Modular multi-robot precision detection system

Abstract

The utility model provides a kind of modularization multi-robot precision detection system, including detection platform, installation module, end load module, detection module, multi-point feature platform and electrical module;The installation position for robot to be measured is provided on the detection platform, the installation module is connected in the drive end of the robot to be measured, the end load module and the detection module are installed on the installation module, the multi-point feature platform is arranged on the detection platform;A plurality of different types of feature points or feature areas are laid on the multi-point feature platform;The electrical module includes a plurality of quick plugs, and a plurality of the quick plugs are used for inserting different robots to be measured;The utility model can detect the precision of multi-robot, has the advantage that versatility is strong, when replacing different brands or different specifications of robot, can be quickly debugged, improve detection efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of robot inspection technology, specifically relating to a modular multi-robot precision inspection system. Background Technology

[0002] SCARA industrial robots are essential equipment in manufacturing fields such as electronic assembly due to their high precision and high speed. However, as robots age, issues such as wear on gears and balls in their reducers and belt loosening lead to a loss of precision that cannot be guaranteed, and the extent of this loss is difficult to ascertain. Factories often use robots from various brands (such as Delta, Toshiba, Yamaha, Epson, Zowell, and Inovance), while existing testing systems often only support a single brand, and the size and load capacity of robot end effectors vary significantly, limiting compatibility with multiple robots.

[0003] For example, different equipment has different process requirements, and the robot's motion trajectory is diverse, making it difficult to fully simulate in the inspection, thus limiting the practicality of the inspection results; when replacing robots of different brands and specifications, the inspection environment needs to be rebuilt, resulting in a long debugging cycle. Summary of the Invention

[0004] To address the shortcomings of the existing technology, this utility model provides a multi-modal robot precision inspection system, which can perform precision inspection on multiple robots and has the advantage of strong versatility. When changing robots of different brands or specifications, it can be quickly debugged, thus improving inspection efficiency.

[0005] The technical effects to be achieved by this utility model are realized through the following technical aspects: This utility model provides a modular multi-robot precision detection system, including a detection platform, an installation module, an end-effector load module, a detection module, a multi-point feature platform, and an electrical module; The detection platform is provided with a mounting position for mounting the robot under test. The mounting module is connected to the drive end of the robot under test. The end load module and the detection module are mounted on the mounting module. The multi-point feature platform is set on the detection platform. The multi-point feature platform is equipped with multiple different types of feature points or feature regions. The electrical module includes multiple quick-connect plugs, which are used to connect to different robots under test.

[0006] In some implementations, the mounting module includes a mounting base and a connector disposed on the upper end of the mounting base; The connector is used to connect to the drive end effector of the robot under test, and the end effector load module and the detection module are mounted on the mounting base.

[0007] In some implementations, the mounting base includes a top plate, a bottom plate, and multiple side plates, with the multiple side plates surrounding the top plate and the bottom plate, forming a mounting chamber within the mounting base, and the mounting chamber having a lateral opening. The end load module is installed in the mounting cavity through the opening.

[0008] In some implementations, the end load module includes multiple counterweights, and the weights of the multiple counterweights may be the same or different. Some or all of the counterweights are installed in the mounting chamber.

[0009] In some implementations, the weights of the multiple counterweights are the same, and each weighs 1 kg.

[0010] In some implementations, the detection module includes a camera assembly and a sensor assembly; The camera assembly is used to detect the position information of the robot under test relative to the multi-point feature platform on the X-axis, Y-axis and R-axis; The sensor assembly is used to detect the position information of the robot under test relative to the multi-point feature platform on the Z-axis.

[0011] In some implementations, the sensor assembly includes a laser displacement multi-point sensor.

[0012] In some implementations, the multi-point feature platform covers the arm span range of the robot under test, which is 400mm-1000mm.

[0013] In some implementations, the multi-point feature platform is obtained by laser engraving.

[0014] In some implementations, a teaching preset reference point is provided at the edge of the multi-point feature platform.

[0015] In summary, this utility model has at least the following advantages: This utility model provides a modular multi-robot precision testing system. A multi-point feature platform is equipped with multiple feature points or regions of different types, meeting the simulation requirements of different robots under test in different operating environments. Furthermore, by incorporating an electrical module with multiple quick-connect plugs, these plugs can be used to connect different robots under test, enabling precision testing of multiple robots. This system boasts strong versatility. When replacing robots of different brands or specifications, only a suitable weight counterweight needs to be installed in the mounting chamber and one point needs to be taught to complete the debugging process, effectively shortening the debugging time and improving testing efficiency. Attached Figure Description

[0016] Figure 1 A schematic diagram of the system provided in Embodiment 1 of this utility model; Figure 2 A schematic diagram of the installation module, end load module, and detection module provided in Embodiment 2 of this utility model; Figure 3 A schematic diagram of the system provided in Embodiment 3 of this utility model; Marked in the image: 100. Testing platform; 200. Mounting module; 210. Mounting bracket; 220. Connector; 300. End-point load module; 400. Detection module; 410. Camera assembly; 420. Sensor assembly; 500, multi-point feature platform; 600. Pre-set reference points for teaching; 700. Robot under test. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more comprehensive description will be given below in conjunction with the accompanying drawings and specific embodiments. The drawings illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0018] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this 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 this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0021] Example 1: Please see Figure 1 A modular multi-robot precision testing system includes a testing platform 100, an installation module 200, an end effector module 300, a testing module 400, a multi-point feature platform 500, and an electrical module (not shown in the figure). The testing platform 100 serves to install and support the robot under test (700) and its modules, thus creating the testing environment. The installation module 200 connects the end effector module 300 and the testing module 400 to the robot under test (700). The end effector module 300 adapts to the load weight of the robot under test (700) in the actual working environment. The testing module 400 tests the precision of the robot under test (700). The multi-point feature platform 500 provides the robot under test (700) with diverse interactive targets and positioning references. The electrical module connects to the robot under test (700) via wiring, enabling the system's backend controller to set parameters and initiate the testing process.

[0022] The testing platform 100 is provided with a mounting position for mounting the robot under test 700. The mounting position is used to match the mounting base of the robot under test 700. The mounting base of the robot under test 700 is placed on the mounting position. Multiple first through holes are formed at the mounting position. Correspondingly, multiple second through holes are formed on the mounting base of the robot under test 700. The multiple first through holes correspond to the multiple second through holes. The robot under test 700 is locked and mounted on the mounting position by screws or locking devices passing through the first and second through holes.

[0023] The mounting module 200 is connected to the drive end of the robot under test 700, and the end load module 300 and the detection module 400 are mounted on the mounting module 200.

[0024] The load weight of the drive end effector of different robots under test 700 may vary. Here, the mounting module 200 is first connected to the robot under test 700, and then the appropriate end effector load module 300 is installed on the mounting module 200 to match the load weight requirements of the robot under test 700. The detection module 400 is installed on the mounting module 200, and the detection module 400 is indirectly connected to the robot under test 700 through the mounting module 200. The detection module 400 can obtain the movement trajectory of the robot under test 700 and detect the accuracy of the robot under test 700.

[0025] The multi-point feature platform 500 is set on the detection platform 100, and multiple feature points or feature regions of different types are arranged on the multi-point feature platform 500.

[0026] In robot precision testing applications, the multi-point feature platform 500 can be equipped with multiple feature points or feature regions of different types, providing robots with a comprehensive and multi-dimensional test benchmark.

[0027] Specifically, in actual work, robots don't operate from a single fixed point. For example, a robot needs to move from the material pick-up position to the assembly position, and then to the unloading position. The accuracy at different locations may vary; for instance, the accuracy is high at the center and low at the edges. By deploying feature points at different locations, the robot's accuracy across the entire workspace can be measured. Furthermore, robots perform diverse tasks, requiring different types of features as operational benchmarks. Deploying different types of feature regions can simulate real-world human scenarios for the robot, validating its multi-functional capabilities.

[0028] In addition, different robots have very different parameters and functions. For example, small assembly robots are good at small-size, high-precision operations, while large handling robots are good at large-range movements. Different types of feature points or feature regions enable a multi-point feature platform to adapt to a variety of robots without having to repeatedly build the detection environment, and can be used for the detection of different robots.

[0029] The electrical module includes multiple quick-connect plugs for connecting different robots under test 700.

[0030] The electrical interface requirements of different robots under test (700) vary greatly, such as power supply voltage, signal type and number of interfaces. By pre-setting multiple quick plugs to match different robots under test (700) on the production line, a plug-and-play effect can be achieved.

[0031] In addition, the electrical connection between the robot and the electrical module has strict parameter matching requirements, such as voltage, current and signal polarity. Traditional manual wiring is prone to errors, while multiple quick plugs can prevent errors through physical structure and parameter marking, avoiding damage to the robot or electrical module due to human error.

[0032] If a fault occurs in the connection between the electrical module and the robot, such as poor contact or a broken circuit, traditional wiring requires checking each wire one by one, which is very time-consuming. However, the modular design with multiple quick plugs can greatly simplify maintenance, reduce the downtime of the electrical module, and ensure that the robot's inspection work can be carried out continuously.

[0033] In some embodiments, the mounting module 200 includes a mounting base 210 and a connector 220 disposed on the upper end of the mounting base 210; the connector 220 is used to connect to the drive end of the robot under test 700, and the end load module 300 and the detection module 400 are mounted on the mounting base 210.

[0034] Specifically, the mounting base 210 includes a top plate, a bottom plate, and multiple side plates. The multiple side plates surround the top plate and the bottom plate, forming a mounting chamber inside the mounting base 210, and the mounting chamber has a side opening. The end load module 300 is installed in the mounting chamber through the opening.

[0035] For example, the top plate and the bottom plate are both quadrilateral plates, and there are 3 side plates. The 3 side plates are connected in sequence and surround the top plate and the bottom plate, so that the mounting base 210 forms a mounting chamber. The mounting chamber has an opening on the side. The opening is designed to facilitate the installation of the end load module 300 in the mounting chamber or to remove it from the mounting chamber, so as to achieve a rapid debugging effect.

[0036] In some embodiments, the end load module 300 includes a plurality of counterweights, the weights of which may be the same or different; some or all of the counterweights are installed in the mounting chamber.

[0037] Setting multiple counterweights to the same weight makes it easier for operators to obtain the actual load weight installed in the installation chamber based on the counterweight data. Setting the counterweights to different weights, such as using a gradually increasing method, allows the use of a small number of counterweights to meet the load weight requirements.

[0038] In one example, multiple counterweights have the same weight, all being 1kg. For instance, if there are 10 counterweights, when the load weight requirement of the robot under test 700 is 1kg, one counterweight can be installed in the mounting chamber through the opening; when the load weight requirement of the robot under test 700 is 3kg, three counterweights can be installed in the mounting chamber through the opening. That is, the corresponding number of counterweights can be selected and installed in the mounting chamber according to the load weight requirement of the robot under test 700.

[0039] This embodiment provides a modular multi-robot precision testing system. The multi-point feature platform 500 is equipped with multiple feature points or feature regions of different types, which can meet the simulation requirements of different operating environments of different robots under test 700. Furthermore, by setting up an electrical module containing multiple quick-connect plugs, these plugs can be used to connect different robots under test 700, enabling precision testing of multiple robots. This system has the advantage of strong versatility. When replacing robots of different brands or specifications, only a counterweight of appropriate weight needs to be installed in the installation chamber and one point needs to be taught to complete the debugging, effectively shortening the debugging time and improving the testing efficiency.

[0040] Example 2: This embodiment makes further structural optimizations based on Embodiment 1. Please refer to... Figure 1 Based on the above Figure 2 .

[0041] In this embodiment, the detection module 400 includes a camera assembly 410 and a sensor assembly 420. The camera assembly 410 is used to detect the position information of the robot under test 700 relative to the multi-point feature platform 500 on the X-axis, Y-axis, and R-axis. The sensor assembly 420 is used to detect the position information of the robot under test 700 relative to the multi-point feature platform 500 on the Z-axis. By combining the technical advantages of the camera assembly 410 and the sensor assembly 420, the robot's position detection relative to the multi-point feature platform 500 is achieved in all dimensions with high precision and high efficiency, ensuring both in-plane positioning accuracy and height measurement accuracy.

[0042] On the X, Y, and R axes, it is necessary to identify the position and angle of features in the plane, while on the Z axis, it is necessary to measure the vertical distance. The camera assembly 410 is usually equipped with a lens and a light source and is suitable for vision inspection systems. Its core capability is to identify features in the plane through images, calculate coordinates and angles, and match the detection requirements of the X, Y, and R axes. The sensor assembly 420 uses a laser displacement multi-point sensor, which can accurately measure the vertical distance and match the detection requirements of the Z axis.

[0043] In one example, the camera assembly 410 uses a camera with 20 million effective pixels and 8μm single pixel accuracy to ensure that it can capture the small positional deviations of the robot under test 700; the sensor assembly 420 uses a laser displacement multi-point sensor with a resolution of 10μm, which can detect small changes in the Z-axis in a timely manner and improve the practicality of detection.

[0044] Example 3: This embodiment makes further structural optimizations based on Embodiment 1. Please refer to... Figure 1 Based on the above Figure 3 .

[0045] In this embodiment, the multi-point feature platform 500 covers the arm span range of the robot under test 700 from 400mm to 1000mm. This coverage range can better balance versatility and comprehensiveness, allowing the multi-point feature platform 500 to adapt to robots with various arm spans, and enabling each robot under test 700 to complete the inspection in the entire workspace, achieving efficient, comprehensive and low-cost inspection results.

[0046] In some implementations, the multi-point feature platform 500 is obtained by laser engraving, which can ensure high precision, high consistency and high stability of the features, avoid robot detection errors caused by inaccurate features themselves from the source, and at the same time take into account production efficiency and platform durability, matching the core requirements of high-precision robot detection.

[0047] Many features of the multi-point feature platform 500 need to be identified by the detection module 400. However, burrs or chipped edges on the feature edges can cause the camera component 410 to misjudge the feature position, affecting the detection accuracy. Laser engraving can solve this problem from the source.

[0048] In some implementations, a teaching preset reference point 600 is provided at the edge of the multi-point feature platform 500.

[0049] Setting a pre-set teaching reference point 600 at the edge of the multi-point feature platform 500 can provide the robot under test 700 with a calibration benchmark for extreme positions and a teaching anchor point covering the entire space. The edge working area of ​​the robot under test 700, that is, the range that can be reached when the arm span is at its maximum, is the place where the accuracy is most likely to deviate. Due to factors such as robot joint transmission errors and load deformation, a robot with accurate positioning in the central area may have excessive positioning offset in the edge area, such as a center error of 0.01mm and an edge error of 0.05mm. Setting a pre-set teaching reference point 600 at the edge of the multi-point feature platform 500 can calibrate this problem, ensuring the positioning accuracy of the robot in the entire working space, especially in the edge extreme area, and simplifying the multi-robot debugging process and avoiding the risk of collision.

[0050] The above description is merely an example and illustration of the structure of this invention, and while the description is specific and detailed, it should not be construed as limiting the scope of this invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this invention, and these obvious substitutions all fall within the protection scope of this invention.

Claims

1. A modular multi-robot precision detection system, characterized in that, It includes a testing platform (100), an installation module (200), an end load module (300), a testing module (400), a multi-point feature platform (500), and an electrical module; The testing platform (100) is provided with a mounting position for mounting the robot under test (700). The mounting module (200) is connected to the drive end of the robot under test (700). The end load module (300) and the testing module (400) are mounted on the mounting module (200). The multi-point feature platform (500) is set on the testing platform (100). The multi-point feature platform (500) is provided with multiple feature points or feature regions of different types; The electrical module includes multiple quick-connect plugs for connecting different robots under test (700).

2. The modular multi-robot precision detection system according to claim 1, characterized in that, The installation module (200) includes a mounting base (210) and a connector (220) disposed on the upper end of the mounting base (210); The connector (220) is used to connect to the drive end of the robot under test (700), and the end load module (300) and the detection module (400) are mounted on the mounting base (210).

3. The modular multi-robot precision detection system according to claim 2, characterized in that, The mounting base (210) includes a top plate, a bottom plate and a plurality of side plates, the plurality of side plates surrounding the top plate and the bottom plate, so that a mounting cavity is formed inside the mounting base (210), and the mounting cavity has a side opening; The end load module (300) is installed in the mounting cavity through the opening.

4. The modular multi-robot precision detection system according to claim 3, characterized in that, The end load module (300) includes multiple counterweights, and the weights of the multiple counterweights may be the same or different; Some or all of the counterweights are installed in the mounting chamber.

5. The modular multi-robot precision detection system according to claim 4, characterized in that, All of the aforementioned counterweights have the same weight, and each weighs 1 kg.

6. The modular multi-robot precision detection system according to claim 1, characterized in that, The detection module (400) includes a camera assembly (410) and a sensor assembly (420). The camera assembly (410) is used to detect the position information of the robot under test (700) relative to the multi-point feature platform (500) on the X-axis, Y-axis and R-axis; The sensor assembly (420) is used to detect the position information of the robot under test (700) relative to the multi-point feature platform (500) on the Z-axis.

7. The modular multi-robot precision detection system according to claim 6, characterized in that, The sensor assembly (420) includes a laser displacement multi-point sensor.

8. The modular multi-robot precision detection system according to claim 1, characterized in that, The multi-point feature platform (500) covers the arm span range of the robot under test (700) from 400mm to 1000mm.

9. The modular multi-robot precision detection system according to claim 1, characterized in that, The multi-point feature platform (500) is obtained by laser engraving.

10. The modular multi-robot precision detection system according to any one of claims 1-9, characterized in that, A teaching preset reference point (600) is provided at the edge of the multi-point feature platform (500).

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