CN107270854B - Robot repeated positioning precision detection device - Google Patents
Robot repeated positioning precision detection device Download PDFInfo
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- CN107270854B CN107270854B CN201710332917.5A CN201710332917A CN107270854B CN 107270854 B CN107270854 B CN 107270854B CN 201710332917 A CN201710332917 A CN 201710332917A CN 107270854 B CN107270854 B CN 107270854B
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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
Abstract
The invention relates to a repeated positioning precision detection device of a robot, wherein a bracket assembly (1) is provided with a sliding assembly (2), a base assembly (3) is arranged on the sliding assembly, and three electronic dial indicator assemblies (4) are arranged on the base and are mutually vertical in space and intersected at one point; when the tested ball head assembly (5) at the tail end of the robot reaches the space detection range of the three electronic dial indicators, the test data of the three electronic dial indicators are transmitted to the computer processing unit in real time, and the result of the repeated positioning precision value of the robot can be obtained. The invention has the advantages of very low cost, simple and convenient operation and easy learning and use.
Description
Technical Field
The invention relates to the field of precision detection devices, in particular to a robot repeated positioning precision detection device.
Background
At present, the repeated positioning precision of the robot is mostly detected by a laser tracker. The laser tracker has high requirements on operators in the process of detecting the robot repeated positioning accuracy, is complex to operate and high in cost, if the laser tracker is only used for detecting the robot repeated positioning accuracy, serious resource waste can be caused, and in the finished product delivery detection process of the industrial robot, a laser tracker cannot be matched with each station to detect the robot, so that the invention provides the robot repeated positioning accuracy testing and detecting device with ultralow cost and convenient operation, which is very necessary.
The detection device for detecting the repeated positioning accuracy of the robot at present mostly uses a laser tracker as a core, the laser tracker is placed in a mutually vertical space, three paths of light rays are projected to the tail end of the robot, the position of the tail end of the robot in three spatial coordinate axes is measured, then the data are transmitted to a data processing terminal, and the numerical result of the repeated positioning accuracy is calculated and displayed.
The invention aims to solve the problems of high cost, high operation difficulty, complexity and the like of the existing robot repeated positioning detection device, provides a brand-new robot repeated positioning detection device with ultralow cost and simple and convenient operation, adopts the traditional high-precision device and the traditional detection device method, integrates the devices by an ingenious method, achieves the brand-new scheme with ultralow cost and simple and convenient operation, and has stronger application range, convenience and flexibility.
Disclosure of Invention
In order to overcome the defects, the invention provides a robot repeated positioning precision detection device which comprises a bracket assembly (1), a sliding assembly (2), a base assembly (3), an electronic dial indicator assembly (4) and a ball head assembly (5); the bracket component (1) is provided with a sliding component (2), the sliding component (2) is provided with a base component (3), the base component is fixed with three electronic dial indicators (4), the axes of the electronic dial indicators are mutually vertical in space and intersect at one point, and the one point is a test central point;
the bracket assembly (1) comprises a stable base (6) and a smooth metal rod (7) arranged on the stable base; the metal rod (7) is inserted on the base (6); the sliding assembly (2) comprises a sliding block (8) and a fastening hand wheel (9) and is used for adjusting the testing direction and the height of the testing position; the base component (3) is an internal tangent angle component formed by three mutually vertical surfaces; the electronic dial indicator assembly comprises three identical electronic dial indicators (10), three special plane measuring heads (11) and three wireless communication devices (13); the special plane measuring head and the wireless communication device are positioned at two ends of the electronic dial indicator; the measuring head plane of the special plane measuring head is vertical to the axis of the electronic dial indicator; the ball head component adopts a strict spherical surface;
the metal rod (7) of the bracket component (1) is sleeved with the sliding component (2), the sliding component (2) can move up and down on the metal rod (7), and the sliding component (2) is fastened on the metal rod (7) through a fastening hand wheel (9); the base component (3) is fixed on the sliding component (2), three surfaces of the base component (3) are respectively fixed with an electronic dial indicator (10), and the special plane measuring head (11) is positioned in the inner angle of the base component;
when the tested ball head assembly (5) arranged at the tail end (13) of the robot reaches the space detection range of the three electronic dial indicators, the test data of the three electronic dial indicators are transmitted to the computer processing unit in real time, and the repeated positioning precision numerical value result of the robot is obtained.
Further, when the tested ball head assembly at the tail end of the robot reaches the space detection range of the three electronic dial indicators, the test data of the three electronic dial indicators are transmitted to the computer processing unit in real time, and after the test is finished, the computer processing unit calculates the repeated positioning precision numerical value result of the robot based on the obtained test data;
calculating a robot repeated positioning precision numerical value result based on the obtained test data, specifically comprising the following steps: acquiring the maximum value Smax of the deviation value S in the test data, determining a repeated positioning precision value R ═ minus (Smax/2), and outputting and displaying the repeated positioning precision value; wherein:
further, before the test starts, after the three special plane measuring heads are all in contact with the ball head of the ball head assembly (5), the computer processing unit sends control signals to the wireless communication device to clear the three electronic dial gauges respectively, and the test starts; the position of the ball head assembly when the test is started is a test point, all the electronic dial indicators are reset, and the initial test data of the test point are as follows: x0 ═ 0, Y0 ═ 0, and Z0 ═ 0.
Furthermore, the computer processing unit sends the motion configuration file to the robot, the tail end of the robot moves between the test point and the target point according to the motion configuration file, the robot reciprocates for multiple times, the precision detection device automatically transmits the test data of each time to the computer processing unit for calculation, and then the repeated positioning precision value is output.
Further, the motion profile includes a plurality of test records, each of which includes a test point PT and a target point sequence PD 1-PDn, where n > is 1, where n is the number of target points included in one test record.
Further, the test records correspond to test paths returning to the test point PT after starting from the test point PT to the target point sequences PD 1-PDn; one or more target points in the target point sequence are provided.
Further, for one test record (PT, PD1, PD2, PT), the robot end starts from the test point PT, sequentially reaches the target points PD1 and PD2, and then returns to the test point PT; after a test record is finished, the robot stops moving after returning to the test point PT, the special plane measuring heads of the three electronic dial gauges are dragged to enable the three special plane measuring heads to be in reliable contact with the ball head of the ball head assembly, and the electronic dial gauges are started to start testing to obtain test data corresponding to the current test record.
Further, the test record corresponding to the test data and the identification thereof are sent to the computer processing unit in real time, and the computer processing unit stores the test data and the current motion configuration file in the local storage unit based on the association of the test record identification.
Further, if the ball head assembly is located outside the spatial test range of the detection device after the test path of one test record is completed and the test point PT is returned, the computer processing unit records the test data corresponding to the test record as abnormal.
Further, the robot repeated positioning accuracy detection device further comprises a plurality of image acquisition units, wherein the image acquisition units acquire images in the test range of the detection device from the fixed position from a plurality of angles, and whether the ball head assembly is in the test range of the detection device is determined based on the images.
Through the scheme, the first cost is very low. The parts related to the detection device are all products which are mature and produced in quantity in the market, wherein the precision of the electronic dial indicator is 0.001mm, the overall precision of the three pieces of the electronic dial indicator is smaller than 0.002mm, the requirement of 0.02mm of repeated positioning precision of most robots in the market is far exceeded, the hardware cost is less than 5000 yuan, and the high repeated positioning precision test requirement can be met. Secondly, the operation is simple and convenient, and the learning is easy. Because the total weight of the detection device is less than 5kg, the detection device is convenient to move and adjust, and the test can be carried out only by connecting the electronic dial indicator with the computer during the test.
Drawings
FIG. 1 is an overall view of the present embodiment;
FIG. 2 is a schematic view of a bracket assembly of the present embodiment;
FIG. 3 is a schematic view of the sliding assembly of the present embodiment;
fig. 4 is a schematic view of the electronic dial gauge assembly according to the embodiment.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
In FIGS. 1-4, 1-bracket assembly; 2-a sliding assembly; 3-a base assembly; 4-electronic dial gauge components; 5-a ball head assembly; 6-a base; 7-a metal rod; 8-a slide block; 9-fastening a hand wheel; 10-electronic dial indicator; 11-special plane measuring head; 12-the end of the robot to be tested; 13-a wireless communication device;
referring to fig. 1 to 4, the present invention provides a robot repeated positioning accuracy detecting apparatus, including: the device comprises a bracket assembly 1, a sliding assembly 2, a base assembly 3, an electronic dial indicator assembly 4 and a ball head assembly 5; the bracket component 1 is provided with a sliding component 2, a base component 3 is arranged on the sliding component, three electronic dial indicators 4 are fixed on the base component, and the axes of the electronic dial indicators are mutually vertical in space and intersect at one point; when the tested ball head assembly 5 arranged at the tail end 13 of the robot reaches the space detection range of the three electronic dial indicators, the test data of the three electronic dial indicators are transmitted to the computer processing unit in real time, and the repeated positioning precision numerical value result of the robot can be obtained;
the bracket assembly 1 comprises a stable base 6 and a smooth metal rod 7 mounted thereon; the metal rod 7 is inserted on the base 6; the sliding assembly 2 comprises a sliding block 8 and a fastening hand wheel 9, and is used for adjusting the testing direction and the height of the testing position; the base component 3 is an internal tangent angle component formed by three mutually vertical surfaces; the electronic dial indicator component comprises three same electronic dial indicators 10, three special plane measuring heads 11 and three wireless communication devices 13; the special plane measuring head and the wireless communication device are positioned at two ends of the electronic dial indicator; the measuring head plane of the special plane measuring head is vertical to the axis of the electronic dial indicator; the ball head assembly adopts a strict spherical surface so as to ensure the accuracy of a test result;
the metal rod 7 of the bracket component 1 is sleeved with the sliding component 2, the sliding component 2 can move up and down on the metal rod 7, and the sliding component 2 is fastened on the metal rod 7 through a fastening hand wheel 9; the base component 3 is fixed on the sliding component 2, three surfaces of the base component 3 are respectively fixed with an electronic dial indicator 10, the special plane measuring head 11 is positioned in the inner angle of the base component, and three electronic dial indicators installed on the base are mutually vertical in space along the extending direction of the special plane measuring head (namely the axial direction of the electronic dial indicator) and intersect at one point, and the point is called as a test central point;
preferably, each electronic dial indicator is fixed at the edge of one face of the base component;
when the tested ball head assembly at the tail end of the robot reaches the space detection range of the three electronic dial indicators, the test data of the three electronic dial indicators are transmitted to the computer processing unit in real time, and after the test is finished, the computer processing unit calculates the repeated positioning precision numerical value result of the robot based on the obtained test data.
Before the test is started, the ball head assembly 5 is installed at the tail end of the robot to be tested, then the ball head assembly 5 at the tail end of the robot is adjusted, the ball head assembly is placed at a proper position in a space, and the position is used as a test point for repeated positioning precision test. Then, the repeated positioning precision detection device is arranged near the test point, a sliding assembly of the repeated positioning precision detection device is adjusted, the ball head assembly falls in the test range of the detection device, and special plane measuring heads of the three electronic dial gauges are dragged, so that the three special plane measuring heads are all in reliable contact with the ball head of the ball head assembly 5, at the moment, the three electronic dial gauges are required to be respectively reset, and the test is started; specifically, the method comprises the following steps: before the test is started, after the three special plane measuring heads are all in contact with the ball head of the ball head assembly 5, the computer processing unit sends control signals to the wireless communication device to clear the three electronic dial gauges respectively, and the test is started; the position of the ball head assembly when the test is started is a test point, all the electronic dial indicators are reset, and the initial test data of the test point are as follows: x0 ═ 0, Y0 ═ 0, Z0 ═ 0;
the computer processing unit sends a motion configuration file to the robot to enable the tail end of the robot to move between the test point and the target point, the robot reciprocates for multiple times, and the precision detection device automatically tests each timeAnd after the data are transmitted to a computer processing unit for calculation, the test result is output. The motion configuration file comprises a plurality of test records, and each test record comprises a test point PT and a target point sequence PD 1-PDn, n>1 is ═ 1; the test record corresponds to a test path returning to the test point PT after starting from the test point PT to the target point sequences PD 1-PDn; one or more target points in the target point sequence; for example: recording 1(PT, PD1, PD2, PT), starting from the test point PT, leading the tail end of the robot to sequentially reach target points PD1 and PD2, and then returning to the test point PT; after a test record is finished, the robot stops moving after returning to a test point PT, special plane measuring heads of three electronic dial gauges are dragged to enable the three special plane measuring heads to be in reliable contact with a ball head of a ball head assembly, the electronic dial gauges are started to start testing, after effective test data are measured, the test data are obtained, the corresponding test record and the identification of the test record are sent to a computer processing unit in real time, and the computer processing unit stores the test data and the current motion configuration file in a local storage unit based on the association of the test record identification; after the test of one test record is finished, the computer processing unit continues to start the test of the next test record until all the test records in the motion configuration file are tested; after the motion configuration file is tested, the robot stops moving and enters a dormant state, the computing and processing unit obtains a test data set { (Xi, Yi, Zi) } and applies a formula
Obtaining the difference between the test data after each repositioning and the initial test data (X0 is 0, Y0 is 0, and Z0 is 0) to obtain a repeated positioning precision value; wherein, (Xi, Yi and Zi) are test data corresponding to the ith test record, and Xi, Yi and Zi are three components of the ball head assembly measured by three electronic micrometers in a space coordinate system respectively;
when a new test needs to be started, the computer processing unit wakes up the robot from a dormant state;
the computer processing unit stores a plurality of motion configuration files, and the motion configuration files are compiled by testers or formulated by a testing standard formulating party; each robot can adopt different motion profiles in different test stages; considering that different robots have different models and different corresponding motion precision and motion capability, different motion configuration files are required to be adopted for testing to obtain an effective test result; in addition, the same robot has different motion capabilities in different debugging and perfecting stages, so that motion profiles (for example, a specific motion profile is set for a specific motion posture and a specific motion track) or motion profiles with different difficulty degrees need to be set in a targeted manner for different perfecting stages; for example: a simpler motion configuration file is set for the initial debugging stage, and the motion path in the motion configuration file is simpler;
the motion configuration file has a file identifier, and the motion configuration file is stored in an independent configuration file storage space in a centralized manner; storing the robot model, the robot perfecting stage and the motion configuration file identification sequence in a correlated manner; before the test is started, according to the model of the robot and the perfecting stage of the robot, a corresponding motion configuration file identification sequence is obtained, a motion configuration file identification of the test is selected from the motion configuration file identification sequence, and a computer processing unit reads a motion configuration file from a configuration file storage space according to the configuration file identification and stores the motion configuration file in a local cache for the test;
if the positioning precision of the robot is low, after a test path of a test record is finished and the test path is returned to a test point PT and is positioned outside the space test range of the detection device, the computer processing unit records the test data corresponding to the test record as ABNORMAL ABNORMAL; the computer processing unit continuously starts the robot to start the test of the next test record; the automatic exception handling is realized through the computer processing unit, so that the automation degree of the detection device is improved;
the computer processing unit accumulates the abnormal times in the current test, and if the abnormal times exceed a first threshold value, the test is terminated; the first threshold value is a preset value;
the robot repeated positioning precision detection device also comprises a plurality of image acquisition units, the image acquisition units acquire images in the test range of the detection device from a fixed position from a plurality of angles, in the testing process of one testing record, after the ball head assembly returns to the testing point PT, the image acquisition unit acquires an image in the testing range of the detection device under the control of the computer processing unit, determines whether the ball head assembly is in the testing range of the detection device or not based on the image, if so, enabling the three special plane measuring heads to be in reliable contact with the ball head of the ball head assembly, starting the electronic dial indicator to start testing to acquire test data, otherwise, sending alarm information to prompt that the testing is abnormal, and continuing to start the robot to start testing of the next test record after controlling the tail end of the robot to move to the position of an initial test point (at the moment, the test data of the initial test point is that X0 is 0, Y0 is 0, and Z0 is 0);
whether the ball head assembly is in the testing range of the detection device is determined based on the image, and the method specifically comprises the following steps: if the images from all the image acquisition units show that the ball head assembly is in the testing range of the detection device, determining that the ball head assembly is in the testing range of the detection device, and otherwise, determining that the ball head assembly is out of the testing range of the detection device; the fixed position refers to that the relative positions of the plurality of image acquisition units relative to the test central point are fixed;
calculating a robot repeated positioning precision numerical value result based on the obtained test data, specifically comprising the following steps: acquiring the maximum value Smax of the deviation value S of the test data, determining a repeated positioning precision value R ═ minus (Smax/2), and outputting and displaying the repeated positioning precision value; wherein:
after the test is finished, the computer processing unit collects all abnormal test data, and displays the test records corresponding to the abnormal test results to a tester after de-duplication and repetition frequency statistics are carried out; the tester can know the occurrence condition of robot positioning abnormity aiming at the abnormity test result, so that the positioning problem of the robot can be quickly positioned, and the positioning precision of the robot is pertinently improved; the computer processing unit also provides all abnormal test data and calculates the repeated positioning precision based on the rest test data; the other mode is as follows: all Xi, Yi and Zi of the abnormal test data are modified into a first maximum value, and then the repeated positioning precision is calculated based on all the test data containing the modified abnormal test data; the first maximum value is set according to experience;
the computer processing unit obtains a standard value corresponding to the motion configuration file (the obtained standard value can be obtained locally, appointed by a tester or obtained from a network), compares the calculated repeated positioning accuracy value with the standard value, if the repeated positioning accuracy value is less than or equal to the standard value, the display accuracy meets the standard, otherwise, the display accuracy does not meet the standard; the computer processing unit pushes the information of the repeated positioning precision value, the adopted motion configuration file, the standard value, whether the information meets the standard and the like to the display unit, and the display unit displays the information; preferably: the display unit is positioned in a mobile terminal and a desktop computer of a tester;
the test range of the detection device is determined by dragging the special plane measuring heads of the three electronic dial gauges, so that the measuring head planes of the three special plane measuring heads can be reliably contacted with the ball head of the ball head assembly;
the motion configuration file comprises a plurality of test records, and one or more of the test records correspond to the same or different test paths;
table 1 test example a
For the test example A, the maximum deviation of each group of tests is calculated to be 41, 41 and 46 respectively, the maximum value 46 is taken, the maximum deviation of the repeated positioning of the mechanical arm is 0.046mm, and the repeated positioning precision is +/-0.023 mm.
The real-time test data are all stored in the computer processing unit, so that the test quantity which can be contained in one complete test is greatly increased, and the electronic dial indicator does not need to store the test data;
compared with the prior art, the invention has the beneficial effects that: first, the cost is very low. The parts related to the detection device are all products which are mature and produced in quantity in the market, wherein the precision of the electronic dial indicator is 0.001mm, the overall precision of the three pieces of the electronic dial indicator is smaller than 0.002mm, the requirement of 0.02mm of repeated positioning precision of most robots in the market is far exceeded, the hardware cost is less than 5000 yuan, and the high repeated positioning precision test requirement can be met. Secondly, the operation is simple and convenient, and the learning is easy. Because the total weight of the detection device is less than 5kg, the detection device is convenient to move and adjust, and the test can be carried out only by connecting the electronic dial indicator with the computer during the test.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the present invention is not limited thereto, and any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (4)
1. The repeated positioning precision detection device for the robot is characterized by comprising a bracket assembly (1), a sliding assembly (2), a base assembly (3), an electronic dial indicator assembly (4) and a ball head assembly (5); the bracket component (1) is provided with a sliding component (2), the sliding component (2) is provided with a base component (3), the base component is fixedly provided with three electronic dial indicators (4), the axes of the electronic dial indicators are mutually vertical in space and intersect at one point, and the one point is a test central point; the bracket assembly (1) comprises a stable base (6) and a smooth metal rod (7) arranged on the stable base; the metal rod (7) is inserted on the base (6); the sliding assembly (2) comprises a sliding block (8) and a fastening hand wheel (9) and is used for adjusting the testing direction and the height of the testing position; the base component (3) is an internal tangent angle component formed by three mutually vertical surfaces; the electronic dial indicator assembly comprises three identical electronic dial indicators (10), three special plane measuring heads (11) and three wireless communication devices (13); the special plane measuring head and the wireless communication device are positioned at two ends of the electronic dial indicator; the measuring head plane of the special plane measuring head is vertical to the axis of the electronic dial indicator; the ball head component adopts a strict spherical surface;
the metal rod (7) of the bracket component (1) is sleeved with the sliding component (2), the sliding component (2) can move up and down on the metal rod (7), and the sliding component (2) is fastened on the metal rod (7) through a fastening hand wheel (9); the base component (3) is fixed on the sliding component (2), three surfaces of the base component (3) are respectively fixed with an electronic dial indicator (10), and the special plane measuring head (11) is positioned in the inner angle of the base component;
when a tested ball head assembly (5) arranged at the tail end (13) of the robot reaches the space detection range of the three electronic dial indicators, transmitting the test data of the three electronic dial indicators to a computer processing unit in real time to obtain the repeated positioning precision numerical value result of the robot;
the motion configuration file comprises a plurality of test records, wherein each test record comprises a test point PT and a target point sequence PD 1-PDn, and n > is 1; the test record corresponds to a test path returning to the test point PT after starting from the test point PT to the target point sequences PD 1-PDn; one or more target points in the target point sequence; the tail end of the robot starts from the test point PT, sequentially reaches a target point and then returns to the test point PT; after a test record is finished, the robot stops moving after returning to a test point PT, special plane measuring heads of three electronic dial gauges are dragged to enable the three special plane measuring heads to be in reliable contact with a ball head of a ball head assembly, the electronic dial gauges are started to start testing, after effective test data are measured, the test data are obtained, the corresponding test record and the identification of the test record are sent to a computer processing unit in real time, and the computer processing unit stores the test data and the current motion configuration file in a local storage unit based on the association of the test record identification; after the test of one test record is finished, the computer processing unit continues to start the test of the next test record until all the test records in the motion configuration file are tested;
after the motion configuration file is tested, the robot stops moving and enters a dormant state, the computing and processing unit obtains a test data set { (Xi, Yi, Zi) } and applies a formula
Obtaining the difference value between the test data after each repositioning and the initial test data X0-0, Y0-0 and Z0-0 to obtain a repeated positioning precision value; wherein, (Xi, Yi and Zi) are test data corresponding to the ith test record, and Xi, Yi and Zi are three components of the ball head assembly measured by three electronic micrometers in a space coordinate system respectively;
each robot adopts different motion configuration files in different test stages; setting motion configuration files or motion configuration files with different difficulty degrees in a targeted manner in different perfecting stages;
when a tested ball head assembly at the tail end of the robot reaches the space detection range of the three electronic dial indicators, transmitting the test data of the three electronic dial indicators to a computer processing unit in real time, and after the test is finished, calculating the repeated positioning precision numerical value result of the robot by the computer processing unit based on the obtained test data;
calculating a robot repeated positioning precision numerical value result based on the obtained test data, specifically comprising the following steps: acquiring the maximum value Smax of the deviation value S in the test data, determining a repeated positioning precision value R ═ minus (Smax/2), and outputting and displaying the repeated positioning precision value;
storing a plurality of motion profiles in a computer processing unit; the motion configuration file has a file identifier, and the motion configuration file is stored in an independent configuration file storage space in a centralized manner; storing the robot model, the robot perfecting stage and the motion configuration file identification sequence in a correlated manner; before the test is started, according to the model of the robot and the perfecting stage of the robot, a corresponding motion configuration file identification sequence is obtained, a motion configuration file identification of the test is selected from the motion configuration file identification sequence, and a computer processing unit reads a motion configuration file from a configuration file storage space according to the configuration file identification and stores the motion configuration file in a local cache for the test;
the computer processing unit sends the motion configuration file to the robot, the tail end of the robot moves between the test point and the target point according to the motion configuration file, the robot reciprocates for multiple times, the precision detection device automatically transmits test data of each time to the computer processing unit for calculation, and then a repeated positioning precision value is output;
and the computer processing unit stores the test data and the current motion configuration file in a local storage unit based on the association of the test record identification.
2. The apparatus according to claim 1, wherein: before the test starts, after three special plane measuring heads are all in contact with the ball head of the ball head assembly (5), the computer processing unit sends control signals to the wireless communication device to clear three electronic dial gauges respectively, and the test starts; the position of the ball head assembly when the test is started is a test point, all the electronic dial indicators are reset, and the initial test data of the test point are as follows: x0 ═ 0, Y0 ═ 0, and Z0 ═ 0.
3. The apparatus according to claim 1, wherein: if the ball head assembly is positioned outside the space test range of the detection device after the test path of one test record is finished and the test point PT is returned, the computer processing unit records the test data corresponding to the test record as abnormal.
4. The apparatus according to claim 1, wherein: the robot repeated positioning accuracy detection device further comprises a plurality of image acquisition units, wherein the image acquisition units acquire images in the test range of the detection device from a fixed position from a plurality of angles, and whether the ball head assembly is in the test range of the detection device is determined based on the images.
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| 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 |
| CN110125980B (en) * | 2019-05-21 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Calibration device and calibration method for industrial robot repeated positioning precision measurement 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 |
| CN112665476B (en) * | 2020-12-29 | 2022-11-01 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
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