Robot corner deviation testing device and testing method

Abstract

The invention provides a robot corner deviation testing device and method, and the device comprises a pedestal which is provided with a first groove body; the first moving assembly comprises a first moving part and a second groove body, the end of the first moving part is arranged in the first groove body, the first moving part is movably arranged in the extending direction of the first groove body, and the second groove body is arranged on the first moving part; the second moving assembly comprises a second moving part and a third groove body, the end of the second moving part is arranged in the third groove body, the second moving part is movably arranged in the direction of the second groove body, and the third groove body is arranged on the second moving part; the connecting part is arranged in the third groove body and is movably arranged in the extending direction of the third groove body, and the connecting part is used for being connected with a to-be-tested robot. The problem that the robot delivery efficiency is reduced due to the fact that a robot corner testing device in the prior art is complex in operation and high in manufacturing cost is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot performance testing, and in particular to a robot corner deviation testing device and a testing method. Background Art

[0002] At present, industrial robots are widely used in various industries. There are many application scenarios in the server industry, such as CPU (central processing unit) dispensing of server motherboards, automatic cleaning of PCBA (printed circuit board) components, etc. These application scenarios have many high requirements on the trajectory accuracy of industrial robots, especially the accuracy of industrial robot corner trajectories. If this accuracy cannot be guaranteed, it is easy to cause the server motherboard to malfunction during the dispensing operation. Therefore, when purchasing industrial robots, server motherboard manufacturers will require industrial robot manufacturers to attach an industrial robot corner accuracy test report when the industrial robot leaves the factory.

[0003] In the prior art, the common methods for detecting the corner accuracy of industrial robots are laser trackers and wire-pull box type coordinate automatic measuring instruments. However, due to the complex operation and high cost of the above two types of equipment, many robot manufacturers choose to rent or entrust the corner performance of robots to be tested. This not only increases the cost of manufacturers, but also complicates the procedures and reduces the factory efficiency of robots. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot corner deviation testing device and a testing method to solve the problem of the robot corner testing device in the prior art being complicated to operate and having high manufacturing cost, which leads to reduced robot factory efficiency.

[0005] In order to achieve the above-mentioned object, according to one aspect of the present invention, a robot corner deviation test device is provided, comprising: a base, a first slot body is arranged on the base, and the first slot body extends along a first direction; a first moving assembly, the first moving assembly comprises a first moving part and a second slot body, the end of the first moving part is arranged in the first slot body, the first moving part is movably arranged along the extension direction of the first slot body, and the second slot body is arranged on the first moving part and extends along the second direction; a second moving assembly, the second moving assembly comprises a second moving part and a third slot body, the end of the second moving part is arranged in the third slot body, the second moving part is movably arranged along the direction of the second slot body, and the third slot body is arranged on the second moving part and extends along the third direction; a connecting part, which is arranged in the third slot body and movably arranged along the extension direction of the third slot body, and the connecting part is used to connect the robot to be tested; position detection parts are respectively arranged on the sides of the first slot body, the second slot body and the third slot body to respectively detect the position information calculation module of the first moving part, the second moving part and the connecting part, which is connected to the position detection part signal, and the calculation module is used to receive coordinate information and obtain the corner parameters of the robot to be tested according to the coordinate information.

[0006] Furthermore, the first movable component is loosely matched with the first groove body; a plurality of first exhaust holes are respectively provided on the first groove side wall surface and the first groove bottom surface of the first groove body, and the plurality of first exhaust holes are evenly arranged along the extension direction of the first groove body, and air flow is blown into the first groove body through each first exhaust hole to form a supporting air film between the first groove body and the first movable component to support the first movable component.

[0007] Furthermore, the side wall of the first groove includes a first blocking surface, which extends from the side wall of the first groove toward the middle of the first groove body; a first matching portion is provided at the end of the first movable part, and at least part of the first matching portion is opposite to the first blocking surface, so as to block the first movable part through the first blocking surface, and at least part of the supporting air film is located between the first blocking surface and the first matching portion.

[0008] Furthermore, the side wall surface of the first groove is inclined toward the middle direction of the first groove body, with the direction perpendicular to the first direction as the longitudinal direction, and the longitudinal cross-section of the first groove body is a trapezoidal structure.

[0009] Furthermore, the second movable component is loosely matched with the second trough body; a plurality of second exhaust holes are respectively provided on the second trough side wall surface and the second trough bottom surface of the second trough body, and the plurality of second exhaust holes are evenly arranged along the extension direction of the second trough body, and air flow is blown into the second trough body through each second exhaust hole to form a supporting air film between the second trough body and the second movable component to support the second movable component.

[0010] Furthermore, the connecting component is loosely matched with the third groove body; a plurality of third exhaust holes are respectively provided on the third groove side wall surface and the third groove bottom surface of the third groove body, and the plurality of third exhaust holes are evenly arranged along the extension direction of the third groove body, and air flow is blown into the third groove body through each third exhaust hole to form a supporting air film between the third groove body and the connecting component to support the connecting component.

[0011] Furthermore, the horizontal distance between the two opposite second groove side walls of the second groove body gradually decreases from the groove bottom surface to the groove opening direction; the horizontal distance between the two opposite third groove side walls of the third groove body gradually decreases from the groove bottom surface to the groove opening direction.

[0012] Further, the position detection component includes a first position detection component, a second position detection component and a third position detection component; there are two first trough bodies, and the two first trough bodies are spaced apart along the width direction of the base to form a placement station for placing the robot to be tested between the two first trough bodies; the first position detection component is arranged on the side of the first trough body, and the first position detection component is arranged along the extension direction of the first trough body to detect the position information of the first movable component; the first movable component includes a first body and a second body, and the first body and the second body are respectively arranged in the two first trough bodies, and the first body and the second body are respectively provided with a second trough body; the first body and the second body are respectively provided with a second position detection component to detect the position information of the second movable component; the two ends of the second movable component are respectively arranged in the second trough bodies on the first body and the second body, and the second movable component includes a third body and a fourth body, and the third body and the fourth body are relatively arranged along the second direction, the third trough body is arranged between the third body and the fourth body, and the third position detection component is arranged on the third body or the fourth body to detect the position information of the connecting component.

[0013] Furthermore, a protruding block is provided on the base, a first groove body is provided on the protruding block, a first chamber is provided in the protruding block, a first groove side wall surface and a first groove bottom surface of the first groove body are respectively provided with a plurality of first exhaust holes, each of the first exhaust holes is respectively connected with the first chamber to blow air into the first groove body; a second chamber is provided in the first movable component, a second groove side wall surface and a second groove bottom surface of the second groove body are respectively provided with a plurality of second exhaust holes, each of the second exhaust holes is respectively connected with the second chamber to blow air into the second groove body; a third chamber is provided in the second movable component, a third groove side wall surface and a third groove bottom surface of the third groove body are respectively provided with a plurality of third exhaust holes, each of the third exhaust holes is respectively connected with the third chamber to blow air into the third groove body.

[0014] According to another aspect of the present invention, a testing method is provided, which is applicable to the above-mentioned robot corner deviation testing device, with the first direction being the X-axis direction, the second direction being the Y-axis direction, and the third direction being the Z-axis direction. The testing method comprises: connecting the robot to be tested with the connecting component, the robot to be tested drives the connecting component to move to the starting position, and recording the coordinates of the starting position; after the robot to be tested moves from the starting position to the first position by a first predetermined distance in the positive direction of the X-axis, the coordinate information of the first position is recorded, and then the robot to be tested continues to move along the positive direction of the X-axis for a second predetermined distance, and then the robot to be tested moves along the negative direction of the Y-axis for a third predetermined distance to the second position, and the coordinate information of the second position is recorded; the robot to be tested is controlled to move back and forth a predetermined number of times along the X-axis direction and the Y-axis direction, and the coordinates between the first position and the second position are recorded to form a coordinate data array; and the corner overshoot value and rounding error value of the robot to be tested are calculated using the coordinate data array.

[0015] According to the technical solution of the present invention, a robot corner deviation testing device includes a base, a first movable component, a second movable component and a connecting component. A first slot is provided on the base, and the first slot extends in a first direction. The first movable component includes a first movable component and a second slot, and an end of the first movable component is provided in the first slot, and the first movable component is movably provided along the extension direction of the first slot, and the second slot is provided on the first movable component and extends in the second direction; the second movable component includes a second movable component and a third slot, and an end of the second movable component is provided in the third slot, and the second movable component is movably provided in the direction of the second slot, and the third slot is provided on the second movable component and extends in the third direction; the connecting component is provided in the third slot and movably provided in the extension direction of the third slot, and the connecting component is used to connect the robot to be tested; position detection components are provided on the sides of the first slot, the second slot and the third slot, respectively, to detect the position information of the first movable component, the second movable component and the connecting component, respectively. In this arrangement, the robot to be tested is utilized to drive the connecting component to move, and the connecting component can drive the first movable component to move along the first direction, and drive the second movable component to move along the second direction. The spatial position coordinate information of the robot to be tested is obtained through the position detection component, and then the corner parameters of the robot to be tested are directly obtained by using the calculation module. The structure is simple and easy to operate, and it takes into account the functions of being fast and low-cost, the general performance is improved, and the factory efficiency of the robot can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1A schematic structural diagram of an embodiment of a robot corner deviation testing device according to the present invention is shown;

[0018] Figure 2 A diagram showing a use state of a robot corner deviation testing device according to the present invention is shown;

[0019] Figure 3 A top view of a robot corner deviation testing device according to the present invention is shown.

[0020] The above drawings include the following reference numerals:

[0021] 100, base; 110, first slot body; 111, first slot side wall; 112, first slot bottom surface; 113, first exhaust hole; 114, first blocking surface; 120, protruding block; 200, first moving assembly; 210, first moving part; 220, second slot body; 211, first matching portion; 221, second slot side wall; 222, second exhaust hole; 212, first body; 213, second body; 214, first sensing part; 300, second moving assembly; 310, second moving part; 320, third slot body; 321, third exhaust hole; 311, third body; 312, fourth body; 313, second matching portion; 400, connecting part; 500, position detection part; 600, robot to be tested. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] As mentioned in the background technology, in order to ensure the trajectory accuracy, the existing industrial robots need to perform corner trajectory accuracy performance tests after leaving the factory. However, since the existing testing devices are expensive and complicated to operate, manufacturers choose to entrust or rent equipment for testing after production, which causes inconvenience to manufacturers. In addition, due to operational problems, the factory efficiency of the robots is also reduced, and the existing testing devices cannot take into account both speed and low cost. Therefore, in order to solve the above technical problems, the robot corner accuracy testing device provided in the present application includes a first moving component 210, a second moving component 310 and a connecting component 400. The first moving component 210 moves in the first slot 110 along a first direction, and the second moving component 310 moves in the second slot 220 along a second direction. The connecting component 400 Part 400 moves in the third slot 320 along the third direction, and the robot to be tested is connected to the connecting part 400. In addition, by using the position detection part 500, during the movement of the first moving part 210, the second moving part 310 and the connecting part 400, the position information of each part can be recorded respectively, so that the movement trajectory in three directions can be provided to the robot to be tested, and the position detection part 500 is used to obtain the spatial position coordinates of the robot to be tested in real time. Through the spatial position coordinate information, the calculation module can obtain the corner parameters of the robot to be tested. The above-mentioned structure is simple in design and easy to operate. Parameter detection can be achieved by using the robot to be tested to drive the connecting part 400 to move, which solves the problem of complex operation of the robot corner testing device in the prior art and high cost leading to reduced robot delivery efficiency.

[0024] Please refer to Figures 1 to 3The present invention also provides a robot corner deviation testing device, comprising: a base 100, on which a first slot 110 is arranged, and the first slot 110 extends along a first direction; a first moving assembly 200, the first moving assembly 200 comprises a first moving part 210 and a second slot 220, the end of the first moving part 210 is arranged in the first slot 110, the first moving part 210 is movably arranged along the extension direction of the first slot 110, and the second slot 220 is arranged on the first moving part 210 and extends along a second direction; a second moving assembly 300, the second moving assembly 300 comprises a second moving part 310 and a third slot 320, and the end of the second moving part 310 is arranged in the third slot 320 The second movable part 310 is movably arranged along the direction of the second slot body 220, and the third slot body 320 is arranged on the second movable part 310 and extends along the third direction; the connecting part 400 is arranged in the third slot body 320 and movably arranged along the extension direction of the third slot body 320, and the connecting part 400 is used to connect the robot to be tested; the sides of the first slot body 110, the second slot body 220 and the third slot body 320 are respectively provided with position detection parts 500 to respectively detect the position information of the first movable part 210, the second movable part 310 and the connecting part 400; the calculation module is connected to the position detection part 500 by signal, and the calculation module is used to receive coordinate information and obtain the corner parameters of the robot to be tested according to the coordinate information.

[0025] The robot corner deviation testing device according to the present application includes a base 100, a first moving assembly 200, a second moving assembly 300 and a connecting component 400. The base 100 is provided with a first slot 110, and the first slot 110 extends along a first direction. The first moving assembly 200 includes a first moving component 210 and a second slot 220. The end of the first moving component 210 is arranged in the first slot 110, and the first moving component 210 is movably arranged along the extension direction of the first slot 110. The second slot 220 is arranged on the first moving component 210 and extends along the second direction. The second moving assembly 300 includes a second moving component 310 and a third moving component 220. The end of the second movable part 310 is arranged in the third slot body 320, the second movable part 310 is movably arranged along the direction of the second slot body 220, and the third slot body 320 is arranged on the second movable part 310 and extends along the third direction; the connecting part 400 is arranged in the third slot body 320 and movably arranged along the extension direction of the third slot body 320, and the connecting part 400 is used to connect the robot to be tested; the side of the first slot body 110, the second slot body 220 and the third slot body 320 are respectively provided with position detection parts 500 to respectively detect the position information of the first movable part 210, the second movable part 310 and the connecting part 400. In this arrangement, the robot to be tested is used to drive the connecting component 400 to move. The connecting component 400 can drive the first movable component 210 to move along the first direction, and drive the second movable component 310 to move along the second direction. The spatial position coordinate information of the robot to be tested is obtained through the position detection component 500, and then the corner parameters of the robot to be tested are directly obtained by using the calculation module. The structure is simple and easy to operate, and it takes into account the functions of being fast and low-cost, the general performance is improved, and the factory efficiency of the robot can also be improved.

[0026] Specifically, the first movable part 210 is loosely matched with the first slot body 110; a plurality of first exhaust holes 113 are respectively arranged on the first slot side wall surface 111 and the first slot bottom surface 112 of the first slot body 110, and the plurality of first exhaust holes 113 are evenly arranged along the extension direction of the first slot body 110, and airflow is blown into the first slot body 110 through each first exhaust hole 113 to form a supporting air film between the first slot body 110 and the first movable part 210 to support the first movable part 210. This arrangement enables the first movable part 210 to run with low resistance, and the first movable part 210 moves with the robot to be tested under the lifting effect of the airflow. Through the evenly spaced first exhaust holes 113, it is ensured that the lifting force on the first movable part 210 is uniform, so that it can run smoothly.

[0027] During the specific implementation process, the first groove side wall surface 111 includes a first blocking surface 114, and the first blocking surface 114 extends from the first groove side wall surface 111 toward the middle direction of the first groove body 110; a first matching portion 211 is provided at the end of the first movable component 210, and at least a part of the first matching portion 211 is opposite to the first blocking surface 114, so as to block the first movable component 210 through the first blocking surface 114, and at least a part of the supporting air film is located between the first blocking surface 114 and the first matching portion 211. Through the cooperation between the first blocking surface 114 and the first matching part 211, the first movable component 210 is prevented from escaping from the slot of the first slot body 110. At the same time, the air film between the first blocking surface 114 and the first matching part 211 and the air film between the first matching part 211 and the first slot bottom surface 112 form an interaction force, so that the forces on both sides of the first matching part 211 are balanced, and the suspension state is maintained in the first slot body 110, and the operation is stable, so that the first movable component 210 is prevented from tilting or shaking during the movement, resulting in deviations in the position detection results, thereby reducing the test accuracy of the robot to be tested.

[0028] Preferably, the first groove sidewall surface 111 is inclined toward the middle of the first groove body 110, with the direction perpendicular to the first direction as the longitudinal direction, and the longitudinal cross-section of the first groove body 110 is a trapezoidal structure. The first matching portion 211 includes a first matching block, and the structure of the first matching block is adapted to the structure of the first groove body 110.

[0029] Furthermore, the second movable part 310 and the second slot body 220 are clearance-matched; a plurality of second exhaust holes 222 are respectively arranged on the second slot side wall surface 221 and the second slot bottom surface of the second slot body 220, and the plurality of second exhaust holes 222 are evenly arranged along the extension direction of the second slot body 220, and airflow is blown into the second slot body 220 through each second exhaust hole 222 to form a supporting air film between the second slot body 220 and the second movable part 310 to support the second movable part 310. Such a configuration enables the second movable part 310 to operate with low resistance, and compared with the mode in which the second movable part 310 operates in direct contact with the second slot side wall surface 221 and the second slot bottom surface, the air film formed between the second movable part 310 and the second slot body 220 can greatly reduce friction, thereby improving the movement stability and service life of the second movable part 310. The second movable member 310 is provided with second matching portions 313 at both ends thereof. The second matching portions 313 are inserted into the second slot body 220 , and at least a portion of the air film is between the second matching portions 313 and the second slot body 220 .

[0030] The connecting component 400 is clearance-matched with the third slot body 320; a plurality of third exhaust holes 321 are respectively arranged on the third slot side wall surface and the third slot bottom surface of the third slot body 320, and the plurality of third exhaust holes 321 are evenly arranged along the extension direction of the third slot body 320, and airflow is blown into the third slot body 320 through each third exhaust hole 321 to form a supporting air film between the third slot body 320 and the connecting component 400 to support the connecting component 400. Blowing air through the evenly arranged third exhaust holes 321 makes the lifting force of the airflow on the connecting component 400 more uniform, thereby reducing the resistance of the connecting component 400 during movement.

[0031] From the bottom surface of the second groove body 220 to the groove opening, the horizontal distance between the two opposite second groove side walls of the second groove body 220 gradually decreases; from the bottom surface of the third groove body 320 to the groove opening, the horizontal distance between the two opposite third groove side walls of the third groove body 320 gradually decreases. This arrangement is to prevent the second moving part 310 from falling out of the second groove body 220 and to prevent the connecting part 400 from falling out of the third groove body 320.

[0032] In the embodiment provided in the present application, the position detection component 500 includes a first position detection component, a second position detection component and a third position detection component; there are two first slots 110, and the two first slots 110 are arranged at intervals along the width direction of the base 100 to form a placement station for placing the robot to be tested between the two first slots 110; the first position detection component is arranged on the side of the first slot 110, and the first position detection component is arranged along the extension direction of the first slot 110 to detect the position information of the first movable component 210; the first movable component 210 includes a first body 212 and a second body 213, and the first body 212 and the second body 213 are respectively arranged in the two first slots 110, and the first body A second groove 220 is respectively provided on the first body 212 and the second body 213; a second position detection component is respectively provided on the first body 212 and the second body 213 to detect the position information of the second movable component 310; both ends of the second movable component 310 are respectively arranged in the second groove 220 on the first body 212 and the second body 213, the second movable component 310 includes a third body 311 and a fourth body 312, the third body 311 and the fourth body 312 are relatively arranged along the second direction, the third groove 320 is arranged between the third body 311 and the fourth body 312, and a third position detection component is provided on the third body 311 or the fourth body 312 to detect the position information of the connecting component 400. Among them, a first sensing component 214 is arranged on the first movable component 210, the sensing component 214 extends from the first movable component 210 toward the direction close to the base 100 and is opposite to the first position detection component, and the position information of the sensing component 214 is detected by the first position detection component, a second sensing component is arranged on the second movable component 310, and a third sensing component is arranged on the connecting component 400, the second sensing component and the second position detection component are arranged opposite to each other, and the third sensing component and the third position detection component are arranged opposite to each other.

[0033] Preferably, the first position detection component, the second position detection component and the third position detection component are respectively grating rulers, and the sensing component 214 is a grating reading head. The grating ruler is used to detect the position of each component, and then the real-time position coordinates of the robot 600 to be tested can be synchronously fed back.

[0034] During the specific implementation process, a protruding block 120 is provided on the base 100, and the first groove body 110 is provided on the protruding block 120. A first chamber is provided in the protruding block 120, and a plurality of first exhaust holes 113 are respectively provided on the first groove side wall surface 111 and the first groove bottom surface 112 of the first groove body 110, and each first exhaust hole 113 is respectively connected with the first chamber to blow air into the first groove body 110; a second chamber is provided in the first movable part 210, and a plurality of second exhaust holes are respectively provided on the second groove side wall surface and the second groove bottom surface of the second groove body 220, and each second exhaust hole is respectively connected with the second chamber to blow air into the second groove body 220; a third chamber is provided in the second movable part 310, and a plurality of third exhaust holes are respectively provided on the third groove side wall surface and the third groove bottom surface of the third groove body 320, and each third exhaust hole is respectively connected with the third chamber to blow air into the third groove body 320. Among them, air is blown into the first tank body 110 through the first chamber and each first exhaust hole 113 to form an air film, the force on the first moving part 210 is adjusted by adjusting the air intake flow rate in the first chamber, air is blown into the second tank body 220 through the second chamber and each second exhaust hole, the force on the second moving part 310 is adjusted by adjusting the air intake flow rate in the second chamber, and the force on the connecting part 400 is adjusted by adjusting the air intake flow rate in the third chamber, and the air intake flow rates of each chamber are independently controlled. Specifically, the first position detection component is arranged on the side of the protruding block 120, so that during the movement of the first moving part 210, friction between the first sensing component 214 and the first position detection component is avoided.

[0035] In another embodiment provided in the present application, the first slot body 110 may be recessed relative to the mounting surface of the base 100, so that the first position detection component is arranged on the side of the slot of the first slot body 110, and the first sensing component 214 is arranged at the bottom position of the first movable component 210. Since the first movable component 210 is in a suspended state in the first slot body 110, there is a gap between the first sensing component 214 and the first position detection component to avoid interference between the two.

[0036] In the embodiments provided in the present application, the corner accuracy of the industrial robot is divided into two categories, one is a sharp corner and the other is a smooth corner. A sharp corner is when the industrial robot enters a second track perpendicular to one track from one track. In order to ensure the accuracy of the second track, the robot will slow down and produce position overshoot when turning the corner. The deviation generated at this time is called corner overshoot, referred to as GC here. A smooth corner is when the industrial robot enters a second track perpendicular to one track from one track. In order to minimize speed loss, the robot will perform circular motion at the intersection of the two tracks. The deviation generated at this time is called rounding error, referred to as RE here. According to relevant industry standards, this test should be performed in the XY plane, and the track should be run three times to find its maximum and minimum values, where n is the number. Assuming that each track has m breakpoints and the code of each breakpoint is k, the actual position of each breakpoint of each track is Xk, Yk, and Zk, and the coordinates of the theoretical breakpoints are Xck, Yck, and Zck. The corner overshoot of the industrial robot when running the nth time is GCn, and the rounding error of the industrial robot when running the nth time is REn.

[0037] GC = max(GCn), n = 1, 2, 3

[0038] GCn=max√(Xk-Xck) 2 +(Yk-Yck) 2 k=1,…,m

[0039] RE = min(REn), n = 1, 2, 3

[0040] REn=max√(Xk-Xck) 2 +(Yk-Yck) 2 +(Zk-Zck) 2 k=1,…,m

[0041] From the above formula, we can see that as long as we know Xk, Yk, and Zk, we can calculate GC and RE.

[0042] Therefore, the present invention also provides a test method, which is applicable to the robot corner deviation test device of the above embodiment, with the first direction as the X-axis direction, the second direction as the Y-axis direction, and the third direction as the Z-axis direction. The test method includes: connecting the robot 600 to be tested with the connecting component 400, and the robot 600 to be tested drives the connecting component 400 to move to the starting position, and recording the coordinates of the starting position; after the robot to be tested moves from the starting position to the first position along the positive direction of the X-axis by a first predetermined distance, the coordinate information of the first position is recorded, and then the robot to be tested continues to move along the positive direction of the X-axis by a second predetermined distance, and then the robot to be tested moves along the negative direction of the Y-axis by a third predetermined distance to the second position, and the coordinate information of the second position is recorded; the robot to be tested is controlled to reciprocate along the X-axis direction and the Y-axis direction for a predetermined number of times, and the coordinates between the first position and the second position are recorded to form a coordinate data array; the coordinate data array is used to calculate the corner overshoot value and rounding error value of the robot to be tested. The coordinate information of the first position is used as the start grasping signal, and the coordinate information of the second position is used as the end grasping signal. The test device records and records the actual coordinate values ​​of the robot to be tested in this interval in real time according to these two signals. There is an intersection point between the moving trajectory of the robot to be tested along the positive direction of the Z axis and the moving trajectory along the negative direction of the Y axis, the distance between the first position and the intersection point is 100 mm, and the distance between the second position and the intersection point is 100 mm.

[0043] The test method further includes: after recording the starting position coordinates, the robot 600 to be tested moves a fourth predetermined distance in the positive direction along the X axis and records the position coordinates; thereafter, the robot 600 to be tested moves a fifth predetermined distance in the positive direction along the Y axis and records the position coordinates; thereafter, the robot to be tested moves a sixth predetermined distance in the positive direction along the Z axis and records the position coordinates. This process is to unify the coordinate system directions of the industrial robot to be tested and the measuring device.

[0044] Before the robot to be tested is connected to the connecting component 400, the robot to be tested is reciprocated at a speed of 100% for 8 hours. After the robot to be tested runs stably, the upper end face of the industrial robot target is installed to the flange end of the industrial robot to be tested. The rear end face of the industrial robot target is installed on the measuring device by adjusting the robot posture. The industrial robot to be tested moves to the starting point of the first trajectory with the industrial robot target. At this time, the coordinate value of the air suspension coordinate automatic measuring instrument is cleared and the coordinate value of the industrial robot to be tested at this time is input into the measuring device. Then the industrial robot to be tested moves 300mm along the X positive, Y positive, and Z positive directions of the industrial robot to be tested with the industrial robot target based on this starting point, and informs the measuring device to obtain the point coordinates after each arrival at the point. This process is unified. The industrial robot to be tested and the measuring device coordinate system direction, then the industrial robot to be tested runs 200mm in the positive direction of the industrial robot coordinate X at 100% speed from the starting point and then turns to the negative direction of the Y to run 200mm. Next, the industrial robot to be tested performs this L-shaped line motion 3 times, and each time the industrial robot to be tested runs to 100mm before and 100mm after the intersection of the two tracks, it sends a signal to the measuring device. The first signal is used as the measuring device coordinate grabbing start signal, and the second signal is used as the measuring device coordinate grabbing end signal. The measuring device will record the actual coordinate value of the industrial robot to be tested in this interval in real time according to these two signals and record them. At this time, the measuring device will automatically generate a data report, and the values ​​recorded in the report are Xk, Yk, and Zk.

[0045] By using the measuring device and the measuring method of the present application, the real-time position coordinate information of the industrial robot in the coordinate system of the measuring device during the movement of the industrial robot can be monitored in real time. The measuring device of the present application has the advantages of low resistance operation and adaptive control of the air suspension system. During the operation of the industrial robot, the air suspension mover (the first moving part, the second moving part and the connecting part) moves with the industrial robot under the support of the air flow ejected by the air suspension stator (the first slot body, the second slot body and the third slot body). During this movement, the air suspension stator is adaptively controlled by the air suspension system and the pressure of the ejected gas is adjusted in real time, so as to ensure that the air suspension mover and the air suspension stator form an almost equidistant air film on the bottom and two side surfaces, so as to ensure that the air suspension mover can run with low resistance in the air suspension stator. The measuring device is equipped with grating rulers on the air suspension stators in the X, Y and Z directions, so the industrial robot can obtain the coordinate values ​​in the X, Y and Z directions in real time when driving the air suspension mover to run.

[0046] Among them, the air suspension system adaptive control module includes a pressure detection component and an airflow conveying component. The first tank body 110, the second tank body 220 and the third tank body 320 are respectively provided with pressure detection components for detecting the air pressure in the first tank body 110, the second tank body 220 and the third tank body 320. Each pressure detection component is respectively connected to the airflow conveying component signal. The pressure value signal detected by the pressure detection component is fed back to the airflow conveying component in real time, thereby controlling the airflow output flow of the airflow conveying component to control the air pressure in the first tank body 110, the second tank body 220 and the third tank body 320 respectively.

[0047] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0048] The robot corner deviation testing device according to the present application includes a base 100, a first moving assembly 200, a second moving assembly 300 and a connecting component 400. The base 100 is provided with a first slot 110, and the first slot 110 extends along a first direction. The first moving assembly 200 includes a first moving component 210 and a second slot 220. The end of the first moving component 210 is arranged in the first slot 110, and the first moving component 210 is movably arranged along the extension direction of the first slot 110. The second slot 220 is arranged on the first moving component 210 and extends along the second direction. The second moving assembly 300 includes a second moving component 310 and a third moving component 220. The end of the second movable part 310 is arranged in the third slot body 320, the second movable part 310 is movably arranged along the direction of the second slot body 220, and the third slot body 320 is arranged on the second movable part 310 and extends along the third direction; the connecting part 400 is arranged in the third slot body 320 and movably arranged along the extension direction of the third slot body 320, and the connecting part 400 is used to connect the robot to be tested; the side of the first slot body 110, the second slot body 220 and the third slot body 320 are respectively provided with position detection parts 500 to respectively detect the position information of the first movable part 210, the second movable part 310 and the connecting part 400. In this arrangement, the robot to be tested is used to drive the connecting component 400 to move. The connecting component 400 can drive the first movable component 210 to move along the first direction, and drive the second movable component 310 to move along the second direction. The spatial position coordinate information of the robot to be tested is obtained through the position detection component 500, and then the corner parameters of the robot to be tested are directly obtained by using the calculation module. The structure is simple and easy to operate, and it takes into account the functions of being fast and low-cost, the general performance is improved, and the factory efficiency of the robot can also be improved.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0051] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot corner deviation testing device, characterized in that: include: A base (100), wherein a first slot body (110) is disposed on the base (100), and the first slot body (110) extends along a first direction; A first moving assembly (200), the first moving assembly (200) comprising a first moving part (210) and a second slot body (220), the end of the first moving part (210) being arranged in the first slot body (110), the first moving part (210) being movably arranged along an extension direction of the first slot body (110), and the second slot body (220) being arranged on the first moving part (210) and extending along a second direction; A second moving assembly (300), the second moving assembly (300) comprising a second moving part (310) and a third slot (320), the end of the second moving part (310) being arranged in the third slot (320), the second moving part (310) being movably arranged along the direction of the second slot (220), and the third slot (320) being arranged on the second moving part (310) and extending along the third direction; a connecting component (400), arranged in the third slot body (320) and movably arranged along the extension direction of the third slot body (320), the connecting component (400) being used to connect the robot to be tested; Position detection components (500) are respectively arranged on the sides of the first trough body (110), the second trough body (220) and the third trough body (320) to respectively detect the position information of the first moving component (210), the second moving component (310) and the connecting component (400) to obtain the coordinate information of the robot to be tested; A calculation module is connected to the position detection component (500) by signal, and is used to receive the coordinate information and obtain the corner parameters of the robot to be tested according to the coordinate information.

2. The robot corner deviation testing device according to claim 1, characterized in that: The first moving component (210) and the first slot body (110) are clearance-matched; A plurality of first exhaust holes (113) are respectively provided on the first groove side wall surface (111) and the first groove bottom surface (112) of the first groove body (110); the plurality of first exhaust holes (113) are evenly spaced along the extension direction of the first groove body (110); airflow is blown into the first groove body (110) through each of the first exhaust holes (113) to form a supporting air film between the first groove body (110) and the first moving component (210) to support the first moving component (210).

3. The robot corner deviation testing device according to claim 2, characterized in that: The first groove side wall surface (111) comprises a first blocking surface (114), and the first blocking surface (114) extends from the first groove side wall surface (111) toward the middle of the first groove body (110); A first matching portion (211) is provided at the end of the first movable component (210), and at least a portion of the first matching portion (211) is opposite to the first blocking surface (114) so ​​as to block the first movable component (210) through the first blocking surface (114), and at least a portion of the supporting air film is located between the first blocking surface (114) and the first matching portion (211).

4. The robot corner deviation testing device according to claim 2, characterized in that: The first groove side wall surface (111) is inclined toward the middle of the first groove body (110), with the direction perpendicular to the first direction as the longitudinal direction, and the longitudinal cross-section of the first groove body (110) is a trapezoidal structure.

5. The robot corner deviation testing device according to claim 1, characterized in that: The second moving component (310) and the second slot body (220) are clearance-matched; A plurality of second exhaust holes (222) are respectively arranged on the second groove side wall surface (221) and the second groove bottom surface of the second groove body (220); the plurality of second exhaust holes (222) are evenly spaced apart along the extension direction of the second groove body (220); airflow is blown into the second groove body (220) through each of the second exhaust holes (222) to form a supporting air film between the second groove body (220) and the second movable component (310) to support the second movable component (310).

6. The robot corner deviation testing device according to claim 1, characterized in that: The connecting component (400) and the third slot body (320) are clearance-matched; A plurality of third exhaust holes (321) are respectively arranged on the third groove side wall surface and the third groove bottom surface of the third groove body (320); the plurality of third exhaust holes (321) are evenly arranged along the extension direction of the third groove body (320); air flow is blown into the third groove body (320) through each of the third exhaust holes (321) to form a supporting air film between the third groove body (320) and the connecting component (400) to support the connecting component (400).

7. The robot corner deviation testing device according to claim 5 or 6, characterized in that: From the groove bottom surface of the second groove body (220) to the groove opening direction, the horizontal distance between two opposite second groove side wall surfaces of the second groove body (220) gradually decreases; From the groove bottom surface of the third groove body (320) to the groove opening direction, the horizontal distance between two opposite third groove side wall surfaces of the third groove body (320) gradually decreases.

8. The robot corner deviation testing device according to claim 1, characterized in that: The position detection component (500) comprises a first position detection component, a second position detection component and a third position detection component; There are two first trough bodies (110), and the two first trough bodies (110) are arranged at intervals along the width direction of the base (100) to form a placement station for placing the robot to be tested between the two first trough bodies (110); the first position detection component is arranged on the side of the first trough body (110), and the first position detection component is arranged along the extension direction of the first trough body (110) to detect the position information of the first moving component (210); The first moving component (210) comprises a first body (212) and a second body (213); the first body (212) and the second body (213) are respectively arranged in the two first slots (110); the first body (212) and the second body (213) are respectively provided with a second slot (220); the first body (212) and the second body (213) are respectively provided with a second position detection component to detect position information of the second moving component (310); The two ends of the second movable component (310) are respectively arranged in the second groove body (220) on the first body (212) and the second body (213); the second movable component (310) includes a third body (311) and a fourth body (312); the third body (311) and the fourth body (312) are arranged relatively to each other along a second direction; the third groove body (320) is arranged between the third body (311) and the fourth body (312); a third position detection component is arranged on the third body (311) or the fourth body (312) to detect the position information of the connecting component (400).

9. The robot corner deviation testing device according to claim 1, characterized in that: The base (100) is provided with a protruding block (120), the first groove body (110) is provided on the protruding block (120), a first chamber is provided in the protruding block (120), a first groove side wall surface (111) and a first groove bottom surface (112) of the first groove body (110) are respectively provided with a plurality of first exhaust holes (113), and each of the first exhaust holes (113) is respectively connected to the first chamber so as to blow air into the first groove body (110); A second chamber is provided in the first moving component (210), and a plurality of second exhaust holes are respectively provided on the second groove side wall surface and the second groove bottom surface of the second groove body (220), and each of the second exhaust holes is respectively connected to the second chamber so as to blow air into the second groove body (220); A third chamber is arranged in the second movable component (310), and a plurality of third exhaust holes are respectively arranged on the third groove side wall surface and the third groove bottom surface of the third groove body (320), and each of the third exhaust holes is respectively connected to the third chamber to blow air into the third groove body (320).

10. A testing method, applicable to the robot corner deviation testing device according to any one of claims 1 to 9, characterized in that: The first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction. The testing method includes: The robot to be tested is connected to the connecting component (400), the robot to be tested drives the connecting component (400) to move to a starting position, and the coordinates of the starting position are recorded; After the robot to be tested moves a first predetermined distance in the positive direction of the X-axis from the starting position to the first position, the coordinate information of the first position is recorded. After that, the robot to be tested continues to move a second predetermined distance in the positive direction of the X-axis, and then moves a third predetermined distance in the negative direction of the Y-axis to the second position, and the coordinate information of the second position is recorded. Controlling the robot to be tested to reciprocate along the X-axis direction and the Y-axis direction for a predetermined number of times, and recording the coordinates between the first position and the second position to form a coordinate data array; The coordinate data array is used to calculate the corner overshoot value and rounded corner error value of the robot to be tested.

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