Accuracy measuring device for tail end position of industrial robot

Abstract

The utility model belongs to the technical field of industrial robot performance measurement, and particularly relates to an industrial robot end position precision measuring device. The device comprises a bottom plate, a first laser displacement sensor, a second laser displacement sensor and a third laser displacement sensor. Laser beams of the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor are vertical in pairs and intersect to form a measuring point, and the measuring point is used for measuring the tail end position precision of the industrial robot. Laser beams of the three laser displacement sensors intersect to form a measuring point, when the tail end of the robot is located at the position of the measuring point, position precision measurement can be achieved, and the position of the measuring point in the vertical direction can be conveniently adjusted through the lifting mechanism. The installation position of the measuring device can be conveniently adjusted through the magnetic attraction base so as to adjust the position of the measuring point, and therefore the purpose of conveniently measuring the tail end position precision of the robot at different posture positions is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot performance measurement technology, specifically relating to an end-effector position accuracy measurement device for industrial robots. Background Technology

[0002] Since the end-effector positioning accuracy is an important technical parameter of industrial robots, and the accuracy of the robot end-effector varies under different postures, it is necessary to measure the end-effector position accuracy of industrial robots under different postures during robot performance testing. Currently, the main measurement method on the market is laser tracker. However, this equipment is prone to failure in measuring certain posture positions of the robot, requires a certain level of operator skill, and is cumbersome and extremely costly to operate. Utility Model Content

[0003] The purpose of this invention is to provide an end-effector position accuracy measuring device for industrial robots. It uses the convergence of laser beams from three laser displacement sensors to form a measurement point. When the robot's end-effector is positioned at this measurement point, position accuracy measurement can be achieved. Furthermore, the vertical position of the measurement point can be easily adjusted via a lifting mechanism, and the installation position of the measuring device can be easily adjusted via a magnetic base to adjust the position of the measurement point, thereby achieving the goal of conveniently measuring the end-effector position accuracy of the robot under different postures.

[0004] The present invention provides a solution using the following technical solution:

[0005] In a first aspect, this utility model provides an industrial robot end-effector position accuracy measuring device, which includes...

[0006] Base plate;

[0007] The first laser displacement sensor and the second laser displacement sensor are both vertically mounted on the base plate via a first bracket, which is used to keep the laser beams of the first laser displacement sensor and the second laser displacement sensor horizontal.

[0008] The third laser displacement sensor is mounted on the base plate via the second bracket, which is used to keep the laser beam of the third laser displacement sensor vertical.

[0009] The laser beams of the first laser displacement sensor, the second laser displacement sensor, and the third laser displacement sensor are perpendicular to each other and intersect to form a measurement point, which is used to measure the position accuracy of the end effector of the industrial robot.

[0010] Optionally, both the first bracket and the second bracket are provided with a lifting mechanism at their bottoms.

[0011] Optionally, the lifting mechanism includes a scissor lift platform.

[0012] Optionally, handles are provided on both sides of the top surface of the base plate.

[0013] Optionally, the first support includes:

[0014] The first base is securely mounted on the base plate;

[0015] The support column is vertically installed on the first base;

[0016] A first mounting plate is horizontally positioned on top of the support column, and the first laser displacement sensor or the second laser displacement sensor is mounted on the first mounting plate.

[0017] Optionally, the second support includes:

[0018] The second base is securely mounted on the base plate;

[0019] The second mounting plate is vertically mounted on the second base, and the third laser displacement sensor is mounted on the side wall of the second mounting plate.

[0020] Compared with the prior art, the present invention has the following advantages: The industrial robot end-effector position accuracy measuring device of the present invention has a simple structure, low cost and easy use. The measuring point is formed by the convergence of the beams of three laser displacement sensors, and the displacement of the measuring point can be adjusted to determine the position accuracy of the robot end in different posture positions. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the measuring device in Example 1.

[0022] The following are the labels in the diagram: 101, First laser displacement sensor; 102, Second laser displacement sensor; 103, Third laser displacement sensor; 2, First bracket; 3, Second bracket; 4, Lifting mechanism; 5, Base plate; 6, Handle; 7, Magnetic base. Detailed Implementation

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0025] Combination Figure 1 This embodiment provides an industrial robot end-effector position accuracy measuring device, which includes a base plate 5. The base plate 5 serves as a platform for arranging the entire device. In a specific embodiment, magnetic bases 7 are provided at the bottom corners of the base plate 5. Installing and positioning the base plate 5 using the magnetic bases 7 allows for easier adjustment of its horizontal position, thereby enabling accurate measurement of various posture positions of the robot end-effector. The operation is convenient. Furthermore, handles 6 are provided on both sides of the top surface of the base plate 5 for easy operation by the measuring personnel. The specific operation process is as follows: manually adjust to decrease the magnetic force of the magnetic bases 7; the measuring personnel hold the handles 6 and adjust the position of the base plate 5 horizontally. When the desired target position is reached, manually adjust to increase the magnetic force of the magnetic bases 7, fixing the base plate 5 in the target position. The operation is convenient and simple.

[0026] Two first brackets 2 and one second bracket 3 are installed on the base plate 5. The two first brackets 2 are used to install the first laser displacement sensor 101 and the second laser displacement sensor 102, and the second bracket 3 is used to install the third laser displacement sensor 103.

[0027] The first bracket 2 ensures that the laser beams of the first laser displacement sensor 101 and the second laser displacement sensor 102 are both horizontal; the second bracket 3 ensures that the laser beam of the third laser displacement sensor 103 is vertical. The laser beams of the first laser displacement sensor 101, the second laser displacement sensor 102, and the third laser displacement sensor 103 are perpendicular to each other and intersect to form a measurement point, which is used to measure the position accuracy of the end effector of the industrial robot.

[0028] Since the robot end effector may be at different heights, in this embodiment, the bottom of the first support 2 and the second support 3 are both equipped with a lifting mechanism 4. The lifting mechanism 4 can adjust the vertical height (Z-axis direction) of the three laser displacement sensors to cooperate with the horizontal position adjustment of the base plate 5 to meet the measurement requirements of any end effector position point in the robot's workspace.

[0029] In one specific embodiment, three laser displacement sensors are distributed in three directions in space, forming a spatial rectangular coordinate system. If this rectangular coordinate system is defined as the X, Y, and Z directions, the laser beams emitted by the three laser displacement sensors correspond to the X, Y, and Z directions, respectively. The laser beams of the first laser displacement sensor 101, the second laser displacement sensor 102, and the third laser displacement sensor 103 intersect to form a measurement point, which is used to measure the end-effector position accuracy of the industrial robot. When the robot's end-effector is positioned at the measurement point, the robot's end-effector position information can be obtained by collecting displacement information in the three directions from the laser displacement sensors. Multiple acquisitions allow for the calculation and determination of the robot's end-effector position accuracy. Example 2

[0030] Similar to Embodiment 1, in this embodiment, the first bracket 2 includes a first base, a support column, and a first mounting plate. The first base is bolted to the base plate 5. The support column is vertically mounted on the first base, and the first mounting plate is horizontally positioned at the top of the support column. The first laser displacement sensor 101 or the second laser displacement sensor 102 is mounted on the first mounting plate. The support column and the first mounting plate can be made of tubing and sheet metal, respectively, and welded together. The second bracket 3 includes a second base and a second mounting plate. The second base is bolted to the base plate 5. The second mounting plate is vertically mounted on the second base, and the third laser displacement sensor 103 is mounted on the side wall of the second mounting plate. The second base and the second mounting plate can be an integrated T-shaped bracket, with the first bracket 2 being higher than the first bracket 3.

[0031] In one specific embodiment, the lifting mechanism 4 includes a scissor lift platform, which can be manually controlled. The bottom end of the scissor lift platform is mounted on the base plate 5, and the top end is connected to the first bracket 2 or the second bracket 3.

[0032] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A device for measuring the end-effector position accuracy of an industrial robot, characterized in that, include, Base plate (5); The first laser displacement sensor (101) and the second laser displacement sensor (102) are both mounted on the base plate (5) in a height-adjustable manner via the first bracket (2). The first bracket (2) is used to keep the laser beams of the first laser displacement sensor (101) and the second laser displacement sensor (102) horizontal. The third laser displacement sensor (103) is mounted on the base plate (5) by the second bracket (3), and the second bracket (3) is used to keep the laser beam of the third laser displacement sensor (103) vertical; The laser beams of the first laser displacement sensor (101), the second laser displacement sensor (102), and the third laser displacement sensor (103) are perpendicular to each other and intersect to form a measurement point, which is used to measure the position accuracy of the end effector of the industrial robot.

2. The industrial robot end-effector position accuracy measuring device according to claim 1, characterized in that, The bottom of the first bracket (2) and the second bracket (3) are both equipped with a lifting mechanism (4).

3. The industrial robot end-effector position accuracy measuring device according to claim 2, characterized in that, The lifting mechanism (4) includes a scissor lift platform.

4. The industrial robot end-effector position accuracy measuring device according to claim 1, characterized in that, Handles (6) are provided on both sides of the top surface of the base plate (5).

5. The industrial robot end-effector position accuracy measuring device according to claim 1, characterized in that, The first support (2) includes: The first base is securely installed on the base plate (5); The support column is vertically installed on the first base; A first mounting plate is horizontally positioned on the top of the support column, and the first laser displacement sensor (101) or the second laser displacement sensor (102) is mounted on the first mounting plate.

6. The industrial robot end-effector position accuracy measuring device according to claim 1, characterized in that, The second support (3) includes: The second base is securely installed on the base plate (5); The second mounting plate is vertically mounted on the second base, and the third laser displacement sensor (103) is mounted on the side wall of the second mounting plate.

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