CN112665477A - Detection tool and method for testing plane positioning accuracy of end effector - Google Patents
Detection tool and method for testing plane positioning accuracy of end effector Download PDFInfo
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- CN112665477A CN112665477A CN202110007625.0A CN202110007625A CN112665477A CN 112665477 A CN112665477 A CN 112665477A CN 202110007625 A CN202110007625 A CN 202110007625A CN 112665477 A CN112665477 A CN 112665477A
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Abstract
The invention discloses a checking fixture and a method for testing the plane positioning accuracy of an end effector, wherein the checking fixture comprises a first detection unit and a second detection unit which are arranged vertically and have the same structure, and the first detection unit and the second detection unit both comprise: the first linear guide rail and the second linear guide rail are parallel to each other; the third linear guide rail is perpendicular to the first linear guide rail and the second linear guide rail, and two ends of the third linear guide rail are respectively connected with the first linear guide rail and the second linear guide rail in a sliding manner; the directions of the first dial indicator and the second dial indicator are parallel to each other, and the first dial indicator and the second dial indicator are connected with the third linear guide rail through dial indicator adjusting mechanisms. The invention has simple structure and convenient operation, and can greatly improve the positioning precision of the plane of the end effector.
Description
Technical Field
The invention belongs to the technical field of plane positioning precision testing, and particularly relates to a testing fixture and a method for testing the plane positioning precision of an end effector.
Background
In the prior art, there are many application occasions that need to detect the in-plane positioning accuracy. In order to realize the technical function, a plurality of in-plane positioning precision detection devices are provided, but most of the in-plane positioning precision detection devices adopt camera algorithm processing, laser interferometers and the like, so that the in-plane positioning precision detection devices are high in cost, easily influenced by peripheral vibration, high in requirements on optical and algorithm professional knowledge and not good in popularization.
Disclosure of Invention
Aiming at the problems, the invention provides a checking fixture and a method for testing the plane positioning accuracy of an end effector, which have the advantages of simple structure and convenient operation, and can greatly improve the plane positioning accuracy of the end effector.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a testing fixture for testing planar positioning accuracy of an end effector, including a first detecting unit and a second detecting unit, which are perpendicular to each other and have the same structure, and both of which include:
the first linear guide rail and the second linear guide rail are parallel to each other;
the third linear guide rail is perpendicular to the first linear guide rail and the second linear guide rail, and two ends of the third linear guide rail are respectively connected with the first linear guide rail and the second linear guide rail in a sliding manner;
the directions of the first dial indicator and the second dial indicator are parallel to each other, and the first dial indicator and the second dial indicator are connected with the third linear guide rail through dial indicator adjusting mechanisms.
Optionally, the dial indicator adjusting mechanisms each include:
the corner block is connected with the third linear guide rail;
the transfer block is in contact with the top surface of the corner block and is in rotary connection with the top surface of the corner block;
and the dial indicator fixing seat is connected with the switching block.
Optionally, the gauge further comprises a first micrometer; the dial indicator adjusting mechanism further comprises:
the fourth linear guide rail is connected with the switching block;
the sliding block is connected with the fourth linear guide rail in a sliding mode and is connected with the dial indicator fixing seat;
the micrometer fixing plate is connected with the switching block;
the jackscrew penetrates through the adjusting block connected with the corner block and then is in contact with the switching block and is used for driving the switching block to rotate relative to the corner block;
the first micrometer is connected with the micrometer fixing plate and is in contact with the micrometer fixing seat.
Optionally, the dial indicator adjusting mechanism further includes a guide rail blocking piece, and the guide rail blocking piece is further connected to one end, close to the third linear guide, of the fourth linear guide.
Optionally, the micrometer fixing plate is connected with the micrometer fixing seat through a feed locking screw.
Optionally, the dial indicator adjusting mechanism further comprises an installation frame and a hand screw, the installation frame is connected with the angle plate, and the hand screw penetrates through the installation frame and then is connected with the third linear guide rail.
Optionally, the checking fixture further comprises a second micrometer, and the second micrometer is in contact with the end face of the third linear guide rail and used for correcting the positions of the first linear guide rail, the second linear guide rail and the third linear guide rail.
Optionally, the checking fixture further comprises a bottom plate and a guide rail side plate, wherein the bottom plate is provided with a reference edge; the guide rail side plate is arranged on the bottom plate and is perpendicular to the reference edge, the guide rail side plate is parallel to the third linear guide rail, and one end face of the guide rail side plate and one end face of the third linear guide rail are attached to each other.
Optionally, the inspection device further comprises an angle ruler, wherein the angle ruler is provided with 4V-shaped grooves which are respectively used for calibrating positions of the first micrometer and the second micrometer on the edge of the angle ruler.
In a second aspect, the invention provides a detection method based on the detection tool in any one of the first aspects, which includes:
the known A, B, C, D four-point coordinates on the end effector: a (x)A,yA)、B(xB,yB)、C(xC,yC)、D(xD,yD) Wherein: y isA、yB、xC、xDCalibrated by 4V-shaped grooves of the angle square 301, xA、xB、yC、yDReading by a first dial indicator and a second dial indicator, and after the end effector moves, taking E, F, G, H four points with coordinates as follows: e (x)E,yA)、F(xF,yB)、G(xC,yG)、H(xD,yH)，xE、xF、yG、yHReading by the first dial indicator and the second dial indicator; the intersection of the line segment between points A, B and the line segment between points C, D is defined as O1Point;
the intersection of the line segment between points E, F and the line segment between points G, H is defined as O2Point;
calculating out O1Point coordinates are as follows:
calculate the slope of the AB line:
calculating out O2Point coordinates are as follows:
the slope of the EF line is calculated:
based on O1Point coordinates and O2Point coordinates, calculating the positional deviation of the end effector:
δx＝xo2-xo1
δy＝yo2-yo1
based on the slope of the AB line and the slope of the EF line, the angular deviation of the end effector is calculated:
compared with the prior art, the invention has the beneficial effects that:
the invention provides a detection tool and a method for testing the plane positioning accuracy of an end effector, which have the advantages of simple structure and convenience in operation. By establishing a mathematical model and deducing point deviation and angle deviation formulas, a corresponding calculation program can be designed and rapidly solved. And providing an optimization design basis for the plane positioning precision of the end effector according to the detection result.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural view of a fixture for testing planar positioning accuracy of an end effector according to an embodiment of the present invention.
FIG. 2 is a schematic view of the overall structure of the dial indicator adjusting mechanism according to one embodiment of the invention;
FIG. 3 is a cross-sectional view of a dial gauge adjustment mechanism according to one embodiment of the present invention;
FIG. 4 is a schematic position diagram of a calibration of a fixture for testing planar positioning accuracy of an end effector according to an embodiment of the present invention;
FIG. 5 is a schematic view of the position of the end effector during inspection according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of a tool for testing the planar positioning accuracy of an end effector according to one embodiment of the present invention;
in the figure: 1. the base plate, 2, the guide rail curb plate, 3, the micrometer fixing base, 4, the second micrometer, 5, first linear guide, 6, micrometer adjustment mechanism, 7, the stopper, 8, locking screw, 9, the third linear guide, 10, the benchmark limit, 201 hornblock, 202, the switching piece, 203, round pin axle screw, 204, the regulating block, 205, jackscrew, 206 fourth linear guide, 207, the slider, 208, the guide rail separation blade, 209, the micrometer fixed plate, 210, the first micrometer, 211, the micrometer fixing base, 212, the first micrometer, 213, feed locking screw, 214, the hand screw, 301, the angle square, 401, the end effector.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
Example 1
The invention provides a detection tool for testing the plane positioning accuracy of an end effector, wherein the end effector 401 is a tool carried on a robot tail end flange or a motion module. The in-plane positioning accuracy comprises position and angle errors, the position errors can be obtained through coordinate deviations before and after a certain point moves, the angle errors can be obtained through position included angles before and after a certain edge moves, for this reason, two vertical edges are arranged on the end effector 401, linear equations of the two vertical edges are solved by measuring coordinate values of points on the two edges before and after the end effector 401 moves, finally, coordinate deviations of intersection points of the two straight lines and angle deviations of the certain vertical edges are solved, and corresponding intersection point coordinate deviations before and after the end effector 401 moves are namely the position deviations of the end effector 401; the angular deviation of the corresponding vertical edge before and after the movement of the end effector 401 is the angular deviation of the end effector 401.
As shown in fig. 1-5, the inspection device specifically includes a first detection unit and a second detection unit, which are perpendicular to each other and have the same structure, and both of them include:
a first linear guide 5 and a second linear guide, which are parallel to each other;
the third linear guide rail 9 is perpendicular to the first linear guide rail 5 and the second linear guide rail, and two ends of the third linear guide rail are respectively connected with the first linear guide rail 5 and the second linear guide rail in a sliding way;
the directions of the detection heads of the first dial indicator 212 and the second dial indicator are parallel to each other, and the first dial indicator and the second dial indicator are connected with the third linear guide rail 9 through the dial indicator adjusting mechanism 6.
In a specific implementation manner of the embodiment of the present invention, as shown in fig. 2 to 3, each of the dial indicator adjusting mechanisms 6 includes: the angle block 201, the switching block 202 and the dial indicator fixing seat 211; the corner block 201 is connected with the third linear guide rail; the transfer block 202 is in contact with the top surface of the corner block 201, and is in rotary connection with the top surface; in the specific implementation process, the corner block 201 and the transfer block 202 are connected through a pin shaft screw 203 and can rotate relatively; the dial indicator fixing seat 211 is connected with the adapter block 202. In a specific implementation process, the first dial indicator 212 and the second dial indicator in the first detection unit and the second detection unit are respectively in contact with two end faces, perpendicular to each other, of the end effector 401, after the end effector 401 moves each time, two perpendicular edges of the end effector are in contact with contact points of the first dial indicator 212 and the second dial indicator, the readings of the first dial indicator 212 and the second dial indicator are recorded, a point coordinate calculation formula is substituted, and the position deviation and the angle deviation are solved.
In a specific implementation manner of the embodiment of the present invention, the inspection device further includes a first micrometer 210; the dial indicator adjusting mechanism 6 further includes: a fourth linear guide 206 connected to the transfer block 202; the sliding block 207 is connected with the fourth linear guide rail 206 in a sliding manner and is connected with the dial indicator fixing seat 211; the micrometer fixing plate 209 is connected with the adapter block 202; the jackscrew 205 passes through the adjusting block 204 connected with the corner block 201 and then contacts with the switching block 202, and is used for driving the switching block 202 to rotate relative to the corner block 201; the first micrometer 210 is connected with the micrometer fixing plate 209 and contacts with the micrometer fixing seat 211. The first micrometer 210 is used for correcting the positions of the detection heads of the first dial indicator 212 and the second dial indicator, so that the positions of the detection heads of the first dial indicator 212 and the second dial indicator are kept facing to the same direction. Further, in order to prevent the dial indicator fixing seat 211 from derailing, the dial indicator adjusting mechanism 6 further includes a guide rail blocking piece 208, and the guide rail blocking piece 208 is further connected to one end of the fourth linear guide rail 206, which is close to the third linear guide rail 9, and is used for performing stroke limitation on the dial indicator fixing seat 211.
In a specific implementation manner of the embodiment of the present invention, the micrometer fixing plate 209 is connected to the micrometer fixing base 211 through the feeding locking screw 213, and after the first micrometer 210 completes the position correction of the detection heads of the first micrometer 212 and the second micrometer, the micrometer fixing base 211 and the micrometer fixing plate 209 are fixed through the feeding locking screw 213, so as to prevent the micrometer fixing base 211 from sliding.
In a specific implementation manner of the embodiment of the present invention, in order to facilitate the mounting of the dial indicator adjusting mechanism 6 on the third linear guide 9, the dial indicator adjusting mechanism 6 further includes a mounting bracket and a hand screw 214, the mounting bracket is connected to the angle plate, and the hand screw 214 passes through the mounting bracket and then is connected to the third linear guide 9.
In a specific implementation manner of the embodiment of the present invention, the inspection device further includes a second micrometer 4, and the second micrometer 4 is in contact with an end surface of the third linear guide 9 through a micrometer fixing seat 3, and is configured to correct positions of the first linear guide 5, the second linear guide, and the third linear guide 9, so that the first linear guide 5 and the second linear guide are parallel to each other, and are perpendicular to the third linear guide 9.
In a specific implementation manner of the embodiment of the invention, the checking fixture further comprises a bottom plate 1, a guide rail side plate 2 and an angle square 301; the first linear guide rail 5 and the second linear guide rail are fixed on the bottom plate 1 through a limiting block 7 and a locking screw 8; a reference edge 10 is arranged on the bottom plate 1; the guide rail side plate 2 is arranged on the bottom plate 1 and is perpendicular to the reference edge, the guide rail side plate 2 is parallel to the third linear guide rail 9, and one end face of the guide rail side plate and one end face of the third linear guide rail are attached to each other. The checking fixture further comprises an angle square 301, the angle square 301 can be made of marble, the angle square 301 is placed close to the reference edge, and the angle square 301 is kept close to the guide rail side plate 2 and locked with the bottom plate 1; the angle ruler 301 is provided with 4V-shaped grooves which are respectively used for calibrating the positions of the first dial indicator 212 and the second dial indicator on the edge of the angle ruler 301.
Example 2
The embodiment of the invention provides a detection method based on a detection tool in any one of embodiment 1, and as shown in fig. 6, the detection method comprises the following steps:
(1) the A, B, C, D four-point coordinates on end effector 401 are known: a (x)A,yA)、B(xB,yB)、C(xC,yC)、D(xD,yD) Wherein: y isA、yB、xC、xDCalibrated by 4V-shaped grooves of the angle square 301301, xA、xB、yC、yDThe first dial indicator 212 and the second dial indicator read, and after the end effector 401 moves, E, F, G, H four points are taken, and coordinates are: e (x)E,yA)、F(xF,yB)、G(xC,yG)、H(xD,yH)，xE、xF、yG、yHRead by the first dial gauge 212 and the second dial gauge; the intersection of the line segment between points A, B and the line segment between points C, D is defined as O1Point;
(2) the intersection of the line segment between points E, F and the line segment between points G, H is defined as O2Point;
(3) calculating out O1Point coordinates are as follows:
(4) calculate the slope of the AB line:
(5) calculating out O2Point coordinates are as follows:
(6) the slope of the EF line is calculated:
(7) based on O1Point coordinates and O2Point coordinates, the positional deviation of the end effector 401 is calculated:
δx＝xo2-xo1
δy＝yo2-yo1
(8) based on the slope of the AB line and the slope of the EF line, the angular deviation of the end-effector 401 is calculated:
the foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an examine utensil for testing end effector plane positioning accuracy which characterized in that, includes first detecting element and second detecting element, and the two mutually perpendicular sets up, and the structure is the same, all includes:
the first linear guide rail and the second linear guide rail are parallel to each other;
the third linear guide rail is perpendicular to the first linear guide rail and the second linear guide rail, and two ends of the third linear guide rail are respectively connected with the first linear guide rail and the second linear guide rail in a sliding manner;
the directions of the first dial indicator and the second dial indicator are parallel to each other, and the first dial indicator and the second dial indicator are connected with the third linear guide rail through dial indicator adjusting mechanisms.
2. The fixture for testing the planar positioning accuracy of an end effector according to claim 1, wherein the dial indicator adjustment mechanisms each comprise:
the corner block is connected with the third linear guide rail;
the transfer block is in contact with the top surface of the corner block and is in rotary connection with the top surface of the corner block;
and the dial indicator fixing seat is connected with the switching block.
3. The tool for testing the planar positioning accuracy of the end effector as claimed in claim 2, wherein the tool further comprises a first micrometer; the dial indicator adjusting mechanism further comprises:
the fourth linear guide rail is connected with the switching block;
the sliding block is connected with the fourth linear guide rail in a sliding mode and is connected with the dial indicator fixing seat;
the micrometer fixing plate is connected with the switching block;
the jackscrew penetrates through the adjusting block connected with the corner block and then is in contact with the switching block and is used for driving the switching block to rotate relative to the corner block;
the first micrometer is connected with the micrometer fixing plate and is in contact with the micrometer fixing seat.
4. The tool of claim 3 for testing the planar positioning accuracy of an end effector, wherein: the dial indicator adjusting mechanism further comprises a guide rail blocking piece, and the guide rail blocking piece is connected with one end, close to the third linear guide rail, of the fourth linear guide rail.
5. The tool of claim 3 for testing the planar positioning accuracy of an end effector, wherein: the micrometer fixing plate is connected with the micrometer fixing seat through a feeding locking screw.
6. The tool of claim 2 for testing the accuracy of the planar positioning of the end effector, wherein: the dial indicator adjusting mechanism further comprises an installation frame and a hand-screwed screw, the installation frame is connected with the angle plate, and the hand-screwed screw penetrates through the installation frame and then is connected with the third linear guide rail.
7. The tool of claim 1 for testing the planar positioning accuracy of an end effector, wherein: the checking fixture further comprises a second micrometer, wherein the second micrometer is in contact with the end face of the third linear guide rail and is used for correcting the positions of the first linear guide rail, the second linear guide rail and the third linear guide rail.
8. The tool of claim 1 for testing the planar positioning accuracy of an end effector, wherein: the checking fixture further comprises a bottom plate and a guide rail side plate, and a reference edge is arranged on the bottom plate; the guide rail side plate is arranged on the bottom plate and is perpendicular to the reference edge, the guide rail side plate is parallel to the third linear guide rail, and one end face of the guide rail side plate and one end face of the third linear guide rail are attached to each other.
9. The tool of claim 1 for testing the planar positioning accuracy of an end effector, wherein: the gauge further comprises an angle ruler, wherein 4V-shaped grooves are formed in the angle ruler and are respectively used for calibrating the positions of the first micrometer and the second micrometer on the edge of the angle ruler.
10. A detection method based on the detection tool of any one of claims 1 to 9, characterized by comprising:
the known A, B, C, D four-point coordinates on the end effector: a (x)A，yA)、B(xB，yB)、C(xC，yC)、D(xD，yD) Wherein: y isA、yB、xC、xDCalibrated by 4V-shaped grooves of the angle square 301, xA、xB、yC、yDReading by a first dial indicator and a second dial indicator, and after the end effector moves, taking E, F, G, H four points with coordinates as follows: e (x)E，yA)、F(xF，yB)、G(xC，yG)、H(xD，yH)，xE、xF、yG、yHReading by the first dial indicator and the second dial indicator;
the intersection of the line segment between points A, B and the line segment between points C, D is defined as O1Point;
the intersection of the line segment between points E, F and the line segment between points G, H is defined as O2Point;
calculating out O1Point coordinates are as follows:
calculate the slope of the AB line:
calculating out O2Point coordinates are as follows:
the slope of the EF line is calculated:
based on O1Point coordinates and O2Point coordinates, calculating the positional deviation of the end effector:
δx＝xo2-xo1
δy＝yo2-yo1
based on the slope of the AB line and the slope of the EF line, the angular deviation of the end effector is calculated:
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| CN113639672A (en) * | 2021-08-12 | 2021-11-12 | 宝武集团马钢轨交材料科技有限公司 | Automatic measuring system and method for angular deviation of steel billet saw cutting surface |
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