CN114211525A - Industrial robot arc-shaped action accuracy visualization correction mechanism and correction method - Google Patents
Industrial robot arc-shaped action accuracy visualization correction mechanism and correction method Download PDFInfo
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- CN114211525A CN114211525A CN202111473222.1A CN202111473222A CN114211525A CN 114211525 A CN114211525 A CN 114211525A CN 202111473222 A CN202111473222 A CN 202111473222A CN 114211525 A CN114211525 A CN 114211525A
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- 238000012800 visualization Methods 0.000 title claims description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 50
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000004088 simulation Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a visual correction mechanism and a visual correction method for the accuracy of arc-shaped actions of an industrial robot. The mechanism and the method can find the center of a motion circle of the industrial robot in a rapid visual mode and confirm the motion track, so that the motion accuracy of the industrial robot can be judged accurately.
Description
Technical Field
The invention relates to a correcting mechanism and a correcting method for an industrial robot, in particular to a correcting mechanism and a correcting method for visualizing accuracy of arc-shaped actions of an industrial robot, and belongs to the technical field of industrial robots.
Background
When an industrial robot simulates an operator to work, the moving motion of the moving end of the industrial robot needs to realize circular arc motion, and the motion process of the industrial robot is usually realized according to a preset program written in the industrial robot. However, in actual operation, when the moving tail end of the industrial robot moves, the problems that whether the moving track is executed according to the designed circular arc route and whether the execution is accurate exist; meanwhile, when the reference to be driven (i.e., the produced product) is changed, the industrial robot drives the reference to be driven to execute according to the requirement and the execution accuracy is also problematic, and certain correction and debugging operations are required.
The existing debugging method applied on site adopts program simulation parameters to carry out calibration and debugging, and the calibration and debugging process can only be completed by a program. The correction debugging method can not visually judge whether the industrial robot is executed according to the designed route and the execution accuracy; it is not possible to quickly confirm that there is no abnormality in the motion trajectory of the industrial robot when the reference (product) to be driven is changed, and thus to confirm whether there is a deviation in the structure of the reference (product) to be driven; meanwhile, errors caused by virtualized data cannot be avoided, and the accuracy of correction and debugging is reduced. Therefore, the above methods used in the prior art cannot effectively ensure the quality of the product in the production line.
Disclosure of Invention
In order to solve the technical problems, the invention provides a visual correcting mechanism and a visual correcting method for the accuracy of arc-shaped actions of an industrial robot.
The invention discloses a visual correcting mechanism for the accuracy of arc-shaped actions of an industrial robot, which comprises a tool bottom plate and the industrial robot fixedly arranged on the tool bottom plate,
a positioning shaft with a central axis arranged along the horizontal direction is fixedly arranged on the tool bottom plate, and a circle center reference groove is formed in the positioning shaft along the central axis of the positioning shaft; the moving tail end of the industrial robot is connected with a main alignment needle in a positioning mode, and the needle tip end of the main alignment needle abuts against the circle center reference groove;
the main alignment PIN is fixedly provided with an alignment PIN PIN with a central axis parallel to the central axis of the positioning shaft; a reference plate perpendicular to the alignment PIN needle is fixedly arranged on the tool bottom plate and faces the needle tip of the alignment PIN needle, a plurality of reference holes are formed in the reference plate along the R direction, and the plurality of reference holes are distributed at intervals on an arc section taking the projection of the central axis of the positioning shaft on the reference plate as the circle center;
the industrial robot can drive the main contraposition needle to slide in the circle center reference groove and can drive the main contraposition needle to move in a specific angle positioning mode along the R direction, so that the contraposition PIN needle is abutted to the reference plate or the reference hole.
The further technical scheme is as follows:
the tool bottom plate is fixedly provided with a supporting base, the positioning shaft is fixedly arranged on the supporting base in a penetrating mode, one end, exposed out of the outer side wall of the supporting base, of the positioning shaft forms a reference portion, and the circle center reference groove is formed in the central axis of the reference portion.
The further technical scheme is as follows:
the circle center reference groove is of a fan-shaped groove structure, the circle center of the fan-shaped groove structure is coincident with the central axis of the positioning shaft, and the fan-shaped angle of the fan-shaped groove structure is not smaller than the angle of the corresponding circle center angle of the arc section where the farthest two reference holes are located.
The further technical scheme is as follows:
the arc sections between two adjacent reference holes have different sizes corresponding to the central angles, and the sizes are sequentially increased from the starting end to the tail end of the movement.
The further technical scheme is as follows:
the alignment PIN needle is intersected with and perpendicular to the central axis of the main alignment needle.
The further technical scheme is as follows:
a connecting flange is fixedly arranged at the moving tail end of the industrial robot, and the tail end of the main alignment needle is fixedly clamped in the connecting flange.
The further technical scheme is as follows:
the reference plate is formed on one side surface of the supporting base facing the alignment PIN.
The further technical scheme is as follows:
the supporting base is of a U-shaped groove structure with an opening at the upper end, the positioning shaft is fixedly arranged in the U-shaped groove structure in a penetrating mode and located inside the groove of the U-shaped groove structure to form a rotating connecting portion, a simulation driven piece is connected to the rotating connecting portion in a rotating mode, and the other end R, far away from the rotating connecting portion, of the simulation driven piece is connected to the main positioning needle in a limiting mode.
The invention also discloses a method for correcting the accuracy of the arc-shaped action of the industrial robot by using the correcting mechanism, which mainly comprises the following steps:
s1, the needle tip of the main contraposition needle is abutted on the central axis of the circle center reference groove by controlling the industrial robot to move so as to confirm the arc motion reference circle center;
s2, the industrial robot writes a program to do circular motion with the determined circular motion reference circle center as the circle center at a specified angle, and after the program moves to the specified angle of the industrial robot, the industrial robot slides in the circle center reference groove to drive the alignment PIN needle on the main alignment needle to be inserted towards the reference hole at the corresponding angle;
and S3, visually judging whether the industrial robot accurately executes according to the movement track set in the writing program according to whether the contraposition PIN needle can be inserted into the datum hole with the corresponding angle.
The beneficial technical effects of the invention are as follows:
1. the correcting mechanism and the correcting method can meet the requirement that program debugging personnel can quickly find the center of a moving circle and confirm the moving track of the industrial robot, so that the situation that the position of an application round point in reality cannot be confirmed after the industrial robot compiles a set of program for moving in a circular arc is avoided;
2. the correcting mechanism and the correcting method can accurately confirm whether the industrial robot performs the specified arc motion according to the program, the accurate error of the motion can be judged, and the precision can reach +/-0.02 mm;
3. the correcting mechanism and the correcting method can perform point inspection on the moving action of the industrial robot, confirm the motion trail state and ensure the uniform action of the industrial robot, thereby ensuring the product quality;
4. the correcting mechanism and the correcting method can conveniently debug the point position of the robot and compile a robot motion track program, thereby ensuring the quality of products produced by a production line.
Drawings
FIG. 1 is a schematic view of the overall structure of the mechanism of the present invention;
FIG. 2 is an enlarged view of the structure of portion A of FIG. 1;
FIG. 3 is a schematic cross-sectional structure diagram of the mechanism positioning shaft and the main alignment PIN and the alignment PIN after the alignment is accurate;
FIG. 4 is a schematic illustration of a partially exploded configuration of the mechanism of the present invention;
wherein:
1. a tooling bottom plate;
2. an industrial robot;
3. positioning the shaft; 31. a reference part; 311. a circle center reference groove; 32. a rotation connecting part;
4. a main alignment needle;
5. aligning a PIN needle;
6. a reference plate; 61. a reference hole;
7. a support base;
8. a connecting flange;
9. simulating a driven member; 91. a limiting rod.
Detailed Description
In order to make the technical means of the present invention clearer and to make the technical means of the present invention capable of being implemented according to the content of the specification, the following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples, which are provided for illustrating the present invention and are not intended to limit the scope of the present invention.
This concrete embodiment has recorded in detail a visual aligning gear of industrial robot arc action accuracy, and this aligning gear mainly includes frock bottom plate 1 and industrial robot 2 of setting firmly on this frock bottom plate, and wherein industrial robot is the industrial robot on the conventional meaning in this field, is the technique that technical staff is familiar with, therefore no longer gives details in this concrete embodiment.
The tool bottom plate 1 is fixedly provided with a supporting base 7, the supporting base 7 is of a U-shaped groove structure with an opening at the upper end, and the U-shaped groove structure is fixedly connected to the tool bottom plate through the bottom of the U-shaped groove structure. A positioning shaft 3 is fixedly arranged on the supporting base 7 in a penetrating manner, when the positioning shaft 3 is fixedly arranged, the central axis of the positioning shaft 3 is arranged along the horizontal direction, and the positioning shaft 3 does not move relatively to the supporting base 7 (i.e. does not rotate relatively to the supporting base). One end of the positioning shaft 3 exposed out of the outer side wall of the supporting base 7 forms a reference part 31, a circle center reference groove 311 is formed in the reference part 31 along the central axis direction of the positioning shaft 3 at the central axis, and the circle center reference groove 311 is of a fan-shaped slotted structure with the circle center coinciding with the central axis of the positioning shaft 3. The bottom of the circle center reference groove on the positioning shaft is just in time located at the circle center of the radial section of the positioning shaft, and can be used for determining the rotating circle center of the arc motion of the industrial robot.
The moving end of the industrial robot 2 is connected with a main alignment needle 4 in a positioning manner, one end of the main alignment needle is a needle tip, and the other end of the main alignment needle is a needle tail end. The structure that this main counterpoint needle and industrial robot's removal end location are connected does: a connecting flange 8 is fixedly arranged at the moving tail end of the industrial robot 2, and the tail end of the main alignment needle 4 is fixedly clamped in the connecting flange, so that the main alignment needle is connected to the moving tail end of the industrial robot in a positioning mode. The main alignment needle 4 can be driven by the industrial robot to enable the needle tip end of the main alignment needle to abut against the circle center reference groove 311, so that the rotation circle center of the arc motion of the industrial robot is determined.
The main contraposition PIN 4 is fixedly provided with a contraposition PIN 5 with a central axis parallel to the central axis of the positioning shaft 3, and in order to improve the accuracy, the contraposition PIN can be intersected and vertical with the central axis of the main contraposition PIN 4 when being arranged. The specific setting mode may adopt a fixed connection mode commonly seen in the field, such as threaded connection fixation, interference connection fixation, integral molding, and the like, and a more detailed description is not given in this specific embodiment.
A reference plate 6 perpendicular to the alignment PIN is fixedly arranged on the tooling bottom plate 1 towards the tip of the alignment PIN, in this embodiment, the reference plate 6 is not additionally arranged, and a side surface of the supporting base 7 facing the alignment PIN is used as the reference plate 6. A plurality of reference holes 61 are formed in the reference plate 6 along the R direction, and the plurality of reference holes are arranged at intervals on an arc section which takes the projection of the central axis of the positioning shaft on the reference plate as the center of a circle. The reference hole 61 may be a through hole or a blind hole so that the tip of the alignment PIN can be inserted. The central angles corresponding to the arc sections between two adjacent reference holes 61 are different in size, the angles from the motion starting end to the motion tail end are sequentially increased, and the accuracy of motion tracks with different motion precision can be accurately corrected by setting the different size angles. In the specific embodiment, the number of the set reference holes and the distance between two adjacent reference holes can refer to the number and the distance of gears in the process of simulating gear shifting of the automatic transmission vehicle; the arrangement of the reference holes in other embodiments can also be used for simulating other scenes needing correction. In addition, the fan-shaped angle of the fan-shaped slotted structure of the center reference slot 311 is not smaller than the angle of the center angle corresponding to the arc segment where the farthest two reference holes 61 are located, and is preferably larger than the angle of the center angle corresponding to the arc segment where the farthest two reference holes 61 are located, so that the main positioning pin is prevented from being blocked at the edge of the fan-shaped slotted structure when rotating. The industrial robot 2 can drive the main alignment PIN 4 to slide in the center reference groove 311, and can drive the main alignment PIN 4 to move in the R direction at a specific angle, so that the alignment PIN 5 abuts against the reference plate or the reference hole.
In order to facilitate the simulation of the relation between the reference to be driven, i.e. the product being produced, and the motion trajectory of the industrial robot, a simulated driven member 9 is provided in this particular embodiment. The fixed inside department of slotting that wears to establish this U type groove structure and this location axle in this U type groove structure of location axle 3 forms rotation connecting portion 32, and the one end of simulation driving piece 9 is rotated and is connected on rotation connecting portion 32 and can rotate around rotating connecting portion, and the other end R that the rotation connecting portion were kept away from to this simulation driving piece is to spacing connection on main pilot pin 4. The specific limiting connection mode is as follows: the simulation driven piece 9 is formed with the gag lever post 91 along horizontal direction interval arrangement on the side towards counterpoint PIN needle, and the interval between these two gag lever posts 91 just can supply main counterpoint needle 4's needle tail part to block into, when industrial robot's removal end upwards moved and drives main counterpoint needle and remove at R like this, can synchronous motion simulation driven piece 9 upwards synchronous motion at R.
When the correcting mechanism is assembled, the industrial robot 2 is fixedly installed on the tool bottom plate 1, then the supporting base detection module is fixed, and finally the industrial robot positioning module is installed. When the supporting base detection module is fixed, the simulated driven piece 9 is positioned in the U-shaped groove structure of the supporting base 7, and then the positioning shaft penetrates through the supporting base 7 and the simulated driven piece 9, so that the positioning shaft is fixed on the supporting base, and the simulated driven piece can rotate relative to the positioning shaft; after the installation is finished, the supporting base is fixedly installed on the tool bottom plate 1. When carrying out industrial robot location module's installation, earlier with main counterpoint needle 4 and counterpoint PIN needle fixed connection together, then use flange 8 with the needle subassembly location of assembling install industrial robot's removal end can.
The method for correcting the accuracy of the arc-shaped action of the industrial robot by using the correcting mechanism mainly comprises the following steps:
s1, the industrial robot controls the moving tail end to move, the needle tail end of the main alignment needle 4 is clamped between two limiting rods of the simulated driven part 9, so that the simulated driven part 9 can be driven to move synchronously when the moving tail end of the industrial robot moves, and the relation between a reference (namely a produced product) to be driven and the motion trail of the industrial robot can be simulated conveniently; then the needle tip of the main alignment needle is abutted on the central axis of the circle center reference groove by controlling the movement of the moving tail end of the industrial robot so as to confirm the arc-shaped movement reference circle center;
s2, the industrial robot compiles a program to do circular motion of a designated angle by taking the determined circular motion reference circle center as the circle center, so as to realize the rotation action (namely the simulated gear shifting) of the simulated driven part at the circular motion reference circle center; after the angle is moved to the angle specified by the industrial robot, the industrial robot slides in the circle center reference groove to drive the alignment PIN needle on the main alignment needle to be inserted towards the reference hole with the corresponding angle;
and S3, visually judging whether the industrial robot accurately executes according to the movement track set in the writing program according to whether the contraposition PIN needle can be inserted into the datum hole with the corresponding angle.
The correcting mechanism and the correcting method can meet the requirement that program debugging personnel can quickly find the center of a moving circle and confirm the moving track of the industrial robot, so that the situation that the position of an application round point in reality cannot be confirmed after the industrial robot compiles a set of program for moving in a circular arc is avoided; whether the industrial robot performs the specified arc motion according to the program can be accurately determined, the accurate error of the motion can be judged, and the precision can reach +/-0.02 mm; in addition, the moving action of the industrial robot can be checked, the motion track state is confirmed, and the action uniformity of the industrial robot is ensured, so that the product quality is ensured; the robot point location debugging method and the robot motion trajectory programming device can conveniently debug the robot point location and compile robot motion trajectory programs, and therefore product quality produced by a production line is guaranteed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a visual aligning gear of industrial robot arc action accuracy, includes frock bottom plate (1) and sets firmly industrial robot (2) on this frock bottom plate, its characterized in that:
a positioning shaft (3) with a central axis arranged along the horizontal direction is fixedly arranged on the tool bottom plate (1), and a circle center reference groove (311) is formed in the positioning shaft along the central axis; the moving tail end of the industrial robot (2) is connected with a main alignment needle (4) in a positioning mode, and the needle tip end of the main alignment needle (4) abuts against the inside of the circle center reference groove (311);
the main contraposition needle (4) is fixedly provided with a contraposition PIN needle (5) the central axis of which is parallel to the central axis of the positioning shaft (3); a reference plate (6) perpendicular to the alignment PIN needle is fixedly arranged on the tool bottom plate (1) and faces the needle tip of the alignment PIN needle, a plurality of reference holes (61) are formed in the reference plate along the R direction, and the plurality of reference holes are distributed at intervals on an arc section taking the projection of the central axis of the positioning shaft on the reference plate as the circle center;
the industrial robot can drive the main contraposition needle to slide in the circle center reference groove and can drive the main contraposition needle to move in a specific angle positioning mode along the R direction, so that the contraposition PIN needle is abutted to the reference plate or the reference hole.
2. The industrial robot arc motion accuracy visualization correction mechanism according to claim 1, characterized in that: the tool base plate (1) is fixedly provided with a supporting base (7), the positioning shaft (3) is fixedly arranged on the supporting base in a penetrating mode, one end, exposed out of the outer side wall of the supporting base, of the positioning shaft (3) forms a reference portion (31), and the circle center reference groove is formed in the central axis of the reference portion.
3. The industrial robot arc motion accuracy visualization correction mechanism according to claim 2, characterized in that: the circle center reference groove (311) is of a fan-shaped slotted structure, the circle center of the fan-shaped slotted structure is coincident with the central axis of the positioning shaft, and the fan-shaped angle of the fan-shaped slotted structure is not smaller than the angle of the corresponding circle center angle of the arc section where the farthest two reference holes (61) are located.
4. The industrial robot arc motion accuracy visualization correction mechanism according to claim 1, characterized in that: the arc sections between two adjacent reference holes (61) have different sizes corresponding to the central angles, and are sequentially enlarged from the starting end to the tail end of the movement.
5. The industrial robot arc motion accuracy visualization correction mechanism according to claim 1, characterized in that: the alignment PIN (5) is intersected with and perpendicular to the central axis of the main alignment PIN (4).
6. The industrial robot arc motion accuracy visualization correction mechanism according to claim 1, characterized in that: a connecting flange (8) is fixedly arranged at the moving tail end of the industrial robot (2), and the tail end of the main alignment needle (4) is fixedly clamped in the connecting flange.
7. The industrial robot arc motion accuracy visualization correction mechanism according to claim 2, characterized in that: the reference plate (6) is formed on one side surface of the supporting base (7) facing the contraposition PIN needle.
8. The industrial robot arc motion accuracy visualization correction mechanism according to claim 2, characterized in that: the supporting base (7) is of a U-shaped groove structure with an opening at the upper end, the positioning shaft (3) is fixedly arranged in a penetrating mode through the U-shaped groove structure, the positioning shaft is located inside the groove of the U-shaped groove structure to form a rotating connecting portion (32), the rotating connecting portion is rotatably connected with a simulation driven piece (9), and the simulation driven piece is far away from the other end R of the rotating connecting portion and is connected to the main positioning needle (4) in a limiting mode.
9. A method for correcting the accuracy of arc-shaped motions of an industrial robot by using the correcting mechanism of any one of claims 1 to 8, which is characterized by mainly comprising the following steps:
s1, the needle tip of the main contraposition needle is abutted on the central axis of the circle center reference groove by controlling the industrial robot to move so as to confirm the arc motion reference circle center;
s2, the industrial robot writes a program to do circular motion with the determined circular motion reference circle center as the circle center at a specified angle, and after the program moves to the specified angle of the industrial robot, the industrial robot slides in the circle center reference groove to drive the alignment PIN needle on the main alignment needle to be inserted towards the reference hole at the corresponding angle;
and S3, visually judging whether the industrial robot accurately executes according to the movement track set in the writing program according to whether the contraposition PIN needle can be inserted into the datum hole with the corresponding angle.
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| CN202111473222.1A CN114211525B (en) | 2021-12-02 | 2021-12-02 | Visual correction mechanism and correction method for arc action accuracy of industrial robot |
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| CN202111473222.1A CN114211525B (en) | 2021-12-02 | 2021-12-02 | Visual correction mechanism and correction method for arc action accuracy of industrial robot |
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| CN114211525B CN114211525B (en) | 2024-03-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118520596A (en) * | 2024-07-23 | 2024-08-20 | 成都飞机工业（集团）有限责任公司 | Local rapid positioning planning method, device, equipment and medium |
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|---|---|---|---|---|
| JPH08174469A (en) * | 1994-12-20 | 1996-07-09 | Tokico Ltd | Industrial robot |
| JP2014065107A (en) * | 2012-09-26 | 2014-04-17 | Denso Wave Inc | Device for correcting robot operation program |
| CN208100387U (en) * | 2018-04-28 | 2018-11-16 | 陈荣煌 | The stroke high-speed adjustment device of manipulator |
| CN109382839A (en) * | 2017-08-14 | 2019-02-26 | 发那科株式会社 | Robot system and robot controller |
| KR102146441B1 (en) * | 2020-02-14 | 2020-08-20 | (주)로보아이 | Automation device and automation method |
-
2021
- 2021-12-02 CN CN202111473222.1A patent/CN114211525B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174469A (en) * | 1994-12-20 | 1996-07-09 | Tokico Ltd | Industrial robot |
| JP2014065107A (en) * | 2012-09-26 | 2014-04-17 | Denso Wave Inc | Device for correcting robot operation program |
| CN109382839A (en) * | 2017-08-14 | 2019-02-26 | 发那科株式会社 | Robot system and robot controller |
| CN208100387U (en) * | 2018-04-28 | 2018-11-16 | 陈荣煌 | The stroke high-speed adjustment device of manipulator |
| KR102146441B1 (en) * | 2020-02-14 | 2020-08-20 | (주)로보아이 | Automation device and automation method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118520596A (en) * | 2024-07-23 | 2024-08-20 | 成都飞机工业（集团）有限责任公司 | Local rapid positioning planning method, device, equipment and medium |
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