Industrial robot repeated positioning precision measuring device

Abstract

The utility model provides an industrial robot repeated positioning precision measuring device, which comprises laser displacement sensors, a communication control unit and a bearing platform with an adjustable supporting angle, the communication control unit is carried above the bearing platform with the adjustable supporting angle, and three laser displacement sensors are arranged above the communication control unit. The lasers emitted by the three laser displacement sensors are perpendicular to one another in pairs, and the three paths of lasers intersect at one point to form an XYZ three-dimensional measurement coordinate system. According to the utility model, the opening angle of the triangular bracket is controlled by adjusting the limiting block and the connecting rod so as to adapt to the position of an object to be measured at the tail end of the industrial robot, the high-precision laser displacement sensors are used for displacement measurement, and the three laser displacement sensors are used for obtaining a space XYZ three-dimensional measurement coordinate system of the object to be measured at the tail end of the industrial robot. The device is high in precision, non-contact and high in measurement speed, the precision can reach micron-level precision, the measurement process is simple, direct and rapid, and the device is light, flexible and convenient to carry.

Description

Technical Field

[0001] The utility model relates to the technical field of measurement, in particular to a device for measuring the repeat positioning accuracy of an industrial robot. Background Art

[0002] The repeat positioning accuracy of an industrial robot refers to the error of the robot's position after performing the same task multiple times when the robot executes the same task. Generally speaking, it is the size of the position deviation each time when the robot repeats the execution of the same task. The repeat positioning accuracy is an important indicator for the robot to perform high-precision and high-repeatability work. The level of accuracy directly determines whether the robot can maintain a stable operating state during long-term operation. For many tasks that require fine operations, such as automated operations in industrial production like assembly, welding, and spraying, the repeat positioning accuracy of the robot is particularly important.

[0003] The measurement of the repeat positioning accuracy of an industrial robot is usually carried out by a laser tracker. A set of laser tracker measurement equipment usually consists of a main unit, a tripod, and a measurement target ball. The laser tracker measures the accuracy of the robot by emitting a laser beam onto the target ball fixed on the robot and receiving the reflected laser beam. And the measurement accuracy requires the establishment of the robot's base coordinate system and TCP first, and the measurement process is not fast and simple enough. Usually, the laser tracker is placed at a relatively far distance from the robot, and the laser is easily affected by the environment. Moreover, the laser tracker and the supporting target ball equipment are expensive, and a set of equipment is large in volume and inconvenient to carry and transport. Another patent CN110146017A uses an image processing method to measure the repeat positioning accuracy of an industrial robot. This method has a relatively complex and cumbersome processing process, which requires image feature extraction, image registration, and complex point cloud data calculation. Summary of the Utility Model

[0004] Aiming at the problems mentioned in the background art, the purpose of the utility model is to provide a device for measuring the repeat positioning accuracy of an industrial robot. This device is light, flexible, and convenient to carry, and the accuracy measurement process is simple, direct, and fast, solving the problems of inconvenient use of equipment and complex and cumbersome measurement process in the existing measurement of the repeat positioning accuracy of industrial robots.

[0005] To solve the above technical problems, the utility model provides the following technical solutions:

[0006] An industrial robot repeat positioning accuracy measurement device, comprising: a laser displacement sensor, a communication control unit, and a bearing platform with adjustable support angle. Above the bearing platform with adjustable support angle, a communication control unit is carried. Above the communication control unit, three laser displacement sensors are provided. The lasers emitted by the three laser displacement sensors are perpendicular to each other in pairs and the three lasers intersect at a point, forming an XYZ three-dimensional measurement coordinate system. The communication control unit is connected to the laser displacement sensor to measure the position data of the object to be measured at the end of the industrial robot in the three-dimensional measurement coordinate system.

[0007] Further, the bearing platform with adjustable support angle includes a base, a triangular bracket, a limit post, three connecting rods, and an adjusting member. The base is hinged to the triangular bracket for angle adjustment, and a limit post is also fixedly connected to its center. The bottom of the limit post is sleeved with the three connecting rods, and the three connecting rods slide up and down along the limit post synchronously. The bottom ends of the three connecting rods are respectively movably connected to the triangular bracket through the adjusting member.

[0008] Further, the adjusting member includes a limit block, a number of limit holes, and a positioning pin. The bottom end of each connecting rod is movably connected with a limit block. A number of limit holes are opened on the triangular bracket, and the positioning pin passes through the limit block and is fixedly inserted into the corresponding limit hole.

[0009] Further, the shape of the base is a triangle with an inverted arc at the tip.

[0010] Further, the communication control unit includes a communication control box, a PLC controller, a switch, and a laser displacement sensor controller. The communication control box is internally equipped with a PLC controller, a switch, and a laser displacement sensor controller.

[0011] Further, a cover plate is detachably installed on the upper surface of the communication control box.

[0012] Further, large square holes, circular holes, and small square holes for communication connection are provided on the side of the communication control box. Among them, the large square hole is for installing a power supply connector, the circular hole is for installing a power switch button, and the small square hole is for installing a network cable interface.

[0013] Further, an L-shaped metal connecting plate is also included, and the optical displacement sensor is installed on the L-shaped metal connecting plate.

[0014] Further, the laser displacement sensor can be externally communicated and powered through its own connecting cable.

[0015] Compared with the prior art, the beneficial effects achieved by the present utility model are:

[0016] The utility model controls the opening angle of the triangular support by adjusting the limit block and the connecting rod to adapt to the position of the object to be measured installed at the end of the industrial robot, and uses a high-precision laser displacement sensor for displacement measurement. Three laser displacement sensors are used to obtain the spatial XYZ three-dimensional measurement coordinate system of the object to be measured at the end of the industrial robot. Generally speaking, the device is light, flexible, easy to carry, and the precision measurement process is simple, direct and fast. Brief Description of the Drawings

[0017] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification. Together with the embodiments of the utility model, they are used to explain the utility model, and do not constitute a limitation to the utility model. In the drawings:

[0018] Figure 1 is a schematic diagram of the overall structure of the industrial robot repeat positioning accuracy measurement device provided by the utility model;

[0019] Figure 2 is a partial explosion diagram of the industrial robot repeat positioning accuracy measurement device provided by the utility model.

[0020] In the figure: laser displacement sensor 1, base 2, communication control unit 3, triangular support 4, limit post 5, connecting rod 6, limit block 7, limit hole 8, positioning pin 9, communication control box 31, PLC controller 32, switch 33, laser displacement sensor controller 34, cover plate 35, large square hole 36, circular hole 37, small square hole 38, L-shaped metal connecting plate 10, connecting cable 11. Detailed Description of the Embodiment

[0021] The embodiments of the utility model are described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the utility model, and should not be construed as a limitation to the utility model.

[0022] The following provides an embodiment of the utility model:

[0023] Please refer to Figure 1 - Figure 2 , the utility model provides a technical solution: an industrial robot repeat positioning accuracy measurement device, including: a laser displacement sensor 1, a communication control unit 3, and a bearing platform with an adjustable support angle. A communication control unit 3 is mounted above the bearing platform with an adjustable support angle. Three laser displacement sensors 1 are provided above the communication control unit 3. The lasers emitted by the three laser displacement sensors 1 are perpendicular to each other in pairs and the three lasers intersect at a point to form an XYZ three-dimensional measurement coordinate system. The communication control unit 3 is connected to the laser displacement sensor 1 to measure the position data of the object to be measured at the end of the industrial robot in the three-dimensional measurement coordinate system.

[0024] Specifically, refer to Figure 1 , the load-bearing platform with adjustable support angle includes a base 2, a triangular bracket 4, a limit post 5, three connecting rods 6 and an adjusting member. The base 2 is hinged to the triangular bracket 4 for angle adjustment, and a limit post 5 is fixedly connected to the center thereof. The bottom of the limit post 5 is sleeved with the three connecting rods 6, and the three connecting rods 6 slide up and down synchronously along the limit post 5. The bottom ends of the three connecting rods 6 are respectively movably connected to the triangular bracket 4 through the adjusting member; the adjusting member includes a limit block 7, a plurality of limit holes 8 and a positioning pin 9. The bottom end of each connecting rod 6 is movably connected to a limit block 7. A plurality of limit holes 8 are formed in the triangular bracket 4, and the positioning pin 9 passes through the limit block 7 and is fixedly inserted into the corresponding limit hole 8; the base 2 is in the shape of a triangle with a reverse arc at the tip. In this embodiment, the limit post 5, the connecting rod 6, the limit block 7 and the positioning pin 9 jointly play a role in limiting and fixing.

[0025] Specifically, refer to Figure 2 , the communication control unit 3 includes a communication control box 31, a Siemens PLC controller 32, a switch 33, and a laser displacement sensor controller 34. The communication control box 31 is internally equipped with a PLC controller 32, a switch 33, and a laser displacement sensor controller 34; a cover plate 35 is detachably installed on the upper surface of the communication control box 31; large square holes 36, circular holes 37 and small square holes 38 for communication connection are arranged on the side surface of the communication control box 31. Among them, the large square hole 36 is for installing a power supply connector, the circular hole 37 is for installing a power switch button, and the small square hole 38 is for installing a network cable interface; an L-shaped metal connecting plate 10 is also included. The optical displacement sensor is installed on the L-shaped metal connecting plate 10, and the L-shaped metal connecting plate 10 is fixedly installed on the upper surface cover plate 35 of the communication control box 31; the laser displacement sensor 1 can be externally communicated and power supply-connected through its own connecting cable 11.

[0026] Working principle:

[0027] In use, the base 2 is arranged on the triangular bracket 4 to jointly form a load-bearing platform structure. The present utility model controls the opening angle of the triangular bracket 4 by adjusting the limit block 7 and the connecting rod 6 to adapt to the position of the object to be measured installed at the end of the industrial robot; the communication control box 31 is arranged on the base 2, and the laser displacement sensor 1 is arranged on the communication control box 31 for emitting laser, and the laser can be reflected back to the laser displacement sensor 1 by the object to be measured. The present utility model uses a high-precision laser displacement sensor 1 for displacement measurement. By adjusting the relative positions of the L-shaped metal connecting plates 10, the lasers emitted by the three laser displacement sensors 1 are perpendicular to each other in pairs and the three lasers intersect at a point, so as to obtain the spatial XYZ three-dimensional measurement coordinate system of the object to be measured at the end of the industrial robot. Secondly, through the communication control unit 3 communicating with and being electrically connected to the laser displacement sensor 1 to measure the position data of the object to be measured at the end of the industrial robot in the XYZ three-dimensional measurement coordinate system; when the object to be measured installed at the end of the industrial robot extends into a certain position in this XYZ three-dimensional measurement coordinate system, the XYZ coordinates of the object to be measured can be obtained. Repeating this process several times by moving the object to be measured at the end of the industrial robot to the same position can obtain the repeat positioning accuracy of the industrial robot. Generally speaking, the present utility model uses a laser displacement sensor 1 for high-precision displacement measurement. Compared with the traditional measurement method, it has high precision, non-contact and fast measurement speed, and the precision can reach the micron level. The measurement process is simple, direct and fast; and the device is light, flexible and easy to carry.

[0028] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An industrial robot repeat positioning accuracy measurement device, characterized in that Including: A laser displacement sensor (1), a communication control unit (3), and a bearing platform with an adjustable support angle. The communication control unit (3) is mounted above the bearing platform with an adjustable support angle. Above the communication control unit (3), there are three laser displacement sensors (1). The lasers emitted by the three laser displacement sensors (1) are perpendicular to each other in pairs and the three lasers intersect at a point, forming an XYZ three-dimensional measurement coordinate system. The communication control unit (3) is connected to the laser displacement sensors (1) to measure the position data of the object to be measured at the end of the industrial robot in the three-dimensional measurement coordinate system.

2. The industrial robot repeat positioning accuracy measuring device according to claim 1, characterized in that The bearing platform with an adjustable support angle includes a base (2), a triangular bracket (4), a limit post (5), three connecting rods (6), and an adjusting member. The base (2) is hinged to the triangular bracket (4) for angle adjustment, and a limit post (5) is also fixedly connected to its center. The bottom of the limit post (5) is sleeved with the three connecting rods (6), and the three connecting rods (6) slide up and down synchronously along the limit post (5). The bottom ends of the three connecting rods (6) are respectively movably connected to the triangular bracket (4) through the adjusting member.

3. The industrial robot repeat positioning accuracy measuring device according to claim 2, wherein, The adjusting member includes a limit block (7), a number of limit holes (8), and a positioning pin (9). The bottom end of each connecting rod (6) is movably connected to a limit block (7). A number of limit holes (8) are formed in the triangular bracket (4), and the positioning pin (9) passes through the limit block (7) and is fixedly inserted into the corresponding limit hole (8).

4. The industrial robot repeat positioning accuracy measuring device according to claim 2, wherein The base (2) is in the shape of a triangle with a rounded arc at the tip.

5. The industrial robot repeat positioning accuracy measuring device according to claim 1, wherein The communication control unit (3) includes a communication control box (31), a PLC controller (32), a switch (33), and a laser displacement sensor controller (34). The communication control box (31) houses the PLC controller (32), the switch (33), and the laser displacement sensor controller (34).

6. The industrial robot repeat positioning accuracy measuring device according to claim 5, characterized in that, A cover plate (35) is detachably mounted on the upper surface of the communication control box (31).

7. The industrial robot repeat positioning accuracy measuring device according to claim 5, characterized in that, On the side of the communication control box (31), there are a large square hole (36), a circular hole (37), and a small square hole (38) for communication connection. The large square hole (36) is for installing a power connector, the circular hole (37) is for installing a power switch button, and the small square hole (38) is for installing a network cable interface.

8. The industrial robot repeat positioning accuracy measuring device according to claim 1, characterized in that, It also includes an L-shaped metal connecting plate (10), and the optical displacement sensor is mounted on the L-shaped metal connecting plate (10).

9. The industrial robot repeat positioning accuracy measuring device according to claim 1, wherein The laser displacement sensor (1) can be externally communicated and powered through its own connecting cable (11).

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