An industrial robot end position detection device

Abstract

The present invention provides an industrial robot terminal position detection device, which relates to the field of robot terminal detection, and includes a measuring platform, a ball head assembly, and a measuring assembly. The measuring platform is fixedly connected with a center block, the center of the center block is provided with an initial column, the vertex of the initial column is set as an initial point, the measuring assembly is provided in multiple numbers, and the multiple measuring assemblies are distributed at equal angles with the initial column as the center of the circle, and the ball head assembly is installed on the robot terminal. The industrial robot terminal position detection device, through the setting of the measuring assembly, the measuring assembly has three identical micrometers, and the axes of the three micrometers are perpendicular to each other in space and intersect at the measuring point. The robot repeatedly makes the ball head assembly fixed thereon start from the initial point and pass through the test points of all the measuring assemblies in sequence and then return to the initial point according to the preset positioning instructions, and the position of the ball head assembly positioned at the measuring point is measured by the three micrometers.

Description

Technical Field

[0001] The present invention relates to the technical field of robot end detection, in particular to an industrial robot end position detection device. Background Art

[0002] Repeatability is an important technical parameter of a robot, and its measurement is one of the must-check items before the robot leaves the factory.

[0003] At present, the detection equipment for measuring the repeatability of robot positioning accuracy mainly includes laser trackers and three-dimensional coordinate measuring instruments. According to a real-time monitoring system for the repeatability of robot positioning accuracy provided by Chinese Patent No. CN202111592110.8, the file includes: an industrial control group, which sends and receives signals with the object robot body and controls the object robot body; a measuring device, which is connected to the industrial control group; the measuring device measures the target object installed on the object robot body, transmits the measurement result to the industrial control group, and the industrial control group calculates the positioning accuracy of the target object on the object robot body in real time. According to this first aspect, the repeatability of the robot can be monitored in real time, thereby providing a basis for improving the accuracy of the robot. In the second aspect of the present invention, in the real-time monitoring system for the repeatability of the robot positioning accuracy of the first aspect, the industrial control group includes: a robot control box, which is connected to the object robot body; an industrial controller, which is connected to the robot control box; an industrial computer, which is connected to the industrial controller and the measuring device; the industrial computer is installed with customized development software, and the customized development software calculates the positioning accuracy in real time based on the measurement result of the measuring device. According to the second aspect, the structure of the industrial control group is further concretized, making the industrial control group easier to maintain and manage. In the third aspect of the present invention, in the robot repeatability positioning accuracy real-time monitoring system of the first aspect, the measuring device includes a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder, and the laser beams emitted by the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder intersect at one point along mutually perpendicular three-dimensional directions.

[0004] The document proposes a real-time monitoring system for robot repeatability positioning accuracy, which is laser tracker measurement. The laser tracker measurement has a simple implementation process and high measurement accuracy, but the equipment is expensive and cannot be afforded by most small and medium-sized enterprises. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an industrial robot end position detection device, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an industrial robot end position detection device, including a measuring platform, a ball head assembly, and a measuring assembly. A center block is fixedly connected to the measuring platform, an initial column is arranged at the center of the center block, and the vertex of the initial column is set as an initial point. The measuring assembly is arranged in multiple numbers, and the multiple measuring assemblies are distributed at equal angles with the initial column as the center of the circle. The ball head assembly is installed on the end of the robot. The measuring assembly includes a mounting frame and three identical micrometers. The three micrometers are installed on the mounting frame, and the axes of the three micrometers are perpendicular to each other in space and intersect at one point. The point is set as a test point. The ball head assembly starts from the initial point and passes through the test points of all the measuring assemblies in sequence and then returns to the initial point.

[0007] Preferably, the mounting frame includes three fixing bars, and the mounting frame is formed by connecting the three fixing bars end to end to form an equilateral triangle, and the micrometer is fixedly connected to the center of the fixing bars.

[0008] Preferably, the measuring platform is arranged in a circular shape, and the central block is arranged at the center of the measuring platform.

[0009] Preferably, it also includes a distance adjustment mechanism for synchronously adjusting the distance between all measuring components and the initial column, the distance adjustment mechanism includes a screw, a slide, a mounting block, a gear, and a gear ring, the number of the slides matches the number of measuring mechanisms, and a measuring component is installed on the top of each slide, a screw hole matching the screw is opened on the slide, and the inner thread of the screw hole is matched with the screw, the screw is rotatably connected to the mounting block, the mounting block is fixedly connected to the measuring platform, one end of the screw is rotatably connected to the center block, and the other end of the screw is fixedly connected to the gear, the measuring platform is rotatably connected to the gear ring, the gear ring and the gear are meshed with each other, when the gear ring rotates, it drives all the gears to rotate synchronously, so that the screw rotates, and the slide with the thread matched on the screw moves synchronously.

[0010] Preferably, the axis of the screw intersects with the axis of the initial column.

[0011] Preferably, the measuring platform is provided with a scale for conveniently adjusting the distance between the measuring component and the initial column, and the scale is arranged as a plurality of concentric circles centered on the axis of the initial column.

[0012] Preferably, it also includes an angle adjustment mechanism for adjusting the angle of the measuring platform, the angle adjustment mechanism includes a base, a turntable, a support column, a rotating block, and a motor, the top of the base is fixedly connected to the turntable, the top of the turntable is fixedly connected to the support column, the bottom of the measuring platform is fixedly connected to the rotating block, the rotating block is rotatably connected to the support column, and the motor is installed on the support column to drive the rotating block to rotate.

[0013] Preferably, an anti-slip layer is fixedly connected to the bottom of the base.

[0014] Preferably, it also includes a reminder mechanism for displaying whether the ball head assembly has reached the initial point, the reminder mechanism includes a ring light, a limit cylinder, a spring, a movable block, an iron sheet, a cathode plate, an anode plate, and a power supply, the limit cylinder is fixedly connected to the center top of the center block, the movable block is slidably fitted in the limit cylinder, the bottom end of the initial column is fixedly connected to the movable block, the bottom of the movable block is fixedly connected to the iron sheet, the bottom of the iron sheet is fixedly connected to the spring, the bottom end of the spring is fixedly connected to the bottom of the inner cavity of the limit cylinder, the cathode plate and the anode plate are respectively mounted on the bottom of the inner cavity of the limit cylinder The cathode plate and the anode plate are not in contact with each other, the annular light is installed on the top of the central block, the power supply is installed inside the central block, the cathode plate, the power supply, the annular light, and the anode plate are connected in sequence through wires, the ball head assembly first reaches the top of the initial column, and then the ball head assembly moves toward the initial column along the axis direction of the initial column, the ball head assembly drives the initial column to press downward until the iron sheet contacts the cathode plate and the anode plate, at this time the cathode plate, the power supply, the annular light, the anode plate, and the iron sheet form a loop, so that the annular light lights up, and the ball head assembly reaches the initial point at the same time.

[0015] The present invention provides an industrial robot end position detection device, which has the following beneficial effects:

[0016] 1. The end position detection device of the industrial robot is provided with a measuring component, wherein the measuring component has three identical micrometers, and the axes of the three micrometers are perpendicular to each other in space and intersect at the measuring point. The robot repeatedly makes the ball head component fixed thereon start from the initial point and pass through the test points of all the measuring components in sequence and then return to the initial point according to the preset positioning instructions, and the position of the ball head component positioned at the measuring point is measured by the three micrometers, and the positioning accuracy of the robot is calculated according to the multiple measurement results.

[0017] 2. The end position detection device of the industrial robot can adjust the distance between the measuring component and the initial column by setting the distance adjustment mechanism. It only needs to rotate the gear ring. When the gear ring rotates, it drives all the gears to rotate synchronously, so that the screw rotates, and the thread cooperates with the slide on the screw to move synchronously, so as to adjust the distance between the measuring component and the initial column. It can be adjusted according to different needs. At the same time, with the scale opened on the measuring platform, the distance can be adjusted more quickly and conveniently.

[0018] 3. The industrial robot end position detection device, through the setting of the angle adjustment mechanism, the motor can drive the rotating block to rotate, so as to adjust the angle of the measuring platform, and the turntable can control the direction of the measuring platform, so as to adjust the angle of the measuring platform as needed.

[0019] 4. The end position detection device of the industrial robot, through the setting of the reminder mechanism, the ball head assembly first reaches the top of the initial column, and then the ball head assembly moves toward the initial column along the axial direction of the initial column, and the ball head assembly drives the initial column to press downward until the iron sheet contacts the cathode plate and the anode plate. At this time, the cathode plate, power supply, ring light, anode plate, and iron sheet form a loop, so that the ring light lights up, and the ball head assembly reaches the initial point at the same time, so it is convenient to observe whether the ball head assembly is at the initial point, thereby facilitating the initial position debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The structure of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 2 The structure of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the structure of the measuring component of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the reminder mechanism of the present invention;

[0024] Figure 5 For the present invention Figure 1 A magnified view of the structure at center;

[0025] Figure 6 For the present invention Figure 4 Enlarged view of the structure at point B in the middle.

[0026] In the figure: 1 measuring platform, 2 center block, 3 measuring assembly, 4 screw, 5 gear ring, 6 gear, 7 support column, 8 turntable, 9 base, 10 ball head assembly, 11 initial column, 12 limit cylinder, 13 ring light, 14 motor, 15 rotating block, 16 mounting block, 17 slide, 18 mounting frame, 19 micrometer, 20 power supply, 21 movable block, 22 iron sheet, 23 spring, 24 cathode plate, 25 anode plate. DETAILED DESCRIPTION

[0027] 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.

[0028] The embodiment of the present invention provides an industrial robot end position detection device, such as Figure 1-6As shown, it includes a measuring platform 1, a ball head assembly 10, and a measuring assembly 3. The measuring platform 1 is fixedly connected to a center block 2. An initial column 11 is set at the center of the center block 2. The vertex of the initial column 11 is set as an initial point. There are multiple measuring assemblies 3, and the multiple measuring assemblies 3 are distributed at equal angles with the initial column 11 as the center of the circle. The ball head assembly 10 is installed on the end of the robot. The measuring assembly 3 includes a mounting frame 18 and three identical micrometers 19. The three micrometers 19 are installed on the mounting frame 18, and the axes of the three micrometers 19 are perpendicular to each other in space and intersect at one point. The one point is set as a test point. The ball head assembly 10 starts from the initial point and passes through the test points of all the measuring assemblies 3 in turn and then returns to the initial point.

[0029] When the ball head assembly 10 moves to the measuring point, the spherical surface of the ball head assembly 10 contacts the measuring heads of the three micrometers 19 respectively, so that corresponding readings are formed on the micrometers 19 .

[0030] The ball head assembly 10 adopts a strict spherical surface to ensure the accuracy of the test results.

[0031] The reading of the micrometer 19 is read manually or automatically by a processing module to calculate the positioning accuracy of the robot based on the obtained reading. The processing module is electrically connected to all the micrometers 19 respectively, wherein the processing module is a prior art and will not be described in detail here.

[0032] Through the setting of the measuring component 3, the measuring component 3 has three identical micrometers 19, and the axes of the three micrometers 19 are perpendicular to each other in space and intersect at the measuring point. The robot repeatedly makes the ball head component 10 fixed thereon start from the initial point and pass through all the test points of the measuring component 3 in turn and then return to the initial point according to the preset positioning instructions. The position of the ball head component 10 positioned at the measuring point is measured by the three micrometers 19, and the positioning accuracy of the robot is calculated based on multiple measurement results.

[0033] The mounting frame 18 includes three fixing bars, and the mounting frame 18 is formed by connecting the three fixing bars end to end to form an equilateral triangle, and the micrometer 19 is fixedly connected to the center of the fixing bars.

[0034] The measuring platform 1 is arranged in a circular shape, and the central block 2 is arranged at the center of the measuring platform 1 .

[0035] It also includes a distance adjustment mechanism for synchronously adjusting the distance between all measuring components 3 and the initial column 11, the distance adjustment mechanism includes a screw 4, a slide 17, a mounting block 16, a gear 6, and a gear ring 5. The number of slides 17 matches the number of measuring mechanisms, and a measuring component 3 is installed on the top of each slide 17. A screw hole matching the screw 4 is opened on the slide 17, and the screw 4 is matched with the inner thread of the screw hole. The screw 4 is rotatably connected with the mounting block 16, and the mounting block 16 is fixedly connected to the measuring platform 1. One end of the screw 4 is rotatably connected to the center block 2, and the other end of the screw 4 is fixedly connected with the gear 6. The measuring platform 1 is rotatably connected with the gear ring 5, and the gear ring 5 and the gear 6 are meshed with each other. When the gear ring 5 rotates, all the gears 6 are driven to rotate synchronously, so that the screw 4 rotates, and the slide 17 threadedly matched with the screw 4 moves synchronously.

[0036] By setting the distance adjustment mechanism, the distance between the measuring component 3 and the initial column 11 can be adjusted. It only needs to rotate the gear ring 5. When the gear ring 5 rotates, it drives all the gears 6 to rotate synchronously, so that the screw 4 rotates, and the thread cooperates with the slide 17 on the screw 4 to move synchronously, so as to adjust the distance between the measuring component 3 and the initial column 11. It can be adjusted according to different needs. At the same time, with the scale opened on the measuring platform 1, the distance can be adjusted more quickly and conveniently.

[0037] The axis of the screw 4 intersects the axis of the initial column 11 .

[0038] The measuring platform 1 is provided with a scale for conveniently adjusting the distance between the measuring component 3 and the initial column 11 , and the scale is arranged as a plurality of concentric circles centered on the axis of the initial column 11 .

[0039] It also includes an angle adjustment mechanism for adjusting the angle of the measuring platform 1, the angle adjustment mechanism includes a base 9, a turntable 8, a support column 7, a rotating block 15, and a motor 14. The top of the base 9 is fixedly connected to the turntable 8, the top of the turntable 8 is fixedly connected to the support column 7, the bottom of the measuring platform 1 is fixedly connected to the rotating block 15, the rotating block 15 is rotatably connected to the support column 7, and the motor 14 is installed on the support column 7 to drive the rotating block 15 to rotate.

[0040] By setting the angle adjustment mechanism, the motor 14 can drive the rotating block 15 to rotate, so as to adjust the angle of the measuring platform 1, and the turntable 8 can control the direction of the measuring platform 1, so as to adjust the angle of the measuring platform 1 as needed.

[0041] The bottom of the base 9 is fixedly connected with an anti-skid layer.

[0042] The device also includes a reminder mechanism for displaying whether the ball head assembly 10 has reached the initial point, the reminder mechanism includes a ring light 13, a limit cylinder 12, a spring 23, a movable block 21, an iron sheet 22, a cathode plate 24, an anode plate 25, and a power supply 20. The limit cylinder 12 is fixedly connected to the center top of the center block 2, the movable block 21 is slidably fitted in the limit cylinder 12, the bottom end of the initial column 11 is fixedly connected to the movable block 21, the bottom of the movable block 21 is fixedly connected to the iron sheet 22, the bottom of the iron sheet 22 is fixedly connected to the spring 23, the bottom end of the spring 23 is fixedly connected to the bottom of the inner cavity of the limit cylinder 12, the cathode plate 24 and the anode plate 25 are respectively installed on both sides of the bottom of the inner cavity of the limit cylinder 12, and the cathode plate 24 and the anode plate 25 are respectively installed on both sides of the bottom of the inner cavity of the limit cylinder 12, and the cathode plate 24 and the anode plate 25 are respectively installed on both sides of the bottom of the inner cavity of the limit cylinder 12. The plate 24 and the anode plate 25 do not contact each other, the ring light 13 is installed on the top of the center block 2, the power supply 20 is installed inside the center block 2, the cathode plate 24, the power supply 20, the ring light 13, and the anode plate 25 are connected in sequence by wires, the ball head assembly 10 first reaches the top of the initial column 11, and then the ball head assembly 10 moves toward the initial column 11 along the axial direction of the initial column 11, and the ball head assembly 10 drives the initial column 11 to press downward until the iron sheet 22 contacts the cathode plate 24 and the anode plate 25. At this time, the cathode plate 24, the power supply 20, the ring light 13, the anode plate 25, and the iron sheet 22 form a loop, so that the ring light 13 lights up, and the ball head assembly 10 reaches the initial point at the same time.

[0043] By setting the reminder mechanism, the ball head assembly 10 first reaches the top of the initial column 11, and then the ball head assembly 10 moves toward the initial column 11 along the axial direction of the initial column 11, and the ball head assembly 10 drives the initial column 11 to press downward until the iron sheet 22 contacts the cathode plate 24 and the anode plate 25. At this time, the cathode plate 24, the power supply 20, the ring light 13, the anode plate 25, and the iron sheet 22 form a loop, so that the ring light 13 lights up, and at the same time, the ball head assembly 10 reaches the initial point, and it is convenient to observe whether the ball head assembly 10 is at the initial point, thereby facilitating the initial position debugging.

[0044] Working principle: Through the setting of the measuring component 3, the measuring component 3 has three identical micrometers 19, and the axes of the three micrometers 19 are perpendicular to each other in space and intersect at the measuring point. The robot repeatedly makes the ball head component 10 fixed thereon start from the initial point and pass through all the test points of the measuring component 3 in turn and then return to the initial point according to the preset positioning instructions. The position of the ball head component 10 positioned at the measuring point is measured by the three micrometers 19, and the positioning accuracy of the robot is calculated based on multiple measurement results.

[0045] 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. An industrial robot end position detection device, comprising a measuring platform (1), a ball head assembly (10), and a measuring assembly (3), characterized in that: The measuring platform (1) is fixedly connected to a center block (2), the center of the center block (2) is provided with an initial column (11), the vertex of the initial column (11) is set as an initial point, the measuring components (3) are provided in plurality, and the plurality of measuring components (3) are distributed at equal angles with the initial column (11) as the center of the circle, the ball head component (10) is installed on the end of the robot, the measuring component (3) comprises a mounting frame (18), three identical micrometers (19), the three micrometers (19) are installed on the mounting frame (18), and the axes of the three micrometers (19) are perpendicular to each other in space and intersect at a point, the point is set as a test point, and the ball head component (10) starts from the initial point, passes through the test points of all the measuring components (3) in sequence, and then returns to the initial point; The device also includes a distance adjustment mechanism for synchronously adjusting the distance between all the measuring components (3) and the initial column (11), the distance adjustment mechanism including a screw rod (4), a slide table (17), a mounting block (16), a gear (6), and a gear ring (5), the number of the slide tables (17) matches the number of the measuring mechanisms, and a measuring component (3) is installed on the top of each slide table (17), a screw hole matching the screw rod (4) is opened on the slide table (17), and the screw rod (4) is matched with the inner thread of the screw hole, and the screw rod (4) A mounting block (16) is rotatably connected to the upper portion, the mounting block (16) is fixedly connected to the measuring platform (1), one end of the screw rod (4) is rotatably connected to the central block (2), and the other end of the screw rod (4) is fixedly connected to a gear (6), a gear ring (5) is rotatably connected to the measuring platform (1), the gear ring (5) and the gear (6) are meshed with each other, when the gear ring (5) rotates, it drives all the gears (6) to rotate synchronously, so that the screw rod (4) rotates, and the slide table (17) threadedly matched with the screw rod (4) moves synchronously.

2. The industrial robot end position detection device according to claim 1, characterized in that: The mounting frame (18) comprises three fixing bars, and the mounting frame (18) is formed by connecting the three fixing bars end to end to form an equilateral triangle, and the micrometer (19) is fixedly connected to the center of the fixing bars.

3. The industrial robot end position detection device according to claim 2, characterized in that: The measuring platform (1) is arranged in a circular shape, and the central block (2) is arranged at the center of the measuring platform (1).

4. The industrial robot end position detection device according to claim 3, characterized in that: The axis of the screw (4) intersects with the axis of the initial column (11).

5. The industrial robot end position detection device according to claim 4, characterized in that: The measuring platform (1) is provided with a scale for conveniently adjusting the distance between the measuring component (3) and the initial column (11), and the scale is arranged as a plurality of concentric circles centered on the axis of the initial column (11).

6. The industrial robot end position detection device according to claim 5, characterized in that: The invention also comprises an angle adjustment mechanism for adjusting the angle of the measuring platform (1), the angle adjustment mechanism comprising a base (9), a turntable (8), a support column (7), a rotating block (15), and a motor (14), wherein the top of the base (9) is fixedly connected to the turntable (8), the top of the turntable (8) is fixedly connected to the support column (7), the bottom of the measuring platform (1) is fixedly connected to the rotating block (15), the rotating block (15) is rotatably connected to the support column (7), and the motor (14) is mounted on the support column (7) and is used to drive the rotating block (15) to rotate.

7. The industrial robot end position detection device according to claim 6, characterized in that: The bottom of the base (9) is fixedly connected with an anti-slip layer.

8. The industrial robot end position detection device according to claim 7, characterized in that: The invention also comprises a reminder mechanism for displaying whether the ball head assembly (10) has reached the initial point, the reminder mechanism comprising a ring light (13), a stop cylinder (12), a spring (23), a movable block (21), an iron sheet (22), a cathode plate (24), an anode plate (25), and a power source (20), wherein the stop cylinder (12) is fixedly connected to the central top of the central block (2), the movable block (21) is slidably fitted in the stop cylinder (12), the bottom end of the initial column (11) is fixedly connected to the movable block (21), the bottom of the movable block (21) is fixedly connected to the iron sheet (22), the bottom of the iron sheet (22) is fixedly connected to the spring (23), the bottom end of the spring (23) is fixedly connected to the bottom of the inner cavity of the stop cylinder (12), the cathode plate (24) and the anode plate (25) are respectively mounted on both sides of the bottom of the inner cavity of the stop cylinder (12), and the cathode plate (24) and the anode plate (25) are respectively mounted on both sides of the bottom of the inner cavity of the stop cylinder (12), and the cathode plate (24) and the anode plate (25) are respectively mounted on both sides of the bottom of the inner cavity of the stop cylinder (12), and the cathode plate (24) and the anode plate (25) are respectively mounted on both sides of the bottom of the inner cavity of the stop cylinder (12). The electrode plate (24) and the anode plate (25) do not contact each other, the annular light (13) is installed on the top of the center block (2), the power supply (20) is installed inside the center block (2), the cathode plate (24), the power supply (20), the annular light (13), and the anode plate (25) are connected in sequence through electric wires, the ball head assembly (10) first reaches the top of the initial column (11), and then the ball head assembly (10) moves toward the initial column (11) along the axial direction of the initial column (11), and the ball head assembly (10) drives the initial column (11) to press downward until the iron sheet (22) contacts the cathode plate (24) and the anode plate (25), at which time the cathode plate (24), the power supply (20), the annular light (13), the anode plate (25), and the iron sheet (22) form a loop, so that the annular light (13) lights up, and the ball head assembly (10) reaches the initial point at the same time.

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