 18 are both electrically connected to the single-chip computer 5. When the balloon 10 explodes, the lifting box 11 descends to the base 9, so that the obstruction between the laser receiver 18 and the laser transmitter 14 disappears. At this time, the laser receiver 18 corresponds to the laser transmitter 14, and the laser receiver 18 receives the laser of the laser transmitter 14. The laser receiver 18 sends a signal to the single-chip computer 5, and the single-chip computer 5 controls the alarm light 8 to flash.

[0030] By setting up the reminder mechanism, the alarm light 8 can be controlled to flash after the balloon 10 explodes, thereby reminding the tester that the robot body 2 has produced a situation where the error is too large.

[0031] Working principle: During detection, first install the robot body 2 and control the robot body 2 to vertically press the limiting hole in the center of the top cover 13 of one of the detection mechanisms 4, then reset it, rotate it 180 degrees, and vertically press the limiting hole in the center of the top cover 13 of the detection mechanism 4 on the other side, and repeat this process. When the position error of the pin 3 is within the allowable range, the pin 3 passes through the limiting hole and contacts the counting button 19. The counting button 19 is pressed, causing the counter 7 to display a number plus one. When the error of the pin 3 is too large and is pressed on the top cover 13, the top cover 13 drops, causing the puncture needle 21 at the bottom of the top cover 13 to pass through the through hole and contact the balloon 10. The balloon 10 explodes, and the lifting box 11 loses support and drops to the base 9. Although the robot body 2 It will continue to work, but because the lifting box 11 has fallen onto the base 9, it is impossible to increase the number on the counter 7 later. When the balloons 10 of all the test mechanisms have burst, the two counters 7 will be able to display when the two balloons 10 were repeated for the nth time the action was burst. The numbers obtained by the two counters 7 are added together and the average is taken. The larger the average, the higher the posture accuracy, and the smaller the average, the lower the posture accuracy. By testing multiple different industrial robots and comparing the averages obtained, it is possible to clearly know which industrial robot has a higher posture accuracy. The detection method is simple to operate, and can perform quick and intuitive comparative detection on most industrial robots, which is helpful to improve the product quality of industrial robots.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A detection device for measuring the position accuracy and repeatability of an industrial robot, comprising a workbench (1), characterized in that: A robot body (2) is arranged on the top of the workbench (1); an output end of the robot body (2) is fixedly connected to a plug post (3); and a detection mechanism (4) for detecting the accuracy of the robot body (2) using the plug post (3) is arranged on the workbench (1); The detection mechanism (4) comprises a base (9), a balloon (10), a lifting box (11), a lifting column (12), a slider (15), a top cover (13), a spring (20), a pricking needle (21), a counting button (19), a single chip computer (5), and a counter (7). A balloon (10) is arranged above the base (9), a lifting box (11) is arranged above the balloon (10), a lifting column (12) is arranged on the outer side of the lifting box (11), a vertical slide groove is provided on the lifting column (12), a slider (15) is slidably matched on the slide groove, the slider (15) is fixedly connected to the lifting box (11), a top cover (13) is arranged above the lifting box (11), a counting button (19) is fixedly connected to the center of the lifting box (11), a limiting hole corresponding to the counting button (19) is provided on the top cover (13), and the top cover (13) is connected to the lifting box (11). 1), a plurality of springs (20) are fixedly connected between the bottom surfaces of the inner cavities of the top cover (13), a puncture needle (21) is fixedly connected to the bottom of the top cover (13), a through hole matching the puncture needle (21) is provided on the bottom surface of the inner cavities of the lifting box (11), the single chip microcomputer (5) and the counter (7) are both arranged on the workbench (1), the counting button (19), the counter (7) and the robot body (2) are all electrically connected to the single chip microcomputer (5), when the position error of the inserted column (3) is within the allowable range, the inserted column (3) passes through the limit hole and contacts the counting button (19), the counting button (19) is pressed, so that the counter (7) displays a number plus one, and when the error of the inserted column (3) is too large and is pressed on the top cover (13), the top cover (13) descends, so that the puncture needle (21) at the bottom of the top cover (13) passes through the through hole and contacts the balloon (10), the balloon (10) explodes, and the lifting box (11) loses support and descends to the base (9).

2. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 1, characterized in that: The robot body (2) is installed at the center of the workbench (1), and two detection mechanisms (4) are provided, and the two detection mechanisms (4) are symmetrically arranged on both sides of the robot body (2).

3. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 2, characterized in that: The number of the lifting columns (12) is set to four, and the four lifting columns (12) are arranged at equal angles with the lifting box (11) as the center.

4. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 3, characterized in that: A first limiting ring (16) is fixedly connected to the top of the lifting column (12) for preventing the slider (15) from falling out, and a second limiting ring (17) is fixedly connected to the inner side of the top of the lifting box (11) for preventing the top cover (13) from falling out.

5. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 4, characterized in that: The number of the puncture needles (21) is set to be multiple, and the multiple puncture needles (21) are evenly distributed around the limiting hole.

6. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 5, characterized in that: The diameter of the through hole is greater than the diameter of the plug post (3); a mounting plate (6) is fixedly connected to the workbench (1); and the counter (7) is fixedly connected to the mounting plate (6).

7. The detection device for measuring the position accuracy and repeatability of an industrial robot according to claim 6, characterized in that: The invention also includes a reminder mechanism for reminding the experimenter that the balloon (10) has been punctured, the reminder mechanism including a laser transmitter (14), a laser receiver (18), and an alarm light (8). The lifting columns (12) on both sides of the balloon (10) are respectively inlaid with the laser transmitter (14) and the laser receiver (18), and the positions of the laser transmitter (14) and the laser receiver (18) correspond to each other. The alarm light (8) is fixedly connected to the mounting plate (6). The alarm light (8) and the laser receiver (18) are both electrically connected to the single chip microcomputer (5). When the balloon (10) explodes, the lifting box (11) descends to the base (9), so that the obstruction between the laser receiver (18) and the laser transmitter (14) disappears. At this time, the laser receiver (18) corresponds to the laser transmitter (14), the laser receiver (18) receives the laser of the laser transmitter (14), the laser receiver (18) sends a signal to the single chip microcomputer (5), and the single chip microcomputer (5) controls the alarm light (8) to flash.

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