CN117516442A - Portable test device and method of use thereof - Google Patents

Abstract

The invention discloses portable testing equipment and a using method, wherein the portable testing equipment comprises a tool box, a box body and a box cover, wherein the box body is covered by the box body; the test assembly comprises a test piece and a three-dimensional position measurement assembly arranged in the box body, wherein the test piece is arranged at a test end of the industrial robot so as to be driven by the industrial robot to move towards a preset position, and the three-dimensional position measurement assembly is used for measuring three-dimensional coordinates of the test piece after the movement is stopped; the control assembly is arranged in the box body and is electrically connected with the three-dimensional position measuring assembly, and the control assembly is also used for being in communication connection with an external terminal and transmitting the three-dimensional coordinates detected by the three-dimensional position measuring assembly to the external terminal _， According to the technical scheme, the test assembly and the control assembly are stored in the box body, so that the problems of large size and portability of the existing test equipment can be solved.

Description

Portable test device and method of use thereof

Technical Field

The invention relates to the technical field of industrial robot repeated positioning, in particular to portable testing equipment and a using method thereof.

Background

The prior equipment for detecting the repeated positioning precision of the industrial robot comprises laser testing equipment and contact testing equipment; the existing laser test equipment and contact test equipment need to install required components in the test equipment on a machine table when the repeated positioning precision detection is carried out on the industrial robot, and then the detection is carried out, but the existing test equipment is large in size and inconvenient to carry.

Disclosure of Invention

The invention mainly aims to provide portable testing equipment, which aims to solve the problems that the testing equipment is large in size and inconvenient to carry.

In order to achieve the above object, the portable testing device according to the present invention includes:

the tool box comprises a box body and a box cover for covering the box body;

the test assembly comprises a test piece and a three-dimensional position measurement assembly arranged in the box body, wherein the test piece is arranged at a test end of the industrial robot so as to be driven by the industrial robot to move towards a preset position, and the three-dimensional position measurement assembly is used for measuring three-dimensional coordinates of the test piece after the movement is stopped; and

the control assembly is arranged in the box body and is electrically connected with the three-dimensional position measuring assembly, and the control assembly is also used for being in communication connection with an external terminal and transmitting the three-dimensional coordinates detected by the three-dimensional position measuring assembly to the external terminal.

Optionally, the three-dimensional position measurement assembly includes a plurality of laser displacement sensors, the plurality of laser displacement sensors are uniformly arranged on the same spherical surface at intervals, and the light emitting ends face the preset positions; the test piece is configured as a test block, and the plurality of laser type displacement sensors obtain the three-dimensional coordinates through reflected light of the test block.

Optionally, the test assembly further includes a first bottom plate, the first bottom plate is fixed on the bottom in the box, a plurality of first mounting plates are connected to the first bottom plate, and a plurality of laser displacement sensors are installed in a plurality of first mounting plates in a one-to-one correspondence.

Optionally, the three-dimensional position measurement assembly includes a plurality of contact displacement sensors, the plurality of contact displacement sensors are uniformly arranged on the same spherical surface at intervals, and the contact ends extend towards the preset position; the test piece is configured to be a test ball, and the contact ends of the contact displacement sensors move towards the preset positions until the contact ends are abutted against the test ball, so that the three-dimensional coordinates are obtained.

Optionally, the test assembly further includes a second bottom plate, the second bottom plate is fixed in the bottom in the box, be connected with the installation pole on the second bottom plate, the top of installation pole is connected with a plurality of installing supports, a plurality of contact displacement sensor one-to-one is installed in a plurality of installing supports.

Optionally, the contact displacement sensor is detachably connected with the installing support, install the storage rack in the box, the storage rack is used for depositing a plurality of contact displacement sensor.

Optionally, the control component includes a power supply, a communication interface, a switch, and a sensor amplifier, where the sensor amplifier is connected with the contact displacement sensor or the laser displacement sensor, and the sensor amplifier is connected with the external terminal through the communication interface and is used to feed back detection data of the contact displacement sensor or the laser displacement sensor to the external terminal station.

Optionally, the box outside is fixed with the connecting block, the connecting block is used for with the board detachable connection.

Optionally, the bottom of the box body is fixed with a third bottom plate, the connecting block is connected to the third bottom plate, the outer side of the connecting block is detachably connected with a protecting sleeve, the bottom in the box body is provided with a second mounting plate, and the testing component is fixed on the second mounting plate.

The invention also provides a use method of the portable test equipment, the use method of the portable test equipment is applied to the portable test equipment, and the use method of the portable test equipment comprises the following steps:

fixing the three-dimensional position measuring assembly on a machine table;

mounting a test piece to a test end of an industrial robot;

the industrial robot drives the test piece to move for a plurality of times towards the same preset position;

after each time the test piece stops moving, the three-dimensional position measuring assembly tests the three-dimensional coordinates of the test piece at the current time;

the control component transmits the three-dimensional coordinates to the external terminal so as to obtain repeated positioning accuracy of the industrial robot according to the three-dimensional coordinates.

According to the technical scheme, the test assembly and the control assembly are arranged in the box body, so that the integration level of the test equipment can be further improved, the box body is carried to the appointed position during testing, then the test assembly is taken out from the box body and is arranged at the appointed position, repeated positioning precision testing can be conducted on the industrial robot, after the testing is completed, the test assembly is only required to be removed from the appointed position and then is arranged into the box body, the box body can be carried away, portability is further improved, and further the technical problems existing in the prior art can be solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a portable testing device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the test and control components of FIG. 1;

FIG. 3 is a schematic diagram of another embodiment of the portable testing device of the present invention;

FIG. 4 is a schematic diagram of the test and control components of FIG. 3;

FIG. 5 is an enlarged view of FIG. 4 at A;

FIG. 6 is an enlarged view of FIG. 4 at B;

FIG. 7 is a schematic diagram of the control assembly of the portable testing device of the present invention;

FIG. 8 is a schematic view of a portable testing device according to an embodiment of the present invention;

FIG. 9 is a schematic view of the second mounting plate and the third bottom plate of FIG. 8;

FIG. 10 is a schematic view of the explosion of FIG. 8;

FIG. 11 is a schematic view of a structure of a case of a portable testing device according to another embodiment of the present invention;

FIG. 12 is a flow chart of a method of using the portable test device of the present invention.

Reference numerals illustrate:

the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The invention provides portable testing equipment.

In the embodiment of the invention, the portable test equipment is arranged on a machine, wherein the machine can be a machine of an industrial robot or any machine capable of meeting the requirement of repeated positioning detection of the industrial robot on a production line, and the portable test equipment is connected with an external terminal; alternatively, the portable test device may be installed at a designated location or on a designated structure in a workshop, and a computer, tablet or mobile phone may be used for the external terminal.

The portable test equipment comprises a test assembly 2, a control assembly 3 and a tool box 1, wherein the test assembly 2 is used for repeatedly positioning and detecting an industrial robot, the test assembly 2 comprises a test piece and a three-dimensional position measurement assembly arranged in the box 101, namely, the three-dimensional position measurement assembly in the test assembly 2 is arranged at the position designated by the machine station or a workshop, the test piece is arranged at a test end of the industrial robot and is driven by the industrial robot to move towards a preset position, the three-dimensional position measurement assembly is used for measuring the three-dimensional coordinates of the test piece after stopping moving, after the test piece is arranged at the test end of the industrial robot, the test end and the test piece are driven by the industrial robot to move to a preset position in the three-dimensional position measurement assembly, and the three-dimensional position measurement assembly detects the test piece at the moment to obtain the three-dimensional coordinates of the test piece; the control component 3 is configured to transmit the three-dimensional coordinates detected by the three-dimensional position measurement component to an external terminal, where a transmission mode between the control component 3 and the external terminal may adopt wired transmission or wireless transmission, where the wireless transmission includes, but is not limited to, bluetooth transmission, and when bluetooth is used to transmit data, a corresponding bluetooth module needs to be set in the control component 3; the tool box 1 comprises a box body 101 and a box cover 102, and referring to fig. 1, one side of the box body 101 is hinged with the box cover 102, and the other side of the box body 101 is connected with the box cover 102 through a buckle; meanwhile, another embodiment mode can be adopted between the box body 101 and the box cover 102, for example, in fig. 11, a split structure can be adopted between the box body 101 and the box cover 102 for connection, when the split structure is adopted for connection, the box body 101 and the box cover 102 can be connected through a plurality of buckles, the plurality of buckles are respectively distributed on a plurality of surfaces on the outer side of the box body 101, and when the tool box 1 is opened, the box cover 102 can be detached from the box body 101 only by sequentially opening the plurality of buckles; the test assembly 2 is arranged in the box body 101, wherein the test assembly 2 can be detachably arranged in the box body 101 through bolts, and the control assembly 3 is arranged in the box body 101; as shown in fig. 1.

According to the technical scheme, the test assembly 2 and the control assembly 3 are arranged in the box body 101, so that the integration level of the test equipment can be further improved, the box body 101 is carried to a specified position when the test is carried out, then the test assembly 2 is taken out from the box body 101 and is arranged at the specified position, the repeated positioning precision test can be carried out on the industrial robot, after the test is finished, the test assembly 2 is only required to be removed from the specified position and then the test assembly 2 is arranged into the box body 101, the box body 101 can be carried to leave, the portability is further improved, and the technical problems existing in the prior art can be further solved.

In an embodiment, referring to fig. 2, the test assembly 2 may be used in a structure that the three-dimensional position measurement assembly includes a plurality of laser displacement sensors 203 and a test block, the plurality of laser displacement sensors 203 are uniformly arranged on the same spherical surface at intervals, and the light emitting ends face the preset position, wherein the number of the laser displacement sensors 203 may be three, the three laser displacement sensors 203 are all installed in the box 101, and the laser emission directions of the three laser displacement sensors 203 are respectively emitted along the X axis, the Y axis and the Z axis to form a three-dimensional measurement coordinate system; the test block is arranged at the test end of the industrial robot, the test block is positioned in a three-dimensional measurement coordinate system, after the test block is arranged at the test end of the industrial robot, the test block is driven by the test end of the industrial robot to move to a preset position in the three-dimensional measurement coordinate system, and then the three-dimensional position coordinates of the test block in the coordinate system are obtained by reflecting the distance between each surface of the test block and the laser type displacement sensor 203 through the three laser type displacement sensors 203; and then the test end of the industrial robot drives the test block to go deep into the three-dimensional measurement coordinate system for a plurality of times, a plurality of three-dimensional position coordinates are obtained, position coordinate data are fed back to an external terminal through the control component 3, and finally the accuracy of repeated positioning of the industrial robot is obtained through measurement and calculation of the external terminal.

The laser displacement sensor 203 and the case 101 are mounted in various ways, including:

the first installation mode is as follows: the three laser type displacement sensors 203 are respectively connected with the inner wall of the box body 101 through bolts, or an installation seat for installing the laser type displacement sensors 203 can be arranged on the inner wall of the box body 101, and the laser type displacement sensors 203 are clamped into the installation seat; meanwhile, three laser displacement sensors 203 can be located inside the box 101 in a distributed manner, wherein one laser displacement sensor 203 is installed at the bottom inside the box 101, the other two laser displacement sensors 203 are respectively installed on two inner side walls of the box 101, the three laser displacement sensors 203 are located on the same spherical surface, the beam directions emitted between the three laser displacement sensors 203 are mutually perpendicular, and further, the box 101 is used for installing the two inner side walls of the laser displacement sensors 203, which are mutually perpendicular.

And the second installation mode is as follows: referring to fig. 1 and 2, the test assembly 2 further includes a first bottom plate 201, the first bottom plate 201 being fixed to the inner bottom of the case 101, wherein the first bottom plate 201 is fixed to the inner bottom of the case 101 by bolts; the first base plate 201 is connected with a plurality of first mounting plates 202, and the number of the plurality of first mounting plates 202 can be three; the three laser displacement sensors 203 are arranged on the three first mounting plates 202 in a one-to-one correspondence manner, meanwhile, the three laser displacement sensors 203 are positioned on the same spherical surface, and the directions of light beams emitted by the three laser displacement sensors 203 are mutually perpendicular;

further, the first mounting plate 202 and the first bottom plate 201 may be mounted by welding or bolting.

In an embodiment, referring to fig. 3, the test assembly 2 may further adopt another structure, where the three-dimensional position measurement assembly includes a plurality of contact displacement sensors 211 and a test ball 204, the plurality of contact displacement sensors 211 are uniformly spaced and arranged on the same spherical surface, the number of the contact displacement sensors 211 may be three, the three contact displacement sensors 211 are all installed in the case 101, axes of the three contact displacement sensors 211 are perpendicular to each other, and test moving directions of the three contact displacement sensors 211 form a three-dimensional measurement coordinate system; the test ball 204 is installed at the test end of the industrial robot, under the operation of the industrial robot, the test end of the industrial robot drives the test ball 204 to be located in a three-dimensional measurement coordinate system, the test ball 204 is enabled to be in contact with the contact ends 2112 of the plurality of contact displacement sensors 211 and enable the contact ends 2112 to stretch, the three-dimensional position coordinates of the test ball 204 are determined through the stretch distance of the contact ends 2112 of the contact displacement sensors 211, the plurality of three-dimensional position coordinates can be obtained through repeating the operation for a plurality of times, position coordinate data are fed back to an external terminal through the control component 3, and the accuracy of repeated positioning of the industrial robot can be obtained through measuring and calculating the plurality of three-dimensional position coordinates by the external terminal. In an embodiment, for the touch displacement sensor 211, when three touch displacement sensors 211 are integrated into one, and a three-dimensional measurement coordinate system can be formed and three-dimensional measurement can be performed, the touch displacement sensors 211 in the present application may be replaced by integrated touch displacement sensors to form a three-dimensional position measurement assembly.

In an embodiment, referring to fig. 4, the following mounting manner may be adopted between the contact displacement sensor 211 and the case 101: the test assembly 2 further comprises a second bottom plate 205, the second bottom plate 205 is fixed at the inner bottom of the box body 101, a mounting rod 206 is connected to the second bottom plate 205, a plurality of mounting brackets 207 are connected to the top of the mounting rod 206, three mounting brackets 207 can be selected, and the three mounting brackets 207 are combined to form an approximate Y-shaped structure; wherein, in order to facilitate the disassembly and assembly of the mounting brackets 207, the three mounting brackets 207 can be combined to form a whole, and a bolt can be adopted to connect the integral mounting brackets 207 and the mounting rod 206; the three contact displacement sensors 211 are installed on the three installation brackets 207 one by one, wherein the installation brackets 207 are connected with elastic clamping pipes 209, the number of the elastic clamping pipes 209 is three, the axes of the three elastic clamping pipes 209 are mutually perpendicular, the axes of the three elastic clamping pipes 209 are intersected at one point, the outer sides of the elastic clamping pipes 209 are connected with nuts 210, the nuts 210 are used for tightening or loosening the elastic clamping pipes 209, the contact displacement sensors 211 are installed in the elastic clamping pipes 209, the elastic clamping pipes 209 are tightened by rotating the nuts 210, and the contact displacement sensors 211 can be fixed on the installation brackets 207 through the elastic clamping pipes 209.

In an embodiment, referring to fig. 2 and 4, a storage rack 208 is installed in the case 101, the storage rack 208 is used for storing three contact displacement sensors 211, the storage rack 208 includes a base 2081, the three contact displacement sensors 211 are stacked on top of the base 2081, a fixing rod 2082 is further fixed on top of the base 2081, the fixing rod 2082 passes through a housing 2111 of the plurality of contact displacement sensors 211, a through hole matched with the fixing rod 2082 is formed on the housing 2111, wherein a butterfly nut 2083 is connected to the top of the fixing rod 2082, the plurality of contact displacement sensors 211 are sequentially installed on top of the base 2081 through the housing 2111, the fixing rod 2082 passes through the through hole on the housing 2111 to limit the contact displacement sensors 211 on the storage rack 208, and then the butterfly nut 2083 is screwed into the fixing rod 2082.

In one embodiment, referring to fig. 7, the control assembly 3 includes a power source, a communication interface, a switch 306, and a sensor amplifier 305, wherein a mounting frame is connected in the case 101, wherein the mounting frame is formed by connecting a third mounting plate 301 with two side plates 302 in an L-shaped structure, and the mounting frame has a rectangular structure with two openings on two sides, wherein one opening is disposed towards the bottom of the case 101, and the other opening is disposed towards the position away from the test assembly 2; the mounting frame is fixed with an element mounting plate 303 through screws, the element mounting plate 303 is provided with a first guide rail 304 and a second guide rail 307, the sensor amplifier 305 is arranged on the first guide rail 304, wherein an external power supply is adopted as a power supply, the external power supply is connected into the device through a power supply 309, and the power supply 309 is arranged on the element mounting plate 303 through the second guide rail 307; the switch 306 may be a boat-shaped switch 306, wherein the boat-shaped switches 306 are respectively clamped at the outer sides of the mounting frames, and corresponding mounting holes 308 are formed at the outer sides of the mounting frames for facilitating the mounting of the boat-shaped switch 306; the sensor amplifier 305 is connected to the contact displacement sensor 211 or the laser displacement sensor 203, and the sensor amplifier 305 is connected to an external terminal through a communication interface, so as to feed back detection data of the contact displacement sensor 211 or the laser displacement sensor 203 to the external terminal.

In an embodiment, referring to fig. 8, a connection block 6 is fixed on the outer side of a box 101, the connection block 6 can be detached at a designated position of a machine or a tester, wherein a long-strip-shaped connection hole 601 is formed in the connection block 6, a bolt passes through the connection block 6 to be connected with the machine during installation, the adaptation degree of the bolt during connection can be improved under the action of the long-strip-shaped connection hole 601, the using effect of the device is further improved, after the box 101 is fixed on the machine through the connection block 6, as a test component 2 is fixed inside the box 101, a control component 3 is installed inside the box 101, for the test equipment, after the box 101 is fixed, other components in the test equipment are also installed, and meanwhile, when the test equipment is detached, the portability of the device is greatly improved only after the box 101 is detached; meanwhile, as the laser displacement sensor 203 or the integrated contact displacement sensor in the test assembly 2 is fixed in the box body 101, after the box body 101 is fixed on a machine table, the test assembly 2 can be stably fixed on the machine table, so that the condition that the test data is inaccurate due to shaking of the test assembly 2 when an industrial robot performs a test is avoided;

in an embodiment, when the tool box 1 adopts a split structure for the above structure, for example, fig. 11, the influence of the box cover 102 on the industrial robot during repeated positioning detection can be avoided, meanwhile, the installation of the independent box 101 is more convenient, the box cover 102 does not need to be considered during the installation to influence the action route of the industrial robot during repeated positioning detection, the installation range of the box 101 is wider, and the use effect of the portable detection device can be further improved.

In an embodiment, referring to fig. 8, a third bottom plate 5 is fixed at the bottom of the box 101, a connecting block 6 is connected to the third bottom plate 5, wherein the connecting block 6 is fixed at the outer side of the third bottom plate 5, the bottom of the connecting block 6 is horizontal to the bottom of the third bottom plate 5, when the connecting block 6 is fixed on a machine table, the bottom of the third bottom plate 5 can be propped against the installation place of the machine table, the use effect is further improved, compared with the case that the connecting block 6 is fixed at the outer side of the box 101, the situation that the connecting block 6 is separated from the box 101 during fixing can be avoided, meanwhile, when the connecting block 6 is fixed at the outer side of the third bottom plate 5, the connecting block 6 and the third bottom plate 5 can be processed and molded by adopting an integral molding process, and the stability between the connecting block 6 and the third bottom plate 5 is greatly improved.

In an embodiment, referring to fig. 10, in order to facilitate the fixation between the third bottom plate 5 and the box 101, the second mounting plate 4 is mounted at the bottom of the box 101 and connected with the third bottom plate 5, specifically, the bottom of the second mounting plate 4 is connected with a plurality of connecting rods 401, and the number of the connecting rods 401 may be four, six, etc., where the connecting rods 401 may adopt hollow rods and have a threaded structure inside, the bottom of the connecting rods 401 passes through the bottom of the box 101 and is fixed with the top of the third bottom plate 5, where the top and the bottom of the third bottom plate 5 are both provided with countersunk grooves 501, the number of countersunk grooves 501 is plural, and the top and the bottom of the third bottom plate 5 correspond up and down and are two-to-two communicated;

when the connecting rod 401 passes through the bottom of the box body 101 and is matched with the top of the third bottom plate 5, the top of the connecting rod 401 is inserted into the countersunk groove 501 at the top of the second mounting plate 4, so that the purpose of positioning is achieved, the subsequent mounting is facilitated, the mounting effect of equipment is improved, then the countersunk bolt 8 is mounted in the countersunk groove 501 at the bottom of the third bottom plate 5, the countersunk bolt 8 is connected with threads in the connecting rod 401, the purpose of clamping the bottom of the box body 101 by the third bottom plate 5 and the second mounting plate 4 can be achieved, the effect of fixing the third bottom plate 5 at the bottom of the box body 101 is achieved, meanwhile, in order to enable the fixing effect between the third bottom plate 5 and the box body 101 to be better, a gasket is sleeved outside the connecting rod 401 to reduce the gap between the bottom of the box body 101 and the third bottom plate 5, so that the stability of connection between the two is improved, and meanwhile, the clamping force between the third bottom plate 5 and the second mounting plate 4 can be improved in a mode that the length of the connecting rod 401 is slightly smaller than the thickness of the bottom of the box body 101 is also adopted, and the effect of stably fixing the third bottom plate 5 at the outer side of the box body 101 is achieved; the test assembly 2 is secured to the second mounting plate 4 with either the first base plate 201 or the second base plate 205 being bolted to the top of the second mounting plate 4.

In an embodiment, refer to fig. 10, the lag 7 is detachably connected with the connecting block 6 outside, wherein the lag 7 can be made of rubber material, the lag 7 can be sleeved outside the connecting block 6 by the test equipment in the process of carrying and moving, at this time, the connecting block 6 can be prevented from being damaged due to collision between the connecting block 6 and other objects under the action of the lag 7, other objects can be prevented from being damaged simultaneously, the device is placed in transportation equipment such as an automobile under the action of the lag 7 made of rubber material, a damping effect can be achieved on equipment inside the box 101 under the action of the lag 7, and the using effect of the device is further improved.

In an embodiment, referring to fig. 10, the protection sleeve 7 wraps the outside of the connection block 6, the top and the top bottom are both connected with the protrusions 701 in the protection sleeve 7, when the protection sleeve 7 wraps the outside of the connection block 6, the protrusions 701 are clamped into the connection holes 601, and then the protection sleeve 7 is clamped on the outside of the connection block 6, so that the protection sleeve 7 can be effectively prevented from falling off in the carrying and transporting process of the test device.

The invention also provides a use method of the portable test equipment, and the specific structure of the portable test equipment refers to the embodiment, and because the use method of the portable test equipment adopts all the technical schemes of all the embodiments, the use method at least has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted herein. The using method of the portable testing device comprises the following steps:

step S10: and fixing the three-dimensional position measuring assembly on the machine table.

Furthermore, the machine can be an industrial robot machine or other machines capable of repeatedly positioning and detecting the industrial robot on the production line; the synchronization stage may be an external stage, such as a mobile rack, mobile station.

Further, there are various ways in which the three-dimensional position measuring assembly is fixed to the machine, including:

in the first mounting mode, the three-dimensional position measuring assembly is taken out of the box body 101 and fixed on a machine table, specifically, the box cover 102 is opened, the first bottom plate 201, the first mounting plate 202 and the laser displacement sensor 203 are taken out of the box body 101, and then the first bottom plate 201 is mounted on the machine table through bolts; or the second base plate 205, the mounting rod 206 and the mounting bracket 207 are taken out from the case 101, then the contact displacement sensor 211 is detached from the storage rack 208, inserted into the elastic clamping tube 209, and the elastic clamping tube 209 is tightened by the nut 210 on the elastic clamping tube 209 to fix the contact displacement sensor 211.

The second installation mode is to fix the box body 101 on the machine body, and the box body 101 does not need to be taken out when the laser type displacement sensor 203 or the integrated contact type displacement sensor is adopted by the three-dimensional position measurement assembly, so that the test equipment is more convenient and faster to install and detach. Specifically, the protecting sleeve 7 outside the connecting block 6 is removed, then the bottoms of the third bottom plate 5 and the connecting block 6 are contacted with the machine, then the connecting block 6 passes through the connecting hole 601 on the connecting block 6 through bolts, the connecting block 6 is fixed on the machine, and then the box body 101 is fixed on the machine, after the box body 101 is fixed on the machine, the box cover 102 is opened, when the laser type displacement sensor 203 is adopted in the box body 101 for measurement, the laser type displacement sensor 203 is not required to be secondarily installed, and the specific operation steps of connecting the contact type displacement sensor 211 with the mounting bracket 207 are as described above.

Step S20: the test piece is mounted to a test end of the industrial robot.

After step S10 is completed, the test piece in the case 101 is mounted at the test end of the industrial robot, and when the three-dimensional position measuring assembly adopts the laser type displacement sensor 203, the test piece is configured as a test block, wherein the test block is connected to the test end of the industrial robot through a bolt. When the three-dimensional position measuring assembly employs the contact displacement sensor 211, its test piece is configured as a test ball 204, wherein the test ball 204 is bolted to the test end of the industrial robot.

Step S30: the industrial robot drives the test piece to move toward the same preset position a plurality of times.

After step S20 is completed, the control unit 3 is connected with an external terminal and a three-dimensional position measuring unit; the specific operation is that the control component 3 is connected with the laser displacement sensor 203 or the contact displacement sensor 211 through a wire harness, wherein the laser displacement sensor 203 or the contact displacement sensor 211 is connected with the sensor amplifier 305 through a sensor amplifier 305 connecting wire, and the control component 3 and an external terminal can be connected through the wire harness, namely the sensor amplifier 305 and the external terminal are connected with the external terminal through a communication interface; the external terminal can be a computer, a mobile phone or a tablet; meanwhile, the sensor amplifier 305 can also be adopted, or the sensor amplifier 305 with Bluetooth function can be adopted, at the moment, the sensor amplifier 305 can be connected with an external terminal through Bluetooth to carry out data transmission, after equipment connection is completed, a power supply is connected, the industrial robot drives a test piece through a driving test end of the industrial robot, and the test piece moves towards the same preset position in the laser displacement sensor 203 for a plurality of times or contacts with the same preset position of the contact displacement sensor 211 for a plurality of times.

Step S40: after each time the test piece stops moving, the three-dimensional position measuring component tests the three-dimensional coordinates of the current test piece.

When the industrial robot drives the test block, after the movement in the laser displacement sensor 203 is stopped or the contact displacement sensor 211 is stopped, the laser displacement sensor 203 obtains the three-dimensional position coordinates of the test block through laser reflection, the contact displacement sensor 211 obtains the three-dimensional position coordinates of the test ball 204 through the displacement distance, so as to obtain the three-dimensional position coordinates of the industrial robot during positioning test, and the industrial robot obtains a plurality of three-dimensional position coordinates after positioning for a plurality of times.

Step S50: the control assembly 3 transmits the plurality of three-dimensional coordinates to the external terminal to obtain the repeated positioning accuracy of the industrial robot from the plurality of three-dimensional coordinates by the external terminal.

After step S40 is completed, the plurality of three-dimensional position coordinates obtained by the laser displacement sensor 203 or the contact displacement sensor 211 are transmitted to the external terminal through the sensor amplifier 305, and the external terminal calculates the repeated positioning accuracy of the industrial robot according to the plurality of three-dimensional position coordinates.

Step S60: and after the repeated positioning accuracy test of the industrial robot is finished, the three-dimensional position measurement assembly is removed from the machine.

After step S50 is completed, removing the three-dimensional position measurement assembly from the machine, wherein for the various mounting modes of the three-dimensional position measurement assembly in step S10, the removing modes are also various, including;

in the first disassembly mode, the first bottom plate 201 or the second bottom plate 205 is disassembled from the machine, then the first bottom plate 201 and the laser displacement sensor 203 or the second bottom plate 205 and the contact position sensor are put into the box body 101 together for storage, then the box cover 102 is covered on the box body 101, and at this time, the disassembly of the test equipment is completed.

The second type dismantles the bolt of connecting block 6 dismantles, and connecting block 6 and board separation this moment, and three-dimensional position measurement subassembly is arranged in box 101 this moment, and then with case lid 102 lid in box 101, establish lag 7 cover in the connecting block 6 outside at last and can accomplish test equipment's dismantlement, very convenient.

The foregoing description of the embodiments of the present invention is merely an optional embodiment of the present invention, and is not intended to limit the scope of the invention, and all equivalent structural modifications made by the present invention in the light of the present invention, the description of which and the accompanying drawings, or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (10)

1. A portable testing device, the portable testing device comprising:

the tool box comprises a box body and a box cover for covering the box body;

the test assembly comprises a test piece and a three-dimensional position measurement assembly arranged in the box body, wherein the test piece is arranged at a test end of the industrial robot so as to be driven by the industrial robot to move towards a preset position, and the three-dimensional position measurement assembly is used for measuring three-dimensional coordinates of the test piece after the movement is stopped; and

the control assembly is arranged in the box body and is electrically connected with the three-dimensional position measuring assembly, and the control assembly is also used for being in communication connection with an external terminal and transmitting the three-dimensional coordinates detected by the three-dimensional position measuring assembly to the external terminal.

2. The portable testing device of claim 1, wherein the three-dimensional position measuring assembly comprises a plurality of laser displacement sensors, the plurality of laser displacement sensors are uniformly arranged on the same spherical surface at intervals, and the light emitting ends face the preset positions; the test piece is configured as a test block, and the plurality of laser type displacement sensors obtain the three-dimensional coordinates through reflected light of the test block.

3. The portable testing device of claim 2, wherein the testing assembly further comprises a first bottom plate, the first bottom plate is fixed at the bottom in the case, a plurality of first mounting plates are connected to the first bottom plate, and a plurality of laser displacement sensors are mounted on the plurality of first mounting plates in a one-to-one correspondence.

4. The portable testing device of claim 1, wherein the three-dimensional position measurement assembly comprises a plurality of contact displacement sensors, the plurality of contact displacement sensors are uniformly spaced on the same sphere, and the contact ends extend toward the preset position; the test piece is configured to be a test ball, and the contact ends of the contact displacement sensors move towards the preset positions until the contact ends are abutted against the test ball, so that the three-dimensional coordinates are obtained.

5. The portable testing device of claim 4, wherein the testing assembly further comprises a second bottom plate, the second bottom plate is fixed at the bottom in the case, a mounting rod is connected to the second bottom plate, a plurality of mounting brackets are connected to the top of the mounting rod, and a plurality of contact displacement sensors are mounted on a plurality of the mounting brackets in a one-to-one correspondence.

6. The portable testing device of claim 5, wherein the touch displacement sensor is detachably connected to the mounting bracket, and a storage rack is mounted in the case for storing a plurality of the touch displacement sensors.

7. The portable testing device of claim 3 or 6, wherein the control assembly comprises a power source, a communication interface, a switch, a sensor amplifier connected to the contact displacement sensor or the laser displacement sensor, and the sensor amplifier connected to the external terminal through the communication interface for feeding back detection data of the contact displacement sensor or the laser displacement sensor to the external terminal.

8. The portable testing device of claim 1, wherein a connection block is fixed to the outside of the case, the connection block being configured to be detachably connected to the machine.

9. The portable testing device of claim 8, wherein a third bottom plate is fixed to the bottom of the case, the connection block is connected to the third bottom plate, a protection sleeve is detachably connected to the outer side of the connection block, a second mounting plate is mounted to the inner bottom of the case, and the testing assembly is fixed to the second mounting plate.

10. A method of using a portable test device according to any one of claims 1 to 9, wherein the portable test device comprises the steps of:

fixing the three-dimensional position measuring assembly on a machine table;

mounting a test piece to a test end of an industrial robot;

the industrial robot drives the test piece to move for a plurality of times towards the same preset position;

after each time the test piece stops moving, the three-dimensional position measuring assembly tests the three-dimensional coordinates of the test piece at the current time;

the control component transmits the three-dimensional coordinates to the external terminal so as to obtain repeated positioning accuracy of the industrial robot according to the three-dimensional coordinates.