Contact type repetitive precision measuring instrument for industrial robot

Abstract

The utility model relates to a contact type repetitive precision measuring instrument for an industrial robot. The contact type repetitive precision measuring instrument comprises a positioning plate, an X-axis detector, a Y-axis detector, a Z-axis detector, an X-axis fixing assembly, a Y-axis fixing assembly, a Z-axis fixing assembly and a detection meter, the X-axis detector and the Y-axis detector are both horizontally arranged on the plane of the positioning plate, the X-axis detector and the Y-axis detector are vertically arranged, the X-axis fixing assembly is used for fixing the X-axis detector on the positioning plate, and the Y-axis fixing assembly is used for fixing the Y-axis detector on the positioning plate; the Z-axis detector is vertically arranged on the positioning plate and is fixed through a Z-axis fixing assembly; and the detection meter is arranged on the positioning plate, is electrically connected with the X-axis detector, the Y-axis detector and the Z-axis detector, and is used for displaying a measurement result. After the X-axis detector, the Y-axis detector and the Z-axis detector are extruded in respective directions, detection distances are displayed on the detection meter, and real-time reading is carried out, so that repeated precision measurement is completed.

Description

Technical Field

[0001] The utility model relates to the field of industrial precision measurement, and more specifically, to a contact type repeatability precision measuring instrument for an industrial robot. Background Art

[0002] At present, with the widespread use of industrial robots, repeatability measuring instruments are also used in the precision manufacturing industry, playing a vital role in these fields. Compared with traditional measurement methods, repeatability measuring instruments have higher measurement accuracy, can store and process data, and realize fully automatic measurement, thereby saving time and labor costs. In addition, it can also reduce the errors that may occur during manual measurement, improve the accuracy of measurement results and measurement efficiency. However, the current repeatability measuring instruments have some challenges and limitations. First, they are large in size, inconvenient to transport and place, and require a relatively spacious workspace. Secondly, the manufacturing and maintenance costs are high, and professional technical support is required, which further increases the cost. Therefore, how to simplify the structure of the repeatability measuring instrument is exactly the problem to be solved by this application. Utility Model Content

[0003] In view of the shortcomings of the prior art, an industrial robot contact type repeatability accuracy measuring instrument is proposed. The instrument is arranged on a positioning plate, is easy to carry due to its optimized structure, and can complete repeatability accuracy measurement.

[0004] An industrial robot contact type repeatability accuracy measuring instrument, comprising a positioning plate, an X-axis detector, a Y-axis detector, a Z-axis detector, an X-axis fixing component, a Y-axis fixing component, a Z-axis fixing component and a detection table;

[0005] The X-axis detector and the Y-axis detector are both horizontally arranged on the plane of the positioning plate, the X-axis detector and the Y-axis detector are vertically arranged, the X-axis fixing assembly is used to fix the X-axis detector on the positioning plate, and the Y-axis fixing assembly is used to fix the Y-axis detector on the positioning plate;

[0006] The Z-axis detector is vertically arranged on the positioning plate and fixed by a Z-axis fixing assembly;

[0007] The detection table is arranged on the positioning plate and is electrically connected to the X-axis detector, the Y-axis detector and the Z-axis detector respectively, so as to display the measurement results.

[0008] In summary, the above technical solution has the following beneficial effects: the X-axis detector, the Y-axis detector and the Z-axis detector are fixed on the positioning plate by the X-axis fixing component, the Y-axis fixing component and the Z-axis fixing component respectively, the X-axis detector, the Y-axis detector and the Z-axis detector are parallel to the three-dimensional coordinate system where the industrial robot is located respectively, the X-axis detector, the Y-axis detector and the Z-axis detector are distance measuring devices such as spring detection pens or laser rangefinder pens for detecting distance, the X-axis detector is used to detect the repeatability accuracy in the X-axis direction, the Y-axis detector is used to detect the repeatability accuracy in the Y-axis direction, and the Z-axis detector is used to detect the repeatability accuracy in the Z-axis direction. After the X-axis detector, the Y-axis detector and the Z-axis detector receive distance sensing or are squeezed in their respective directions, the detection distance will be displayed on the detection table, and the real-time reading is used to complete the repeatability accuracy measurement. The present application has the characteristics of low cost and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of a positioning plate for a contact type repeatability accuracy measuring instrument for an industrial robot;

[0010] Figure 2 A schematic diagram of a housing of an industrial robot contact type repeatability accuracy measuring instrument;

[0011] Figure 3 It is a schematic diagram of the shell cross section of an industrial robot contact type repeatability accuracy measuring instrument;

[0012] Figure 4 This is a schematic diagram of the Z-axis fixing component of an industrial robot contact repeatability measuring instrument.

[0013] Figure numerals: 10, positioning plate; 11, mounting hole; 20, X-axis detector; 30, Y-axis detector; 40, Z-axis detector; 50, X-axis fixing assembly; 51, X-axis fixing seat; 60, Y-axis fixing assembly; 61, Y-axis fixing seat; 70, Z-axis fixing assembly; 71, Z-axis fixing plate; 72, Z-axis fixing seat; 80, detection table; 90, shell; 91, perforation; 92, window; 93, handle; 94, power socket; 95, power switch button. DETAILED DESCRIPTION

[0014] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0015] like Figure 1As shown, an industrial robot contact repeatability accuracy measuring instrument includes a positioning plate 10, an X-axis detector 20, a Y-axis detector 30, a Z-axis detector 40, an X-axis fixing component 50, a Y-axis fixing component 60, a Z-axis fixing component 70 and a detection table 80; the X-axis detector 20 and the Y-axis detector 30 are both horizontally arranged on the plane of the positioning plate 10, and the X-axis detector 20 and the Y-axis detector 30 are vertically arranged, the X-axis fixing component 50 is used to fix the X-axis detector 20 on the positioning plate 10, and the Y-axis fixing component 60 is used to fix the Y-axis detector 30 on the positioning plate 10; the Z-axis detector 40 is vertically arranged on the positioning plate 10 and fixed by the Z-axis fixing component 70; the detection table 80 is arranged on the positioning plate 10, and is electrically connected to the X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 respectively, for displaying the measurement results. The X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 are fixed on the positioning plate 10 by means of the X-axis fixing assembly 50, the Y-axis fixing assembly 60 and the Z-axis fixing assembly 70 respectively. The X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 are parallel to the three-dimensional coordinate system where the industrial robot is located respectively. The X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 are distance measuring devices such as spring detection pens or laser distance measuring pens for detecting distances. The X-axis detector 20 is used to detect the repeatability accuracy in the X-axis direction, the Y-axis detector 30 is used to detect the repeatability accuracy in the Y-axis direction, and the Z-axis detector 40 is used to detect the repeatability accuracy in the Z-axis direction. After the X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 receive distance sensing or are squeezed in their respective directions, the detection distance will be displayed on the detection table 80, and the reading will be real-time, so as to complete the repeatability accuracy measurement. The present application has the characteristics of low cost and compact structure.

[0016] like Figure 2 and Figure 3 As shown, a shell 90 is also included, and a positioning plate 10 is arranged in the shell 90. The shell 90 is respectively provided with through holes 91 for the detection ends of the X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 to pass through. The shell 90 is also provided with a window 92 for viewing the detection meter 80. The shell 90 includes six sides for enclosing the positioning plate 10 inside. The detection ends of the X-axis detector 20, the Y-axis detector 30 and the Z-axis detector 40 are exposed outside the shell 90 through the through holes 91. The detection meter 80 can be under the window 92, flush with the window 92, or higher than the window 92. The positioning plate 10 is provided with a meter opening or a meter slot for installing the detection meter 80. The shell 90 protects the internal structure.

[0017] The positioning plate 10 is provided with a mounting hole 11 for the Z-axis detector 40 to pass through, and the Z-axis fixing assembly 70 fixes the Z-axis detector 40 on the positioning plate 10 at the upper and lower surfaces of the positioning plate 10. Because the Z-axis detector 40 is vertically arranged on the positioning plate 10, it is difficult to fix. For greater stability, the Z-axis detector 40 is passed through the mounting hole 11, and then fixed from the upper and lower surfaces of the positioning plate 10 by the Z-axis fixing assembly 70, so as to make the Z-axis detector 40 more stable.

[0018] like Figure 4 As shown, in the first embodiment, the Z-axis fixing assembly 70 includes two Z-axis fixing plates 71 and two Z-axis fixing seats 72. The two Z-axis fixing plates 71 are respectively arranged on the upper and lower surfaces of the positioning plate 10. The two Z-axis fixing seats 72 are arranged on the side of the Z-axis detector 40 facing away from the Z-axis fixing plate 71, and are used to press the Z-axis detector 40 onto the Z-axis fixing plate 71. The two Z-axis fixing seats 72 are respectively fixedly connected to the two Z-axis fixing plates 71. In this embodiment, the Z-axis fixing plate 71 and the positioning plate 10 are connected by fixings such as screws, bolts or nails, or they can be directly welded. The Z-axis fixing seat 72 and the Z-axis fixing plate 71 cooperate to clamp and fix the Z-axis detector 40. The Z-axis fixing seat 72 and the Z-axis fixing plate 71 are also connected by fixings such as screws, bolts or nails, or they can be directly welded.

[0019] The X-axis fixing assembly 50 includes a plurality of X-axis fixing seats 51, and the Y-axis fixing assembly 60 includes a plurality of Y-axis fixing seats 61. Each X-axis fixing seat 51 is located on a side of the X-axis detector 20 away from the positioning plate 10, and is used to press the Y-axis detector 30 onto the positioning plate 10. Each X-axis fixing seat 51 is fixedly connected to the positioning plate 10; each Y-axis fixing seat 61 is located on a side of the Y-axis detector 30 away from the positioning plate 10, and is used to press the Y-axis detector 30 onto the positioning plate 10. Each Y-axis fixing seat 61 is fixedly connected to the positioning plate 10. In this embodiment, the X-axis fixing seat 51 and the positioning plate 10 cooperate to clamp and fix the X-axis detector 20 on the positioning plate 10. The X-axis fixing seat 51 and the positioning plate 10 are connected by fixing parts such as screws, bolts or nails, and can also be directly welded. The Y-axis fixing seat 61 and the positioning plate 10 cooperate to clamp and fix the Y-axis detector 30 on the positioning plate 10. The Y-axis fixing seat 61 and the positioning plate 10 are connected by fixing parts such as screws, bolts or nails, and can also be directly welded.

[0020] Embodiment 2: The Z-axis fixing assembly 70 includes two Z-axis fixing plates 71 and two Z-axis fixing seats 72. The two Z-axis fixing plates 71 are respectively arranged on the upper and lower surfaces of the positioning plate 10. The two Z-axis fixing seats 72 are respectively fixedly connected to the Z-axis detector 40 on the upper and lower surfaces of the positioning plate 10. The two Z-axis fixing seats 72 are respectively fixedly connected to the two Z-axis fixing plates 71. In this embodiment, the Z-axis fixing plate 71 and the positioning plate 10 are connected by fixing parts such as screws, bolts or nails, and can also be directly welded. The Z-axis fixing seat 72 is fixed by providing a snap-fitting opening for the Z-axis detector 40 to snap-fit. The Z-axis detector 40 is fixed on the upper and lower surfaces of the positioning plate 10 through the Z-axis fixing seat 72 and the Z-axis fixing plate 71.

[0021] The X-axis fixing assembly 50 includes a plurality of X-axis fixing seats 51, and the Y-axis fixing assembly 60 includes a plurality of Y-axis fixing seats 61. The X-axis detector 20 is fixedly connected to each X-axis fixing seat 51, and each X-axis fixing seat 51 is fixedly connected to the positioning plate 10; the Y-axis detector 30 is fixedly connected to each Y-axis fixing seat 61, and each Y-axis fixing seat 61 is fixedly connected to the positioning plate 10. In this embodiment, the X-axis fixing seat 51 is fixed by providing a snap-fitting opening for the X-axis detector 20 to be snap-fitted, and the X-axis fixing seat 51 is then connected to the positioning plate 10 by fixings such as screws, bolts or nails, or directly welded. The Y-axis fixing seat 61 is fixed by providing a snap-fitting opening for the Y-axis detector 30 to be snap-fitted, and the Y-axis fixing seat 61 is then connected to the positioning plate 10 by fixings such as screws, bolts or nails, or directly welded.

[0022] A carrying handle 93 is provided on the housing 90. The handle is used to facilitate carrying the measuring instrument of the present application.

[0023] The housing 90 is provided with a power socket 94 and a power switch button 95 , and the power socket 94 is connected to the test meter 80 via the power switch button 95 .

[0024] The power socket 94 is used to connect an external power source, the power switch button 95 is used to control the power on and off, the X-axis detector 20, the Y-axis detector 30, and the Z-axis detector 40 take points through the detection meter 80, and the housing 90 is also provided with necessary circuit elements connected to the detection meter 80, such as 485 / 232 converters, indicator lights and other devices.

[0025] The above are only preferred implementations of the utility model. The protection scope of the utility model is not limited to the above embodiments. All technical solutions under the idea of ​​the utility model belong to the protection scope of the utility model. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the utility model should also be regarded as the protection scope of the utility model.

Claims

1. An industrial robot contact type repeatability measuring instrument, characterized in that: It comprises a positioning plate (10), an X-axis detector (20), a Y-axis detector (30), a Z-axis detector (40), an X-axis fixing component (50), a Y-axis fixing component (60), a Z-axis fixing component (70) and a detection table (80); The X-axis detector (20) and the Y-axis detector (30) are both horizontally arranged on the plane of the positioning plate (10), and the X-axis detector (20) and the Y-axis detector (30) are vertically arranged, the X-axis fixing component (50) is used to fix the X-axis detector (20) on the positioning plate (10), and the Y-axis fixing component (60) is used to fix the Y-axis detector (30) on the positioning plate (10); The Z-axis detector (40) is vertically arranged on the positioning plate (10) and fixed by a Z-axis fixing assembly (70); The detection meter (80) is arranged on the positioning plate (10) and is electrically connected to the X-axis detector (20), the Y-axis detector (30) and the Z-axis detector (40) respectively, and is used to display the measurement results.

2. The industrial robot contact type repeatability measuring instrument according to claim 1, characterized in that: The invention also comprises a shell (90), wherein the positioning plate (10) is arranged in the shell (90), and the shell (90) is respectively provided with through holes (91) for the detection ends of the X-axis detector (20), the Y-axis detector (30) and the Z-axis detector (40) to pass through, and the shell (90) is also provided with a window (92) for viewing the detection meter (80).

3. The industrial robot contact type repeatability measuring instrument according to claim 2, characterized in that: The positioning plate (10) is provided with a mounting hole (11) for the Z-axis detector (40) to pass through, and the Z-axis fixing assembly (70) fixes the Z-axis detector (40) on the positioning plate (10) at the upper and lower surfaces of the positioning plate (10).

4. The industrial robot contact type repeatability measuring instrument according to claim 3, characterized in that: The Z-axis fixing assembly (70) includes two Z-axis fixing plates (71) and two Z-axis fixing seats (72). The two Z-axis fixing plates (71) are respectively arranged on the upper and lower surfaces of the positioning plate (10). The two Z-axis fixing seats (72) are arranged on the side of the Z-axis detector (40) facing away from the Z-axis fixing plate (71) and are used to press the Z-axis detector (40) onto the Z-axis fixing plate (71). The two Z-axis fixing seats (72) are respectively fixedly connected to the two Z-axis fixing plates (71).

5. The industrial robot contact type repeatability measuring instrument according to claim 3, characterized in that: The Z-axis fixing assembly (70) comprises two Z-axis fixing plates (71) and two Z-axis fixing seats (72), the two Z-axis fixing plates (71) are respectively arranged on the upper and lower surfaces of the positioning plate (10), the two Z-axis fixing seats (72) are respectively fixedly connected to the Z-axis detector (40) on the upper and lower surfaces of the positioning plate (10), and the two Z-axis fixing seats (72) are respectively fixedly connected to the two Z-axis fixing plates (71).

6. The industrial robot contact type repeatability measuring instrument according to claim 1, characterized in that: The X-axis fixing assembly (50) includes a plurality of X-axis fixing seats (51), and the Y-axis fixing assembly (60) includes a plurality of Y-axis fixing seats (61). Each of the X-axis fixing seats (51) is located on a side of the X-axis detector (20) away from the positioning plate (10) and is used to press the Y-axis detector (30) onto the positioning plate (10). Each of the X-axis fixing seats (51) is fixedly connected to the positioning plate (10). Each of the Y-axis fixing seats (61) is located on a side of the Y-axis detector (30) away from the positioning plate (10) and is used to press the Y-axis detector (30) onto the positioning plate (10). Each of the Y-axis fixing seats (61) is fixedly connected to the positioning plate (10) respectively.

7. The industrial robot contact type repeatability measuring instrument according to claim 1, characterized in that: The X-axis fixing assembly (50) includes a plurality of X-axis fixing seats (51), the Y-axis fixing assembly (60) includes a plurality of Y-axis fixing seats (61), the X-axis detector (20) is fixedly connected to each X-axis fixing seat (51), and each X-axis fixing seat (51) is fixedly connected to the positioning plate (10); The Y-axis detector (30) is fixedly connected to each Y-axis fixing seat (61), and each Y-axis fixing seat (61) is fixedly connected to the positioning plate (10).

8. The industrial robot contact type repeatability measuring instrument according to claim 2, characterized in that: The housing (90) is provided with a carrying handle (93).

9. The industrial robot contact type repeatability measuring instrument according to claim 2, characterized in that: The housing (90) is provided with a power socket (94) and a power switch button (95), and the power socket (94) is connected to the detection meter (80) via the power switch button (95).

Images