Test fixture for measuring positioning precision of tail end of mechanical arm

Abstract

The utility model discloses a testing jig for measuring the positioning accuracy of the tail end of a mechanical arm, which relates to the technical field of mechanical equipment and comprises a testing base, the mechanical arm is mounted at one end of the testing base, a testing jig box is placed at the other end of the testing base, and the testing jig box is composed of three positioning plates which are vertically connected with one another. A detachable test standard Arcuo block is installed in the middle of the test base, and a positioning mark is engraved on the surface of the test standard Arcuo block. According to the mechanical arm tail end positioning precision testing device, the six displacement sensors which are installed on the XYZ plane respectively are adopted to obtain position information of the mechanical arm tail end, contact type measurement in the three-dimensional space direction is achieved, safety is high, displacement sensors of different specifications can be selected according to different measurement requirements, flexibility is good, and the mechanical arm tail end positioning precision testing device is suitable for large-scale popularization and application. The cost is effectively reduced; therefore, the mechanical arm tail end positioning precision testing device can achieve the technical effects of improving the testing flexibility and reducing the testing cost.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a testing fixture for determining the positioning accuracy of a mechanical arm end. Background Art

[0002] At present, the position accuracy of the robot end is one of the important factors to ensure the quality of robot processing. The high-precision online measurement technology of the robot occupies an important position in the field of robot processing and assembly, and is an important technical problem currently faced by the world. In recent decades, scholars at home and abroad have conducted a lot of research on the position and posture measurement technology of the robot end, and explored many measurement methods and devices. These methods are divided into two categories: direct measurement method and combined measurement method. Direct measurement methods include: internal encoding method, multi-gyroscope measurement method, etc. (the system error of the robot arm itself is not considered, the accuracy is extremely limited, and it is not practical in industrial sites); combined measurement methods include: laser system and gyroscope combined measurement method, photography system and gyroscope combined measurement method, etc. The posture of the robot is generally measured by a gyroscope. The position measurement of the robot end currently includes laser direct measurement method, laser tracker measurement method and photogrammetry method.

[0003] In the prior art, the laser tracker measurement method utilizes the high measurement accuracy of the laser in the tracker to achieve precise measurement of the robot end effector. The basic working principle of the laser tracking measurement system is to place a reflector (target ball) at the target point, and the laser emitted by the tracking head is shot onto the reflector and returned to the tracking head. When the target moves, the tracking head adjusts the direction of the beam to align with the target. At the same time, the return beam is received by the detection system and used to measure the spatial position of the target. Simply put, the problem to be solved by the laser tracking measurement system is to statically or dynamically track a point moving in space and determine the spatial coordinates of the target point at the same time. As a large-scale measuring device, the laser tracker has the advantages of high accuracy, easy operation, and large range. It has a wide range of applications in manufacturing, assembly, quality inspection and other fields. However, some of its characteristics limit its application: the target ball needs to cooperate during measurement, and in some high-risk environments, the fixation of the target ball is a major problem; the tracker is expensive, cannot be used continuously for a long time, and its service life is difficult to guarantee. Utility Model Content

[0004] The purpose of the utility model is to provide a test fixture for measuring the positioning accuracy of the end of a robot arm in order to solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a test fixture for measuring the positioning accuracy of the end of a robotic arm, comprising a test base, a robotic arm is installed at one end of the test base, and a test fixture box is placed at the other end of the test base, the test fixture box is composed of three positioning plates vertically connected to each other, a detachable test standard Arcuo block is installed in the middle of the test base, and a positioning mark is engraved on the surface of the test standard Arcuo block; a connecting piece is connected and installed at the clamping claw end of the robotic arm, and the connecting piece is a cubic structure, at least six displacement sensors are installed on the outside of the connecting piece, and eight displacement sensors are installed on the right-angled sides of the connecting piece perpendicular to each other in pairs; a first camera and a second camera are also installed on the connecting piece, the first camera is located at the lower end of the connecting piece, and the second camera is located at the upper end of the connecting piece, and camera fill lights are provided on both sides of the first camera and the second camera.

[0006] As a further solution of the utility model: threaded holes are provided at both ends of the test standard Arcuo block, and the test standard Arcuo block is fixedly mounted on the test base by screws.

[0007] As a further solution of the utility model: the test standard Arcuo block is a rectangular standard block.

[0008] As a further solution of the utility model: two positioning marks are provided, and the two positioning marks are square Arcuo code marks.

[0009] As a further solution of the present invention: the displacement sensor is an externally triggered displacement sensor, and the displacement sensor generates data for collection by touching the test fixture box.

[0010] Compared with the prior art, the beneficial effects of the utility model are:

[0011] The utility model adopts six displacement sensors respectively installed in three planes X\Y\Z to obtain the position information of the end of the robot arm through the robot arm end positioning accuracy testing device, realizes contact measurement in three-dimensional space, has high safety, can select displacement sensors of different specifications according to different measurement requirements, has good flexibility, and effectively reduces costs; therefore, the robot arm end positioning accuracy testing device can achieve the technical effects of improving test flexibility and reducing test costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a structural schematic diagram of the installation of the connecting piece of the utility model with the displacement sensor, the first camera, the second camera and the camera fill light;

[0014] Figure 3 For this utility model Figure 3 Another perspective structural diagram of ;

[0015] Figure 4 This is a schematic diagram of the structure of the test standard Arcuo block of the utility model.

[0016] In the figure: 1. Test base; 2. Robotic arm; 3. Test standard Arcuo block; 4. Test fixture box; 5. Displacement sensor; 6. Connector; 7. First camera; 8. Second camera; 9. Camera fill light. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] See also Figures 1 to 4 In an embodiment of the utility model, a test fixture for measuring the positioning accuracy of the end of a mechanical arm comprises a test base 1, a mechanical arm 2 is installed at one end of the test base 1, and a test fixture box 4 is placed at the other end of the test base 1, the test fixture box 4 is composed of three positioning plates vertically connected to each other, a detachable test standard Arcuo block 3 is installed in the middle of the test base 1, and a positioning mark is engraved on the surface of the test standard Arcuo block 3; a connecting piece 6 is connected and installed at the clamping claw end of the mechanical arm 2, and the connecting piece 6 is a cubic structure, and at least six displacement sensors 5 are installed on the outer side of the connecting piece 6, and the eight displacement sensors 5 are installed on the right angle sides of the connecting piece 6 perpendicularly in pairs; a first camera 7 and a second camera 8 are also installed on the connecting piece 6, the first camera 7 is located at the lower end of the connecting piece 6, and the second camera 8 is located at the upper end of the connecting piece 6, and camera fill lights 9 are provided on both sides of the first camera 7 and the second camera 8.

[0019] In this embodiment: a threaded positioning hole is provided on the upper surface of the test base 1, and one of the positioning plates of the test fixture box 4 is fixed to the threaded positioning hole area provided on the test base 1 by bolts to position and fix the test fixture box 4. There are at least six displacement sensors 5, and the six displacement sensors 5 are measured in units of two on the three surfaces of the test fixture box 4 respectively. The test fixture box 4 composed of three positioning plates forms three planes X\Y\Z.

[0020] The robot arm end positioning accuracy testing device installs a cubic structure connector 6 at the end of the robot arm to be tested, and the displacement sensor assembly 5, the first camera 7, the second camera 8 and the fill light 9 are installed on the cubic structure connector 6. The robot arm 2 is operated to make the displacement sensor 5 touch the plane of the test fixture box 4 to generate a displacement difference, and the test data of the displacement difference can be automatically recorded; the robot arm end positioning accuracy testing device uses six displacement sensors installed in three planes X\Y\Z respectively to obtain the position information of the end of the robot arm 2, realizes contact measurement in three-dimensional space, has high safety, can select displacement sensors 5 of different specifications according to different measurement requirements, has good flexibility, and effectively reduces costs; therefore, the robot arm 2 end positioning accuracy testing device can achieve the technical effects of improving test flexibility and reducing test costs.

[0021] Please refer to the figure carefully. Both ends of the test standard Arcuo block 3 are provided with threaded holes. The test standard Arcuo block 3 is fixedly mounted on the test base 1 by screws. The test standard Arcuo block 3 is a rectangular standard block. There are two positioning marks, which are square Arcuo code marks.

[0022] In this embodiment: one side surface of the test standard Arcuo block 2 is positioned on the surface of the base 1-2 through a threaded hole positioning structure, which is convenient for adjustment, installation and disassembly; corresponding positioning marks are respectively set on the surface of the rectangular standard block.

[0023] Please refer to the figure in particular. The displacement sensor 5 is an externally triggered displacement sensor. The displacement sensor 5 generates data for collection by touching the test fixture box.

[0024] In this embodiment, the displacement sensor 5 generates displacement difference by touching three planes of the test fixture box 4. After receiving the signal, the displacement sensor 5 transmits the detected signal to the external terminal processor, and the terminal processor displays the displacement difference data on the display screen.

[0025] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A test fixture for measuring the positioning accuracy of a robot arm end, comprising a test base (1), characterized in that: A mechanical arm (2) is installed at one end of the test base (1), and a test fixture box (4) is placed at the other end of the test base (1), the test fixture box (4) is composed of three positioning plates vertically connected to each other, and a detachable test standard Arcuo block (3) is installed in the middle of the test base (1), and a positioning mark is engraved on the surface of the test standard Arcuo block (3); A connecting piece (6) is connected and installed at the clamping claw end of the mechanical arm (2), the connecting piece (6) is a cubic structure, at least six displacement sensors (5) are installed on the outside of the connecting piece (6), and the eight displacement sensors (5) are installed in pairs perpendicular to each other on the right-angled sides of the connecting piece (6); A first camera (7) and a second camera (8) are also mounted on the connecting member (6); the first camera (7) is located at the lower end of the connecting member (6), the second camera (8) is located at the upper end of the connecting member (6), and camera fill lights (9) are provided on both sides of the first camera (7) and the second camera (8).

2. A test fixture for measuring the positioning accuracy of the end of a robotic arm according to claim 1, characterized in that: Both ends of the test standard Arcuo block (3) are provided with threaded holes, and the test standard Arcuo block (3) is fixedly mounted on the test base (1) by means of screws.

3. A test fixture for measuring the positioning accuracy of the end of a robotic arm according to claim 1, characterized in that: The test standard Arcuo block (3) is a rectangular standard block.

4. A test fixture for measuring the positioning accuracy of the end of a robotic arm according to claim 2, characterized in that: There are two positioning marks, and the two positioning marks are square Arcuo code marks.

5. A test fixture for measuring the positioning accuracy of the end of a robotic arm according to claim 2, characterized in that: The displacement sensor (5) is an externally triggered displacement sensor, and the displacement sensor (5) collects data by touching the test fixture box to generate data.

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