CN112665476B - Precision detection device for gripper of welding robot - Google Patents
Precision detection device for gripper of welding robot Download PDFInfo
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- CN112665476B CN112665476B CN202011594194.4A CN202011594194A CN112665476B CN 112665476 B CN112665476 B CN 112665476B CN 202011594194 A CN202011594194 A CN 202011594194A CN 112665476 B CN112665476 B CN 112665476B
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Abstract
The invention relates to a precision detection device for a gripper of a welding robot, which comprises a base and a detection tool body, wherein the detection tool body comprises a connecting seat, a detection seat and a connecting rod; a pin sleeve hole is formed in the detection seat, a pin sleeve is arranged in the pin sleeve hole, and a positioning pin on the robot gripper is matched with the pin sleeve; the positioning pin can be inserted into the pin sleeve without interference, and the offset of the positioning pin is qualified within a given range; if the positioning pin cannot be inserted into the pin sleeve and interference exists, the offset of the positioning pin is not in a given range and is unqualified. The robot gripper is low in manufacturing cost, and can perform precision calibration and precision maintenance on the robot gripper when no digital-analog or digital-analog structure is not in accordance with a real object; professional three-coordinate calibration personnel are not needed, and ordinary workshop preservation can be completed through simple training; the measurement report is simpler than the calibration time of three coordinates.
Description
Technical Field
The invention relates to the technical field of part detection, in particular to a precision detection device for a gripper of a welding robot.
Background
At present, the precision detection of the robot gripper is realized by calibrating a mobile three-coordinate system, the calibration content comprises a positioning pin and a supporting surface, and the whole calibration process comprises the installation of the mobile three-coordinate system, the calibration measurement of the positioning pin and the supporting surface, the disassembly of the mobile three-coordinate system and the later data report processing. The whole time consumption is long, in addition, in a new project, the structure of the gripper can be changed, and meanwhile, in the later debugging process, the structure can also be adjusted, so that the digital-analog and the physical structure of the gripper do not accord with each other, no reference standard exists, and the condition that three coordinates cannot be calibrated occurs.
Disclosure of Invention
In order to solve the problems, the invention provides a precision detection device for a robot gripper of a welding robot, which is used for finishing precision maintenance and maintenance work by combining the track of the robot gripper.
The technical scheme adopted by the invention is as follows: the utility model provides a welding robot tongs precision detection device, includes the base and sets up the body of examining on the base, its characterized in that: the checking fixture body comprises a connecting seat arranged at the upper part, a detecting seat arranged at the upper part and a connecting rod arranged between the connecting seat and the detecting seat; the detection seat is provided with a pin sleeve hole, a pin sleeve is arranged in the pin sleeve hole, and a positioning pin on the robot gripper is matched with the pin sleeve; the positioning pin can be inserted into the pin sleeve without interference, and the offset of the positioning pin is qualified within a given range; if the positioning pin cannot be inserted into the pin sleeve and interference exists, the offset of the positioning pin is not in a given range and is unqualified.
Preferably, the detection seat is provided with three mutually perpendicular stepped holes for measuring by the dial indicator, namely an X-axis stepped hole, a Y-axis stepped hole and a Z-axis stepped hole.
Preferably, the connecting seat is provided with a dial indicator zero calibration hole and a dial indicator zero calibration datum plane.
Preferably, two mutually perpendicular planes for measuring by using the vernier caliper are arranged at the upper end of the connecting rod close to the bottom of the detection seat, and are an X-axis measuring plane and a Y-axis measuring plane respectively; the top end face of the detection seat is used as a Z-axis measurement face, and the X-axis measurement face, the Y-axis measurement face and the Z-axis measurement face are perpendicular to each other to form a three-dimensional space coordinate system which is used as a reference face for vernier caliper measurement.
Preferably, the connecting seat is connected with the base in a matched mode through the shaft hole and is fixed through the locking pin.
Preferably, the pin sleeve is a rubber sleeve.
The beneficial effects obtained by the invention are as follows:
(1) The manufacturing cost is low;
(2) When no digital model or the digital model structure is not in accordance with the material object, the precision calibration and precision maintenance work can be carried out on the robot gripper;
(3) The rapid checking fixture does not need professional three-coordinate calibration personnel, and ordinary workshop preservation can be completed through simple training;
(4) The calibration time of the rapid checking fixture is shorter than that of a three-coordinate system;
(5) The reporting of measurements is simpler than three-coordinate reporting.
Drawings
FIGS. 1-2 are schematic structural views of the detecting device of the present invention;
FIG. 3 is a schematic view of the engagement of the locating pin of the gripper with the pin sleeve;
FIG. 4 is a schematic view of measurement with a vernier caliper;
FIG. 5 is a schematic representation of measurements using a dial gauge;
FIG. 6 is a schematic view of Y-direction data analysis of five positioning pins of the gripper;
in the figure: 1. a base; 2. a bolt; 3. the gauge comprises a gauge body; 31. a connecting seat; 32. a connecting rod; 33. a detection seat; 4. a dial indicator zero calibration hole; 5. a dial indicator zero calibration reference surface; 6. an X-axis step hole; 7. a Y-axis step hole; 8. a Z-axis step hole; 9. a pin bushing hole; 10. measuring the plane on the X axis; 11. measuring a plane on the Y axis; 12. a Z-axis measuring plane; 13. pin bushings (rubber bushings); 14. positioning pins; 15. a vernier caliper; 16. and (4) a dial indicator.
Detailed Description
The invention will be further described with reference to the following drawings and specific embodiments.
As shown in fig. 1-2, the precision detection device for the gripper of the welding robot comprises a base 1 and a detection tool body 3 arranged on the base 1, wherein the detection tool body 3 comprises a connecting seat 31 arranged on the upper part, a detection seat 33 arranged on the upper part, and a connecting rod 32 arranged between the connecting seat 31 and the detection seat 33; the detection seat 33 is provided with a pin sleeve hole 9, a pin sleeve 13 (the pin sleeve 13 is a rubber sleeve) is sleeved in the pin sleeve hole 9, and a positioning pin 14 on the robot gripper is matched with the pin sleeve 13. The pin bush hole 9, the pin bush 13 and the positioning pin 14 are coaxially arranged.
Referring to fig. 3, during installation, the base 1 is fixed on a fixed support on the ground, so that the base 1 does not displace relative to the ground, the inspection device body 3 is connected with the base 1 through a shaft hole in a matched manner, and meanwhile, the locking pin 2 is inserted, so that the whole detection device is fixed relative to the ground, then the robot gripper adjusts a track, each positioning pin 14 on the upper surface is sequentially located in a pin sleeve hole 9 of the detection seat 33, the positioning pins 14 are concentric with the pin sleeve holes 9, and the height of each positioning pin 14 is a certain distance away from the top end surface of the detection seat 33; meanwhile, the supports on each gripper are matched in sequence, and the position of the support surface and the top end surface of the detection seat 33 form a fixed height which is used as a reference.
Rough check of the gripper positioning pin 14 for offset: according to the diameter of each positioning pin 14, a rubber sleeve 13 is added in the pin sleeve hole 9, the rubber sleeve 13 is tightly matched with the pin sleeve hole 9, the rubber sleeve 13 is larger than the diameter of the positioning pin 14 to be checked by a tolerance value (2 mm), a robot program is manually operated, one positioning pin 14 is checked, and then the rubber sleeve 13 with the corresponding diameter is replaced. When the robot works and is overhauled, the demonstrator operates the robot in a single step according to a track adjusted in advance, and as long as the positioning pin 14 can be inserted into the rubber sleeve 13 without interference, the deviation is in a given range and is qualified; otherwise, the deviation is unqualified and needs to be adjusted, the adjustment amount starts a measurement scheme, a specific deviation value is measured, and the deviation is adjusted according to the value.
In this embodiment, two mutually perpendicular planes for the vernier caliper to measure are arranged at the upper end of the connecting rod 32 near the bottom of the detection seat 33, and are an X-axis measuring surface 10 and a Y-axis measuring surface 11 respectively; the top end face of the detection seat 33 is used as a Z-axis measuring face 12, and the X-axis measuring face 11, the Y-axis measuring face 12 and the Z-axis measuring face 13 are perpendicular to each other to form a three-dimensional space coordinate system which is used as a reference plane for measuring the vernier caliper 15. Referring to fig. 4, the trajectory of each positioning pin 14 on the gripper is adapted, assuming that the original gripper is in a theoretical state, as shown in fig. 4, it is an end position (the pin bush hole is larger than the positioning pin), the positioning pin is concentric with the pin bush hole, the values in the XYZ direction are sequentially measured by a vernier caliper 15, and initial data is recorded as a reference value. And measuring the actual value of XYZ according to a planned period, comparing the actual value with a reference value, and if the actual value has a deviation, performing corresponding adjustment, and grabbing the part to verify the effect.
Referring to fig. 5, in this embodiment, three mutually perpendicular stepped holes for the dial indicator to measure are provided on the detection seat 33, which are the X-axis stepped hole 6, the Y-axis stepped hole 7, and the Z-axis stepped hole 8, respectively. An X-axis step hole 6, a Y-axis step hole 7 and a Z-axis step hole 8 form a space coordinate system, the major diameter of the step hole is the outer diameter of a dial indicator 16 sleeve, the minor diameter of the step hole is larger than the outer diameter of a measuring rod of the dial indicator 16, the end face of the front end of the dial indicator 16 sleeve is in contact with and flatly attached to the end face of the minor hole of the step hole to form a standard, the standard is fixed and fixed, the measuring rod penetrates through the minor hole of the step hole, the top end of the measuring rod is in contact with a positioning pin 14, the measuring rod contracts to read a numerical value, and measurement is completed. Because the step hole is tiny clearance fit with 16 sleeves of percentage table, the percentage table measuring stick is difficult for rocking in corresponding direction during the measurement, and the position point that is equivalent to at every turn measuring is unchangeable for data are more accurate, and 16 measurement of percentage table are same group of data, and are about faster than slide caliper 15, and the precision is high. Meanwhile, a zero calibration structure of the dial indicator (a zero calibration hole 4 of the dial indicator and a zero calibration reference surface 5 of the dial indicator) is processed on the connecting seat 31 at the lower part, and when the dial indicator is used every time, the dial indicator 16 is calibrated.
As shown in fig. 6, the Y-direction data of the five positioning pins of the gripper are measured by the vernier caliper and the measurement is repeated three times, and the result shows that the error is in the range of 0.3mm, mainly comes from the measurement error, and the whole process takes more than 5 minutes, which is far lower than the time of three-coordinate measurement by 4 hours, which is only one forty times, and the target is achieved.
Compared with the three-coordinate measurement, the detection device of the invention has the advantages that the economic benefit is obtained by adopting the detection device to carry out the measurement, the initial budget is saved, and the amount is saved:
the three-coordinate calibration time is reduced: 4 h/station 50 station 2/8 h/day =50 days
And (3) wage saving: 100 yuan/day 50 days =5000 yuan
The cost is saved in the year: 0.5 ten thousand 2 times/year =1 ten thousand yuan/year
Avoiding the scrap cost:
the rejection rate is 1 percent, the cost of each side wall is 200 yuan, and 3 ten thousand plates are produced in a year.
The cost is saved: 3 ten thousand 1% + 200=6 ten thousand
Reduce the time of repair: 0.2 h/stage 30 stages/month =6 h/month
And 4, annual wage saving: 6 h/month 12 month 10 yuan/h =72 yuan
Reducing mobile three-coordinate depreciation: 5 ten thousand per year
The annual total cost is saved: 1 ten thousand +6 ten thousand +72+5 ten thousand =120072 yuan
The foregoing shows and describes the general principles and principal structural features of the present invention. The present invention is not limited to the above examples, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The utility model provides a welding robot tongs precision detection device, includes the base and sets up the body of examining on the base, its characterized in that: the checking fixture body comprises a connecting seat arranged at the lower part, a detecting seat arranged at the upper part and a connecting rod arranged between the connecting seat and the detecting seat; a pin sleeve hole is formed in the detection seat, a pin sleeve is arranged in the pin sleeve hole, and a positioning pin on the robot gripper is matched with the pin sleeve; the positioning pin can be inserted into the pin sleeve without interference, and the offset of the positioning pin is qualified within a given range; if the positioning pin cannot be inserted into the pin sleeve and interference exists, the offset of the positioning pin is not in a given range and is unqualified; the connecting seat is matched and connected with the base through the shaft hole and is fixed through the locking pin; the pin sleeve is a rubber sleeve;
during installation, the base is fixed on the ground, so that the base cannot displace relative to the ground, the checking fixture body is connected with the base in a matched mode through the shaft hole, and meanwhile, the locking pin is inserted, so that the whole detection device is fixed relative to the ground; then the robot gripper adjusts the track, so that each positioning pin on the robot gripper is sequentially positioned in a pin bushing hole of the detection seat, the positioning pins are concentric with the pin bushing holes, and the height of each positioning pin is a certain distance away from the top end face of the detection seat; simultaneously, supports on each gripper are sequentially matched, and the position of a support surface and the top end surface of the detection seat form a fixed height which is taken as a reference;
roughly checking whether the gripper positioning pin deviates or not: according to the diameter of each positioning pin, a rubber sleeve is added in a pin sleeve hole, the rubber sleeve is tightly matched with the pin sleeve hole, the rubber sleeve is larger than the diameter of the positioning pin to be checked by a tolerance value of 2mm, a robot program is manually operated, the positioning pin is checked, and then the rubber sleeve with the corresponding diameter is replaced; when the robot works and is overhauled, the demonstrator operates the robot in a single step according to a track adjusted in advance, and as long as the positioning pin can be inserted into the rubber sleeve without interference, the deviation is qualified when the deviation is in a given range; otherwise, the deviation is unqualified and needs to be adjusted, the adjustment amount starts a measurement scheme, a specific deviation value is measured, and the deviation value is adjusted according to the value;
the detection seat is provided with three mutually vertical step holes for measuring by the dial indicator, namely an X-axis step hole, a Y-axis step hole and a Z-axis step hole; the connecting seat is provided with a dial indicator zero calibration hole and a dial indicator zero calibration reference surface; two mutually perpendicular planes for measuring by using a vernier caliper are arranged at the upper end of the connecting rod close to the bottom of the detection seat and are respectively an X-axis measuring surface and a Y-axis measuring surface; the top end face of the detection seat is used as a Z-axis measurement face, and the X-axis measurement face, the Y-axis measurement face and the Z-axis measurement face are perpendicular to each other to form a three-dimensional space coordinate system which is used as a reference face for vernier caliper measurement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011594194.4A CN112665476B (en) | 2020-12-29 | 2020-12-29 | Precision detection device for gripper of welding robot |
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| CN202011594194.4A CN112665476B (en) | 2020-12-29 | 2020-12-29 | Precision detection device for gripper of welding robot |
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| CN112665476A CN112665476A (en) | 2021-04-16 |
| CN112665476B true CN112665476B (en) | 2022-11-01 |
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| US5454170A (en) * | 1994-03-02 | 1995-10-03 | Vlsi Technology Inc. | Robot to pedestal alignment head |
| JP2682977B2 (en) * | 1995-12-25 | 1997-11-26 | 川崎重工業株式会社 | Robot control method and device |
| JPH11207675A (en) * | 1998-01-30 | 1999-08-03 | Nichiden Mach Ltd | Tool changer |
| JP4284765B2 (en) * | 1999-07-27 | 2009-06-24 | 株式会社豊田中央研究所 | Robot hand position measuring device |
| JP4275632B2 (en) * | 2005-03-01 | 2009-06-10 | 新日本工機株式会社 | Calibration method for parallel mechanism mechanism, calibration verification method, calibration verification program, data collection method, and correction data collection method for spatial position correction |
| JP2007075956A (en) * | 2005-09-14 | 2007-03-29 | Atsuo Takanishi | Reference alignment instrument and reference alignment method using it |
| JP4837113B2 (en) * | 2010-03-18 | 2011-12-14 | ファナック株式会社 | Fitting device using robot |
| CN204844597U (en) * | 2015-06-09 | 2015-12-09 | 山东玲珑轮胎股份有限公司 | Centering detection device for tire mounting manipulator |
| CN107708931A (en) * | 2015-11-25 | 2018-02-16 | 深圳配天智能技术研究院有限公司 | A kind of robot teaching positioner and method |
| CN105773610B (en) * | 2016-03-22 | 2018-01-16 | 长春大正博凯汽车设备有限公司 | A kind of robot calibration's device |
| CN205718746U (en) * | 2016-06-23 | 2016-11-23 | 马鞍山工蜂智能科技有限公司 | A kind of robot motion accuracy detecting device |
| CN106826919B (en) * | 2017-01-19 | 2019-05-07 | 重庆长安汽车股份有限公司 | A kind of positioning device of truss manipulator |
| CN107270854B (en) * | 2017-05-12 | 2020-02-21 | 哈工大机器人集团股份有限公司 | Robot repeated positioning precision detection device |
| CN108393896B (en) * | 2018-02-02 | 2021-04-09 | 山东大学 | Calibration device and method for welding robot welding gun tool point and workpiece coordinate system |
| CN109382828B (en) * | 2018-10-30 | 2021-04-16 | 武汉大学 | Robot shaft hole assembling system and method based on teaching learning |
| CN210100054U (en) * | 2019-05-17 | 2020-02-21 | 上海鑫燕隆汽车装备制造有限公司 | Auxiliary calibrator for robot position |
| CN211590195U (en) * | 2020-01-13 | 2020-09-29 | 上汽大众汽车有限公司 | Robot positioning and calibrating device |
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