Positioning precision measuring device of industrial robot

Abstract

The invention relates to the field of precision measurement of industrial robots, and discloses an industrial robot positioning precision measuring device which comprises a base, a cavity is formed in the base, a plurality of first electric push rods are arranged in the cavity of the base, and the movable end of each first electric push rod is fixedly connected with the bottom end of a movable plate. An electric control box is fixedly connected to the center of the top end of the movable plate, a vertical rod is rotationally connected to the top end of the electric control box, a second electric push rod is fixedly connected to one side of the vertical rod, a measuring assembly is fixedly connected to the movable end of the second electric push rod, and the two sides of the base are each fixedly connected with a mounting block; and each mounting block is in threaded connection with a screw rod, the bottom end of each screw rod is fixedly connected with a balancing weight, and the positioning precision measurement process of the industrial robot is facilitated.

Description

Technical Field

[0001] The invention relates to the field of precision measurement of industrial robots, and in particular to a positioning precision measurement device for industrial robots. Background Art

[0002] Repeatability is an important technical parameter of industrial robots and one of the important parameters regarding robot accuracy.

[0003] Today, the measurement of repeatable positioning accuracy is mainly based on laser trackers, which have high measurement accuracy and many measurement functions. However, during the measurement process, testers are required to track the operation in real time, record the measurement data in real time, and the robot end needs to accurately align with the tracker. The final measurement data requires post-processing by testers, so only robots at a single station can be tested. The laser tracker equipment is expensive and is not conducive to simultaneous measurement of multi-station robots. At the same time, for relatively low-cost coordinate measuring machines used to measure repeatable positioning accuracy, although the cost is low, the accuracy of its own test is not high enough, and the measurement values ​​are mostly based on analog output, the communication method is single, and the accuracy of the final data is low. At the same time, the existing industrial robot measurement device is not convenient for flexible adjustment of position and orientation, which leads to the damage of the measurement device during manual handling, thereby affecting its accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning accuracy measuring device for an industrial robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a positioning accuracy measuring device for an industrial robot, comprising a base, the base having a chamber, and a plurality of groups of first electric push rods are arranged in the base chamber, the movable end of each group of the first electric push rods is fixedly connected to the bottom end of a movable plate, an electric control box is fixedly connected to the center position of the top end of the movable plate, and a vertical rod is rotatably connected to the top end of the electric control box, a second electric push rod is fixedly connected to one side of the vertical rod, and a measuring assembly is fixedly connected to the movable end of the second electric push rod, a mounting block is fixedly connected to each side of the base, and a screw is threadedly connected to each mounting block, and a counterweight is fixedly connected to the bottom end of each screw.

[0006] Preferably, four groups of first electric push rods are arranged in the base, and the four groups of first electric push rods are electrically connected to a control switch in an electric control box and one end of an external power supply.

[0007] Preferably, the bottom end of the vertical rod is fixedly connected with a rotating shaft, and the bottom end of the rotating shaft is rotatably connected to the top end of the electric control box.

[0008] Preferably, a rotating disk is sleeved and fixedly connected to the rotating shaft.

[0009] Preferably, the mounting block is penetrated by a threaded structure cooperating with the screw rod.

[0010] Preferably, the other end of each screw rod is fixedly connected with an adjusting disk.

[0011] Preferably, the measuring assembly comprises a transparent shell fixedly connected to the movable end of the second electric push rod, and a plurality of laser displacement sensors are arranged in the transparent shell, and each of the laser displacement sensors is respectively connected to one end of the controller inside the transparent shell of the measuring assembly.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] In order to keep the height adjustment process of the measuring component stable, the present invention electrically connects the four groups of first electric push rods to the control switch and the external power supply in the electric control box, so as to ensure the synchronization of the control process of the four groups of first electric push rods. By fixing a rotating shaft at the bottom end of the vertical rod and rotatably setting the rotating shaft on the electric control box, the vertical rod and the measuring component on one side of the vertical rod can be rotated in the horizontal direction. In order to make the rotation of the measuring component in the horizontal direction more convenient, a turntable is arranged on the rotating shaft, so that the adjustment process is more convenient. By penetrating a threaded structure that cooperates with the screw rod and is arranged on each mounting block, The threaded structure of the mounting block is used in conjunction with the screw, so that the counterweight block set at the bottom of the screw can be displaced in the vertical direction, so that the contact between the two sides of the base and the ground through the counterweight block is more stable. In order to make the adjustment process of the screw more convenient, an adjustment disk is fixedly connected to the top of the screw. Three laser displacement sensors are installed in the transparent shell of the measuring component, and the three laser displacement sensors are perpendicular to each other in space. During measurement, the robot is controlled to reach the test center range of the sensor to ensure that three light rays are projected to the end of the robot. The position of the robot in the three coordinate axes of space can be measured by the principle of laser diffuse reflection. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 This is an enlarged schematic diagram of the structure at A of the present invention;

[0016] Figure 3 It is an enlarged schematic diagram of the structure at B of the present invention.

[0017] In the figure: 1. base; 2. first electric push rod; 3. movable plate; 4. electric control box; 5. vertical rod; 6. second electric push rod; 7. measuring component; 8. mounting block; 9. counterweight block; 10. turntable. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Embodiment 1

[0020] See also Figure 1-Figure 3 The positioning accuracy measuring device of an industrial robot shown in the figure comprises a base 1, a chamber is opened in the base 1, and a plurality of groups of first electric push rods 2 are arranged in the chamber of the base 1, the movable end of each group of first electric push rods 2 is fixedly connected to the bottom end of a movable plate 3, an electric control box 4 is fixedly connected to the center position of the top of the movable plate 3, and a vertical rod 5 is rotatably connected to the top of the electric control box 4, a second electric push rod 6 is fixedly connected to one side of the vertical rod 5, and a measuring component 7 is fixedly connected to the movable end of the second electric push rod 6, a mounting block 8 is fixedly connected to both sides of the base 1, and each mounting block 8 is threadedly connected to a screw, and a counterweight 9 is fixedly connected to the bottom end of each screw.

[0021] In this embodiment, four groups of first electric push rods 2 are arranged in the base 1, and the four groups of first electric push rods 2 are electrically connected to the control switch in the electric control box 4 and one end of the external power supply. The bottom end of the vertical rod 5 is fixedly connected to the rotating shaft, and the bottom end of the rotating shaft is rotatably connected to the top of the electric control box 4. A turntable 10 is sleeved and fixedly connected to the rotating shaft. A threaded structure that cooperates with the screw rod is penetrated through the mounting block 8, and an adjusting disk is fixedly connected to the other end of each screw rod. The measuring component 7 includes a transparent shell fixedly connected to the movable end of the second electric push rod 6, and a plurality of laser displacement sensors are arranged in the transparent shell, and each laser displacement sensor is respectively connected to one end of the controller inside the transparent shell of the measuring component 7.

[0022] Furthermore, in order to keep the height adjustment process of the measuring assembly 7 stable, the four groups of first electric push rods 2 are electrically connected to the control switch and the external power supply in the electric control box 4, so that the synchronization of the control process of the four groups of first electric push rods 2 can be ensured. By fixing a rotating shaft at the bottom end of the vertical rod 5 and rotatably setting the rotating shaft on the electric control box 4, the vertical rod 5 and the measuring assembly 7 on one side of the vertical rod 5 can be rotated in the horizontal direction. In order to make the rotation of the measuring assembly 7 in the horizontal direction more convenient, a turntable 10 is arranged on the rotating shaft to make the adjustment process more convenient. By penetrating a screw that cooperates with the screw on each mounting block 8, The threaded structure of the mounting block 8 is used in conjunction with the screw, so that the counterweight block 9 arranged at the bottom of the screw can be displaced in the vertical direction, so that the contact between the two sides of the base 1 and the ground through the counterweight block 9 is more stable. In order to make the adjustment process of the screw more convenient, an adjustment disk is fixedly connected to the top of the screw. Three laser displacement sensors are installed in the transparent shell of the measuring component 7, and the three laser displacement sensors are perpendicular to each other in space. During measurement, the robot is controlled to reach the test center range of the sensor to ensure that three light rays are projected to the end of the robot. The position of the robot in the three coordinate axes of space can be measured by the principle of laser diffuse reflection.

[0023] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A positioning accuracy measuring device for an industrial robot, comprising a base (1), characterized in that: The base (1) is provided with a chamber, and a plurality of groups of first electric push rods (2) are arranged in the chamber of the base (1), the movable end of each group of the first electric push rods (2) is fixedly connected to the bottom end of the movable plate (3), the top center position of the movable plate (3) is fixedly connected to an electric control box (4), and the top of the electric control box (4) is rotatably connected to a vertical rod (5), one side of the vertical rod (5) is fixedly connected to a second electric push rod (6), and the movable end of the second electric push rod (6) is fixedly connected to a measuring component (7), and the two sides of the base (1) are respectively fixedly connected to a mounting block (8), and each mounting block (8) is threadedly connected to a screw, and the bottom end of each screw is fixedly connected to a counterweight block (9).

2. The positioning accuracy measuring device of an industrial robot according to claim 1, characterized in that: Four groups of first electric push rods (2) are arranged in the base (1), and the four groups of first electric push rods (2) are electrically connected to a control switch in an electric control box (4) and one end of an external power supply.

3. The positioning accuracy measuring device of an industrial robot according to claim 2, characterized in that: The bottom end of the vertical rod (5) is fixedly connected to a rotating shaft, and the bottom end of the rotating shaft is rotatably connected to the top end of the electric control box (4).

4. The positioning accuracy measuring device for an industrial robot according to claim 3, characterized in that: A rotating disk (10) is sleeved and fixedly connected to the rotating shaft.

5. The positioning accuracy measuring device for an industrial robot according to claim 4, characterized in that: The mounting block (8) is penetrated by a threaded structure that cooperates with the screw rod.

6. The positioning accuracy measuring device for an industrial robot according to claim 5, characterized in that: The other end of each screw rod is fixedly connected with an adjusting disk.

7. The positioning accuracy measuring device for an industrial robot according to claim 6, characterized in that: The measuring component (7) comprises a transparent shell fixedly connected to the movable end of the second electric push rod (6), and a plurality of laser displacement sensors are arranged in the transparent shell, and each of the laser displacement sensors is respectively connected to one end of a controller inside the transparent shell of the measuring component (7).

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