A fast method for measuring the vibration of the end of a single-axis operation of an industrial robot

Abstract

The present invention discloses a method for quickly measuring the jitter amount of the end of the single-axis operation of an industrial robot, which is used to measure the jitter amount of the swing arm of the single-axis body of the robot. The single-axis body of the robot includes a servo motor, a reducer and a swing arm connected in sequence, and also includes a base. Specifically, the jitter measurement position is determined, the swing position of the swing arm is measured, and the jitter amount of the left and right swing of the swing arm and the total jitter amount of the swing arm are calculated respectively, and the measurement is completed. The present invention uses a digital display dial indicator to quickly obtain the jitter amount of the end of the robot's swing arm. It is simple and convenient, and the jitter measurement is accurate. It provides basic data for improving the work quality of the robot and extending the service life of the robot, which is of great significance to the robot manufacturing industry.

Description

Technical Field

[0001] The invention belongs to the technical field of robot performance testing and relates to a method for quickly measuring the jitter amount of a single-axis operation end of an industrial robot. Background Art

[0002] Industrial robots are automated facilities that can realize multi-axis operation and repetitive programming through program control. Robot jitter causes great trouble to the operation of the robot. Jitter will reduce the service life of the robot and user experience. Especially when used in the fields of gluing, welding, and high-precision palletizing, jitter causes inaccurate positioning, which seriously affects the work quality of the robot. By measuring the single-axis jitter of the robot, the performance of servo motor control, system integration, and robot joint reducers can be quantitatively studied and optimized. At present, there is no authoritative solution for measuring the jitter of robots, and the existing solutions have complex testing processes and are costly. Summary of the invention

[0003] The purpose of the present invention is to provide a method for quickly measuring the jitter of a single-axis operation end of an industrial robot, thereby realizing quick measurement of the jitter of the robot.

[0004] The technical solution adopted by the present invention is a rapid measurement method for the jitter amount of the end of the single-axis operation of an industrial robot, which is used to measure the jitter amount of the swing arm of the single-axis body of the robot. The single-axis body of the robot includes a servo motor, a reducer and a swing arm connected in sequence, and also includes a base. Specifically, the jitter measurement position is determined, the swing position of the swing arm is measured, and the jitter amount of the left and right swing of the swing arm and the total jitter amount of the swing arm are calculated respectively, and the measurement is completed.

[0005] The present invention is also characterized in that:

[0006] Follow these steps to implement:

[0007] Step 1: Fix the dial indicator on the base below the swing arm, with the dial indicator located on one swinging side of the swing arm;

[0008] Step 2: adjust the rotation angle of the servo motor according to the swing requirements of the swing arm, and determine the starting position and ending position of the swing arm;

[0009] Step 3, set the dial indicator to 0, that is, set the initial readings of the dial indicator to Di1 and Di2 at the stop and start positions of the swing arm respectively;

[0010] Step 4: Set the robot's motion trajectory, start the robot, read the maximum reading DMAX and the minimum reading DMIN in the dial indicator memory, and calculate the right jitter amount = DMAX-Di1, the left jitter amount = Di2-DMIN, and the total jitter amount = (DMAX-Di1)+(Di2-DMIN) when the swing arm swings left and right.

[0011] Step 1: Fixedly set two dial indicators, which are located on the same swing side of the swing arm.

[0012] The dial indicator is a digital dial indicator.

[0013] In step 4, the robot is operated at different speeds, and the maximum reading DMAX and the minimum reading DMIN of the dial indicator memory corresponding to the different speeds are recorded, and the jitter of the swing arm left and right and the total jitter of the swing arm are calculated respectively.

[0014] In step 4, the robot is operated at 25% of the rated speed, 50% of the rated speed, 75% of the rated speed, and 100% of the rated speed respectively. The total jitter corresponding to the rated speed is calculated according to the corresponding digital percentage indication, and the average value of the total jitter corresponding to the two digital percentage indicators at the rated speed is taken as the jitter corresponding to the running speed.

[0015] The beneficial effects of the present invention are:

[0016] The invention discloses a method for quickly measuring the jitter of the end of a single-axis operation of an industrial robot. The method uses a digital dial indicator to quickly obtain the jitter of the end of the robot's swing arm. The method is simple and convenient, and the jitter measurement is accurate. The method provides basic data for improving the working quality of the robot and extending the service life of the robot. The method also provides a solution for eliminating the jitter of the robot, which is of great significance to the robot manufacturing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the measurement position structure when measuring the method for quickly measuring the jitter amount of the end of the single-axis operation of the industrial robot of the present invention;

[0018] Figure 2 It is a schematic diagram of the measurement position structure at another angle when measuring the method for quickly measuring the jitter amount of the end of the single-axis operation of an industrial robot according to the present invention.

[0019] In the figure, 1. servo motor, 2. support body, 3. fixing plate a, 4. fixing plate b, 5. digital dial indicator a, 6. base, 7. digital dial indicator b, 8. swing arm, 9. reducer, 10. adjustment support a, 11. adjustment support b, 12. adjustment bolt a, 13. adjustment bolt b. DETAILED DESCRIPTION

[0020] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1

[0022] This embodiment provides a method for quickly measuring the vibration of a single-axis operation end of an industrial robot, which is used to measure the vibration of the swing arm 8 of the single-axis body of the robot. Figure 1As shown, the robot single-axis body includes a servo motor 1, a reducer 9 and a swing arm 8 connected in sequence, and also includes a base 6. The swing arm 8 is installed on the output end of the reducer 9 through a support body 2. The measurement method is specifically to determine the jitter measurement position, measure the swing position of the swing arm 8, and calculate the jitter amount of the left and right swing of the swing arm 8 and the total jitter amount of the swing arm 8 respectively, and the measurement is completed.

[0023] Example 2

[0024] This embodiment provides a method for quickly measuring the jitter of a single-axis operation end of an industrial robot. Based on Embodiment 1, the method is implemented according to the following steps:

[0025] Step 1: Figure 1-2 As shown, the fixing plate a3 and the fixing plate b4 are fixedly mounted on the movable base 6 below the swing arm 8, and the two sides of the base 6 are respectively provided with a fixed adjustment support a10 and an adjustment support b11, the adjustment support a10 and the adjustment support b11 are located in the swing direction of the swing arm 8, and the adjustment support a10 and the adjustment support b11 are respectively connected to the base 6 by adjusting bolts a12 and adjusting bolts b13, and two digital display dial indicators (digital display dial indicator a5 and digital display dial indicator b7) are respectively fixedly mounted on the fixing plate a3 and the fixing plate b4 by clamping bolts, and the two digital display dial indicators are located on the same swing side of the swing arm 8;

[0026] Step 2, adjust the rotation angle of the servo motor 1 according to the swing requirements of the swing arm 8, determine the starting position and the end position of the swing of the swing arm 8, and use a scale ruler to determine the approximate shaking amount when the end of the robot swing arm 8 stops, and use the adjusting bolts a12 and b13 to adjust the position of the base 6 to adjust the positions of the digital dial indicators a5 and b7 until the two digital dial indicators read to the middle reading position;

[0027] Step 3, set the dial indicator to 0, that is, set the initial readings of the dial indicator to Di1 and Di2 at the stop and start positions of the swing arm 8 respectively;

[0028] Step 4, set the robot motion trajectory, start the robot through the teach pendant, run the robot at different speeds, record the maximum reading DMAX and the minimum reading DMIN of the dial indicator memory corresponding to different speeds, and calculate when the swing arm 8 swings left and right, the right jitter amount = DMAX-Di1, the left jitter amount = Di2-DMIN, and the total jitter amount = (DMAX-Di1)+(Di2-DMIN).

[0029] Example 3

[0030] This embodiment provides a method for quickly measuring the jitter of a single-axis operation end of an industrial robot. Based on Embodiment 2, in step 4, the robot is operated at different speeds, and the maximum reading DMAX and the minimum reading DMIN of the dial indicator memory corresponding to the different speeds are recorded, and the jitter of the swing arm swinging left and right and the total jitter of the swing arm are calculated respectively, specifically:

[0031] Run the robot at 25% of its rated speed, record the maximum reading DMAX and the minimum reading DMIN of each digital display dial indicator, calculate the total jitter according to the corresponding digital display percentage reading, and take the average of the total jitter corresponding to the two digital display dial indicators as the jitter corresponding to the running speed;

[0032] Run the robot at 50% of its rated speed, record the maximum reading DMAX and the minimum reading DMIN of the two digital display dial indicators, calculate the total jitter according to the corresponding digital display percentage readings, and take the average of the total jitter corresponding to the two digital display dial indicators as the jitter corresponding to the running speed;

[0033] Run the robot at 75% of its rated speed, record the maximum reading DMAX and the minimum reading DMIN of the two digital display dial indicators, calculate the total jitter according to the corresponding digital display percentage readings, and take the average value of the total jitter corresponding to the two digital display dial indicators as the jitter corresponding to the running speed;

[0034] Run the robot at 100% of the rated speed, record the maximum reading DMAX and the minimum reading DMIN of the two digital display percentage indicators, calculate the total jitter amount according to the corresponding digital display percentage indications, and take the average value of the total jitter amounts corresponding to the two digital display percentage indicators as the jitter amount corresponding to the running speed.

[0035] After calculating the jitter amount corresponding to each rated speed based on the maximum and minimum readings, a curve of running speed and jitter amount is drawn with the X-axis as the running speed axis and the Y-axis as the jitter amount axis. Subsequently, the motor parameters, control parameters, mechanical parameters, etc. of the robot are adjusted according to the curve, ultimately achieving the purpose of reducing or eliminating jitter.

Claims

1. A method for quickly measuring the vibration of a single-axis operation end of an industrial robot, for measuring the vibration of a swing arm of a single-axis robot body, wherein the single-axis robot body comprises a servo motor (1), a reducer (9) and a swing arm (8) connected in sequence, and also comprises a base (6), characterized in that: Determine the jitter measurement position, measure the swing position of the swing arm (8), calculate the jitter amount of the swing arm (8) swinging left and right and the total jitter amount of the swing arm (8), and the measurement is completed; The rapid measurement method is implemented according to the following steps: Step 1, fix the dial indicator on the base (6) below the swing arm (8), and the dial indicator is located on a swing side of the swing arm (8); Step 2: adjust the rotation angle of the servo motor (1) according to the swinging requirement of the swing arm (8), determine the starting position and the ending position of the swinging of the swing arm (8), and use a scale ruler to determine the approximate shaking amount when the end of the robot swing arm (8) stops, adjust the position of the base (6), and adjust the position of the dial indicator until the dial indicator reads to the middle reading position; Step 3, set the dial indicator to 0, that is, set the initial readings of the dial indicator to Di1 and Di2 at the stop and start positions of the swing arm (8) respectively; Step 4: Set the robot motion trajectory, start the robot, read the maximum reading DMAX and the minimum reading DMIN in the dial indicator memory, and calculate the right jitter amount = DMAX-Di1, the left jitter amount = Di2-DMIN, and the total jitter amount = (DMAX-Di1)+(Di2-DMIN) when the swing arm (8) swings left and right.

2. The method for quickly measuring the jitter of the end of a single-axis operation of an industrial robot according to claim 1 is characterized in that: Step 1: Two dial indicators are fixedly set, and the two dial indicators are located on the same swing side of the swing arm (8).

3. The method for quickly measuring the jitter of the end of a single-axis operation of an industrial robot according to claim 1 is characterized in that: The dial indicator is a digital dial indicator.

4. The method for quickly measuring the jitter of the end of a single-axis operation of an industrial robot according to claim 2 is characterized in that: In step 4, the robot is operated at different speeds, the maximum reading DMAX and the minimum reading DMIN of the dial indicator memory corresponding to the different speeds are recorded, and the jitter amount of the swing arm (8) when swinging left and right and the total jitter amount of the swing arm (8) are calculated respectively.

5. The method for quickly measuring the jitter of the end of a single-axis operation of an industrial robot according to claim 4 is characterized in that: In step 4, the robot is operated at 25% of the rated speed, 50% of the rated speed, 75% of the rated speed, and 100% of the rated speed respectively. The total jitter corresponding to the rated speed is calculated according to the corresponding digital percentage indication, and the average value of the total jitter corresponding to the two digital percentage indicators at the rated speed is taken as the jitter corresponding to the running speed.

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