Three-axis measuring device for precision of mechanical arm

Abstract

The utility model relates to the technical field of industrial robot tool detection tools, and discloses a three-axis measuring device for mechanical arm precision, which comprises a detection base, the detection base is a triangular plate formed by three groups of rectangular plates distributed at 120-degree angles, each corner end of the detection base is fixedly provided with a mounting base, and the mounting bases are arranged on the detection base. A first dial indicator, a second dial indicator and a third dial indicator are fixedly mounted on the three groups of mounting bases through supporting components which can be bent and steered respectively, and the measuring ends of the first dial indicator, the second dial indicator and the third dial indicator are distributed in an X-axis, a Y-axis and a Z-axis. According to the utility model, the horizontal height of the original point of the three-dimensional coordinate for measurement can be adjusted, and the position in the horizontal direction can also be adjusted, so that the adjustable range of the initial position of the three-dimensional coordinate for measurement is enlarged, and support is provided for measuring the precision of the mechanical arm under multi-angle working conditions; the problem that the precision error cannot be measured only in a certain direction due to local abrasion of the steering gear of the mechanical arm is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot tooling and inspection tools, in particular to a three-axis measurement device for the accuracy of a robotic arm. Background Art

[0002] After long-term use, industrial robots will experience deviations in their positioning accuracy due to various external factors (such as wear of transmission components). Over the years, this deviation will continue to increase, causing the industrial robot to produce large errors in the marking lines or processing of the workpiece when executing normal calibration (machining) procedures, thereby increasing the rework rate and, in severe cases, causing the workpiece to be directly scrapped.

[0003] After searching, Chinese Patent Publication No. 202211108708.X discloses a positioning accuracy measuring device for an industrial robot, which belongs to the technical field of industrial robot tooling and inspection tools. It solves the problem of how to improve the ease of use of positioning accuracy measuring devices. The positioning accuracy measuring device of this industrial robot includes a base plate, three micrometers, a lower positioning mold and an upper positioning mold. A number of telescopic rods are vertically provided on the base plate, a connecting bowl is provided on the lower positioning mold, a screw is fixed on the lower positioning mold, the connecting bowl is screwed to the screw, and the upper positioning mold is plugged into the connecting bowl. Each micrometer is hinged to the upper end of the telescopic rods and locked by a fastener, and the detection end of one of the three micrometers is set upward, and the detection ends of each micrometer are set in pairs. The outer wall of the lower positioning mold is respectively against the detection ends of the three micrometers.

[0004] However, this type of positioning accuracy measurement device can only adjust the coordinate system composed of the measurement ports up and down. When the steering gear of the robotic arm is worn, only specific positions will send accuracy errors, which cannot be detected by simply moving the measurement coordinate system up and down.

[0005] To this end, we propose a three-axis measurement device for robotic arm accuracy. Utility Model Content

[0006] The utility model mainly solves the technical problems existing in the above-mentioned prior art and provides a three-axis measurement device for the accuracy of a robotic arm.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a three-axis measurement device for the accuracy of a robotic arm, comprising a detection base, which is a triangular plate formed by three groups of rectangular plates distributed at an angle of one hundred and twenty degrees. Each corner end of the detection base is fixedly installed with a mounting base, and the three groups of mounting bases are respectively fixedly installed with a first micrometer, a second micrometer and a third micrometer through a bendable and steerable support component. The measuring ends of the first micrometer, the second micrometer and the third micrometer are distributed along the X, Y and Z axes. The bendable and steerable support part is composed of a first support rod and a second support rod. The first support rod is movably connected to the mounting base through a first ball head. The first support rod can rotate at multiple angles on the mounting base with the first ball head as the center. The second support rod is movably connected to the detection mounting rod through a second ball head. The detection mounting rod can rotate at multiple angles on the detection mounting rod with the second ball head as the center. The first support rod and the second support rod are movably connected through a folding steering head. The second support rod can change the angle between it and the first support rod with the axis of the folding steering head as the center.

[0008] Preferably, the measuring ends of the first micrometer, the second micrometer and the third micrometer are fixedly mounted with a first detection disk, a second detection disk and a third detection disk respectively, and the first detection disk, the second detection disk and the third detection disk are plate-shaped structures.

[0009] Preferably, a mounting groove is provided in the middle of the detection base, and a magnetic disk is adsorbed on the mounting groove.

[0010] Preferably, the three groups of detection mounting rods are respectively provided with a main connecting plate, a side connecting plate and a lower connecting plate, wherein a first connecting rod is connected between the main connecting plate and the side connecting plate, and a second connecting rod is connected between the main connecting plate and the lower connecting plate, by connecting the main connecting plate, the side connecting plate and the lower connecting plate.

[0011] Preferably, the side connecting plate and the lower connecting plate are both provided with wire grooves, and the main connecting plate is provided with a staggered wire groove at one end away from the side connecting plate and the lower connecting plate. The first connecting rod and the second connecting rod are both right-angle rods composed of two groups of circular rods vertically crossed, and the ends of the first connecting rod and the second connecting rod are movably connected with screws, and the two ends of the first connecting rod are respectively threadedly connected to the side connecting plate and the end of the main connecting plate away from the lower connecting plate, and the two ends of the second connecting rod are respectively threadedly connected to the lower connecting plate and the end of the main connecting plate away from the side connecting plate.

[0012] Preferably, the side connecting plates and the lower connecting plates are fixed with side clamping grooves by fasteners, and the main clamping groove is fixedly installed at an angle on the side of the main connecting plate away from the staggered wire groove, and the main connecting plate, the side connecting plate and the lower connecting plate are all integrally formed with mounting plates.

[0013] Beneficial effects

[0014] The utility model provides a three-axis measurement device for the accuracy of a robotic arm. It has the following beneficial effects:

[0015] (1) The three-axis measurement device for the accuracy of a robotic arm can adjust not only the horizontal height of the three-dimensional coordinate origin for measurement, but also the position in the horizontal direction through the first ball head, the folding steering head and the second ball head arranged between the first support rod and the second support rod, thereby increasing the adjustable range of the initial position of the three-dimensional coordinate for measurement, providing support for measuring the accuracy of the robotic arm in multi-angle working conditions, and avoiding the problem that the accuracy error in only a certain direction cannot be measured due to local wear of the steering gear of the robotic arm.

[0016] (2) This three-axis measuring device for the precision of a robotic arm connects a main connecting plate, a side connecting plate and a lower connecting plate which are sleeved on the measuring ports of the first micrometer, the second micrometer and the third micrometer through a first connecting rod. When the entire measuring device is adjusted, the three-dimensional coordinates for measurement can be fixed very conveniently, and then the first ball head, the folding steering head and the second ball head on each set of mounting bases are fixed, which greatly facilitates the adjustment of the three-dimensional coordinates for measurement and reduces the adjustment time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are intended solely to complement the contents disclosed herein and to facilitate understanding and reading by persons familiar with the art. They are not intended to limit the conditions under which the present invention may be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportions, or adjustments in size, without affecting the efficacy and objectives of the present invention, shall remain within the scope of the technical contents disclosed herein.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the installation structure of the connector of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the connector of the utility model;

[0022] Figure 4 This is a schematic diagram of another connector structure of the present invention.

[0023] Legend:

[0024] 1. Inspection base; 2. Mounting base; 3. First support rod; 4. Second support rod; 5. Inspection mounting rod; 6. First micrometer; 7. Second micrometer; 8. Third micrometer; 9. First inspection disk; 10. Second inspection disk; 11. Third inspection disk; 12. First ball head; 13. Folding steering head; 14. Second ball head; 15. Mounting slot; 16. Main connecting plate; 17. Side connecting plate; 18. Lower connecting plate; 19. First connecting rod; 20. Second connecting rod; 21. Wire groove; 22. Interlaced wire groove; 23. Side clamping slot; 24. Main clamping slot; 25. Mounting plate. DETAILED DESCRIPTION

[0025] 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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0026] Example: A three-axis measurement device for the accuracy of a robotic arm, such as Figures 1-4 As shown, the detection base 1 includes a detection base 1, which is a triangular plate formed by three groups of rectangular plates distributed at an angle of one hundred and twenty degrees. Each corner end of the detection base 1 is fixedly installed with a mounting base 2. The three groups of mounting bases 2 are respectively fixedly installed with a first micrometer 6, a second micrometer 7 and a third micrometer 8 through a bendable and steerable support component. The measuring ends of the first micrometer 6, the second micrometer 7 and the third micrometer 8 are distributed along the X, Y and Z axes. During measurement, the working port of the robotic arm is against the three-dimensional coordinate origin formed by the measuring ports of the first micrometer 6, the second micrometer 7 and the third micrometer 8. By controlling the movement of the robotic arm, the theoretical moving distance and the actual moving distance are obtained, thereby measuring and correcting the accuracy of the robotic arm.

[0027] The foldable steering wheel 13 is a support rod 3 for the first support rod 3 and the support rod 4 for the second support rod 4. The foldable steering wheel 13 is a support rod 3 for the second support rod 3 and the support rod 4 for the second support rod 3 ...

[0028] Furthermore, in order to increase the measuring range, the measuring ends of the first micrometer 6, the second micrometer 7 and the third micrometer 8 are fixedly installed with the first detection disk 9, the second detection disk 10 and the third detection disk 11 respectively. The first detection disk 9, the second detection disk 10 and the third detection disk 11 are plate-like structures, which increase the surface area of ​​the measuring end and facilitate the movement of the robotic arm.

[0029] Furthermore, a mounting groove 15 is provided in the middle of the detection base 1 , and a magnetic disk is adsorbed on the mounting groove 15 to permanently fix the detection base 1 on the measuring rack.

[0030] In some embodiments, the three groups of detection mounting rods 5 are respectively provided with a main connecting plate 16, a side connecting plate 17 and a lower connecting plate 18, wherein a first connecting rod 19 is connected between the main connecting plate 16 and the side connecting plate 17, and a second connecting rod 20 is connected between the main connecting plate 16 and the lower connecting plate 18. By connecting the main connecting plate 16, the side connecting plate 17 and the lower connecting plate 18, the position distance between the three groups of detection mounting rods 5 is fixed, and then when the entire measuring device is adjusted, the three-dimensional coordinates for measurement can be conveniently fixed, and then each group of the first ball head 12, the folding steering head 13 and the second ball head 14 are fixed, which greatly facilitates the adjustment of the three-dimensional coordinates for measurement and reduces the adjustment time.

[0031] Furthermore, a wire groove 21 is provided on the side connecting plate 17 and the lower connecting plate 18, and a staggered wire groove 22 is provided on the end of the main connecting plate 16 away from the side connecting plate 17 and the lower connecting plate 18. The first connecting rod 19 and the second connecting rod 20 are both right-angle rods composed of two groups of circular rods vertically crossed, and the ends of the first connecting rod 19 and the second connecting rod 20 are movably connected with screws. The two ends of the first connecting rod 19 are respectively threadedly connected to the side connecting plate 17 and the end of the main connecting plate 16 away from the lower connecting plate 18, and the two ends of the second connecting rod 20 are respectively threadedly connected to the lower connecting plate 18 and the end of the main connecting plate 16 away from the side connecting plate 17. By adjusting the distance between the first connecting rod 19 and the second connecting rod 20 and the main connecting plate 16, the side connecting plate 17 and the lower connecting plate 18, the position of the measuring port is adjusted to adapt to the working port of different robotic arms.

[0032] Furthermore, side latching grooves 23 are fixedly installed on the side connecting plate 17 and the lower connecting plate 18 by fasteners, and a main latching groove 24 is fixedly installed on the side of the main connecting plate 16 away from the staggered wire groove 22, so as to facilitate the main connecting plate 16, the side connecting plate 17 and the lower connecting plate 18 to be sleeved on the measuring ports of the first micrometer 6, the second micrometer 7 and the third micrometer 8. The main connecting plate 16, the side connecting plate 17 and the lower connecting plate 18 are all integrally provided with a mounting plate 25, which is fixedly connected to the detection mounting rod 5 through the mounting plate 25.

[0033] The working principle of the present invention is as follows: during measurement, the working port of the robotic arm is against the three-dimensional coordinate origin formed by the measuring ports of the first micrometer 6, the second micrometer 7 and the third micrometer 8. By controlling the movement of the robotic arm, the theoretical moving distance and the actual moving distance are obtained, thereby measuring and correcting the accuracy of the robotic arm.

[0034] By means of the first ball head 12, the folding steering head 13 and the second ball head 14 arranged between the first support rod 3 and the second support rod 4, not only the horizontal height of the three-dimensional coordinate origin for measurement can be adjusted, but also the position in the horizontal direction can be adjusted, thereby increasing the adjustable range of the initial position of the three-dimensional coordinate for measurement, providing support for the accuracy of the robotic arm in measuring multi-angle working conditions, and avoiding the problem that the accuracy error in only a certain direction cannot be measured due to local wear of the steering gear of the robotic arm.

[0035] The main connecting plate 16, the side connecting plate 17 and the lower connecting plate 18 which are sleeved on the measuring ports of the first micrometer 6, the second micrometer 7 and the third micrometer 8 are connected by the first connecting rod 19. When the entire measuring device is adjusted, the three-dimensional coordinates for measurement can be conveniently fixed, and then the first ball head 12, the folding steering head 13 and the second ball head 14 on each set of mounting bases 2 are fixed, which greatly facilitates the adjustment of the three-dimensional coordinates for measurement and reduces the adjustment time.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A three-axis measurement device for the accuracy of a robotic arm, characterized by: The invention comprises a detection base (1), wherein the detection base (1) is a triangular plate formed by three groups of rectangular plates distributed at an angle of 120 degrees, wherein each corner end of the detection base (1) is fixedly mounted with a mounting base (2), and the three groups of mounting bases (2) are respectively fixedly mounted with a first micrometer (6), a second micrometer (7) and a third micrometer (8) through a bendable and steerable support component, wherein the measuring ends of the first micrometer (6), the second micrometer (7) and the third micrometer (8) are distributed along the X, Y and Z axes, and the bendable and steerable support component is composed of a first support rod (3) and a second support rod (4), wherein the first support rod (3) and the mounting base are fixedly mounted with a first micrometer (6), a second micrometer (7) and a third micrometer (8), respectively. (2) are movably connected to each other through a first ball head (12); the first support rod (3) can be rotated at multiple angles on the mounting base (2) with the first ball head (12) as the center; the second support rod (4) is movably connected to the detection mounting rod (5) through a second ball head (14); the detection mounting rod (5) can be rotated at multiple angles on the detection mounting rod (5) with the second ball head (14) as the center; the first support rod (3) and the second support rod (4) are movably connected through a folding steering head (13); the second support rod (4) can change the angle between itself and the first support rod (3) with the axis of the folding steering head (13) as the center.

2. The three-axis measurement device for robot arm accuracy according to claim 1, characterized in that: The measuring ends of the first micrometer (6), the second micrometer (7) and the third micrometer (8) are respectively fixedly mounted with a first detection disk (9), a second detection disk (10) and a third detection disk (11); the first detection disk (9), the second detection disk (10) and the third detection disk (11) are plate-shaped structures.

3. The three-axis measurement device for robot arm accuracy according to claim 1, characterized in that: A mounting groove (15) is provided in the middle of the detection base (1), and a magnetic disk is adsorbed on the mounting groove (15).

4. The three-axis measurement device for robot arm accuracy according to claim 1, characterized in that: The three groups of detection mounting rods (5) are respectively provided with a main connecting plate (16), a side connecting plate (17) and a lower connecting plate (18), wherein a first connecting rod (19) is connected between the main connecting plate (16) and the side connecting plate (17), and a second connecting rod (20) is connected between the main connecting plate (16) and the lower connecting plate (18), and the main connecting plate (16), the side connecting plate (17) and the lower connecting plate (18) are connected.

5. The three-axis measurement device for robot arm accuracy according to claim 4, characterized in that: The side connecting plate (17) and the lower connecting plate (18) are both provided with a wire groove (21), and the main connecting plate (16) is provided with a staggered wire groove (22) at one end away from the side connecting plate (17) and the lower connecting plate (18). The first connecting rod (19) and the second connecting rod (20) are both right-angle rods composed of two groups of circular rods vertically crossed, and the ends of the first connecting rod (19) and the second connecting rod (20) are movably connected with screws. The two ends of the first connecting rod (19) are respectively threadedly connected to the side connecting plate (17) and the end of the main connecting plate (16) away from the lower connecting plate (18), and the two ends of the second connecting rod (20) are respectively threadedly connected to the end of the lower connecting plate (18) and the end of the main connecting plate (16) away from the side connecting plate (17).

6. The three-axis measurement device for robot arm accuracy according to claim 4, characterized in that: The side connecting plate (17) and the lower connecting plate (18) are fixedly mounted with side latching grooves (23) via fasteners, a main latching groove (24) is fixedly mounted obliquely on a side of the main connecting plate (16) away from the staggered wire grooves (22), and a mounting plate (25) is integrally formed on the main connecting plate (16), the side connecting plate (17), and the lower connecting plate (18).

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