A low-cost robot rigidity detection device

Abstract

The utility model discloses a low -cost robot rigidity detection device relates to robot detection field. Be used to six -axis robot rigidity detection, and its characterized by: including laser range sensor unit, PLC unit and display unit, range sensor unit setting is detected six -axis robot joint position with the relative distance between range sensor unit, the real -time communication connection through Modbus TCP between PLC unit with laser range sensor unit, the relative distance that PLC unit obtains laser range sensor unit measures is handled after, through display unit shows, and the electric connection between PLC unit with display unit. Have low in cost, convenient to use, the advantage that the detection efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of robot inspection, and in particular to a low-cost robot rigidity inspection device. Background Technology

[0002] The rigidity of the robot body is one of the key factors ensuring its high-performance operation. It is mainly affected by machining errors, mechanical tolerances, assembly errors, and reducer precision. Machining errors can cause the dimensions and shapes of robot parts to deviate from design requirements; mechanical tolerances affect the assembly and fitting accuracy of parts; assembly errors can disrupt the overall coordination and stability of the robot; and insufficient reducer precision can cause errors and vibrations in motion transmission. The combined effect of these errors makes it difficult for the actual precision of the robot body to completely match the theoretical design. This may result in the assembled robot failing to meet expected performance standards, exhibiting problems such as inaccurate positioning and poor motion stability, thereby affecting its application effectiveness and work efficiency in industrial production and other fields.

[0003] In traditional robot rigidity testing, laser trackers are typically used to precisely track the robot's end effector movement. Laser trackers emit laser beams and receive reflected signals to measure the robot's end effector's position and posture changes in space in real time. Then, based on their built-in complex algorithms, the collected data is analyzed and processed to determine whether the robot's rigidity meets the acceptable standards. However, this testing method has many limitations and drawbacks. Firstly, the testing process is complex, requiring specialized testing personnel to be proficient in operating the laser tracker and using the relevant software. This places high demands on the technical skills and experience of the testing personnel, increasing the difficulty of personnel training and operation. Secondly, laser trackers themselves are expensive, not only in terms of purchase price but also requiring regular maintenance and calibration during use, further increasing testing costs. Furthermore, laser trackers require a long warm-up period after startup to reach a stable working state, which undoubtedly consumes a significant amount of production time and reduces production efficiency. Moreover, during the testing process, laser trackers are easily affected by external environmental factors, such as changes in light intensity and dust, leading to deviations in measurement results and requiring repeated testing and verification, further wasting time.

[0004] Given the various shortcomings of traditional laser tracker detection methods, it has become an urgent task to explore more efficient, simple and low-cost methods for detecting robot rigidity. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a low-cost robot rigidity testing device for testing the rigidity of a 6-axis industrial robot body. It is low in cost, easy to use, and has high testing efficiency.

[0006] To achieve the above objectives, this application discloses a low-cost robot rigidity detection device for rigidity detection of a six-axis robot. The device comprises a laser rangefinder unit, a PLC unit, and a display unit. The rangefinder unit is configured to detect the relative distance between the joint position of the six-axis robot and the rangefinder unit itself. The PLC unit and the laser rangefinder unit are connected in real-time via Modbus-TCP communication. The PLC unit processes the relative distance measured by the laser rangefinder unit and displays it through the display unit. The PLC unit and the display unit are electrically connected.

[0007] Furthermore, the joint positions of the six-axis robot include a first joint, a second joint, a third joint, a fourth joint, a fifth joint, and a sixth joint.

[0008] Furthermore, the display unit is a touch screen.

[0009] Furthermore, the display unit displays data parameters and an operation interface area.

[0010] Beneficial effects of the technical solution of this utility model

[0011] Industrial robots play a crucial role in modern manufacturing, and their precision directly affects product quality. The precision of a robot largely depends on the rigidity of its body; greater rigidity results in higher motion stability and greater precision. To ensure that industrial robots leaving the factory meet high-quality standards, accurate and efficient testing of the robot's rigidity is essential.

[0012] This design aims to provide a novel solution for rigidity testing of industrial robot bodies. Unlike traditional methods, this design is primarily used for factory inspection of robot body rigidity and offers several significant advantages. First, the device is extremely simple to use, easy to operate and master, requiring no complex training for inspection personnel. Second, it is cost-effective, requiring no dedicated software or hardware support, and eliminating the need to acquire robot coordinate values, thus greatly reducing inspection costs and improving inspection efficiency.

[0013] This design cleverly integrates a laser rangefinder sensor unit, a display unit, and a PLC unit. Through a rationally designed and optimized control scheme, it achieves comprehensive testing of the rigidity of a 6-axis industrial robot. During the testing process, the laser rangefinder sensor accurately measures the robot's displacement changes, transmits the data to the PLC for processing and analysis, and finally displays the test results intuitively on a touchscreen. This control scheme is low-cost, simple to integrate, and can efficiently and accurately determine whether the robot's rigidity is up to standard. It provides a reliable testing method for quality control of industrial robots and is expected to be widely used and promoted in the field of industrial robot testing. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the module structure of this utility model;

[0016] Figure 2 This is a schematic diagram showing the joint positions of the six-axis robot of this utility model;

[0017] Figure 3 This is a schematic diagram of the display content of the display unit of this utility model;

[0018] Among them: 100. Laser ranging sensor unit, 200. PLC unit, 300. Display unit, 1. First joint, 2. Second joint, 3. Third joint, 4. Fourth joint, 5. Fifth joint, 6. Sixth joint, 310. Data parameter area, 320. Operation interface area. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please refer to the examples. Figure 1-3A low-cost robot rigidity detection device for rigidity detection of a six-axis robot is characterized by comprising a laser rangefinder unit 100, a PLC unit 200, and a display unit 300. The rangefinder unit 100 is configured to detect the relative distance between the joint position of the six-axis robot and the rangefinder unit 100. The PLC unit 200 and the laser rangefinder unit 100 are connected in real-time via Modbus-TCP communication. The PLC unit processes the relative distance measured by the laser rangefinder unit and displays it through the display unit 300. The PLC unit 200 and the display unit 300 are electrically connected.

[0021] Furthermore, the joint positions of the six-axis robot include a first joint 1, a second joint 2, a third joint 3, a fourth joint 4, a fifth joint 5, and a sixth joint 6.

[0022] Furthermore, the display unit 300 is a touch screen.

[0023] Furthermore, the display content of the display unit includes a data parameter area 310 and an operation interface area 320.

[0024] Environmental inspection

[0025] Ensure the lighting in the detection area is suitable, avoiding direct sunlight or excessively dark environments that could affect the normal operation of the laser rangefinder sensor unit 100. Also, check the surrounding area for any objects or dust that might interfere with laser rangefinding; if any are found, remove them beforehand.

[0026] Ensure the ground is flat and stable to prevent the robot from shaking during the inspection process due to uneven ground, which could affect the accuracy of the inspection results.

[0027] When using the laser rangefinder sensor unit 100, it should be correctly installed in a suitable position so that it can accurately detect the relative distance between the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, the fifth joint 5 and the sixth joint 6 of the six-axis robot and the sensor.

[0028] Establish a real-time communication connection between the PLC unit 200 and the laser rangefinder sensor unit 100 via the Modbus-TCP protocol, ensuring a stable and reliable connection and normal communication. Simultaneously, electrically connect the touchscreen of the display unit 300 to the PLC unit 200. After connection, check whether the touchscreen can power on normally and display the initial interface.

[0029] Apply the appropriate load to the end flange of the robot's 6th axis, ensuring the load is securely installed and meets the testing requirements. Check the initial state of each joint of the robot, confirming that all other axes except the sixth joint (6) are stationary and free from looseness or abnormalities.

[0030] Access the operation interface area 320 on the touch screen display unit 300 and set relevant parameters according to the detection requirements, such as detection speed and load weight. At the same time, the PLC unit 200 initializes and calibrates the laser rangefinder sensor unit 100 to ensure that the sensor can accurately measure the initial distance and provide a reference for subsequent detection.

[0031] The robot's sixth joint 6 is activated, causing it to rotate at different speeds. During rotation, the laser rangefinder unit 100 detects the changes in movement of the robot's axes 1 / 2 / 3 / 4 / 5 in real time and transmits the measured relative distance data to the PLC unit 200 via Modbus-TCP communication.

[0032] The PLC unit 200 processes and analyzes the received data to determine whether the displacement changes of each joint during the rotation of the sixth joint 6 are within a reasonable range. The processed data includes specific displacement values, trends, and other information, and this data is transmitted to the touch screen display unit 300.

[0033] The data parameter area 310 of the touch screen display unit 300 displays in real time the relative distance data of each joint measured by the laser range sensor unit 100 and the analysis results processed by the PLC unit 200, such as displacement change curves and whether the error is out of tolerance. Operators can view and adjust parameter settings at any time through the operation interface area 320.

[0034] Based on the displacement change and other information displayed in the data parameter area 310 on the touch screen display unit 300, and referring to the pre-set robot rigidity qualification standard, it is determined whether the rigidity of the robot under test is qualified. Theoretically, the joint illuminated by the laser rangefinder should not move during the rotation of the sixth joint 6. If micro-movements are actually detected on other axes and the displacement exceeds the allowable range, it indicates that there are gaps in the design and assembly of the robot body, and the rigidity is unqualified; conversely, if the displacement is within the allowable range, the rigidity is qualified.

[0035] The test results are recorded in detail, including test time, robot parameter settings, joint displacement data, and judgment results. This information can be stored in the memory of the touchscreen display unit 300 or exported to an external storage device. Simultaneously, a test report is generated based on the recorded data to provide a reference for subsequent quality control, maintenance, and repair of the robot.

[0036] During the inspection process, operators should stay away from the robot's range of motion to ensure personal safety and avoid injury caused by the robot's unexpected movements.

[0037] Regularly maintain and service the laser ranging sensor unit 100, PLC unit 200, and display unit 300, including cleaning dust from the sensor surface and checking for loose connections, to ensure the long-term stable operation of the device.

[0038] As a supplement, the display unit displays data parameter area 310 and operation interface area 320, wherein the data parameter area includes:

[0039] Reference distance: When the start button is pressed on the touchscreen, the current distance from the laser rangefinder to the robot joint is recorded as the reference distance;

[0040] Real-time distance: The current real-time distance from the laser rangefinder to the robot joint, which will fluctuate around the reference distance during the test;

[0041] Maximum robot movement error: The deviation value calculated by the PLC from the reference distance, used to determine whether the rigidity of the robot body is up to standard.

[0042] The user interface area includes:

[0043] Start: Click the button to start the detection and record data; Stop: Click the button to stop the detection and view the data results; Clear: Clear the read and calculated values.

[0044] If any abnormal data or equipment malfunction is found during the testing process, the testing should be stopped immediately, the cause of the malfunction should be investigated and resolved, and the testing work should not be continued. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low-cost robot rigidity testing device for rigidity testing of a six-axis robot, characterized in that: The system includes a laser rangefinder unit (100), a PLC unit (200), and a display unit (300). The rangefinder unit (100) is configured to detect the relative distance between the joint position of the six-axis robot and the rangefinder unit (100). The PLC unit (200) and the laser rangefinder unit (100) are connected in real time via Modbus-TCP communication. The PLC unit obtains the relative distance measured by the laser rangefinder unit, processes it, and displays it through the display unit (300). The PLC unit (200) and the display unit (300) are electrically connected.

2. The low-cost robot rigidity detection device according to claim 1, characterized in that: The joint positions of the six-axis robot include the first joint (1), the second joint (2), the third joint (3), the fourth joint (4), the fifth joint (5), and the sixth joint (6).

3. The low-cost robot rigidity detection device according to claim 1, characterized in that: The display unit (300) is a touch screen.

4. The low-cost robot rigidity detection device according to claim 1, characterized in that: The display unit displays data parameters (310) and an operation interface (320).

Images