CN205718746U - A kind of robot motion accuracy detecting device - Google Patents
A kind of robot motion accuracy detecting device Download PDFInfo
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- CN205718746U CN205718746U CN201620643111.9U CN201620643111U CN205718746U CN 205718746 U CN205718746 U CN 205718746U CN 201620643111 U CN201620643111 U CN 201620643111U CN 205718746 U CN205718746 U CN 205718746U
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Abstract
The utility model discloses a kind of robot motion accuracy detecting device, belong to equipment precision cubing field, which solve existing robot precision's structure of the detecting device complexity, use cost height, the problem of inconvenient operation.This utility model includes big monitor station, little monitor station and test pin, and described big monitor station upper surface is horizontal plane；Described little monitor station includes that at least two is perpendicular to the side of horizontal plane；Described big monitor station upper surface is provided with some detection holes；At least provided with a detection hole on each side on described little monitor station；Described test pin external diameter is ± 0.01mm～± 0.05mm with the fit tolerance of detection hole internal diameter.This utility model simple in construction, easy to operate, it is possible to be effectively improved robot precision's batch detection speed, thus improve robot batch production efficiency.
Description
Technical field
This utility model belongs to equipment precision cubing field, specifically, relates to a kind of robot motion accuracy detection dress
Put.
Background technology
Robot carries out the mechanism of subject performance typically by being manually entered fixed routine, and the precision of this mechanism relies on
In robot assembly's machining accuracy and assembly precision；Repetitive positioning accuracy is an important indicator of robot, and it is meant that
Refer to that robot is repeating 5--10 each deviation size in the position of same point of an action, the most most industry
Laser range finder is all used, although data accurately can be obtained when producer of robot carries out accuracy detection to robot, but
This equipment price of laser range finder is high, will seem economical not for the producer of robot that those yield are the highest.Simultaneously
The relatively complicated accuracy detection being also unfavorable for that the producer of robot of those high yields carries out product when laser range finder uses.
Chinese Patent Application No. 201310578100.8, the patent application document in publication date on May 20th, 2015, disclose
A kind of peg-in-hole assembly industrial robot system, this system includes industrial robot, peg-in-hole assembly platform, force sensor, clamping
Device, assembling workpiece, pilot hole and assembled shaft, described industrial robot includes motion calculation module, motor drive module and power
Control module；Described industrial robot is fixed on same datum level with the base of described peg-in-hole assembly platform；Described clamping dress
Put the arm end being installed on described industrial robot；Described assembling workpiece is fixed on described peg-in-hole assembly platform, described dress
Allotment of labor's part is provided with described pilot hole；Described force sensor is arranged between described arm end and described clamping device, uses
Described assembled shaft and described pilot hole contact forces is measured in real time；Described industrial robot is generated by teaching and trajectory planning
Range of motion tracing point, so that assembled shaft described in described gripping apparatus grips moves to above described pilot hole；Described motion
Described movement locus point is resolved to each joint angles under the joint space of corresponding time point by computing module, and is sent to described electricity
Machine drives module；Described motor drive module drives described industrial robot motion and drives dress described in described gripping apparatus grips
Join axle to move to above described pilot hole；Described power control module, according to described contact force and the position of described assembled shaft, controls
Described industrial robot motion makes described assembled shaft contact with the contact force set with described pilot hole, by described assembling
Axle is inserted in described pilot hole smoothly；Contact force size can be entered by the peg-in-hole assembly industrial robot system that this invention provides
Row is accurately controlled, little for axis hole spacing, required precision is high, have the assembling work of strict demand to have substantially to axis hole contact force
Advantage, it is to avoid because of the assembling work caused due to position control accuracy and contact force uncontrollability under only position control mode
The most even damage to assembling workpiece, solves the inefficient low quality relying on manual assembly under some high accuracy assembling work
Etc. problem；But the most quickly, detecting robot precision disclosed in this patent application at low cost is to produce this technical scheme in batches
Middle robot first has to solve the technical problem that.
Chinese Patent Application No. 200610009822.1, the patent document in publication date on August 16th, 2006, disclose one
The system that space manipulator is tested.Be intended to solve the existing system that space manipulator is tested exist structure complicated,
The problem that debugging is difficult, security reliability is low and existing air supporting test system can only realize two dimensional motion.This space manipulator
Pose accuracy test system, including three coordinate measuring machine, it also includes top and the space mechanism being arranged on three coordinate measuring machine
Fixed system, rotational support system, air-flotation support system, end target and the pedestal target that arm connects；The described test of this invention
System structure is simple, easily debug, security reliability is high and can realize space manipulator three-dimensional motion simultaneously, is beneficial to promote
Application, but its complicated structure, manufacturing cost is higher, and for medium-sized and small enterprises, financial burden is heavier, is badly in need of being entered
One step ground improves, to overcome the problems referred to above.
Summary of the invention
1, problem to be solved
, use cost height, the problem of inconvenient operation complicated for existing robot precision's structure of the detecting device, this practicality
Novel offer one robot motion accuracy detecting device, its simple in construction, easy to operate, it is possible to be effectively improved robot precision
Batch detection speed, thus improve robot batch production efficiency.
2, technical scheme
For solving the problems referred to above, this utility model adopts the following technical scheme that.
A kind of robot motion accuracy detecting device, including big monitor station, little monitor station and test pin, described big detection
Platform upper surface is horizontal plane；Described little monitor station includes that at least two is perpendicular to the side of horizontal plane；Described big monitor station
Upper surface is provided with some detection holes；At least provided with a detection hole on each side on described little monitor station；Described
Test pin external diameter is ± 0.01mm～± 0.05mm with the fit tolerance of detection hole internal diameter.
Preferably, described big monitor station upper surface is additionally provided with detection groove；The width of described detection groove and test pin
The fit tolerance of external diameter is ± 0.01mm～± 0.05mm.
Preferably, described detection groove at least includes two orthogonal grooves.
Preferably, described detection groove includes three grooves, and two of which groove is parallel to each other, another be perpendicular to two parallel
Groove.
Preferably, described test pin is cylindrical, and corresponding detection hole is cylindrical hole.
Preferably, described test pin end is provided with chamfering.
Preferably, described big monitor station, little monitor station are arranged on same workbench.
Preferably, described big monitor station upper surface is provided with hole, location, realizes consolidating on workbench by this hole, location
Location.
Preferably, described big monitor station upper surface is provided with 15 detection holes, and six of which is positioned at detection groove side,
Other nine are positioned at detection groove opposite side.
Preferably, described little monitor station includes four sides being perpendicular to horizontal plane, and four side head and the tail are the most vertical
Connect.
3, beneficial effect
Compared to prior art, the beneficial effects of the utility model are:
(1) this utility model can be with measuring robots level, vertical three-dimensional kinematic accuracy, and accuracy of detection is 0.1mm；Full
While foot is to industrial robot accuracy detection, saves the cost of substantial amounts of detection equipment, can produce in a large number and apply；?
While meeting industrial robot accuracy detection, alleviate loaded down with trivial details operation when robot is detected, facilitate test person
The work of member, has saved the plenty of time for quickly dispatching from the factory of robot；This programme can by change straight pin and monitor station it
Between reserving gaps change robot precision's Testing index, with meet different operating environment select different accuracy robot work
Purpose；
(2) this utility model big monitor station upper surface arrange detection groove can detect that robot moves in horizontal dimensions time
Stability；
(3) this utility model detection groove at least includes two orthogonal grooves, it is possible to improve robot level further
The accuracy of detection of kinetic stability；
(4) this utility model detection groove can detect robot stability in two dimensions of horizontal plane；
(5) this utility model test pin is cylindrical, and corresponding detection hole is that cylindrical hole may insure that and accurately detects structure
For robot kinematic accuracy in the straight direction；
(6) this utility model test pin end is provided with chamfering, it is to avoid damage cubing surface；
(7) the big monitor station of this utility model, little monitor station are arranged on same workbench, it is possible to uniform variable, improve
Measurement accuracy；
(8) this utility model fixes big monitor station, simple in construction, easy accessibility by hole, location；
(9) this utility model big monitor station upper surface is provided with 15 detection holes, can be effectively improved robot and repeat to determine
The detection accuracy of position precision；
(10) this utility model simple in construction, low cost of manufacture, easy to operate.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model；
Fig. 2 is the structural representation of big monitor station in this utility model；
Fig. 3 is the structural representation of the medium and small monitor station of this utility model；
Fig. 4 is the structural representation of test pin in this utility model.
In figure: 1, big monitor station；2, little monitor station；3, test pin；4, detection groove；5, detection hole；6, workbench；7, location
Hole.
Detailed description of the invention
Below in conjunction with specific embodiment, this utility model is further described below.
Embodiment 1
As it is shown in figure 1, a kind of robot motion accuracy detecting device, including big monitor station 1 as shown in Figure 2, such as Fig. 3 institute
The little monitor station 2 that shows and test pin 3 as shown in Figure 4, big monitor station 1, little monitor station 2 are rectangular structure, big monitor station 1
Upper surface is horizontal plane, and this horizontal plane is provided with 15 detection holes 5 and detection groove 4, and detection groove 4 includes three grooves, its
In two grooves be parallel to each other, another is perpendicular to two parallel grooves, and in 15 detection holes 5, six are positioned at detection groove 4 side,
Other nine are positioned at detection groove 4 opposite side；Little monitor station 2 includes that four sides being perpendicular to horizontal plane, four side head and the tail depend on
Secondary vertical connection, is respectively arranged with two detection holes 5 towards on two sides of the biggest monitor station 1 in four sides, its
Yuing and be respectively provided with a detection hole 5 on two sides, the axis in detection hole 5 is all vertical with side；
In the present embodiment, test pin 3 quantity is nine, is respectively placed in nine detection holes of detection groove 4 side under original state
In 5, each the equal in magnitude of hole 5 that detect, test pin 3 external diameter is ± 0.05mm with the fit tolerance of detection hole 5 internal diameter；Detection groove 4
The fit tolerance of width and test pin 3 external diameter be also ± 0.05mm.
In the present embodiment, the using method of a kind of robot motion accuracy detecting device is: during test, robot pneumatic
Nine test pins 3 in nine detection holes 5 of big monitor station 1 upper surface detection groove 4 side are extracted and along inspection by fixture one by one
Put into after surveying groove 4 motion in six detection holes 5 of detection groove 4 opposite side；3 unnecessary test pins 3 insert little monitor station 2 respectively
In the detection hole 5 of side；After nine test pins 3 are removed the most, then carry out contrary operation, successively nine test pins 3 are returned
Position, completes the detection of robot precision；If said process smoothly completes, then robot motion's precision meets precision 0.1mm
Requirement, otherwise cannot complete, and needs debugging further.
In the present embodiment, instrument connection is adjustable with the gap size of precision alignment pin, and instrument connection can record robot work essence
Degree.The detection hole 5 of little monitor station 2 side can detect that robot operating accuracy under severe attitude；Detection groove 4 can detect that
Stability during robot motion.
Embodiment 2
A kind of robot motion accuracy detecting device, same as in Example 1, except that: test pin 3 in the present embodiment
External diameter is ± 0.01mm with the fit tolerance of detection hole 5 internal diameter；The width of detection groove 4 is with the fit tolerance of test pin 3 external diameter also
For ± 0.01mm；The detection of robot motion's precision can reach 0.02mm；
In the present embodiment, test pin 3 is cylindrical, and corresponding detection hole 5 is cylindrical hole, and test pin 3 end is provided with down
Angle, to avoid damaging big monitor station 1 upper surface.
Embodiment 3
A kind of robot motion accuracy detecting device, same as in Example 1, except that: test pin 3 in the present embodiment
External diameter is ± 0.03mm with the fit tolerance of detection hole 5 internal diameter；The width of detection groove 4 is with the fit tolerance of test pin 3 external diameter also
For ± 0.03mm；The detection of robot motion's precision can reach 0.06mm；
In the present embodiment, big monitor station 1, little monitor station 2 are arranged on same workbench 6；Big monitor station 1 upper surface sets
It is equipped with hole 7, location, realizes the stationary positioned on workbench 6 by this hole, location 7.
The big monitor station of the present embodiment, little monitor station are arranged on same workbench, it is possible to uniform variable, improve and measure standard
Really property.
Claims (10)
1. a robot motion accuracy detecting device, it is characterised in that: include big monitor station (1), little monitor station (2) and detection
Pin (3), described big monitor station (1) upper surface is horizontal plane；Described little monitor station (2) includes that at least two is perpendicular to level
The side in face；Described big monitor station (1) upper surface is provided with some detection holes (5)；The upper each side of described little monitor station (2)
At least provided with detection hole (5) on face；Described test pin (3) external diameter with detection hole (5) internal diameter fit tolerance be ±
0.01mm～± 0.05mm.
A kind of robot motion accuracy detecting device the most according to claim 1, it is characterised in that: described big monitor station
(1) upper surface is additionally provided with detection groove (4)；The width of described detection groove (4) and the fit tolerance of test pin (3) external diameter be ±
0.01mm～± 0.05mm.
A kind of robot motion accuracy detecting device the most according to claim 2, it is characterised in that: described detection groove
(4) two orthogonal grooves are at least included.
A kind of robot motion accuracy detecting device the most according to claim 3, it is characterised in that: described detection groove
(4) including three grooves, two of which groove is parallel to each other, and another is perpendicular to two parallel grooves.
A kind of robot motion accuracy detecting device the most according to claim 1, it is characterised in that: described test pin
(3) being cylindrical, corresponding detection hole (5) is cylindrical hole.
A kind of robot motion accuracy detecting device the most according to claim 5, it is characterised in that: described test pin
(3) end is provided with chamfering.
7. according to a kind of robot motion accuracy detecting device described in claim 1,2 or 5, it is characterised in that: described is big
Monitor station (1), little monitor station (2) are arranged on same workbench (6).
A kind of robot motion accuracy detecting device the most according to claim 7, it is characterised in that: described big monitor station
(1) upper surface is provided with hole, location (7), realizes the stationary positioned on workbench (6) by this hole, location (7).
A kind of robot motion accuracy detecting device the most according to claim 7, it is characterised in that: described big monitor station
(1) upper surface is provided with 15 detections hole (5), and six of which is positioned at detection groove (4) side, and other nine are positioned at detection groove
(4) opposite side.
A kind of robot motion accuracy detecting device the most according to claim 9, it is characterised in that: described little detection
Platform (2) includes that four sides being perpendicular to horizontal plane, four side head and the tail the most vertically connect.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620643111.9U CN205718746U (en) | 2016-06-23 | 2016-06-23 | A kind of robot motion accuracy detecting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620643111.9U CN205718746U (en) | 2016-06-23 | 2016-06-23 | A kind of robot motion accuracy detecting device |
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| CN205718746U true CN205718746U (en) | 2016-11-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
-
2016
- 2016-06-23 CN CN201620643111.9U patent/CN205718746U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
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