CN110398746A - A kind of test device of articulated robot positioning accuracy - Google Patents
A kind of test device of articulated robot positioning accuracy Download PDFInfo
- Publication number
- CN110398746A CN110398746A CN201910508871.7A CN201910508871A CN110398746A CN 110398746 A CN110398746 A CN 110398746A CN 201910508871 A CN201910508871 A CN 201910508871A CN 110398746 A CN110398746 A CN 110398746A
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- positioning accuracy
- articulated robot
- test device
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- 238000012360 testing method Methods 0.000 title claims abstract description 125
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 244000309464 bull Species 0.000 claims abstract description 26
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 238000010276 construction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000001939 inductive effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 208000019751 Anorectal disease Diseases 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 208000015815 Rectal disease Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The present invention provides a kind of test device of articulated robot positioning accuracy.The test device of articulated robot positioning accuracy, comprising: pedestal；Three support rods, three support rods are fixedly mounted on the bottom of the pedestal；Mounting hole, the mounting hole offer at the top of the pedestal, and the mounting hole is located between three support rods；Lifting structure, the elevating mechanism are fixedly mounted on the base, and the elevating mechanism includes connecting shaft, threaded hole, threaded rod, first gear, bull stick, second gear and handle；Placing box, the configuration of the present invention is simple, it is convenient to operate, it is economical and practical, it is adjusted convenient for the height and position to test box, and can control test box and rotated, so as to carry out the test of positioning accuracy under different height and rotary state, it show that different data carry out analytical calculation, greatly improves the accuracy of positioning accuracy test.
Description
Technical field
The present invention relates to testing equipment field more particularly to a kind of test devices of articulated robot positioning accuracy.
Background technique
With the fast development of mechanical automation, the application of mechanical automation slowly in the industrial production, various robots
It is the artificial capital equipment for carrying out workpiece transport, processing of substitution, in the motion process of robot, in order to guarantee that workpiece is added
The precision of work, it is more demanding for the repetitive positioning accuracy of robot motion, evaluate the pose accuracy performance an of robot
Superiority and inferiority, tested usually using special tester, pass through the comparative analysis to test data, it can be determined that robot
Performance quality degree.
In the prior art, a kind of test device for robot localization precision, including test subject and standard are disclosed
Cube, test subject include six laser range sensors for measurement, and six laser range sensors are arranged in three
In orthogonal plane, one, two, three laser range sensors are respectively set in three planes；Six laser rangings
Sensor is connect by sensing data processing module with communication module, and communication module is connect with computer；Standard cube with
Test subject matches the test for completing robot localization precision, and the test device is reasonable in design, using laser ranging original
It manages and calculates the heart point coordinate of tested cube and the attitudes vibration situation of each plane of cube using 6: 321 positioning modes, lead to
Pose accuracy and Pose repeatability that the coordinate position variation repeatedly measured calculates tested robot are crossed, it is still, existing
Structure is complicated for the test equipment of articulated robot positioning accuracy, and operating process is cumbersome, inconvenient to the height adjustment of test box, test
Case can not be rotated, thus cannot be to testing under various states, so that measurement data deviation is larger.
Therefore, it is necessary to which the test device for providing a kind of articulated robot positioning accuracy solves above-mentioned technical problem.
Summary of the invention
The present invention provides a kind of test device of articulated robot positioning accuracy, solves anorectal disease hand bandage after operation not
Specification, is not easy the problem voluntarily fixed.
In order to solve the above technical problems, the test device of articulated robot positioning accuracy provided by the invention, comprising: bottom
Seat；Three support rods, three support rods are fixedly mounted on the bottom of the pedestal；Mounting hole, the mounting hole open up
Have at the top of the pedestal, the mounting hole is located between three support rods；Lifting structure, the elevating mechanism are fixed
It is mounted on the base, the elevating mechanism includes connecting shaft, threaded hole, threaded rod, first gear, bull stick, second gear
And handle；Placing box, the placing box are located at the top of the pedestal；Test box, the test box are fixedly mounted on described put
Set the top of case；Test chamber, the test chamber are provided on the test box, and the top of the test chamber is opening construction；Mark
Quasi- block, the calibrated bolck are placed in the test chamber；Column, the column are located at the side of the test box；Robot, institute
State the top that robot is fixedly mounted on the column.
Preferably, in the mounting hole, the both ends of the connecting shaft all extend to described for the connecting shaft rotational installation
Outside mounting hole, the threaded hole is provided with the top of the connecting shaft, and the threaded rod is threadably mounted in the connecting shaft, institute
The both ends for stating threaded rod all extend to outside the threaded hole, and the top of the threaded rod is fixedly mounted on the bottom of the placing box
Portion, the first gear fixation are set in the connecting shaft, and the first gear is located at the lower section of the pedestal, the bull stick
Positioned at the side of the first gear, second gear fixation is set on the bull stick, the second gear and described the
One gear is meshed, and the bull stick is fixedly mounted on the bottom end of the bull stick.
Preferably, the bottom end of three support rods is fixedly installed with universal wheel.
Preferably, the bottom of the pedestal is fixedly installed with protecting crust, and the first gear and the second gear are located at
In the protecting crust, the bottom end of the threaded rod is extended to outside the protecting crust, and the bottom end of the bull stick extends to the protection
Outside shell.
Preferably, the bottom of the pedestal is fixedly installed with first bearing seat, and the top of the bull stick is rotatably installed in institute
It states in first bearing seat.
Preferably, fixing sleeve is equipped with first bearing, the outer ring of the first bearing and the mounting hole in the connecting shaft
Inner wall be fixedly connected.
Preferably, the side of the threaded rod offers limiting slot, and the bottom of the pedestal is fixedly installed with vertical bar, described
The bottom end of vertical bar is fixedly installed with gag lever post, and the gag lever post is slidably mounted in limiting slot far from one end of the vertical bar.
Preferably, the bottom of the placing box offers mounting groove, and the top of the threaded rod extends to the mounting groove
It is interior, lock chamber is offered on the placing box, the top of the lock chamber is opening construction, is equipped with positioning in the lock chamber
Plate, the test box are fixedly mounted on the top of the positioning plate.
Preferably, rotating mechanism is equipped in the lock chamber, the rotating mechanism includes shaft, worm gear, worm screw, motor cabinet
And motor, the shaft are fixedly mounted on the bottom of the positioning plate, the worm gear fixation is set in the shaft, the snail
Bar is located in the lock chamber, and the worm screw is meshed with the worm gear, and the motor cabinet is fixedly mounted on the lock chamber
In bottom interior wall, the motor is fixedly mounted on the top of the motor cabinet, the output shaft end of the motor and the worm screw
One end is fixedly connected.
Preferably, fixing sleeve is equipped with second bearing, the outer ring of the second bearing and the mounting groove on the threaded rod
Inner wall be fixedly connected.
Preferably, it is fixedly installed with second bearing seat on the side inside of the lock chamber, the worm screw is far from the electricity
One end of machine is rotatably installed in the second bearing seat, and the bottom of the lock chamber is fixedly installed with 3rd bearing seat, described
The bottom end of shaft is rotatably installed on the 3rd bearing seat.
Compared with the relevant technologies, the test device of articulated robot positioning accuracy provided by the invention has following beneficial
Effect:
The present invention provides a kind of test device of articulated robot positioning accuracy, which is moved to the robot one
The suitable position of side starts the robot, is taken out the calibrated bolck from the test box inner clip using the robot, so
After recycle the robot to put back to the calibrated bolck in the test chamber, when will be tested by six laser range sensors
Inductive signal data be transmitted to computer, analyzed and be calculated the positioning accuracy of the robot, in test process,
When the height of the test box can be adjusted, handle is rotated clockwise, the handle drives the bull stick and described second
Gear is rotated, and the second gear drives the first gear and the connecting shaft to be rotated, and is turned in the connecting shaft
When dynamic, the threaded rod pushes the placing box, the positioning plate, the test box and the calibrated bolck to move up, similarly,
The handle is rotated counterclockwise, the threaded rod drives the placing box, the positioning plate, the test box and the calibrated bolck
It moves down, by repeatedly adjusting the height and position of the test box and the calibrated bolck, using the robot to the mark
Quasi- block is pressed from both sides out and is put back to the test chamber, obtains different data, is analyzed and be calculated determining for the robot
Position precision can start the motor work according to test needs, and the motor drives the worm screw to carry out uniform speed slow rotation,
The worm screw drives the worm gear and the shaft to be rotated, and the shaft drives the positioning plate, test box and the mark
Quasi- block is rotated, and then can be clamped using the robot to the calibrated bolck slowly rotated, will be described
Calibrated bolck presss from both sides out in the test chamber, then recycles the robot to put back to the calibrated bolck in the test chamber, obtains
Test data is transmitted to computer, the positioning accuracy of the robot is analyzed and be calculated, to different height and rotation
The calibrated bolck under state is clamped and is put back to, and obtains average value by repeatedly measuring, and can greatly improve positioning accurate
The accuracy of test is spent, the configuration of the present invention is simple, it is convenient to operate, and it is economical and practical, it is adjusted convenient for the height and position to test box
Section, and can control test box and rotated, so as to carry out the test of positioning accuracy under different height and rotary state,
It show that different data carry out analytical calculation, greatly improves the accuracy of positioning accuracy test.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the test device first embodiment of articulated robot positioning accuracy provided by the invention；
Fig. 2 is the portion the A enlarged diagram of the test device of articulated robot positioning accuracy shown in FIG. 1；
Fig. 3 is the stereochemical structure of connecting shaft and threaded rod in the test device of articulated robot positioning accuracy shown in Fig. 2
Schematic diagram；
Fig. 4 is the structural schematic diagram of the test device second embodiment of articulated robot positioning accuracy provided by the invention；
Fig. 5 is the portion the B enlarged diagram of the test device of articulated robot positioning accuracy shown in Fig. 4；
Fig. 6 is worm gear and the signal of the engaging structure of worm screw in the test device of articulated robot positioning accuracy shown in fig. 5
Figure.
Figure label: 1, pedestal, 2, support rod, 3, mounting hole, 4, connecting shaft, 5, threaded hole, 6, threaded rod, the 7, first tooth
Wheel, 8, bull stick, 9, second gear, 10, handle, 11, placing box, 12, mounting groove, 13, lock chamber, 14, positioning plate, 15, test
Case, 16, test chamber, 17, calibrated bolck, 18, shaft, 19, worm gear, 20, worm screw, 21, motor cabinet, 22, motor, 23, column, 24,
Robot, 25, universal wheel.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
First embodiment
Fig. 1-3 is please referred to, in first the present embodiment of the invention, the test device of articulated robot positioning accuracy
It include: pedestal 1；Three support rods 2, three support rods 2 are fixedly mounted on the bottom of the pedestal 1；Mounting hole 3, institute
It states mounting hole 3 to offer at the top of the pedestal 1, the mounting hole 3 is located between three support rods 2；Lifting structure,
The elevating mechanism is fixedly mounted on the pedestal 1, and the elevating mechanism includes connecting shaft 4, threaded hole 5, threaded rod 6,
One gear 7, bull stick 8, second gear 9 and handle 10；Placing box 11, the placing box 11 are located at the top of the pedestal 1；Test
Case 15, the test box 15 are fixedly mounted on the top of the placing box 11；Test chamber 16, the test chamber 16 are provided with described
On test box 15, the top of the test chamber 16 is opening construction；Calibrated bolck 17, the calibrated bolck 17 are placed on the test chamber
In 16；Column 23, the column 23 are located at the side of the test box 15；Robot 24, the robot 24 are fixedly mounted on
The top of the column 23.
The connecting shaft 4 is rotatably installed in the mounting hole 3, and the both ends of the connecting shaft 4 all extend to the installation
Outside hole 3, the threaded hole 5 is provided with the top of the connecting shaft 4, and the threaded rod 6 is threadably mounted in the connecting shaft 4,
The both ends of the threaded rod 6 all extend to outside the threaded hole 5, and the top of the threaded rod 6 is fixedly mounted on the placing box
11 bottom, the fixation of first gear 7 are set in the connecting shaft 4, and the first gear 7 is located under the pedestal 1
Side, the bull stick 8 are located at the side of the first gear 7, and the second gear 9 is fixed and is set on the bull stick 8, and described the
Two gears 9 are meshed with the first gear 7, and the bull stick 10 is fixedly mounted on the bottom end of the bull stick 8.
The bottom end of three support rods 2 is fixedly installed with universal wheel 25.
The bottom of the pedestal 1 is fixedly installed with protecting crust, and the first gear 7 and the second gear 9 are located at described
In protecting crust, the bottom end of the threaded rod 6 is extended to outside the protecting crust, and the bottom end of the bull stick 8 extends to the protecting crust
Outside.
The bottom of the pedestal 1 is fixedly installed with first bearing seat, and the top of the bull stick 8 is rotatably installed in described first
On bearing block.
Fixing sleeve is equipped with first bearing, the inner wall of the outer ring of the first bearing and the mounting hole 3 in the connecting shaft 4
It is fixedly connected.
The side of the threaded rod 6 offers limiting slot, and the bottom of the pedestal 1 is fixedly installed with vertical bar, the vertical bar
Bottom end be fixedly installed with gag lever post, the gag lever post is slidably mounted in limiting slot far from one end of the vertical bar.
The working principle of the test device of articulated robot positioning accuracy provided by the invention is as follows:
The calibrated bolck 17 is cubic shaped, laser range sensor there are six installations in the test box 15, six
Laser range sensor and computer are electrically connected, and the test box 15 is mounted by means of bolts on the positioning plate 14,
Facilitate and carry out disassembly and installation fixation, is fixedly installed with brake block on three universal wheels 25, it is described universal using three
Wheel 25 can move the equipment；
The equipment is moved to the suitable position of 24 side of robot, the robot 24 can be started, utilize institute
It states robot 24 and takes out the calibrated bolck 17 from 15 inner clip of test box, then recycle the robot 24 by the mark
Quasi- block 17 is put back in the test chamber 16, and inductive signal data when testing are transmitted to meter by six laser range sensors
The positioning accuracy of the robot 24 is analyzed and be calculated to calculation machine；
In test process, when the height of the test box 15 can be adjusted, firstly, handle 10 is rotated clockwise, institute
Stating handle 10 drives the bull stick 8 and the second gear 9 to be rotated；
The second gear 9 drives the first gear 7 and the connecting shaft 4 to be rotated；
In the connecting shaft 4 rotation, the threaded rod 6 is moved up, and the gag lever post slides in limiting slot；
The threaded rod 6 push the placing box 11, the positioning plate 14, the test box 15 and the calibrated bolck 17 to
Upper movement；
Similarly, the handle 10 is rotated counterclockwise, the threaded rod 6 drives the placing box 11, the positioning plate 14, institute
It states test box 15 and the calibrated bolck 17 moves down；
When height adjustment to the suitable position of the test box 15 and the calibrated bolck 17, stop operating the handle
10；
By repeatedly adjusting the height and position of the test box 15 and the calibrated bolck 17,24 pairs of institutes, the robot are utilized
It states calibrated bolck 17 and is pressed from both sides out and put back to the test chamber 16, obtain different data, analyzed and be calculated the machine
The positioning accuracy of device people 24 obtains average value by repeatedly measuring, and can greatly improve the accuracy of positioning accuracy test.
Compared with the relevant technologies, the test device of articulated robot positioning accuracy provided by the invention has following beneficial
Effect:
The equipment is moved to the suitable position of 24 side of robot, the robot 24 can be started, utilize institute
It states robot 24 and takes out the calibrated bolck 17 from 15 inner clip of test box, then recycle the robot 24 by the mark
Quasi- block 17 is put back in the test chamber 16, and inductive signal data when testing are transmitted to meter by six laser range sensors
Calculation machine, is analyzed and is calculated the positioning accuracy of the robot 24, can be to the height of the test box 15 in test process
When degree is adjusted, handle 10 is rotated clockwise, the handle 10 drives the bull stick 8 and the second gear 9 to be rotated,
The second gear 9 drives the first gear 7 and the connecting shaft 4 to be rotated, described in the connecting shaft 4 rotation
Threaded rod 6 pushes the placing box 11, the positioning plate 14, the test box 15 and the calibrated bolck 17 to move up, similarly,
The handle 10 is rotated counterclockwise, the threaded rod 6 drives the placing box 11, the positioning plate 14,15 and of the test box
The calibrated bolck 17 moves down, and by repeatedly adjusting the height and position of the test box 15 and the calibrated bolck 17, utilizes institute
State robot 24 and pressed from both sides out and put back to the test chamber 16 to the calibrated bolck 17, obtain different data, carry out analysis and
The positioning accuracy of the robot 24 is calculated, obtains average value by repeatedly measuring, positioning accuracy can be greatly improved
The accuracy of test.
Second embodiment:
Fig. 4-6 is please referred to, the test based on the articulated robot positioning accuracy that the first embodiment of the present invention provides
Device, the test device for the articulated robot positioning accuracy that the second embodiment of the present invention provides, the difference is that, joint machine
The test device of device people's positioning accuracy further includes mounting groove 12, and the mounting groove 12 is provided with the bottom of the placing box 11, institute
The top for stating threaded rod 6 extends in the mounting groove 12, and lock chamber 13, the lock chamber 13 are offered on the placing box 11
Top be opening construction, be equipped with positioning plate 14 in the lock chamber 13, the test box 15 is fixedly mounted on the positioning plate
14 top；
It is equipped with rotating mechanism in the lock chamber 13, the rotating mechanism includes shaft 18, worm gear 19, worm screw 20, motor
Seat 21 and motor 22, the shaft 18 are fixedly mounted on the bottom of the positioning plate 14, and the fixation of worm gear 19 is set in described
In shaft 18, the worm screw 20 is located in the lock chamber 13, and the worm screw 20 is meshed with the worm gear 19, the motor cabinet
21 are fixedly mounted in the bottom interior wall of the lock chamber 13, and the motor 22 is fixedly mounted on the top of the motor cabinet 21,
The output shaft end of the motor 22 is fixedly connected with one end of the worm screw 20.
Fixing sleeve is equipped with second bearing on the threaded rod 6, and the outer ring of the second bearing is interior with the mounting groove 12
Wall is fixedly connected；
Second bearing seat is fixedly installed on the side inside of the lock chamber 13, the worm screw 20 is far from the motor 22
One end be rotatably installed in the second bearing seat, the bottom of the lock chamber 13 is fixedly installed with 3rd bearing seat, described
The bottom end of shaft 18 is rotatably installed on the 3rd bearing seat.
Be fixedly installed with control switch and circumscripted power line on the pedestal 1, the motor 22, control switch and with it is external
Power supply line be successively electrically connected constitute closed circuit, control switch control the motor 22 start and stop work, according to test needs,
The placing box 11 can be rotated manually, and the placing box 11 drives the test box 15 and the calibrated bolck 17 not to be turned at the uniform velocity
It is dynamic, the motor 22 can also be started and worked, the motor 22 drives the worm screw 20 to carry out uniform speed slow rotation, the worm screw 20
The worm gear 19 and the shaft 18 is driven to be rotated, the shaft 18 drives the positioning plate 14, test box 15 and described
Calibrated bolck 17 is rotated, and then can be pressed from both sides using 24 pairs of calibrated bolcks 17 slowly rotated of the robot
It takes, the calibrated bolck 17 is pressed from both sides out in the test chamber 16, the robot 24 is then recycled to put back to the calibrated bolck 17
In the test chamber 16, inductive signal data when testing are transmitted to computer by six laser range sensors, are carried out
The positioning accuracy of the robot 24 is analyzed and be calculated, stops the motor 22 after the completion of test and works.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of test device of articulated robot positioning accuracy characterized by comprising
Pedestal；
Three support rods, three support rods are fixedly mounted on the bottom of the pedestal；
Mounting hole, the mounting hole offer at the top of the pedestal, and the mounting hole is located between three support rods；
Lifting structure, the elevating mechanism are fixedly mounted on the base, the elevating mechanism include connecting shaft, threaded hole,
Threaded rod, first gear, bull stick, second gear and handle；Placing box, the placing box are located at the top of the pedestal；
Test box, the test box are fixedly mounted on the top of the placing box；
Test chamber, the test chamber are provided on the test box, and the top of the test chamber is opening construction；
Calibrated bolck, the calibrated bolck are placed in the test chamber；
Column, the column are located at the side of the test box；
Robot, the robot are fixedly mounted on the top of the column.
2. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the connecting shaft turns
In the mounting hole, the both ends of the connecting shaft all extend to outside the mounting hole, and the threaded hole is provided with institute for dynamic installation
The top of connecting shaft is stated, the threaded rod is threadably mounted in the connecting shaft, and the both ends of the threaded rod all extend to described
Outside threaded hole, the top of the threaded rod is fixedly mounted on the bottom of the placing box, and the first gear fixation is set in institute
It states in connecting shaft, the first gear is located at the lower section of the pedestal, and the bull stick is located at the side of the first gear, described
Second gear fixation is set on the bull stick, and the second gear is meshed with the first gear, the fixed peace of the bull stick
Mounted in the bottom end of the bull stick.
3. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that three supports
The bottom end of bar is fixedly installed with universal wheel.
4. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the bottom of the pedestal
Portion is fixedly installed with protecting crust, and the first gear and the second gear are located in the protecting crust, the bottom of the threaded rod
End extends to outside the protecting crust, and the bottom end of the bull stick extends to outside the protecting crust.
5. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the bottom of the pedestal
Portion is fixedly installed with first bearing seat, and the top of the bull stick is rotatably installed in the first bearing seat of honour.
6. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that in the connecting shaft
Fixing sleeve is equipped with first bearing, and the outer ring of the first bearing is fixedly connected with the inner wall of the mounting hole.
7. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the threaded rod
Side offers limiting slot, and the bottom of the pedestal is fixedly installed with vertical bar, and the bottom end of the vertical bar is fixedly installed with gag lever post,
The gag lever post is slidably mounted in limiting slot far from one end of the vertical bar.
8. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the placing box
Bottom offers mounting groove, and the top of the threaded rod extends in the mounting groove, offers lock chamber on the placing box,
The top of the lock chamber is opening construction, is equipped with positioning plate in the lock chamber, the test box is fixedly mounted on described fixed
The top of position plate.
9. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that in the lock chamber
Equipped with rotating mechanism, the rotating mechanism includes shaft, worm gear, worm screw, motor cabinet and motor, and the shaft is fixedly mounted on institute
The bottom of positioning plate is stated, the worm gear fixation is set in the shaft, and the worm screw is located in the lock chamber, the worm screw
It is meshed with the worm gear, the motor cabinet is fixedly mounted in the bottom interior wall of the lock chamber, and the motor is fixedly mounted
At the top of the motor cabinet, the output shaft end of the motor is fixedly connected with one end of the worm screw.
10. the test device of articulated robot positioning accuracy according to claim 1, which is characterized in that the threaded rod
Upper fixing sleeve is equipped with second bearing, and the outer ring of the second bearing is fixedly connected with the inner wall of the mounting groove, the lock chamber
Side inside on be fixedly installed with second bearing seat, the worm screw is rotatably installed in described second far from one end of the motor
On bearing block, the bottom of the lock chamber is fixedly installed with 3rd bearing seat, and the bottom end of the shaft is rotatably installed in described
On three bearing blocks.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910508871.7A CN110398746A (en) | 2019-06-13 | 2019-06-13 | A kind of test device of articulated robot positioning accuracy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910508871.7A CN110398746A (en) | 2019-06-13 | 2019-06-13 | A kind of test device of articulated robot positioning accuracy |
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| CN201910508871.7A Pending CN110398746A (en) | 2019-06-13 | 2019-06-13 | A kind of test device of articulated robot positioning accuracy |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113486A (en) * | 2019-11-22 | 2020-05-08 | 上海新时达机器人有限公司 | Performance test method and device of mechanical arm, computer equipment and storage medium |
| CN116922449A (en) * | 2023-09-13 | 2023-10-24 | 沈阳格熙科技有限公司 | Positioning accuracy detection device for robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205194825U (en) * | 2015-12-15 | 2016-04-27 | 中国电子科技集团公司第二十七研究所 | Servo device that bears of radar antenna |
| CN206339236U (en) * | 2017-01-11 | 2017-07-18 | 诺伯特智能装备（山东）有限公司 | A kind of Portable industrial robot fixed position pose measurement instrument |
| CN206357276U (en) * | 2017-01-11 | 2017-07-28 | 诺伯特智能装备（山东）有限公司 | A kind of test device for robot localization precision |
| CN206515495U (en) * | 2017-01-06 | 2017-09-22 | 叶木林 | A kind of lift meteorological environment detection apparatus |
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2019
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| CN205194825U (en) * | 2015-12-15 | 2016-04-27 | 中国电子科技集团公司第二十七研究所 | Servo device that bears of radar antenna |
| CN206515495U (en) * | 2017-01-06 | 2017-09-22 | 叶木林 | A kind of lift meteorological environment detection apparatus |
| CN206339236U (en) * | 2017-01-11 | 2017-07-18 | 诺伯特智能装备（山东）有限公司 | A kind of Portable industrial robot fixed position pose measurement instrument |
| CN206357276U (en) * | 2017-01-11 | 2017-07-28 | 诺伯特智能装备（山东）有限公司 | A kind of test device for robot localization precision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111113486A (en) * | 2019-11-22 | 2020-05-08 | 上海新时达机器人有限公司 | Performance test method and device of mechanical arm, computer equipment and storage medium |
| CN116922449A (en) * | 2023-09-13 | 2023-10-24 | 沈阳格熙科技有限公司 | Positioning accuracy detection device for robot |
| CN116922449B (en) * | 2023-09-13 | 2023-11-21 | 沈阳格熙科技有限公司 | Positioning accuracy detection device for robot |
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