CN114633284A - Industrial robot load detection device based on complicated integrated flange end - Google Patents
Industrial robot load detection device based on complicated integrated flange end Download PDFInfo
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- CN114633284A CN114633284A CN202210247268.XA CN202210247268A CN114633284A CN 114633284 A CN114633284 A CN 114633284A CN 202210247268 A CN202210247268 A CN 202210247268A CN 114633284 A CN114633284 A CN 114633284A
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- 238000010586 diagram Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
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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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Abstract
The invention relates to the field of robot detection, and particularly discloses an industrial robot load detection device based on a complex integrated flange end, which comprises a load unit and a control unit for controlling the load unit, wherein the load unit comprises a load block, a flange connection unit, a load plate, a laser tracker and a mounting plate, the magnitude and the direction of force application of the load block can be adjusted, one side of the load plate is fixedly connected with the load block, the other side of the load plate is fixedly connected with the flange connection unit, the mounting plate is fixedly arranged on the side wall of the load plate, the plane of the mounting plate is vertical to the plane of the load plate, and the laser tracker is arranged on the mounting plate and is opposite to one end, far away from the load plate, of the flange connection unit; the flange connection unit is detachably connected with the end operator. The scheme can effectively control the direction and the size of the force applied in the load test, and the flange connection unit on the tail end manipulator does not need to be disassembled and reassembled, so that the detection efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of robot detection, in particular to an industrial robot load detection device based on a complex integrated flange end.
Background
The robot is a high and new technology product integrating multiple disciplines such as a controller, mechano-electronics, artificial intelligence, materials and the like, and is high and new technology equipment which cannot be replaced in the advanced manufacturing industry. At the present stage, compared with foreign industrial robots, the performance and reliability of the domestic industrial robot still have large differences, so that the types of the domestic industrial robot are mostly concentrated on light or medium loads, the technical research of heavy-load industrial robots is lacked, and particularly, the technology for ensuring the precision of industrial robots with rated loads of two hundred kilograms and more is lacked.
One of the reasons for this phenomenon is that the quality and performance detection of the industrial robot with high rated load is still in the starting stage, and the repeatability and traceability of the test are poor, which is not beneficial to the correct evaluation of the performance of the industrial robot; meanwhile, when a conventional load detection device is adopted for detection and the load quality or the mass bias condition needs to be changed, the original load structure needs to be dismounted, a new load structure is loaded to the tail end manipulator of the robot, and then the load test is carried out again, so that the repeated dismounting and mounting of the load structure are complicated, and the test efficiency is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an industrial robot load detection device based on a complex integrated flange end, which aims to solve the problems that when the load intensity at a tail end manipulator is changed, different load structures are required to be selected for installation and then load testing is carried out, and the testing operation is complicated.
In order to achieve the above object, the basic scheme of the invention is as follows: a load detection device of an industrial robot based on a complex integrated flange end comprises a load unit and a control unit for controlling the load unit, wherein the load unit comprises a load block, a flange connection unit, a load plate, a laser tracker and a mounting plate, the force application size and the direction of the load block are adjustable, one side of the load plate is fixedly connected with the load block, the other side of the load plate is fixedly connected with the flange connection unit, the mounting plate is fixedly mounted on the side wall of the load plate, the plane where the mounting plate is located is vertical to the plane where the load plate is located, and the laser tracker is mounted on the mounting plate and is opposite to one end, away from the load plate, of the flange connection unit; the flange connection unit is detachably connected with the end operator.
The technical principle of the invention is as follows: when carrying out load detection to industrial robot's end operation ware department, connect flange joint unit and end operation ware department earlier, the mounting panel department is installed to laser tracker simultaneously, and laser tracker equipment is relative with flange joint unit, ensures that laser tracker when using, and the laser that the laser tracker sent is not sheltered from by structures such as load piece, guarantees that laser is constantly light, is convenient for detect the displacement condition of end operation ware.
When detection operation is carried out, the load block adjusts the force application size and direction through the control unit, then the force application size and direction are transmitted to the flange connection unit and the tail end manipulator of the industrial robot, the moving direction and moving track of the tail end manipulator and the connection condition of the flange connection unit can be checked at the moment, the force application direction and size in load test can be effectively controlled, the flange connection unit on the tail end manipulator does not need to be detached and reassembled, and the detection efficiency can be improved.
The force application unit comprises a base, a first connecting arm, a second connecting arm, a first motor and a second motor, wherein the first motor drives the first connecting arm to rotate forwards or reversely on a vertical plane, and the second motor drives the second connecting arm to rotate forwards or reversely on the vertical plane; the first connecting arm is vertically arranged, the lower end of the first connecting arm is hinged with the base, and the first motor is fixedly arranged on the base; the second connecting arm is horizontally arranged, one end of the second connecting arm is hinged to one end, far away from the base, of the first connecting arm, the other end of the second connecting arm is fixedly connected with one side, far away from the flange connecting unit, of the load block, and the second motor is fixedly installed at one end, far away from the base, of the first connecting arm.
Through the arrangement, when the force application size and direction on the load block are controlled, the relative position of one end of the second connecting arm far away from the first connecting arm and the industrial robot is controlled, and then the force application size and direction are changed; meanwhile, when the force application size and direction are changed, the first connecting arm rotates relative to the base under the driving of the first motor, the second connecting arm rotates relative to the first connecting arm under the driving of the second motor, and the rotation of the first connecting arm and the rotation of the second connecting arm can be combined, so that the position of the load unit at the end part of the second connecting arm can be controlled.
Further, the control unit includes treater, the first controller of control first linking arm turned angle and direction and the second controller of control second linking arm turned angle and direction, and laser tracker, first controller and second controller all are with the treater electric connection.
Through the arrangement, the processor in the control unit can process the required force application size and direction information and transmit the information to the first controller and the second controller, so that the rotation of the first connecting arm and the second connecting arm can be accurately controlled, and the force application size and direction can be accurately controlled; meanwhile, the movement track information of the tail end operator obtained by the laser tracker can be processed, and the comparison with the theoretical value of the joint angle during the actual movement of the robot is facilitated.
Further, the flange connection unit comprises a fixed plate and a connecting plate, one side of the fixed plate is coaxially connected with the load plate, one side of the fixed plate is connected with one side of the connecting plate, the connecting plate is circular, a plurality of first mounting holes and second mounting holes for detachably connecting the connecting plate and the end manipulator are formed in the connecting plate, the first mounting holes and the second mounting holes are both strip-shaped, the longitudinal section profile of the first mounting holes is arc-shaped, and the circle center of the longitudinal section profile of the first mounting holes is in the same point with that of the connecting plate; the second mounting hole is arranged along the radial direction of the connecting plate.
When connecting industrial robot's end effector and connecting plate, the junction of end effector can be relative with first mounting hole or second mounting hole, is curved first mounting hole this moment and can enlarges the connecting range with end effector on the connecting plate circumferencial direction, and the second mounting hole that sets up along the connecting plate radially also can enlarge the connecting range of connecting plate radial department and end effector simultaneously, and the mountable scope on the connecting plate can further be enlarged to first mounting hole and second mounting hole after the complex.
Furthermore, a plurality of third mounting holes for detachably connecting the connecting plate and the terminal manipulator are formed in the connecting plate, the circumferential radius of the third mounting holes is located between the circumferential radii of the first mounting holes and the second mounting holes, and the circumferential radius of the first mounting holes is larger than the circumferential radius of the second mounting holes.
Through the arrangement, the third mounting hole can supplement the arrangement range of the first mounting hole and the second mounting hole, so that the arrangement range on the connecting plate is further expanded, and the connecting plate is more convenient to be connected with the tail end manipulator.
Furthermore, a connecting hole detachably connected with one end, far away from the first connecting arm, of the second connecting arm is formed in the load block, the axis of the connecting hole is parallel to the axis of the third mounting hole, and the other end of the second connecting arm is detachably connected with the connecting hole of the load block.
Through the arrangement, when the load block is installed on the second connecting arm, the connecting structures such as the bolts are arranged at the connecting holes, so that the detachable connection of the load block and the second connecting arm is realized, and the load unit is convenient to install or detach.
Furthermore, one side of the fixed plate close to the connecting plate is rotatably connected with the connecting plate, one side of the fixed plate close to the connecting plate is provided with an annular mounting groove, an annular slide rail is coaxially arranged in the mounting groove, a plurality of slide blocks are arranged on the slide rail, and one side of the slide rail away from the slide blocks is fixedly connected with one side of the connecting plate close to the fixed plate.
When carrying out the connection of connecting plate and end operation ware, rotate the connecting plate on the fixed part according to the hookup location of end operation ware and connecting plate, the connecting plate drives the slider and rotates on the slide rail, and the hookup location of the end operation ware of being convenient for is relative with first mounting hole, second mounting hole or third mounting hole on the connecting plate, and then can be connected end operation ware and connecting plate fast.
Further, still include the fixed strip, the coaxial annular spacing groove that is provided with on one side that the connecting plate is close to the fixed plate, the longitudinal section profile of spacing groove is "L" type, and the longitudinal section profile of fixed strip also is "L" type, and the fixed strip slip cap is established at the spacing inslot, the tip and the fixed plate fixed connection of fixed strip.
When the connecting plate rotates relative to the fixing plate, the fixing strip also slides along the annular limiting groove, and the fixing strip can reinforce the connection between the connecting plate and the fixing plate; the fixing bar of the "L" shape can provide a stable supporting force for the connection plate and the fixing plate when the connection plate applies a pulling force to the end effector.
Drawings
Fig. 1 is a schematic structural diagram of a load detection device of an industrial robot based on a complex integrated flange end in a main view direction in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a load unit in a right-view direction in an industrial robot load detection device based on a complex integrated flange end according to an embodiment of the present invention.
Fig. 3 is a cross-sectional view taken at a-a in fig. 2.
In the above drawings: the device comprises a base 10, a first connecting arm 101, a first motor 111, a second connecting arm 102, a second motor 112, a load block 20, a connecting hole 21, a load plate 201, a mounting plate 202, a fixing plate 301, a connecting plate 302, a first mounting hole 312, a second mounting hole 322, a third mounting hole 332, a mounting groove 40, a sliding rail 401, a sliding block 402, a limiting groove 403 and a fixing strip 404.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
The embodiment of the invention is basically as shown in fig. 1, fig. 2 and fig. 3, and provides a load detection device for an industrial robot based on a complex integrated flange end, which includes a load unit, a control unit for controlling the load unit, a fixing strip 404 and a force application unit for adjusting the magnitude and direction of a force application, wherein the load unit includes a load block 20 whose magnitude and direction of the force application are adjustable, a flange connection unit, a load plate 201, a laser tracker and a mounting plate 202, and the flange connection unit includes a fixing plate 301 and a connecting plate 302; as shown in fig. 3, the upper side of the load board 201 is welded with the lower side of the load block 20, the lower side of the load board 201 is coaxially welded with the upper side of the fixing plate 301, the mounting plate 202 is vertically and fixedly mounted on the right side wall of the load board 201 through bolts, the vertical plane on which the mounting plate 202 is located is perpendicular to the horizontal plane on which the load board 201 is located, and the laser tracker is mounted on the mounting plate 202 and is opposite to the end of the flange connection unit away from the load board 201.
As shown in fig. 1, the force application unit includes a base 10, a first connection arm 101, a second connection arm 102, a first motor 111 driving the first connection arm 101 to rotate forward or backward on a vertical plane, and a second motor 112 driving the second connection arm 102 to rotate forward or backward on the vertical plane; the first connecting arm 101 is vertically arranged, the lower end of the first connecting arm 101 is hinged with the base 10, and the first motor 111 is fixedly installed on the base 10 through bolts; the second connecting arm 102 is horizontally arranged, one end of the second connecting arm 102 is hinged to one end of the first connecting arm 101, which is far away from the base 10, the other end of the second connecting arm 102 is fixedly connected with one side, which is far away from the flange connecting unit, of the load block 20, and the second motor 112 is fixedly installed on one end, which is far away from the base 10, of the first connecting arm 101 through bolts; meanwhile, the control unit comprises a processor, a first controller and a second controller, wherein the first controller controls the rotation angle and the direction of the first connecting arm 101, the second controller controls the rotation angle and the direction of the second connecting arm 102, the laser tracker, the first controller and the second controller are all electrically connected with the processor, and the laser tracker is a Leica laser tracker six-axis measuring device.
As shown in fig. 3, the lower side of the fixing plate 301 is coaxially welded to the upper side of the connecting plate 302, and both the fixing plate 301 and the connecting plate 302 have a circular shape; as shown in fig. 2, the connecting plate 302 is provided with a plurality of first mounting holes 312 and second mounting holes 322 for detachably connecting the connecting plate 302 and the end effector, the first mounting holes 312 and the second mounting holes 322 are both strip-shaped, the longitudinal section profile of the first mounting holes 312 is arc-shaped, and the center of the longitudinal section profile of the first mounting holes 312 is coincident with the center of the connecting plate 302; the second mounting hole 322 is provided in the radial direction of the connecting plate 302; meanwhile, a plurality of third mounting holes 332 for detachably connecting the connecting plate 302 and the end effector are formed in the connecting plate 302, the circumferential radius of the plurality of third mounting holes 332 is between the circumferential radii of the first mounting holes 312 and the second mounting holes 322, and the circumferential radius of the first mounting holes 312 is larger than the circumferential radius of the second mounting holes 322; meanwhile, as shown in fig. 2 and 3, the load block 20 is provided with a connecting hole 21 detachably connected to one end of the second connecting arm 102 away from the first connecting arm 101, an axis of the connecting hole 21 is parallel to an axis of the third mounting hole 332, and the other end of the second connecting arm 102 is detachably connected to the connecting hole 21 of the load block 20 through a bolt.
As shown in fig. 3, one side of the fixing plate 301 close to the connecting plate 302 is rotatably connected to the connecting plate 302, an annular mounting groove 40 is formed in one side of the fixing plate 301 close to the connecting plate 302, an annular slide rail 401 is coaxially disposed in the mounting groove 40, a plurality of slide blocks 402 are disposed on the slide rail 401, and one side of the slide blocks 402 away from the slide rail 401 is welded to one side of the connecting plate 302 close to the fixing plate 301; an annular limiting groove 403 is coaxially arranged on one side of the connecting plate 302 close to the fixing plate 301, the longitudinal section profile of the limiting groove 403 is L-shaped, the longitudinal section profile of the fixing strip 404 is L-shaped, the fixing strip 404 is slidably sleeved in the limiting groove 403, and the end part of the fixing strip 404 is welded with the fixing plate 301.
When the industrial robot load detection device based on the complex integrated flange end is used, the six-axis measuring equipment of the Leka laser tracker is fixed to the mounting plate 202 by bolts, and is opposite to the connecting plate 302, so that the situation that laser emitted by the six-axis measuring equipment of the Leka laser tracker is not shielded by structures such as the load block 20 and the like when the six-axis measuring equipment of the Leka laser tracker is used is ensured, and the laser is not broken.
When the industrial robot is detected, the end manipulator of the industrial robot is fixedly connected with the connecting plate 302 by bolts, when the end manipulator is connected with the connecting plate 302, the connecting plate 302 on the fixing part is rotated according to the connecting position of the end manipulator and the connecting plate 302, at the moment, the connecting plate 302 drives the sliding block 402 to rotate on the sliding rail 401, and the fixing strip 404 also slides along the annular limiting groove 403, so that the connecting position of the end manipulator is opposite to the first mounting hole 312, the second mounting hole 322 or the third mounting hole 332 on the connecting plate 302, at the moment, the connecting position of the end manipulator is connected with the first mounting hole 312, the second mounting hole 322 or the third mounting hole 332 on the connecting plate 302 by bolts, because the first mounting hole 312, the second mounting hole 322 or the third mounting hole 332 are positioned on different circumferential radiuses of the connecting plate 302, and the first mounting hole 312, the second mounting hole 322 or the third mounting hole 332 are positioned on different circumferential radiuses of the connecting plate 302, Second mounting hole 322 or third mounting hole 332 are located on different arcs of attachment plate 302 to facilitate substantially opposing end effector attachment locations.
Then, force is applied to the industrial robot, the processor processes the magnitude and direction of the applied force at the moment, corresponding instructions are transmitted to the first controller and the second controller, the first motor 111 and the second motor 112 are started at the same time, the first motor 111 drives the first connecting arm 101 to rotate around the base 10, and then the second connecting arm 102 is driven to move and pull a load unit and a tail end manipulator of the industrial robot; meanwhile, the second motor 112 also drives the second connecting arm 102 and the first connecting arm 101 to rotate, and after the magnitude and the direction of the force applied by the first connecting arm 101 and the second connecting arm 102 to the load unit and the end manipulator of the industrial robot are combined, the purpose of load detection of the end manipulator of the industrial robot can be achieved, and the magnitude and the direction of the force during loading can be accurately adjusted and changed; in the process, the fixing strip 404 in the shape of "L" can provide stable supporting force for the connecting plate 302 and the fixing plate 301; then selecting a maximum cube or cuboid formed by a track when the tail end operator moves in a measuring mode, ensuring that the formed cube or cuboid is in a maximum volume state, and synchronously moving the tail end operator under the driving of a load unit, in the process, recording 8 vertex positions (C1-C8) of the cube or cuboid where the tail end operator is located by six-axis measuring equipment of a Leica laser tracker, and comparing the 8 vertex positions (C1-C8) with 8 vertex positions in theory by a processor to obtain the deviation of the joint angle relative to a theoretical value when the robot actually moves; and simultaneously, the magnitude and direction of the force application involved in the process are recorded, and the load test condition of the tail end of the industrial robot is obtained.
Meanwhile, an industrial robot load detection device based on a complex integrated flange end can be adopted to carry out minimum positioning time test, swing deviation test, pose characteristic drift test, static flexibility and interchangeability test, stability time and position overshoot test, track characteristic index test and the like on a tail end manipulator of the industrial robot.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. A load detection device of an industrial robot based on a complex integrated flange end comprises a load unit and a control unit for controlling the load unit, and is characterized in that the load unit comprises a load block, a flange connection unit, a load plate, a laser tracker and a mounting plate, wherein the force application size and the force application direction of the load block are adjustable; the flange connection unit is detachably connected with the tail end manipulator.
2. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 1, further comprising a force application unit for adjusting the magnitude and direction of the applied force at the load block, wherein the force application unit comprises a base, a first connecting arm, a second connecting arm, a first motor for driving the first connecting arm to rotate forward or backward on a vertical plane, and a second motor for driving the second connecting arm to rotate forward or backward on the vertical plane; the first connecting arm is vertically arranged, the lower end of the first connecting arm is hinged with the base, and the first motor is fixedly arranged on the base; the second connecting arm is horizontally arranged, one end of the second connecting arm is hinged to one end, far away from the base, of the first connecting arm, the other end of the second connecting arm is fixedly connected with one side, far away from the flange connecting unit, of the load block, and the second motor is fixedly installed at one end, far away from the base, of the first connecting arm.
3. A complex integrated flange end based industrial robot load detection device according to claim 2, characterized in that the control unit comprises a processor, a first controller controlling the rotation angle and direction of the first connecting arm and a second controller controlling the rotation angle and direction of the second connecting arm, and the laser tracker, the first controller and the second controller are electrically coupled to the processor.
4. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 3, wherein the flange connection unit comprises a fixed plate and a connecting plate, one side of the fixed plate is coaxially connected with the load plate, one side of the fixed plate is connected with one side of the connecting plate, the connecting plate is circular, the connecting plate is provided with a plurality of first mounting holes and second mounting holes for detachably connecting the connecting plate and the end manipulator, the first mounting holes and the second mounting holes are both strip-shaped, the longitudinal section contour of the first mounting holes is arc-shaped, and the center of the longitudinal section contour of the first mounting holes is coincident with the center of the connecting plate; the second mounting hole is arranged along the radial direction of the connecting plate.
5. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 4, wherein the connecting plate is provided with a plurality of third mounting holes for detachably connecting the connecting plate and the end effector, the plurality of third mounting holes are located at a circumference radius between the circumference radii of the first mounting hole and the second mounting hole, and the circumference radius of the first mounting hole is larger than that of the second mounting hole.
6. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 5, wherein the load block is provided with a connecting hole detachably connected with one end of the second connecting arm far away from the first connecting arm, the axis of the connecting hole is parallel to the axis of the third mounting hole, and the other end of the second connecting arm is detachably connected with the connecting hole of the load block.
7. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 6, wherein the side of the fixing plate close to the connecting plate is rotatably connected with the connecting plate, an annular mounting groove is formed in the side of the fixing plate close to the connecting plate, an annular slide rail is coaxially arranged in the mounting groove, a plurality of slide blocks are arranged on the slide rail, and the side of the slide block far away from the slide rail is fixedly connected with the side of the connecting plate close to the fixing plate.
8. The load detection device for the industrial robot based on the complex integrated flange end as claimed in claim 7, further comprising a fixing strip, wherein an annular limiting groove is coaxially arranged on one side of the connecting plate close to the fixing plate, the longitudinal section of the limiting groove is shaped like an "L", the longitudinal section of the fixing strip is also shaped like an "L", the fixing strip is slidably sleeved in the limiting groove, and the end of the fixing strip is fixedly connected with the fixing plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210247268.XA CN114633284B (en) | 2022-03-14 | 2022-03-14 | Industrial robot load detection device based on complicated integrated flange end |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210247268.XA CN114633284B (en) | 2022-03-14 | 2022-03-14 | Industrial robot load detection device based on complicated integrated flange end |
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| CN114633284A true CN114633284A (en) | 2022-06-17 |
| CN114633284B CN114633284B (en) | 2024-07-02 |
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| KR20140024985A (en) * | 2012-08-20 | 2014-03-04 | 한국전력공사 | Load test apparatus for an insulation arm |
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| CN114633284B (en) | 2024-07-02 |
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Address after: No. 101 Yunhan Avenue, Beibei District, Chongqing 400700 Patentee after: Chongqing Kairui Robot Technology Co.,Ltd. Country or region after: China Patentee after: CHENGDU AIRCRAFT INDUSTRIAL (GROUP) Co.,Ltd. Address before: 400700 No. 256 Fangzheng Avenue, Beibei District, Chongqing Patentee before: CHONGQING DEXIN ROBOT DETECTION CENTER CO.,LTD. Country or region before: China Patentee before: CHENGDU AIRCRAFT INDUSTRIAL (GROUP) Co.,Ltd. |
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