An industrial robot repeat positioning accuracy measuring device based on laser ranging

Abstract

This utility model relates to the field of robot positioning accuracy, specifically a laser ranging-based industrial robot repeatability positioning accuracy measurement device. It includes a laser sensor fixing mechanism, a test fixture fixing mechanism, a test fixture block, and a laser sensor. This utility model uses a laser sensor and a test block to collect distance signals along the X, Y, and Z axes and convert them into spatial coordinate points, thereby significantly improving the coordinate measurement accuracy of the robot calibration points. The X, Y, and Z axis data are processed concisely and efficiently to convert them into coordinate signals. The solution has a simple and intuitive operation process, requires low operator skills, and boasts high testing efficiency. It can quickly complete measurement tasks with different accuracy requirements according to measurement needs. The magnetic base ensures structural stability, reliability, and easy reproducibility, and supports the selection of sensors with different performance and accuracy to adapt to different application scenarios and workpiece measurement requirements.

Description

Technical Field

[0001] This utility model relates to the field of robot positioning accuracy, specifically a laser ranging-based device for measuring the repeatability of industrial robot positioning accuracy. Background Technology

[0002] Before leaving the factory, robots need to undergo repeatability testing. Currently, repeatability calibration is performed using laser trackers, which are expensive, inefficient, and require software programming, making them difficult to use. This process is labor-intensive and inefficient, increasing robot debugging costs. Therefore, developing a low-cost, high-efficiency robot repeatability measurement device has become a critical technical problem that urgently needs to be solved in this field. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes a laser ranging-based device for measuring the repeatability and accuracy of industrial robot positioning.

[0004] A laser ranging-based industrial robot repeatability positioning accuracy measurement device includes a laser sensor fixing mechanism, a test fixture fixing mechanism, a test fixture block, and a laser sensor.

[0005] The laser sensor fixing mechanism includes a laser sensor fixing plate assembly and a horizontal connecting plate;

[0006] The test fixture fixing mechanism includes a magnetic base and a base connecting flange connected to the laser sensor fixing mechanism;

[0007] The test fixture includes a robot end-mounted flange and a test block mounted on the robot end-mounted flange by a locking nut;

[0008] The laser sensor includes a sensor mounted on a laser sensor fixing mechanism for transmitting and receiving laser signals.

[0009] The laser sensor mounting plate assembly includes a Z-direction laser sensor mounting plate, an X-direction laser sensor mounting plate, and a Y-direction laser sensor mounting plate.

[0010] The base connecting flange connects the horizontal connecting plate to the magnetic base using bolts.

[0011] The magnetic base has its own magnetic control switch.

[0012] The test block has three different directions, X, Y, and Z, which are parallel to the X, Y, and Z surfaces of the Z-direction laser sensor fixing plate, the X-direction laser sensor fixing plate, and the Y-direction laser sensor fixing plate.

[0013] The sensor signal is transmitted to an external computer via a wiring harness.

[0014] The beneficial effects of this invention are as follows: This invention uses a laser sensor and a test block to collect distance signals along the X, Y, and Z axes and convert them into spatial coordinate points, thereby significantly improving the coordinate measurement accuracy of the robot calibration points. The X, Y, and Z axis data are processed concisely and efficiently to convert them into coordinate signals. The operation process is simple and intuitive, requiring minimal operator skills, while offering high testing efficiency. It can quickly complete measurement tasks with varying accuracy requirements based on measurement needs. The magnetic base ensures structural stability, reliability, and easy reproducibility, supporting the selection of sensors with different performance and accuracy to adapt to different application scenarios and workpiece measurement requirements. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is an oblique axonometric drawing of the present invention;

[0017] Figure 2 This is an isometric view of the test fixture block in this utility model;

[0018] Figure 3 This is a rear view of the laser sensor in this utility model;

[0019] Figure 4 This is an isometric view of the laser sensor fixing mechanism in this utility model;

[0020] Figure 5 This is an isometric view of the test fixture fixing base in this utility model;

[0021] Reference numerals: 1. Test fixture block; 101. Robot end effector flange; 102. Locking nut; 103. Test block; 2. Laser sensor; 201. Sensor; 202. Wiring harness; 3. Laser sensor fixing mechanism; 301. Z-direction laser sensor fixing plate; 302. X-direction laser sensor fixing plate; 303. Y-direction laser sensor fixing plate; 304. Horizontal connecting plate; 4. Test fixture fixing mechanism; 401. Base connecting flange; 402. Magnetic base. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the utility model will be further described below.

[0023] like Figures 1 to 5As shown, an industrial robot repeatability positioning accuracy measuring device based on laser ranging includes a laser sensor fixing mechanism 3, a test fixture fixing mechanism 4, a test fixture block 1, and a laser sensor 2.

[0024] The laser sensor fixing mechanism 3 includes a laser sensor fixing plate assembly and a horizontal connecting plate 304;

[0025] The test fixture fixing mechanism 4 includes a magnetic base 402 and a base connecting flange 401 connected to the laser sensor fixing mechanism 3;

[0026] The test fixture 1 includes a robot end-mounted flange 101 and a test block 103 mounted on the robot end-mounted flange 101 by a locking nut 102;

[0027] The laser sensor 2 includes a sensor 201 mounted on the laser sensor fixing mechanism 3, which is used to transmit and receive laser signals. The laser sensor 2 and the test block 103 respectively collect signals in the X, Y and Z directions and convert them into robot point coordinates, so the measured point coordinate data is more accurate.

[0028] This invention uses a laser sensor 2 and a test block 103 to collect distance signals along the X, Y, and Z axes and convert them into spatial coordinate points, thereby significantly improving the coordinate measurement accuracy of the robot calibration point. By processing the X, Y, and Z axis data into coordinate signals in a simple and efficient manner, the operation process is simple and intuitive, requiring low operator skills, while also having high testing efficiency. It can quickly complete measurement tasks with different accuracy requirements according to measurement needs.

[0029] The laser sensor mounting plate assembly includes a Z-direction laser sensor mounting plate 301, an X-direction laser sensor mounting plate 302, and a Y-direction laser sensor mounting plate 303. Three sensors 201 are fixed to the three laser sensor mounting plates in the Z-direction, X-direction, and Y-direction directions respectively by two bolts. The three laser mounting plates are then fixed to the horizontal connecting plate 304 by bolts.

[0030] The base connecting flange 401 connects the horizontal connecting plate 304 to the magnetic base 402 with bolts. The design is simple, the processing cost is low, and it is easy to mass-produce. It effectively improves the robot calibration efficiency and reduces the cost. At the same time, it can flexibly adapt to sensors with different performance / accuracy according to the test requirements, such as accuracy and application scenarios. Compared with general laser trackers, it significantly optimizes the test cost.

[0031] The magnetic base 402 has a magnetic control switch, which uses magnetic force to stably and tightly attach the test fixture to the metal plane. It is highly operable and mobile, and can be used for manual measurement or in conjunction with a robot to meet the measurement needs of measuring parts of different sizes and distances.

[0032] The test block 103 has three different X, Y, and Z directions set on it, which are parallel to the X, Y, and Z surfaces of the Z-direction laser sensor fixing plate 301, the X-direction laser sensor fixing plate 302, and the Y-direction laser sensor fixing plate 303. The laser sensor 2 provides signal feedback to the test fixture block 1. The distance data in the X, Y, and Z directions is analyzed and converted into coordinate signals. The conversion logic is relatively simple, and the operation process is also simpler, requiring less skill from the operator. It also has the characteristics of high testing efficiency and can quickly measure according to measurement and accuracy requirements.

[0033] The signal is transmitted and received through sensor 201 and transmitted to an external computer for viewing via wiring harness 202. The operation process is simple and intuitive, requires low operator skills, and has high testing efficiency. It can quickly complete measurement tasks with different accuracy requirements according to measurement needs.

[0034] like Figure 2 As shown, the test block 103 is connected to the robot end effector as the robot end effector point. The laser sensor 2, the laser sensor fixing mechanism 3, and the test fixture fixing mechanism 4 are fastened together. The magnetic switch of the magnetic base 402 is turned on and fixed on the metal plane to ensure that the test fixture cannot move. By adjusting the position of the robot end effector, the X, Y, and Z planes of the test block 103 are adjusted to be parallel to the signal emission surfaces of the laser sensor 2 in the X, Y, and Z directions of the test fixture. The distance between the sensor 201 and the X, Y, and Z planes of the test block 103 is measured and converted into point coordinates. By writing a program, the robot's initial point position and another fixed point position are made into a point-to-point displacement. The robot's repeatability accuracy is measured by measuring the initial point coordinates multiple times and observing the point coordinate deviation.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A laser ranging-based device for measuring the repeatability of industrial robot positioning, characterized in that: It includes a laser sensor fixing mechanism (3), a test fixture fixing mechanism (4), a test fixture block (1), and a laser sensor (2); The laser sensor fixing mechanism (3) includes a laser sensor fixing plate assembly and a horizontal connecting plate (304); The test fixture fixing mechanism (4) includes a magnetic base (402) and a base connecting flange (401) connected to the laser sensor fixing mechanism (3); The test fixture block (1) includes a robot end-mounted flange (101) and a test block (103) mounted on the robot end-mounted flange (101) by a locking nut (102); The laser sensor (2) includes a sensor (201) mounted on the laser sensor fixing mechanism (3) for transmitting and receiving laser signals.

2. The industrial robot repeatability positioning accuracy measuring device based on laser ranging according to claim 1, characterized in that: The laser sensor mounting plate assembly includes a Z-direction laser sensor mounting plate (301), an X-direction laser sensor mounting plate (302), and a Y-direction laser sensor mounting plate (303).

3. The laser ranging-based industrial robot repeatability measurement device according to claim 1, characterized in that: The base connecting flange (401) connects the horizontal connecting plate (304) to the magnetic base (402) by bolts.

4. The laser ranging-based industrial robot repeatability measurement device according to claim 1, characterized in that: The magnetic base (402) has its own magnetic control switch.

5. The industrial robot repeatability measurement device based on laser ranging according to claim 2, characterized in that: The test block (103) has three different directions, X, Y, and Z, which are parallel to the X, Y, and Z surfaces of the Z-direction laser sensor fixing plate (301), the X-direction laser sensor fixing plate (302), and the Y-direction laser sensor fixing plate (303).

6. The industrial robot repeatability measurement device based on laser ranging according to claim 1, characterized in that: The signal from the sensor (201) is transmitted to an external computer via a wiring harness (202).

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