Robot assembly reliability detection method and detection device

Abstract

The present invention relates to a method for detecting the reliability of robot assembly, comprising: after the robot assembly is completed, performing a precision test on the robot; starting all axis groups of the robot to run, and making the axis groups of the robot stop suddenly during operation; performing a precision test on the robot again; comparing the results of the precision test after the assembly is completed with the results of the precision test after the axis groups stop suddenly during operation, to determine whether the robot assembly is reliable. In the present invention, the robot is stopped suddenly while in motion, and the impact force generated by the robot's inertia on the internal components is used to quickly expose the robot's hidden assembly defects, so as to facilitate the detection of whether the robot components are well assembled. The detection method is simple and easy to operate, and has great advantages in this field.

Description

Technical Field

[0001] The invention belongs to the technical field of robot assembly, and relates to a robot assembly reliability detection method and a detection device. Background Art

[0002] When assembling a robot, people or equipment are generally used to assemble the various parts into a complete robot. During the assembly process, due to errors in the parts and objective and subjective human factors, it is impossible to ensure that each axis group is assembled reliably and completely, resulting in positioning accuracy errors in the robot. During the factory inspection process, the traditional accuracy inspection method is to have the robot carry a load block to touch the micrometer in the X, Y, and Z directions, and use the micrometer to measure the assembly accuracy. For various hidden assembly defects such as loose locking of internal parts of the robot, traditional inspection methods cannot detect hidden assembly defects because the robot is only running for a short time, and hidden assembly defects will not be exposed immediately. Therefore, the robot can still pass the accuracy test. As a result, problems begin to be exposed during the operation of the robot after leaving the factory, and the accuracy gradually deteriorates. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a robot assembly reliability detection method and detection device that can detect hidden assembly defects.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A robot assembly reliability detection method comprises the following steps:

[0006] S101, after the robot is assembled, perform accuracy testing on the robot;

[0007] S102, start all axis groups of the robot to run, and make the axis groups of the robot stop urgently during the running process;

[0008] S103, performing accuracy testing on the robot again;

[0009] S104: Compare the results of the accuracy test after the assembly is completed with the results of the accuracy test after the axis group stops suddenly during operation to determine whether the robot assembly is reliable.

[0010] Furthermore, before performing the accuracy test on the robot, a dial indicator is set in the X, Y, and Z directions of the robot test point respectively; the X direction, Y direction, and Z direction are perpendicular to each other; the method for performing the accuracy test on the robot is as follows:

[0011] Make the robot carry the load block and place it at the robot test point;

[0012] Start the robot and make the part to be tested of the robot touch the dial indicators in the X, Y and Z directions in turn, and record the displacements measured by the three dial indicators.

[0013] Furthermore, when performing accuracy testing on the robot, the weight of the load block carried by the robot is the maximum load capacity of the robot.

[0014] Furthermore, in the step S104, the method for judging whether the robot assembly is reliable is: respectively calculating the difference between the displacement of each micrometer precision test after the assembly is completed and the displacement of the axis group precision test after the emergency stop during operation; if the differences calculated by the three micrometers are all less than the predetermined precision threshold, the robot assembly is judged to be reliable; otherwise, the robot assembly is judged to be unreliable.

[0015] Furthermore, in the step S102, the method for causing the axis group of the robot to stop suddenly during operation is: suddenly cutting off the power supply of the robot during the operation of the axis group of the robot; or

[0016] Use the emergency stop circuit of the robot control system to issue an emergency stop command to make the robot's axis group stop urgently during operation.

[0017] A robot assembly reliability detection method comprises the following steps:

[0018] S201, after the robot is assembled, perform accuracy testing on the robot;

[0019] S202, moving an axis group of the robot along a first direction and causing the axis group to stop suddenly during the movement; and performing an accuracy test on the robot;

[0020] S203, moving an axis group of the robot along a second direction and making the axis group stop suddenly during the movement; and performing an accuracy test on the robot;

[0021] S204, judging whether the assembly of the axis group of the robot is reliable based on the results of the three precision tests;

[0022] S205. Repeat steps S202 to S204 to determine whether the assembly of each axis group of the robot is reliable.

[0023] Furthermore, before performing the accuracy test on the robot, a dial indicator is set in the X, Y, and Z directions of the robot test point respectively; the X direction, Y direction, and Z direction are perpendicular to each other; the method for performing the accuracy test on the robot is as follows:

[0024] Make the robot carry the load block and place it at the robot test point;

[0025] Start the robot and make the part to be tested of the robot touch the dial indicators in the X, Y and Z directions in turn, and record the displacements measured by the three dial indicators.

[0026] Furthermore, in the step S204, the method for determining whether the assembly of an axis group of the robot is reliable is as follows: respectively calculating the maximum value of the difference between the displacement of each micrometer detected by precision after the assembly is completed, the displacement of the axis group detected by precision after an emergency stop during the movement along the first direction, and the displacement of the axis group detected by precision after an emergency stop during the movement along the second direction; if the maximum value of the difference calculated by each micrometer is less than a predetermined precision threshold, then the assembly of the axis group of the robot is determined to be reliable; otherwise, the assembly of the axis group of the robot is determined to be unreliable.

[0027] Furthermore, in the steps S202 and S203, the method for causing the axis group of the robot to stop suddenly during operation is: suddenly cutting off the power supply to the robot during the operation of the axis group of the robot; or

[0028] Use the emergency stop circuit of the robot control system to issue an emergency stop command to make the robot's axis group stop urgently during operation.

[0029] A robot assembly reliability detection device, comprising

[0030] The precision detection component is used to measure the displacement of the robot's part to be detected in the X, Y, and Z directions when it moves, and send the detected displacement to the processor;

[0031] IO module, used to control the on and off of the robot power supply according to the control signal of the processor;

[0032] a control system for controlling the robot's motion; and

[0033] The processor is used to record the displacement sent by the precision detection component and send a control signal during the operation of the robot to enable the IO module to control the robot power supply to cut off and restart.

[0034] The present invention causes the robot to stop suddenly while in motion. The impact force exerted by the robot's inertia on its internal components quickly exposes any hidden assembly defects, facilitating inspection of proper assembly of the robot's components. The inspection device boasts a simple structure, easy operation, and low cost, offering significant advantages in this field. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0036] Figure 1 The flowchart of a preferred embodiment of the robot assembly reliability detection method of the present invention.

[0037] Figure 2 Flowchart for accuracy testing of the robot.

[0038] Figure 3 This is a flow chart of another preferred embodiment of the robot assembly reliability detection method of the present invention.

[0039] Figure 4 This is a structural block diagram of a preferred embodiment of the robot assembly reliability detection device of the present invention.

[0040] Figure 5 Workflow diagram for assembling reliability testing equipment for robots. DETAILED DESCRIPTION

[0041] The following describes the implementation of the present invention through specific examples. The illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention. The following embodiments and features in the embodiments may be combined with each other unless there is any conflict.

[0042] Example 1

[0043] like Figure 1 As shown, a preferred embodiment of the robot assembly reliability detection method of the present invention includes the following steps:

[0044] S101. After the robot is assembled, perform an accuracy test on the robot. Before the accuracy test, it is necessary to set a micrometer in the X, Y, and Z directions of the robot test point respectively; wherein the X direction, Y direction, and Z direction are perpendicular to each other. Figure 2 As shown, the method for performing accuracy detection on a robot may include the following steps:

[0045] S901: The robot carries a load block and places it at a designated robot test point (refer to the national standard "Industrial Robot Performance Specification and Test Method"). The weight of the load block carried by the robot is preferably the maximum load capacity of the robot.

[0046] S902: The robot starts running, and the part to be inspected of the robot touches the dial indicators in the X, Y, and Z directions in sequence, and the displacements measured by the three dial indicators are recorded as the X, Y, and Z position coordinates of the part to be inspected of the robot.

[0047] S102. After the precision test is completed, the robot leaves the test point, and all the axis groups of the robot can be restored to the initial state to facilitate re-testing. Afterwards, all the axis groups of the robot are restarted, and the axis groups of the robot are suddenly stopped during operation. The method of making the axis groups of the robot suddenly stop during operation is: during the operation of the robot axis group, the robot is suddenly powered off through an additional power control circuit; of course, the emergency stop circuit of the robot control system can also be used to issue an emergency stop command to make the axis group of the robot stop during operation. By using the emergency stop circuit of the robot control system, there is no need to add an additional power control circuit, thereby reducing the modification of cables and reducing costs. When the robot suddenly stops during operation, the axis group of the robot will be subjected to a large impact force. If the robot has a poorly assembled axis group, the internal axis group of the robot will be greatly offset, which can expose hidden poor assembly conditions in advance.

[0048] S103: Power on the robot, restart it, and perform another accuracy check. The accuracy check process is the same as the accuracy check in step S101. This accuracy check can obtain the X, Y, and Z position coordinates of the robot's inspected part after the emergency stop, which can be used as a basis for determining whether the robot's internal axis group has significantly deviated.

[0049] S104. Compare the results of the precision test after assembly is completed and the results of the precision test after the axis group stops suddenly during operation to determine whether the robot assembly is reliable. The specific judgment method is: calculate the difference between the displacement of each micrometer after assembly is completed and the displacement of the axis group after the precision test during operation (i.e., the offset value of the X, Y, and Z position coordinates of the robot's to-be-tested part during the two precision tests). Through the position coordinates measured by the two precision tests, it can be observed whether the robot deviates significantly from the normal accuracy after the emergency stop, thereby determining whether the robot assembly is reliable. If the difference calculated by the three micrometers is less than the predetermined accuracy threshold, it means that the robot does not deviate significantly from the normal accuracy after the emergency stop, and the robot assembly is determined to be reliable; otherwise, it means that the robot deviates significantly from the normal accuracy after the emergency stop, and the robot assembly is determined to be unreliable. The accuracy thresholds of the X position coordinate, the Y position coordinate, and the Z position coordinate can be the same or different.

[0050] In this implementation, the robot is brought to an emergency stop while in motion. The impact force exerted by the robot's inertia on its internal components quickly reveals any hidden assembly defects, facilitating the inspection of proper assembly of the robot's components. This simple, easy-to-use inspection method offers significant application advantages.

[0051] Example 2

[0052] like Figure 3As shown, another preferred embodiment of the robot assembly reliability detection method of the present invention includes the following steps:

[0053] S201: After the robot is assembled, perform an accuracy test on the robot. The accuracy test method is the same as the accuracy test method in Example 1. The accuracy test can obtain the X, Y, and Z position coordinates of the part to be tested on the robot at this time.

[0054] S202. After the accuracy test is completed, the robot leaves the test point, and all the axis groups of the robot can be restored to their initial state; then one axis group of the robot is moved in the positive direction, and the axis group is suddenly stopped in the positive direction by cutting off the power of the robot or by an emergency stop command; and the robot is subjected to an accuracy test. The accuracy test method is the same as the accuracy test method in step S201. Through the accuracy test, the X, Y, and Z position coordinates of the part to be tested of the robot after the emergency stop in the positive direction can be obtained, which serves as a basis for judging whether a large offset has occurred in the axis group inside the robot after the emergency stop in the positive direction. When the axis group of the robot suddenly stops in the process of operation, the axis group will be subjected to a large impact force. If the axis group is poorly assembled, a large offset will occur inside the axis group, which can expose the hidden poor assembly of the axis group in advance.

[0055] S203: Afterwards, the robot is moved away from the test point, and the axis group of the robot is restored to its initial state. The axis group of the robot is then moved in the reverse direction, and the axis group is suddenly stopped during the reverse movement by powering off the robot or issuing an emergency stop command. The robot is then subjected to another accuracy test to obtain the X, Y, and Z position coordinates of the robot's part to be tested after the reverse movement emergency stop. This serves as a basis for determining whether the robot's internal axis group has experienced significant displacement after the reverse movement emergency stop. By performing emergency stops in both forward and reverse directions, hidden assembly defects of the axis group can be more thoroughly exposed.

[0056] S204. Determine whether the assembly of the robot's axis group is reliable based on the results of three precision tests. The specific method for determining whether the assembly of a robot's axis group is reliable is as follows: respectively calculate the maximum value of the difference between the displacement of each micrometer after the assembly is completed, the displacement of the axis group after a sudden stop in the forward direction, and the displacement of the axis group after a sudden stop in the reverse direction (i.e., the maximum offset values ​​corresponding to the X position coordinates, Y position coordinates, and Z position coordinates of the robot's part to be tested during the three precision tests); if the maximum value of the difference calculated by each micrometer is less than a predetermined precision threshold, then the assembly of the robot's axis group is determined to be reliable; otherwise, the assembly of the robot's axis group is determined to be unreliable. The precision thresholds of the X position coordinates, Y position coordinates, and Z position coordinates can be the same or different.

[0057] S205. Repeat steps S202 to S204 to determine whether the assembly of each axis group of the robot is reliable based on the X, Y, and Z position coordinates after the robot assembly is completed, the X, Y, and Z position coordinates of each axis group running after an emergency stop in the positive direction, and the X, Y, and Z position coordinates of each axis group running after an emergency stop in the reverse direction.

[0058] In this embodiment, by performing emergency stops and precision inspections on each axis group of the robot one by one, the specific axis group that is poorly assembled can be located, so that the axis group can be reassembled and the problem of poor robot assembly can be quickly eliminated.

[0059] Example 3

[0060] like Figure 4 As shown, a preferred embodiment of the robot assembly reliability testing device of the present invention includes a precision testing component, an I / O module, a control system, and a processor. The precision testing component is used to measure the displacement of the robot's test part in the X, Y, and Z directions during movement and transmit the detected displacement to the processor. The precision testing component includes three micrometers and a communication module. The three micrometers are respectively set in the X, Y, and Z directions of the robot's test point. The communication module is electrically connected to the three micrometers and the processor, respectively. The processor can collect the displacement data measured by the three micrometers in real time through the communication module.

[0061] The IO module is electrically connected to the processor and is used to control the on and off of the robot power supply according to the control signal of the processor. The control system is electrically connected to the processor and is used to control the movement of the robot. The control system can directly adopt the control system provided by the robot.

[0062] The processor is used to send a control signal during the operation of the robot, so that the IO module controls the robot power supply to cut off and restart; and record the displacement sent by the precision detection component to determine whether the assembly of the robot is reliable.

[0063] The working principle of this embodiment is as follows:

[0064] like Figure 4 and Figure 5As shown, after the robot is assembled, the control system starts the robot and performs a precision check using the precision detection component. The processor uses three micrometers to obtain the X, Y, and Z position coordinates of the robot's part to be inspected. The control system then returns all of the robot's axes to their initial states. Then, one of the robot's axes moves in the positive direction. The processor issues a power-off and restart signal, and the I / O module briefly interrupts the robot's power supply, causing the robot to suddenly stop during the positive direction of that axis. Operation is then resumed, returning that axis to its initial state. The precision detection component then performs a precision check on the robot, and the processor obtains the X, Y, and Z position coordinates of the robot after the sudden stop in the positive direction of that axis. Because a sudden stop during operation of a robot's axes can subject it to significant impact, improper assembly can lead to significant internal misalignment within the axis, resulting in significant offset in the X, Y, and Z position coordinates during the precision check. Afterwards, the control system returns all of the robot's axis groups to their initial states. The robot's axis group is then moved in the reverse direction, and the processor issues a power-off and restart signal, causing the robot to suddenly stop during the reverse movement of the axis group. The robot then resumes operation, returning the axis group to its initial state. The precision detection component performs another precision test on the robot, and the processor obtains the X, Y, and Z position coordinates of the robot after the axis group stops in the reverse movement. The processor calculates the maximum offset values ​​corresponding to the X, Y, and Z position coordinates of the robot's inspected portion during the three precision tests. If the three maximum offset values ​​for the X, Y, and Z position coordinates are all less than a predetermined precision threshold, the robot's axis group is deemed reliably assembled. Otherwise, the robot's axis group is deemed unreliable. The above steps are then repeated, causing each axis group of the robot to suddenly stop during both the reverse and reverse movement directions, and performing precision tests to determine the reliability of the assembly of each axis group of the robot one by one.

[0065] The detection device of this embodiment can cause a robot to stop suddenly while in motion, quickly exposing hidden assembly defects through inertia, thereby facilitating the detection of proper assembly of robot components. The device has a simple structure, easy operation, and low cost, offering significant advantages in this field.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot assembly reliability detection method, characterized in that: The following steps are involved: S101, after the robot is assembled, perform accuracy testing on the robot; S102, start all axis groups of the robot to run, and make the axis groups of the robot stop urgently during the running process; S103, performing accuracy test on the robot again; S104, comparing the results of the accuracy test after the assembly is completed with the results of the accuracy test after the axis group stops during operation to determine whether the robot assembly is reliable; Before performing an accuracy test on the robot, set a dial indicator in the X, Y, and Z directions of the robot's test point respectively; the X, Y, and Z directions are perpendicular to each other. The method for performing an accuracy test on the robot is as follows: Make the robot carry the load block and place it at the robot test point; Start the robot and make the part to be tested of the robot touch the dial indicators in the X, Y and Z directions in turn, and record the displacements measured by the three dial indicators.

2. The robot assembly reliability detection method according to claim 1, characterized in that: When performing accuracy testing on a robot, the weight of the load block carried by the robot is the maximum load capacity of the robot.

3. The robot assembly reliability detection method according to claim 1, characterized in that: In step S104, the method for determining whether the robot assembly is reliable is: respectively calculating the difference between the displacement of each micrometer after the assembly is completed and the displacement of the axis group after the emergency stop during operation; if the differences calculated by the three micrometers are all less than a predetermined accuracy threshold, then the robot assembly is determined to be reliable; Otherwise, the robot assembly is judged to be unreliable.

4. The robot assembly reliability detection method according to any one of claims 1 to 3, characterized in that: In the step S102, the method of making the axis group of the robot stop suddenly during operation is: suddenly cutting off the power supply of the robot during the operation of the axis group of the robot; or Use the emergency stop circuit of the robot control system to issue an emergency stop command to make the robot's axis group stop urgently during operation.

5. A robot assembly reliability detection method, characterized by: The following steps are involved: S201, after the robot is assembled, perform accuracy testing on the robot; S202, moving an axis group of the robot along a first direction and causing the axis group to stop suddenly during the movement; and performing an accuracy test on the robot; S203, moving an axis group of the robot along a second direction and making the axis group stop suddenly during the movement; and performing an accuracy test on the robot; S204, judging whether the assembly of the axis group of the robot is reliable based on the results of the three precision tests; S205, repeating steps S202 to S204 to determine whether the assembly of each axis group of the robot is reliable; Before performing an accuracy test on the robot, set a dial indicator in the X, Y, and Z directions of the robot's test point respectively; the X, Y, and Z directions are perpendicular to each other. The method for performing an accuracy test on the robot is as follows: Make the robot carry the load block and place it at the robot test point; Start the robot and make the part to be tested of the robot touch the dial indicators in the X, Y and Z directions in turn, and record the displacements measured by the three dial indicators.

6. The robot assembly reliability detection method according to claim 5, characterized in that: In the step S204, the method for determining whether the assembly of an axis group of the robot is reliable is as follows: respectively calculating the maximum value of the difference between the displacement of each micrometer detected by precision after the assembly is completed, the displacement of the axis group detected by precision after an emergency stop during the movement along the first direction, and the displacement of the axis group detected by precision after an emergency stop during the movement along the second direction; if the maximum value of the difference calculated by each micrometer is less than a predetermined precision threshold, then the assembly of the axis group of the robot is determined to be reliable; otherwise, the assembly of the axis group of the robot is determined to be unreliable.

7. The robot assembly reliability detection method according to any one of claims 5 to 6, characterized in that: In the steps S202 and S203, the method for causing the axis group of the robot to stop suddenly during operation is: suddenly cutting off the power supply to the robot during the operation of the axis group of the robot; or Use the emergency stop circuit of the robot control system to issue an emergency stop command to make the robot's axis group stop urgently during operation.

8. A robot assembly reliability detection device, characterized by: include The precision detection component is used to measure the displacement of the robot's part to be detected in the X, Y, and Z directions when it moves, and send the detected displacement to the processor; IO module, used to control the on and off of the robot power supply according to the control signal of the processor; Control system, used to control the robot's movement; as well as The processor is used to record the displacement sent by the precision detection component, send a control signal during the operation of the robot, so that the IO module controls the robot power supply to cut off and restart, and detect the assembly reliability of the robot using the robot assembly reliability detection method according to any one of claims 1 to 7.

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