CN205192419U - Industrial robot orbit and position detecting device - Google Patents
Industrial robot orbit and position detecting device Download PDFInfo
- Publication number
- CN205192419U CN205192419U CN201521032907.2U CN201521032907U CN205192419U CN 205192419 U CN205192419 U CN 205192419U CN 201521032907 U CN201521032907 U CN 201521032907U CN 205192419 U CN205192419 U CN 205192419U
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- rotary encoder
- mobile jib
- accurate bead
- accurate
- pedestal
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The utility model discloses an industrial robot orbit and position detecting device. Mainly comprise club mechanism, base, a rotary encoder mechanism, the 2nd rotary encoder mechanism and end effector, wherein end effector includes electromagnet and magnetism connecting rod, and the electromagnet rigid coupling tightly adsorbs on electromagnet in robot ring flange, magnetism connecting rod one end, and the other end of magnetism connecting rod has magnetism to it is connected to pass through the spherical pair with first accurate bobble, the accurate bobble of the second of first accurate bobble on club mechanism is connected to the base, the accurate bobble horizontal rotation direction of connection of second has a rotary encoder mechanism and the 2nd rotary encoder mechanism. The utility model discloses can acquire the position and the rail track feature of robot, portable, it is all very convenient that the installation is dismantled, can satisfy the demand of witnessed inspections.
Description
Technical field
The utility model relate to a kind of pick-up unit, particularly relate to a kind of industrial robot track and position detecting device.
Background technology
In the industrial robot method for testing performance that GB GB/T12642 lists, the method classification wherein relating to the detection of industrial robot position and track detection has test probe method, track relative method, trilateration, polar coordinate measuring method, triangulation, inertia measurement method, coordinate survey, track picture etc.In position and track detection, the method of current comparative maturity has laser tracker method, up-to-date laser tracker has Lycra AT960 series laser tracker, it can utilize its inner absolute distance meter (AIFM) to realize measurement accurate to industrial robot linear joint, at a high speed, and its measurement range can reach diameter 120 meters.Although the method can the measuring robots of precise and high efficiency, there is expensive short slab.
Utility model content
The purpose of this utility model, providing a kind of industrial robot track and position detecting device, realizes the detection of industrial robot position characteristic and arc track characteristic.
The technical solution adopted in the utility model is:
The utility model is primarily of club mechanism, pedestal, the first rotary encoder mechanism, the second rotary encoder mechanism and end effector composition, wherein end effector comprises magnechuck and magnetic connecting link, magnechuck is fixed in robot ring flange, magnetic connecting link one end is tightly adsorbed on magnechuck, the other end band of magnetic connecting link is magnetic, and is connected by spherical pair with the first accurate bead; First accurate little ball warp club mechanism is connected to the second accurate bead on pedestal, and the second accurate bead horizontal rotatio direction is connected with the first rotary encoder mechanism and the second rotary encoder mechanism.
Described club mechanism comprises scalable fiber rod, high accuracy displacement sensor, the first mobile jib and the second mobile jib, one end of scalable fiber rod and the first accurate bead affixed, the other end and first mobile jib one end Joint, high accuracy displacement sensor is equipped with in first mobile jib inside, high accuracy displacement sensor is connected with the pars contractilis of scalable fiber rod to be measured its stroke and changes, coaxially be socketed by screw thread pair between the first mobile jib other end and second mobile jib one end, the second mobile jib other end is secured on the second accurate bead.
Add the extension rod in order to lengthen between the first described mobile jib and the second mobile jib, extension rod is all coaxially socketed by screw thread pair respectively and between two mobile jibs, and extension rod can adopt the first extension rod of three kinds of different lengths or the second extension rod or the 3rd extension rod.
The data line of described high accuracy displacement sensor is connected to computing machine through the aperture of the first mobile jib bar side, and the change of the stroke of scalable fiber rod is transferred to computing machine,
Described pedestal top is provided with the Metal Ball holder that inwall is sphere, second accurate bead to be arranged in Metal Ball holder and sphere-contact, second accurate bead warp direction is processed with a circle ball, Metal Ball holder inwall is processed with the magnetic groove that accurate bead ball agrees with mutually with second, the centre of sphere of Metal Ball holder sphere inwall is concentric with the second accurate bead centre of sphere, and the second mobile jib other end is secured to the ball place of the second accurate bead.
The first described rotary encoder mechanism comprises the first rotary encoder, and pedestal bottom is semi-closure hollow cylinder structure, and the first metal shaft top is coaxially affixed through the bottom of pedestal and Metal Ball holder; First metal shaft bottom first shaft coupling is connected with the first rotary encoder being arranged on base interior, and the first rotary encoder is installed in the hollow cylinder of pedestal, and the first metal shaft and the second accurate bead centre of sphere are with on the same axis of horizontal plane.
The second described rotary encoder mechanism comprises the second rotary encoder, second metal shaft one end is secured to the center side of the second accurate bead, second metal shaft is perpendicular to the second mobile jib and the first metal shaft, and the axis of the second metal shaft passes through the centre of sphere of the second accurate bead; The other end of the second metal shaft is connected with the second rotary encoder by the second shaft coupling, and the second rotary encoder is installed on support, and the roller that support is installed by bottom in base top surface, and rotates around its center of circle under the second accurate bead rotarily drives.
Described first accurate bead and the second accurate bead all adopt stainless steel material.
The beneficial effect that the utility model has is:
The detection of track and position characteristic that the utility model achieves robot obtains, and by installing different extension rods additional thus obtaining multi-group data on different hemisphere face, and then make detection data not single.
The utility model is easy to carry, and installing/dismounting is all very convenient, can meet the demand of Site Detection.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present utility model.
Fig. 2 is the close-up schematic view of the second rotary encoder mechanism.
Fig. 3 is the close-up schematic view of the first rotary encoder mechanism.
Fig. 4 is the skeleton view of the first mobile jib.
Fig. 5 is the structural representation of extension rod.
In figure: 1, magnechuck, 2, magnetic connecting link, 3, first accurate bead, 4, scalable fiber rod, 5, first mobile jib, 6, second mobile jib, 7, Metal Ball holder, 8, second accurate bead, 9, second rotary encoder, 10, support, 11, first rotary encoder, 12, pedestal, 13, marble is dull and stereotyped, 14, robot, 15, computing machine, 16, second shaft coupling, 17, second metal shaft, 18, first metal shaft, 19, first shaft coupling, 20, high accuracy displacement sensor, 21, first extension rod, 22, second extension rod, 23, 3rd extension rod.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, the utility model is primarily of club mechanism, pedestal 12, first rotary encoder mechanism, the second rotary encoder mechanism and end effector composition, wherein end effector comprises magnechuck 1 and magnetic connecting link 2, magnechuck 1 is fixed in robot 14 ring flange, magnetic connecting link 2 one end is tightly adsorbed on magnechuck 1, guarantee can not produce relative motion between magnetic connecting link 2 and magnechuck 1, the other end band of magnetic connecting link 2 is magnetic, and is connected by spherical pair with the first accurate bead 3; Accurate bead 8 horizontal rotatio direction of the second accurate bead 8, second that first accurate bead 3 is connected on pedestal 12 through club mechanism is connected with the first rotary encoder mechanism and the second rotary encoder mechanism.
Be can the general structure of better expression device in Fig. 1, industrial robot 14 only plays signal effect, does not represent its actual size.
As shown in figs. 1 and 4, club mechanism comprises scalable fiber rod 4, high accuracy displacement sensor 20, first mobile jib 5 and the second mobile jib 6, one end of scalable fiber rod 4 and the first accurate bead 3 affixed, the other end and first mobile jib 5 one end Joint, high accuracy displacement sensor 20 is equipped with in first mobile jib 5 inside, high accuracy displacement sensor 20 is connected with the pars contractilis of scalable fiber rod 4 to be measured its stroke and changes, coaxially be socketed by screw thread pair between first mobile jib 5 other end and second mobile jib 6 one end, second mobile jib 6 other end is secured on the second accurate bead 8.
The extension rod in order to lengthen is added between first mobile jib 5 and the second mobile jib 6, extension rod is all coaxially socketed by screw thread pair respectively and between two mobile jibs, as shown in Figure 5, extension rod can adopt the first extension rod 21 of three kinds of different lengths or the second extension rod 22 or the 3rd extension rod 23.
The data line of high accuracy displacement sensor 20 is connected to computing machine 15 through the aperture of the first mobile jib 5 bar side, and the change of the stroke of scalable fiber rod 4 is transferred to computing machine 15,
As shown in Figure 3, pedestal 12 top is provided with the Metal Ball holder 7 that inwall is sphere, second accurate bead 8 to be arranged in Metal Ball holder 7 and sphere-contact, second accurate bead 8 warp direction is processed with a circle ball, Metal Ball holder 7 inwall is processed with the magnetic groove that accurate bead 8 ball agrees with mutually with second, the centre of sphere of Metal Ball holder 7 sphere inwall is concentric with second accurate bead 8 centre of sphere, and second mobile jib 6 other end is secured to the ball place of the second accurate bead 8.
As shown in Figure 3, first rotary encoder mechanism comprises the first rotary encoder 11, pedestal 12 bottom is semi-closure hollow cylinder structure, first metal shaft 18 top is coaxially affixed with the bottom of Metal Ball holder 7 through pedestal 12, the circle centre position of hollow cylinder upper bottom surface have with the first metal shaft 18 through and the aperture that agrees with mutually of diameter, the upper bottom surface of hollow cylinder is processed with the annular magnetic patch for adsorbing metal ball holder 7, and the upper bottom surface of hollow cylinder is by forming revolute pair between the cooperation of annular magnetic patch and aperture and Metal Ball holder 7; First metal shaft 18 bottom first shaft coupling 19 is connected with the first rotary encoder 11 being arranged on pedestal 12 inside, first rotary encoder 11 is installed in the hollow cylinder of pedestal 12, and the first metal shaft 18 and second accurate bead 8 centre of sphere are with on the same axis of horizontal plane.
As shown in Figure 2, second rotary encoder mechanism comprises the second rotary encoder 9, second metal shaft 17 one end is secured to the center side of the second accurate bead 8, the second metal shaft 17 perpendicular to the axis of the second mobile jib 6 and the first metal shaft 18, second metal shaft 17 by the centre of sphere of the second accurate bead 8; The other end of the second metal shaft 17 is connected with the second rotary encoder 9 by the second shaft coupling 16, second rotary encoder 9 is installed on support 10, the roller that support 10 is installed by bottom at pedestal 12 end face, and rotates around its center of circle under the second accurate bead 8 rotarily drives.
First accurate bead 3 and the second accurate bead 8 all adopt stainless steel material.
The utility model specific implementation process is as follows:
The utility model, achieve the detection of industrial robot position and track, in its telescopic fiber rod, high accuracy displacement sensor is installed, when its length variations, interior bar moves into coil, induction coefficient changes, it is 0.1 μm of displacement signal that inductance signal is transformed into resolution by testing circuit, imports PC into by interface, and its precision detects through laser interferometer and reaches ± 0.5 μm (at 20 DEG C).Club mechanism, by high accuracy displacement sensor, utilizes two-axle interlocking to do circular motion, thus analyzes the change in radius of circular arc and the track characteristic of circular arc.
The utility model is with the centre of sphere of the second accurate bead for true origin, and straight up, the dull and stereotyped long limit of y-axis direction and marble is parallel and point to robot by pedestal in z-axis direction, and x-axis direction is determined according to the right-hand rule, sets up coordinate system.By the centre of sphere distance r of the first accurate bead and the second accurate bead, the position angle that the first rotary encoder records
the elevation angle theta that second rotary encoder records, the actual arrival position (x, y, z) of three spherical coordinates parameter determination robots, because robot location is known, thus can obtain the position characteristic of robot.
The utility model runs one section of circular arc or full circle week by allowing robot, the minor shifts amount of radius in aforementioned movement is recorded by high accuracy displacement sensor, data acquisition is got off, and the actual arrival track of robot is gone out according to these Plotting data, because the track of robot is known, thus obtain the rail track feature of robot.
In this implementation process, in robot 14 operational process, should not encounter barrier, by can the change in displacement of reduction fiber rod 4 in robot 14 operational process, obtain the arc track that robot 14 runs.If the path accuracy of robot 14 is enough high, then the circle at the arc track place of its cloud data drafting is proper circle, if there is error, proper circle will be caused to be out of shape.
In this implementation process, the first rotary encoder 11, second rotary encoder 9 with can the high accuracy displacement sensor 20 of reduction fiber rod 4 inside coordinate, the locus run on a specific hemisphere face with the form determination robot 14 of spherical coordinates.
Said process is visible, and the utility model has outstanding significant technique effect, and the detection achieving various data such as the track of robot and position characteristic obtains, and is convenient for carrying and dismantles, and can meet the demand of Site Detection.
Claims (8)
1. an industrial robot track and position detecting device, it is characterized in that: primarily of club mechanism, pedestal (12), first rotary encoder mechanism, second rotary encoder mechanism and end effector composition, wherein end effector comprises magnechuck (1) and magnetic connecting link (2), magnechuck (1) is fixed in robot (14) ring flange, magnetic connecting link (2) one end is tightly adsorbed on magnechuck (1), the other end band of magnetic connecting link (2) is magnetic, and be connected by spherical pair with the first accurate bead (3), first accurate bead (3) is connected to the second accurate bead (8) on pedestal (12) through club mechanism, the second accurate bead (8) horizontal rotatio direction is connected with the first rotary encoder mechanism and the second rotary encoder mechanism.
2. a kind of industrial robot track according to claim 1 and position detecting device, it is characterized in that: described club mechanism comprises scalable fiber rod (4), high accuracy displacement sensor (20), first mobile jib (5) and the second mobile jib (6), one end and the first accurate bead (3) of scalable fiber rod (4) are affixed, the other end and the first mobile jib (5) one end Joint, high accuracy displacement sensor (20) is equipped with in first mobile jib (5) inside, high accuracy displacement sensor (20) is connected with the pars contractilis of scalable fiber rod (4) to be measured its stroke and changes, coaxially be socketed by screw thread pair between first mobile jib (5) other end and the second mobile jib (6) one end, second mobile jib (6) other end is secured on the second accurate bead (8).
3. a kind of industrial robot track according to claim 2 and position detecting device, it is characterized in that: between described the first mobile jib (5) and the second mobile jib (6), add the extension rod in order to lengthen, extension rod is all coaxially socketed by screw thread pair respectively and between two mobile jibs, and extension rod can adopt first extension rod (21) of three kinds of different lengths or the second extension rod (22) or the 3rd extension rod (23).
4. a kind of industrial robot track according to claim 2 and position detecting device, it is characterized in that: the data line of described high accuracy displacement sensor (20) is connected to computing machine (15) through the aperture of the first mobile jib (5) bar side, the change of the stroke of scalable fiber rod (4) is transferred to computing machine (15)
5. a kind of industrial robot track according to claim 1 and position detecting device, it is characterized in that: described pedestal (12) top is provided with the Metal Ball holder (7) that inwall is sphere, second accurate bead (8) to be arranged in Metal Ball holder (7) and sphere-contact, second accurate bead (8) warp direction is processed with a circle ball, Metal Ball holder (7) inwall is processed with the magnetic groove that accurate bead (8) ball agrees with mutually with second, the centre of sphere of Metal Ball holder (7) sphere inwall is concentric with second accurate bead (8) centre of sphere, second mobile jib (6) other end is secured to the ball place of the second accurate bead (8).
6. a kind of industrial robot track according to claim 1 and position detecting device, it is characterized in that: the first described rotary encoder mechanism comprises the first rotary encoder (11), pedestal (12) bottom is semi-closure hollow cylinder structure, and the first metal shaft (18) top is coaxially affixed with the bottom of Metal Ball holder (7) through pedestal (12); First metal shaft (18) bottom first shaft coupling (19) is connected with the first rotary encoder (11) being arranged on pedestal (12) inside, first rotary encoder (11) is installed in the hollow cylinder of pedestal (12), and the first metal shaft (18) and second accurate bead (8) centre of sphere are with on the same axis of horizontal plane.
7. a kind of industrial robot track according to claim 1 and position detecting device, it is characterized in that: the second described rotary encoder mechanism comprises the second rotary encoder (9), second metal shaft (17) one end is secured to the center side of the second accurate bead (8), second metal shaft (17) is perpendicular to the second mobile jib (6) and the first metal shaft (18), and the axis of the second metal shaft (17) passes through the centre of sphere of the second accurate bead (8); The other end of the second metal shaft (17) is connected with the second rotary encoder (9) by the second shaft coupling (16), second rotary encoder (9) is installed on support (10), the roller that support (10) is installed by bottom at pedestal (12) end face, and rotates around its center of circle under the second accurate bead (8) rotarily drives.
8. a kind of industrial robot track according to claim 1 and position detecting device, is characterized in that: described first accurate bead (3) and the second accurate bead (8) all adopt stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521032907.2U CN205192419U (en) | 2015-12-11 | 2015-12-11 | Industrial robot orbit and position detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521032907.2U CN205192419U (en) | 2015-12-11 | 2015-12-11 | Industrial robot orbit and position detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205192419U true CN205192419U (en) | 2016-04-27 |
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ID=55785398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521032907.2U Withdrawn - After Issue CN205192419U (en) | 2015-12-11 | 2015-12-11 | Industrial robot orbit and position detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205192419U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105466320A (en) * | 2015-12-11 | 2016-04-06 | 中国计量学院 | Industrial robot locus and position detecting device |
-
2015
- 2015-12-11 CN CN201521032907.2U patent/CN205192419U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105466320A (en) * | 2015-12-11 | 2016-04-06 | 中国计量学院 | Industrial robot locus and position detecting device |
| CN105466320B (en) * | 2015-12-11 | 2017-11-10 | 中国计量学院 | Industrial robot track and position detecting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160427 Effective date of abandoning: 20171110 |