CN107270854A - A kind of robot repetitive positioning accuracy detection means - Google Patents
A kind of robot repetitive positioning accuracy detection means Download PDFInfo
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- CN107270854A CN107270854A CN201710332917.5A CN201710332917A CN107270854A CN 107270854 A CN107270854 A CN 107270854A CN 201710332917 A CN201710332917 A CN 201710332917A CN 107270854 A CN107270854 A CN 107270854A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The present invention relates to a kind of robot repetitive positioning accuracy detection means, described detection means, which is bracket component (1), to be provided with three electronic type amesdial components (4) provided with a slide assemblies (2) installation pedestal component (3) thereon, on pedestal and is spatially mutually perpendicular to and meets at a bit；In the space detection range of tested bulb component (5) three electronic dial gauges of arrival of robot end, the test data of three electronic dial gauges is real-time transmitted to computer processing unit, then can obtain robot repetitive positioning accuracy numerical result.Cost of the present invention is very low, easy to operate, is easy to learn and use.
Description
Technical field
The present invention relates to accuracy detecting device field, more particularly to a kind of robot repetitive positioning accuracy detection means.
Background technology
At present, the repetitive positioning accuracy of robot is detected using laser tracker mostly.Laser tracker is being carried out
In robot repetitive positioning accuracy detection process, there is very high requirement to operating personnel, and cumbersome, cost is high, such as only
With in the detection of industrial robot repetitive positioning accuracy, the serious wasting of resources can be formed, and go out in the finished product of industrial robot
In factory's detection process, it is impossible to which each station is detected with a laser tracker to robot, so invention is a kind of ultralow
Low, the easy to operate robot repetitive positioning accuracy test detection means of cost is just very necessary.
The detection means of current detection robot repetitive positioning accuracy, more using laser tracker as core, by by laser
Tracker is placed in orthogonal space, and three road light are projected to the end of robot, robot end are measured in sky
Between three axes position, the number of repetitive positioning accuracy then is calculated and be shown to data processing terminal in these data transfers
It is worth result.
It is contemplated that the high cost existed for existing robot resetting detection means, operation difficulty is big, cumbersome
Etc. problem, a kind of Ultra Low Cost, easily to operate brand-new robot resetting detection means are proposed, using traditional high accuracy
Device, traditional detection means method, is integrated by ingenious method, reaches Ultra Low Cost, brand-new easily to operate
Scheme, makes it have stronger application, convenient, flexible.
The content of the invention
To overcome disadvantages mentioned above, the present invention provides a kind of robot repetitive positioning accuracy detection means, including bracket component
(1), slide assemblies (2), base assembly (3), electronic type amesdial component (4), bulb component (5)；Bracket component (1) is provided with
Three electronic type amesdials are fixed with installation pedestal component 3 on one slide assemblies (2), slide assemblies (2), base assembly
(4), its axis is spatially mutually perpendicular to and met at a bit, and more described is test center's point；
Bracket component (1) includes stable base (6) and the smooth metal bar (7) being installed on it；Metallic rod (7) is plugged in
On base (6)；Slide assemblies (2) include sliding block (8) and closing handle (9), for adjusting measurement direction and test position height；
Base assembly (3) is the inscribe angular component that three orthogonal faces are constituted；Electronic dial gauge component includes three identical electricity
Sub- amesdial (10), three private use plane gauge heads (11) and three radio communication devices (13)；Private use plane gauge head and channel radio
T unit is located at the two ends of electronic dial gauge；The gauge head plane of private use plane gauge head is vertical with electronic dial gauge axis；Bulb group
Part uses strict sphere；
Slide assemblies (2) are arranged in the metallic rod (7) of bracket component (1), slide assemblies (2) can be in metallic rod (7)
Move up and down, slide assemblies (2) are fastened in metallic rod (7) by closing handle (9)；Base assembly (3) is fixed on slip
On component (2), an electronic dial gauge (10), private use plane gauge head (11) are respectively fixed with three faces of base assembly (3)
In base assembly interior angle；
When model is detected in the space that the tested bulb component (5) installed in robot end (13) reaches three electronic dial gauges
When enclosing, the test data of three electronic dial gauges is real-time transmitted to computer processing unit, the resetting of robot is obtained
Accurate values result.
Further, robot end tested bulb component reach three electronic dial gauges space detection range
When, the test data of three electronic dial gauges is real-time transmitted to computer processing unit, after being completed, computer disposal list
First test data calculating robot's repetitive positioning accuracy numerical result based on acquisition；
Test data calculating robot's repetitive positioning accuracy numerical result based on acquisition, be specially：Obtain test data
In deviation S maximum Smax, repetitive positioning accuracy value R=± (Smax/2) is determined, by the repetitive positioning accuracy value
Output display；Wherein：
Further, before test starts, in bulb reliable contacts of three private use plane gauge heads with bulb component (5)
Afterwards, computer processing unit sends control signals to radio communication device to reset three pieces of electronic type amesdials respectively, surveys
Runin is begun；When testing beginning, the location of bulb component is test point, and electronic type amesdial has been reset, at the beginning of test point
Beginning test data is：X0=0, Y0=0, Z0=0.
Further, computer processing unit sends motion configuration file to robot, and robot end is according to the fortune
Dynamic configuration file is moved between test point and target point, is and so on moved repeatedly, accuracy detecting device automatically will be each
Test data is transferred to after computer processing unit calculated, and exports repetitive positioning accuracy value.
Further, motion configuration file includes a plurality of test record, and every test record includes test point PT and mesh
Punctuation sequence PD1~PDn, n>=1, wherein n are the number of the target point included in a test record.
Further, the test record correspondence is returned to after test point PT approach target point sequences PD1~PDn
Test point PT test path；Target point in target point sequence is one or more.
Further, for a test record (PT, PD1, PD2, PT), robot end from test point PT, according to
It is secondary to reach target point PD1 and PD2, it is then back to test point PT；After a test record is completed, robot returns to test point PT
Stop motion afterwards, pull three electronic type amesdials private use plane gauge head, make three private use plane gauge heads with bulb component
Bulb reliable contacts, start electronic dial gauge and start test to obtain test data corresponding with current test record.
Further, the corresponding test record of test data and its mark are sent to computer processing unit in real time, counted
Calculation machine processing unit test data and this motion configuration file are identified based on test record associate be stored in and be locally stored
In unit.
Further, if after the test path of a test record is completed, returning to bulb component after test point PT
Outside the space test scope of detection means, the corresponding test data of this test record is recorded as by computer processing unit
It is abnormal.
Further, robot repetitive positioning accuracy detection means also includes multiple images acquiring unit, and image obtains single
Member from multiple angles from fixed position obtain detection means test scope in image, bulb component is determined based on described image
Whether in the test scope of detection means.
By such scheme, first, cost it is very low.The parts being related in detection means be in the market it is ripe and
The product of volume production, the wherein precision of electronic type amesdial are 0.001mm, and the overall precision of three pieces of tables is less than 0.002mm, remote super
The requirement of the repetitive positioning accuracy 0.02mm of most robots on the market is crossed, hardware cost can reach less than 5000 yuan, and equally
To very high repetitive positioning accuracy test request.Secondth, it is easy to operate, it is easy to learn and use.Because this detection means overall weight is less than
5kg, is moved easily and adjusts, and only electronic type amesdial need to be connected with computer in test and can be tested.
Brief description of the drawings
Fig. 1 is the overall schematic of the present embodiment；
Fig. 2 is the bracket component schematic diagram of the present embodiment；
Fig. 3 is the slide assemblies schematic diagram of the present embodiment；
Fig. 4 is the electronic type amesdial component diagram of the present embodiment.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
In accompanying drawing 1-4,1- bracket components；2- slide assemblies；3- base assemblies；4- electronic type amesdial components；5- bulbs
Component；6- bases；7- metallic rods；8- sliding blocks；9- closing handles；10- electronic type amesdials；11- private use plane gauge heads；12- is treated
Survey robot end；13- radio communication devices；
Referring to shown in accompanying drawing 1-4, a kind of robot repetitive positioning accuracy detection means of the invention, including：Bracket component
1, slide assemblies 2, base assembly 3, electronic type amesdial component 4, bulb component 5；Bracket component 1 is provided with a slide assemblies
Be fixed with three electronic type amesdials 4 on 2 installation pedestal components 3 thereon, base assembly, its axis be spatially mutually perpendicular to and
Meet at a bit；When the tested bulb component 5 installed in robot end 13 reaches the space detection range of three electronic dial gauges
When, the test data of three electronic dial gauges is real-time transmitted to computer processing unit, then the repetition that can obtain robot is determined
Position accurate values result；
Bracket component 1 includes stable base 6 and the smooth metal bar 7 being installed on it；Metallic rod 7 is plugged on base 6；
Slide assemblies 2 include sliding block 8 and closing handle 9, for adjusting measurement direction and test position height；Base assembly 3 is three
The inscribe angular component that orthogonal face is constituted；Electronic dial gauge component comprising three identical electronic dial gauges 10, three specially
With plane gauge head 11 and three radio communication devices 13；Private use plane gauge head and radio communication device are located at the two of electronic dial gauge
End；The gauge head plane of private use plane gauge head is vertical with electronic dial gauge axis；Bulb component uses strict sphere, to ensure to survey
The accuracy of test result；
Slide assemblies 2 are arranged in the metallic rod 7 of bracket component 1, slide assemblies 2 can be moved up and down in metallic rod 7, led to
Cross closing handle 9 slide assemblies 2 are fastened in metallic rod 7；Base assembly 3 is fixed on slide assemblies 2, base assembly 3
An electronic dial gauge 10 is respectively fixed with three faces, private use plane gauge head 11 is located in base assembly interior angle, pacifies on pedestal
The direction (namely electronic dial gauge axis direction) that three electronic type amesdials of dress extend along private use plane gauge head is in sky
Between on be mutually perpendicular to and meet at a bit, described is called some test center's point；
It is preferred that, each electronic dial gauge is fixed on the edge of the one side of base assembly；
In the space detection range of tested bulb component three electronic dial gauges of arrival of robot end, by three electricity
The test data of sub- amesdial is real-time transmitted to computer processing unit, after being completed, and computer processing unit is based on obtaining
Test data calculating robot's repetitive positioning accuracy numerical result.
Before test starts, bulb component 5 is installed to to-be-detected machine people end, the bulb group of robot end is then adjusted
Part 5, the correct position of space one, the test point that this position is tested as repetitive positioning accuracy are placed in by bulb component.Then will
Repetitive positioning accuracy detection means is placed near test point, is adjusted the slide assemblies of repetitive positioning accuracy detection means, is made bulb
Component falls in the test scope of detection means, and pull three electronic type amesdials private use plane gauge head, make three it is special
Bulb reliable contacts of the plane gauge head with bulb component 5, now need to reset three pieces of electronic type amesdials respectively, test is opened
Begin；Specifically：Before test starts, after bulb reliable contacts of three private use plane gauge heads with bulb component 5, at computer
Reason unit sends control signals to radio communication device to be reset respectively to three pieces of electronic type amesdials, and test starts；Surveying
The location of bulb component is test point when runin is begun, and electronic type amesdial has been reset, the initial testing data of test point
For：X0=0, Y0=0, Z0=0；
Computer processing unit sends motion configuration file and causes robot end in test point and target point to robot
Between move, and so on move multiple, each test data is transferred to computer disposal list by accuracy detecting device automatically
After member is calculated, output test result.Moving configuration file includes a plurality of test record, and every test record includes test point
PT and target point sequence PD1~PDn, n>=1；The test record is corresponding from test point PT approach target point sequences
Test point PT test path is returned to after PD1~PDn；Target point in target point sequence is one or more；For example：Note
1 (PT, PD1, PD2, PT) is recorded, robot end reaches target point PD1 and PD2, be then back to survey successively from test point PT
Pilot PT；After a test record is completed, robot returns to stop motion after test point PT, pulls three electronic type amesdials
Private use plane gauge head, make bulb reliable contacts of three private use plane gauge heads with bulb component, start electronic dial gauge and open
Begin to test, after Validity Test data are measured, obtain test data and be sent to corresponding test record and its mark in real time
Test data is based on test record mark with this motion configuration file and associated by computer processing unit, computer processing unit
Be stored in local storage unit；After the test of a test record is completed, it is next that computer processing unit continues startup
The test of bar test record, untill all test records in motion configuration file are completed；In motion configuration text
After part is completed, robot stop motion simultaneously enters resting state, the set of calculation processing unit acquisition test data (Xi,
Yi, Zi) }, formulaObtain test data and initial testing data after reorientation every time (X0=0,
Y0=0, Z0=0) difference, obtain repetitive positioning accuracy value；Wherein, (Xi, Yi, Zi) is the corresponding survey of i-th test record
Data are tried, Xi, Yi, Zi are three components that bulb component is measured under space coordinates by three electronic microcallipers respectively；
When needing to start once new test, computer processing unit wakes up robot from resting state；
Preserve multiple motion configuration files in computer processing unit, motion configuration file be tester write or by
Formulate testing standard formulation side；Every kind of robot can use different motion configuration files in different test phases；Consider
It is different to its model of different robots, corresponding kinematic accuracy and locomitivity are different, it is therefore necessary to using different
Motion configuration file carry out test could obtain effective test result；In addition, same robot is complete in different debugging
The kind stage has discrepant locomitivity, accordingly, it would be desirable to which the stage is targetedly improved to difference targetedly sets motion
Configuration file is (for example：Set for specific exercise attitudes and movement locus and targetedly move configuration file) or difficulty or ease journey
Spend discrepant motion configuration file；For example：For the preliminary debugging stage, better simply motion configuration file, motion configuration text are set
Motion path in part is relatively simple；
Motion configuration file has file identification, and motion configuration file is centrally saved in independent configuration file memory space
In；Robot model, robot are improved into the stage and motion configuration file identifies the preservation of serial correlation；Before the test begins,
Improved the stage according to robot model, robot, corresponding motion configuration file mark sequence is obtained, from the motion configuration file
Mark sequence in select this test motion configuration file mark, computer processing unit according to the configuration file identify from
Put to read motion configuration file in file storage and be stored in local cache and be used for this test；
If the positioning precision of robot is relatively low, after the test path of a test record is completed, test point is returned to
After PT outside the space test scope of detection means, computer processing unit remembers the corresponding test data of this test record
Record as abnormal ABNORMAL；Computer processing unit continues the test that start machine people starts next test record；Pass through meter
The automatic abnormality processing of calculation machine processing unit, improves the automaticity of detection means；
Computer processing unit is added up to occurring abnormal number of times in current test, if the number of times of exception is more than the
One threshold value, then terminate test；First threshold is preset value；
Robot repetitive positioning accuracy detection means also includes multiple images acquiring unit, and image acquisition unit is from multiple angles
The image spent in the test scope for obtaining detection means from fixed position, in the test process of a test record, bulb group
Part is returned after test point PT, and image acquisition unit is obtained under the control of computer processing unit in the test scope of detection means
Image, bulb component is determined whether in the test scope of detection means based on described image, if it is, make three it is special
Bulb reliable contacts of the plane gauge head with bulb component, start electronic dial gauge and start test to obtain test data, otherwise,
Alert prompting test is abnormal, and control machine people end is moved to initial test point position (now, initial testing point
Test data be：X0=0, Y0=0, Z0=0) after, continue the test that start machine people starts next test record；
Bulb component is determined whether in the test scope of detection means based on described image, is specially：If from institute
The image for having image acquisition unit shows bulb component in the test scope of detection means, it is determined that bulb component is in detection
In the test scope of device, otherwise, it determines bulb component is outside the test scope of detection means；Described fixed position refers to many
Individual image acquisition unit is fixed relative to the relative position of test center's point；
Test data calculating robot's repetitive positioning accuracy numerical result based on acquisition, be specially：Obtain test data
Deviation S maximum Smax, determine repetitive positioning accuracy value R=± (Smax/2), the repetitive positioning accuracy value is defeated
Go out display；Wherein：
After being completed, computer processing unit is by all abnormality test data summarizations, by abnormality test result pair
The test record answered is presented to tester after carrying out deduplication and number of repetition statistics；Tester can extremely survey for this
Test result understands robot localization exception, and a situation arises, so as to the place of rapid positioning robot's orientation problem, so that
Targetedly improve the positioning precision of robot；Computer processing unit also all proposes abnormality test data, based on surplus
Remaining test data calculates repetitive positioning accuracy；Another way is：Xi, Yi, Zi of abnormality test data are revised as
One maximum, is then based on all test datas comprising the amended abnormality test data and carries out repetitive positioning accuracy
Calculate；First maximum is to be set according to experience；
Computer processing unit is obtained and this corresponding standard value of motion configuration file (acquisition standard value can be from local
Obtain, tester specifies, from Network Capture), the repetitive positioning accuracy value and standard value that the calculating is obtained are compared, such as
Fruit repetitive positioning accuracy value is less than or equal to standard value, then display precision meets standard, and otherwise display precision is not inconsistent standardization；Calculate
Machine processing unit by repetitive positioning accuracy value, use motion configuration file, standard value, if meet the information such as standard and be pushed to
Display unit, display unit shows described information；It is preferred that：Display unit is located at the mobile terminal of tester, desk-top calculating
In machine；
The test scope of detection means refers to enable to by pulling the private use plane gauge head of three electronic type amesdials
The scope that the gauge head plane of three private use plane gauge heads can determine that with the bulb reliable contacts of bulb component；
Moving configuration file includes a plurality of test record, and one or more correspondence in a plurality of test record is identical or not
Same test path；
The test case A of table 1
To test case A, by calculating, the maximum deviation of every group of experiment is respectively 41,41,46, takes maximum 46, then
Mechanical arm resetting maximum deviation is 0.046mm, repetitive positioning accuracy ± 0.023mm.
Real-time testing data are stored in computer processing unit, and greatly adding once complete test can wrap
The test volume contained, electronic dial gauge need not carry out test data preservation；
Compared with prior art, the beneficial effects of the invention are as follows：Firstth, cost is very low.It is related in detection means
Parts are that in the market is ripe and the product of volume production, the wherein precision of electronic type amesdial are 0.001mm, three pieces of tables it is whole
Body precision is less than 0.002mm, exceeds well over the requirement of the repetitive positioning accuracy 0.02mm of most robots on the market, hardware cost is not
5000 yuan of foot, and it is equally reached very high repetitive positioning accuracy test request.Secondth, it is easy to operate, it is easy to learn and use.Due to this
Detection means overall weight is less than 5kg, is moved easily and adjusts, and only need to be connected electronic type amesdial with computer in test
It can be tested.
The technical concepts and features of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands present disclosure and is carried out, and it is not intended to limit the scope of the present invention, all according to spirit of the invention
The equivalent change or modification that essence is done, should all cover within the scope of the present invention.
Claims (10)
1. a kind of robot repetitive positioning accuracy detection means, it is characterised in that including bracket component (1), slide assemblies (2),
Base assembly (3), electronic type amesdial component (4), bulb component (5)；Bracket component (1) is provided with a slide assemblies (2),
Three electronic type amesdials (4) are fixed with slide assemblies (2) on installation pedestal component (3), base assembly, its axis is in space
On be mutually perpendicular to and meet at a bit, more described is test center's point；
Bracket component (1) includes stable base (6) and the smooth metal bar (7) being installed on it；Metallic rod (7) is plugged in base
(6) on；Slide assemblies (2) include sliding block (8) and closing handle (9), for adjusting measurement direction and test position height；Pedestal
Component (3) is the inscribe angular component that three orthogonal faces are constituted；Electronic dial gauge component includes three identical electronics thousand
Divide table (10), three private use plane gauge heads (11) and three radio communication devices (13)；Private use plane gauge head and radio communication dress
Setting in the two ends of electronic dial gauge；The gauge head plane of private use plane gauge head is vertical with electronic dial gauge axis；Bulb component is adopted
With strict sphere；
Be arranged slide assemblies (2) in the metallic rod (7) of bracket component (1), slide assemblies (2) can be in metallic rod (7) above and below
It is mobile, slide assemblies (2) are fastened in metallic rod (7) by closing handle (9)；Base assembly (3) is fixed on slide assemblies
(2) on, an electronic dial gauge (10) is respectively fixed with three faces of base assembly (3), private use plane gauge head (11) is located at
In base assembly interior angle；
When the tested bulb component (5) installed in robot end (13) reaches the space detection range of three electronic dial gauges
When, the test data of three electronic dial gauges is real-time transmitted to computer processing unit, the resetting essence of robot is obtained
Spend numerical result.
2. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：At robot end
During the space detection range of tested bulb component three electronic dial gauges of arrival at end, by the test data of three electronic dial gauges
Computer processing unit is real-time transmitted to, after being completed, test data computing machine of the computer processing unit based on acquisition
People's repetitive positioning accuracy numerical result；
Test data calculating robot's repetitive positioning accuracy numerical result based on acquisition, be specially：Obtain in test data
Deviation S maximum Smax, determines repetitive positioning accuracy value R=± (Smax/2), and the repetitive positioning accuracy value is exported
Display；Wherein：
3. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：Test starts
Before, three private use plane gauge heads with after the bulb reliable contacts of bulb component (5), computer processing unit is by control signal
Radio communication device is sent to be reset respectively to three pieces of electronic type amesdials, test starts；The bulb component when testing beginning
Location is test point, and electronic type amesdial has been reset, and the initial testing data of test point are：X0=0, Y0=0, Z0
=0.
4. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：Computer disposal
Unit sends motion configuration file to robot, robot end according to the motion configuration file test point and target point it
Between move, and so on move multiple, each test data is transferred to computer processing unit by accuracy detecting device automatically
After being calculated, repetitive positioning accuracy value is exported.
5. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：Motion configuration text
Part includes a plurality of test record, and every test record includes test point PT and target point sequence PD1~PDn, n>=1, wherein n
For the number of the target point included in a test record.
6. a kind of robot repetitive positioning accuracy detection means according to claim 5, it is characterised in that：The test note
Record correspondence returns to test point PT test path after test point PT approach target point sequences PD1~PDn；Target point sequence
Target point in row is one or more.
7. a kind of robot repetitive positioning accuracy detection means according to claim 6, it is characterised in that：For a survey
Trial record (PT, PD1, PD2, PT), robot end reaches target point PD1 and PD2, then returned successively from test point PT
Return test point PT；After a test record is completed, robot returns to stop motion after test point PT, pulls three electronic types thousand
Divide the private use plane gauge head of table, make bulb reliable contacts of three private use plane gauge heads with bulb component, start thousand points of electronics
Table starts test to obtain test data corresponding with current test record.
8. a kind of robot repetitive positioning accuracy detection means according to claim 7, it is characterised in that：By test data
Corresponding test record and its mark are sent to computer processing unit in real time, and computer processing unit is by test data and this
Motion configuration file is stored in local storage unit based on test record mark association.
9. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：If completed
After the test path of one test record, the space test scope that bulb component after test point PT is located at detection means is returned
Outside, the corresponding test data of this test record is recorded as exception by computer processing unit.
10. a kind of robot repetitive positioning accuracy detection means according to claim 1, it is characterised in that：Robot weight
Multiple positioning accuracy detection device also includes multiple images acquiring unit, and image acquisition unit is obtained from multiple angles from fixed position
Image in the test scope of detection means, based on described image determine bulb component whether detection means test scope
It is interior.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317985A (en) * | 2018-05-07 | 2018-07-24 | 中国科学院沈阳自动化研究所 | The measuring device and measurement method of high-precision industrial robot repetitive positioning accuracy |
| CN108789498A (en) * | 2018-08-01 | 2018-11-13 | 珠海格力智能装备有限公司 | Method and device, storage medium and the processor of test machine people |
| CN109737850A (en) * | 2018-12-20 | 2019-05-10 | 合肥欣奕华智能机器有限公司 | The measuring device and method of robot pose repeatability |
| CN110125980A (en) * | 2019-05-21 | 2019-08-16 | 中国科学院沈阳自动化研究所 | The caliberating device and scaling method of industrial robot repetitive positioning accuracy measuring device |
| CN110733060A (en) * | 2019-11-04 | 2020-01-31 | 清华大学 | mechanical arm tail end space repeated positioning precision measuring device and method |
| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
| CN115946151A (en) * | 2023-01-09 | 2023-04-11 | 佛山市南海区质量技术监督检测所 | Industrial robot tail end jitter degree measuring device and measuring method thereof |
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