CN205928664U - Industrial robot one -dimensional movement track testing arrangement - Google Patents
Industrial robot one -dimensional movement track testing arrangement Download PDFInfo
- Publication number
- CN205928664U CN205928664U CN201620847560.5U CN201620847560U CN205928664U CN 205928664 U CN205928664 U CN 205928664U CN 201620847560 U CN201620847560 U CN 201620847560U CN 205928664 U CN205928664 U CN 205928664U
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- China
- Prior art keywords
- robot
- connecting rod
- motion
- industrial robot
- linear displacement
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Abstract
The utility model discloses an industrial robot one -dimensional movement track testing arrangement, the device includes linear displacement sensor and oscilloscope, linear displacement sensor one end is connected with the robot's work end through flexible coupling assembling, linear displacement sensor's signal output part and oscilloscope's signal input part are connected, under the test state, motion along with the robot work end, linear displacement sensor transmits the voltage signal who records for oscilloscope, oscilloscope takes notes and shows the one -dimensional movement track of the robot work end. Because the utility model provides a testing arrangement is that the linear displacement sensor through the high accuracy transmits the the robot one -dimensional movement track's that records voltage signal and takes notes and show for oscilloscope, therefore resetting that not only can the motion in one dimension of accurate realization robot, improves measurement accuracy, and can also visual display goes out the one -dimensional movement track of robot, the movement track's of being convenient for in time know current situation.
Description
Technical field
This utility model belongs to industrial automation, instrument and meter observation and control technology field, is related to a kind of track testing device, tool
Body is related to a kind of industrial robot motion in one dimension track testing device.
Background technology
With the development of industrial automation technology, as important implementation tool, it uses field continuous to industrial robot
Expand.For meeting such as the commercial Application such as accurate piling, need the movement locus of robot are tested, to realize utilizing track
Data robot motion's performance is estimated and control algolithm optimization.
Robot straight path precision as an important indicator of industrial robot Performance Evaluation, concentrated expression machine
The electromechanical properties of people and the control ability of movement locus.Therefore, the research of robot straight path detection technique and device is to carrying
The research level of high robotics, promote Robot industry development significant.Track for robot measurement
Characteristic, has worked out multiple test devices both at home and abroad, according to the measuring principle of these devices, can be divided into non-contact measurement and
Contact type measurement two big class.The test device of non-cpntact measurement is different according to measuring principle, can be divided into based on close to feel sensing again
The measurement of device, photogrammetric, optical triangulation and polygon measurement etc.【Robot straight path accuracy measurement method research, week
Quiet, Northeastern University】.Wherein, the more ripe technical scheme of the movement locus test device of robot is to be surveyed based on optical triangulation
The laser tracking system (Laser Tracker System) of amount, this system adopts laser statically or dynamically real-time tracking one
Moving target in space, simultaneously determine impact point 3 d space coordinate come to complete measure, specifically its operation principle is
Impact point disposes a reflector, the laser that follower head sends is mapped on reflector, returns to follower head again, when target is moved
When dynamic, follower head adjustment beam direction carrys out alignment target point, and meanwhile, Returning beam is received by detection means, and detection means receives
Light beam be used for test target locus.Laser interference ranging technology, detecting technique, essence due to this system set
The various advanced technology such as close mechanical technique, computer and control technology and modern numerical calculation theory, and need to adopt high-precision again
Close optics, is a kind of high-precision Large-scale Measuring Instruments in industrial measuring system, so making optical tracking measure system
System price prohibitively expensive it is difficult to be widely used.The test device of contact type measurement is direct and robot working end executor
Coupling, can be divided into mechanical couplings measurement and ball measurement from coupled modes again, the mechanical couplings test device that such as Bryan proposes with
And the spherical coordinate test device of Vira and Estler description【Robot straight path accuracy measurement method research, Zhou Jing, northeast
University】.But it is Hard link with robot working end that contact measures because of the measurement end of test device, so not only can be in measurement
Robot motion is interfered, affects certainty of measurement, test device be there is also with potential destruction dangerous simultaneously.
Utility model content
This utility model aims to above-mentioned weak point of the prior art, provide a kind of to robot motion in one dimension rail
The device that mark is tested, this device not only has higher measuring accuracy and testing efficiency, and structure is simple, operation side
Just, testing cost can also be substantially reduced simultaneously.
In order to achieve the above object, this utility model takes technical scheme below to realize.
A kind of industrial robot motion in one dimension track testing device that this utility model provides, this device includes straight-line displacement
Sensor and oscillograph, linear displacement transducer one end is connected with the working end of robot body through flexible connection assembly, straight line
The signal output part of displacement transducer is connected with oscillographic signal input part.Under test mode, with robot body work
The motion at end, the voltage signal recording is transferred to oscillograph by linear displacement transducer, and oscillograph recording simultaneously shows robot originally
The motion in one dimension track at body running end.
Flexible connection assembly described in above-mentioned industrial robot motion in one dimension track testing device is by straight connecting rod
Constitute with universal rotational connecting rod, the one end of connecting rod that this is straight and linear displacement transducer are connected, the other end and universal rotational
The Universal-head of connecting rod connects, and universal rotational connecting rod is passed through head and is connected with robot body working end.Connect as a kind of
Implementation, the universal cephalic par of universal rotational connecting rod is provided with a groove, and one end of straight connecting rod can directly be blocked
Enter in groove and connect so that in the motor process of robot body working end, by the rotation of Universal-head opposing straight connecting rod
Realize the soft readjustment between straight connecting rod and universal rotational connecting rod to linear displacement transducer side, it is to avoid to straight-line displacement
Firmly damage produced by sensor or robot body；Further, straight connection boom end is spherical in shape, and be adapted to therewith
It is spherical cavity inside Universal-head end recesses, thus reducing the rotary resistance that Universal-head is with respect to straight connecting rod.Above-mentioned straight
Connecting rod can carry in itself for linear displacement transducer, when linear displacement transducer does not carry straight connecting rod, permissible
The straight connecting rod of outsourcing or processing is connected by the connectors such as bolt, pin and linear displacement transducer.Above-mentioned ten thousand
The part replacement constituting can also be fixedly connected to rotating connecting rod by single connecting rod with universal joint.
In above-mentioned industrial robot motion in one dimension track testing device, the head of universal rotational connecting rod is by a flange
Disk is connected with robot body working end.Lead to for a band female thread in the middle part of described ring flange and robot body working end joint face
The circular protrusions in hole, surrounding card have connection through hole (quantity at least 4), with by connector and robot body work
Make end coupling to be fastenedly connected, universal rotational connecting rod then passes through the external screw thread in head and tapped through hole in ring flange
Join connected, or be a circular groove with internal thread through hole in the middle part of described ring flange and robot body working end joint face, four
Connection through hole (quantity at least 4) is had on all cards, so that fastening is mated even by connector with robot body working end
Connect, the external screw thread that universal rotational connecting rod is then passed through in head is connected with through hole coupling tapped in ring flange.In order to protect
Card linear displacement transducer, straight connecting rod and universal rotational connecting rod and robot body working end can in line, with
The data that linear displacement transducer records is enable more accurately to reflect the movement locus of robot body, linear displacement transducer
Should be placed on work platformses by front and back two fixed support.
Above-mentioned industrial robot motion in one dimension track testing device, in order to ensure Robot linear motion, with universal turn
The robot body working end that the bar that is dynamically connected connects is further fitted with laser instrument, by laser spots before and after observation robot motion
Change in location situation judging whether robot moves along a straight line.
During work, when linear displacement transducer, straight connecting rod and universal rotational connecting rod and robot body working end
After connecting in line along X-axis, Y-axis or Z axis, robot body can be detected along the movement locus of X-axis, Y-axis or Z axis, once going out
Existing deviation, you can the motion to robot body is adjusted in time.
Compared with prior art, this utility model has the advantages that：
1st, because the test device that this utility model provides is the work by a flexible connection assembly and robot body
End connects, thus prior art Hard link can not only be avoided firmly to damage to produced by linear displacement transducer or robot body
Wound, and also can increase the validity and reliability of test.
2nd, because the test device that this utility model provides is by the machine recording by high-precision linear displacement transducer
The voltage signal of device human body's motion in one dimension track is transferred to oscillograph and is recorded and show, thus can not only be accurately real
The resetting of existing robot motion in one dimension, improves certainty of measurement, and can also intuitively show the motion in one dimension rail of robot
Mark, is easy to understand the present situation of movement locus in time.
3rd, because the test device that this utility model provides is only existing linear displacement transducer, the flexible connection group adopting
Part and oscillograph etc. carry out assembling and connect the measurement that just can realize to robot motion in one dimension track, thus this test device is not
Only there is structure simple, easy to operate, the features such as low cost, and provide for industrial robot motion in one dimension track testing field
A kind of new measurement apparatus.
Brief description
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or in description of the prior art required use accompanying drawing make one simple introduce it should be apparent that, below describe in accompanying drawing only
It is only the structure chart that some embodiments of the present utility model need to show, for those of ordinary skills, do not paying
On the premise of going out creative work, other embodiments and its accompanying drawing can also be obtained according to these accompanying drawing illustrated embodiments.
The structural representation of the industrial robot motion in one dimension track testing device that Fig. 1 provides for this utility model.
Industrial robot motion in one dimension track testing device cathetus displacement transducer that Fig. 2 provides for this utility model and
Flexible connection assembly and the attachment structure schematic diagram of robot body.
The industrial robot motion in one dimension track testing device that Fig. 3 provides for this utility model and robot body working end
The overlooking the structure diagram connecting.
Electrical connection in the industrial robot motion in one dimension track testing device that Fig. 4 provides for this utility model is illustrated
Figure.
Ring flange in the industrial robot motion in one dimension track testing device that Fig. 5 provides for this utility model embodiment 1
Structural representation.
Ring flange in the industrial robot motion in one dimension track testing device that Fig. 6 provides for this utility model embodiment 2
Structural representation.
Ring flange in the industrial robot motion in one dimension track testing device that Fig. 7 provides for this utility model embodiment 3
Structural representation.
Fig. 8 is to carry out experimental test with the industrial robot motion in one dimension track testing device that this utility model provides to obtain
Movement locus schematic diagram corresponding with movement instruction.
Fig. 9 is to carry out experimental test with the industrial robot motion in one dimension track testing device that this utility model provides to obtain
Movement locus schematic diagram corresponding with the direction of motion.
Wherein, 1- linear displacement transducer, connecting rod that 2- is straight, 3- universal rotational connecting rod, 4- Universal-head, 5- flange
Disk, 6- is raised, and 7,8- groove, 9- connect through hole, 10- fixed support, 11- oscillograph, 12- work platformses, 13- power supply, 14- machine
Device human body, 15- robot body working end.
Specific embodiment
Below in conjunction with accompanying drawing, clear, complete description is carried out to the technical scheme of each embodiment of this utility model it is clear that institute
Description embodiment is only a part of embodiment of the present utility model, rather than whole embodiments.Based in this utility model
Embodiment, the obtained all other enforcement on the premise of not making creative work of those of ordinary skill in the art
Example, broadly falls into the scope that this utility model is protected.
What deserves to be explained is, the robot body 14 that this utility model embodiment is suitable at least has two movable passes
Section, on a support, the first joint is connected with second joint the wherein first arthrodesis by the first cantilever, and second joint passes through
Second cantilever is fixedly connected with robot body working end 15；The order being sent according to single-chip microcomputer, at least can achieve the first cantilever
Rotate around the first joint, the second cantilever rotates around second joint, thus driving robot body working end 15 to transport along one-dimensional straight line
Dynamic.
Embodiment 1
In order to realize the detection to robot body motion in one dimension track, present embodiments provide a kind of industrial robot one
Dimension movement locus test device, as shown in Figure 1 to Figure 3, this device includes linear displacement transducer 1, straight connecting rod 2, universal
Rotate connecting rod 3, ring flange 5, oscillograph 11 and work platformses 12.
Linear displacement transducer 1 one end is bolted to connection with straight connecting rod 2, and outfan is defeated with oscillograph 11
Enter end to connect, the other end of straight connecting rod 2 directly snaps in and connects in the groove of setting on the Universal-head 4 of universal rotational connecting rod 3
Connect, universal rotational connecting rod 3 is to be connected with robot body working end 15 by the ring flange 5 being connected with head one end.This reality
It is that a circle with internal thread through hole is convex in the middle part of the joint face that contacts with robot body working end 15 of ring flange 5 applying example employing
Play 6, equally distributed 6 connection through holes 9 that surrounding card has, as shown in Figure 5.The head of universal rotational connecting rod 3 is
It is connected by tapped through hole in ring flange circular protrusions 6 is matching, the external diameter of ring flange 5 protrusions 6 and this machine
The depressed area of human body working end 15 is adapted, and equally distributed 6 connections by having in ring flange surrounding card
Through hole 9 is fastenedly connected with robot body working end 15 with bolt and nut coupling.In order to ensure the stable and accurate of test, directly
Linear movement pick-up 1 is to be placed on work platformses 12 by two fixed supports 10.
As shown in figure 4, being provided with slide rheostat inside linear displacement transducer 1, the slide plate of slide rheostat is straight
Connecting rod 2 moves back and forth under driving, and the electricity output end of slide rheostat slide plate is as the signal output part of linear displacement transducer 1
It is connected with the signal input part of oscillograph 11, linear displacement transducer 1 is powered by power supply 13.
The linear displacement transducer model MIRAN KTM-250mm that the present embodiment adopts.
The power supply 13 that the present embodiment adopts is digital power it is provided that stable 5V unidirectional current.
The oscillograph 11 that the present embodiment adopts is digital oscilloscope, the 0-5V continuous analog signal that can export, model
RIGOL MSO1104.
Motion in one dimension track testing is carried out to industrial robot using the test device that this utility model provides, step is such as
Under：
Step 1, test device is connected with robot body 14
It is sequentially connected with linear displacement transducer 1, straight connecting rod 2, universal rotational connecting rod 3 as described above, then will
Ring flange 5 is connected with robot body working end 15, then universal rotational connecting rod 3 is screwed in ring flange 5 and completes test device
It is connected with robot body 14.
Step 2, sets movement locus to robot in advance
Movement locus set in advance need in the range of the detection range of linear displacement transducer 1；Then according to machine
The speed that people runs and the parameter such as time combine linear displacement transducer relevant parameter, regulate oscillograph 11 scanning voltage,
The parameters such as sweep time, displacement voltage relation is：S=Sm/Vm·Vo, wherein, S：Measurement displacement, Sm：Maximum displacement range, Vm：
Supply voltage, Vo：Sensor output voltage.
Step 3, adjustment test device moves along a straight line to Robot
Control the movement locus motion that Robot sets, open and be placed in robot body working end 15 laser instrument (peace
It is contained in robot body working end 15 side, in figure is not shown), by the change in location of laser spots before and after observation robot motion
Situation is judging whether robot moves along a straight line, if entering next step；If it is not, adjustment robot body working end 15
Put or universal rotational connecting rod 3, then again detect robot body working end 15 movement locus to machine using laser instrument
Before and after device people motion, the position of laser spots is not changed in substantially, illustrates that robot body 14 moves along a straight line.
Step 4, test machine people's motion in one dimension track
Robot moves according to previously given movement instruction, and the voltage signal measuring is transmitted by linear displacement transducer 1
To oscillograph 11, on oscillograph 11, the waveform of display is robot motion in one dimension track in time, and records.
Repeat step 4, can obtain some oscillograms, contrast the oscillogram obtaining, it is possible to achieve to robot motion's
Resetting.
In order to probe into the relation of oscilloscope display figure and robot motion in one dimension track, further study robot one
Relation between dimension movement locus and movement instruction and the direction of motion, as shown in Figure 8 and Figure 9.
As shown in figure 8, when movement instruction is a segment distance mobile along square, robot is according to given movement instruction
Motion；Move with robot, oscillograph 11 is illustrated that the waveform that voltage gradually rises, and voltage is higher, represents Robot
Positive movement is more remote.
As shown in figure 9, when Robot positive movement, the forward voltage that oscillograph 11 obtains is to gradually rise, when
When the forward voltage obtaining on oscillograph 11 is gradually lowered, illustrate that Robot is transported with negative direction (with pros in the opposite direction)
Dynamic.In robot kinematics, linear displacement transducer output voltage V can be accurately obtained0, then pass through formula S=Sm/
Vm·Vo, the displacement of Robot linear motion can be accurately obtained such that it is able to realize repeating calmly of robot motion in one dimension
Position.
Embodiment 2
The industrial robot motion in one dimension track testing device that the present embodiment and embodiment 1 are given is essentially identical, with enforcement
Example 1 difference is that the ring flange adopting is different.
The ring flange 5 that the present embodiment adopts has the joint face contacting with robot body working end 15, in joint face
Portion is a circular groove 7 with internal thread through hole, and the internal diameter of groove 7 is suitable with the protruding parts phase of robot body working end 15
Join, ring flange 5 surrounding card has equally distributed 4 connection through holes 9, sees Fig. 6.
Embodiment 3
The industrial robot motion in one dimension track testing device that the present embodiment and embodiment 1 are given is essentially identical, with enforcement
Example 1 difference is that the ring flange adopting is different.
The ring flange 5 that the present embodiment adopts has the joint face contacting with robot body working end 15, in joint face
Portion is a circular groove 8 with internal thread through hole, and the internal diameter of groove 8 is suitable with the protruding parts phase of robot body working end 15
Join, ring flange 5 surrounding card has 6 connection through holes 9, sees Fig. 7.
Those of ordinary skill in the art will be appreciated that, embodiment here is to aid in reader and understands that this practicality is new
The principle of type is it should be understood that protection domain of the present utility model is not limited to such special statement and embodiment.Ability
The those of ordinary skill in domain can according to disclosed in this utility model these technology enlightenment make various without departing from this utility model
The various concrete deformation of other of essence and combination, these deformation and combination are still in protection domain of the present utility model.
Claims (10)
1. a kind of industrial robot motion in one dimension track testing device is it is characterised in that this device includes linear displacement transducer
And oscillograph (11) (1)；Linear displacement transducer (1) one end is through being flexibly connected assembly and being connected to robot body working end
(15) connect；The signal output part of linear displacement transducer (1) is connected with the signal input part of oscillograph (11)；
Under test mode, with the motion of robot body (14), the voltage signal recording is transmitted by linear displacement transducer (1)
To oscillograph (11), oscillograph (11) records and shows the motion in one dimension track of robot body working end (15).
2. according to claim 1 industrial robot motion in one dimension track testing device it is characterised in that described flexible connection
Assembly is to be made up of straight connecting rod (2) and universal rotational connecting rod (3), one end of connecting rod that this is straight (2) and straight-line displacement
Sensor (1) is connected, and the other end is connected with the Universal-head (4) of universal rotational connecting rod (3), and universal rotational connecting rod passes through head
It is connected with robot body working end (15).
3. according to claim 2 industrial robot motion in one dimension track testing device it is characterised in that described universal rotational
Universal-head (4) end of connecting rod (3) is provided with a groove, and one end of straight connecting rod (2) directly snaps in groove and connects.
4. according to Claims 2 or 3 industrial robot motion in one dimension track testing device it is characterised in that described universal turn
The head of bar (3) of being dynamically connected is to be connected with robot body working end (15) by a ring flange (5).
5. according to claim 4 industrial robot motion in one dimension track testing device it is characterised in that described ring flange (5)
With in the middle part of the joint face of robot body working end be the circular protrusions with internal thread through hole (6), surrounding card has connection
Through hole (9), is fastenedly connected with being mated with robot body working end (15) by connector, universal rotational connecting rod (3) is then led to
The external screw thread crossed in head is connected with through hole coupling tapped in ring flange (5).
6. according to claim 4 industrial robot motion in one dimension track testing device it is characterised in that described ring flange (5)
With in the middle part of the joint face of robot body working end be a circular groove with internal thread through hole (7,8), the company of having in surrounding card
Connect hole (9), be fastenedly connected with being mated with robot body working end (15) by connector, universal rotational connecting rod (3) is then
It is connected with through hole coupling tapped in ring flange (5) by the external screw thread in head.
7. industrial robot motion in one dimension track testing device according to claims 1 to 3 any claim, its feature exists
Pass through two fixed supports (10) in front and back in described linear displacement transducer (1) to be placed on work platformses (12).
8. according to claim 4 industrial robot motion in one dimension track testing device it is characterised in that described straight-line displacement
Sensor (1) passes through two fixed supports (10) in front and back and is placed on work platformses (12).
9. according to claim 5 industrial robot motion in one dimension track testing device it is characterised in that described straight-line displacement
Sensor (1) passes through two fixed supports (10) in front and back and is placed on work platformses (12).
10. according to claim 6 industrial robot motion in one dimension track testing device it is characterised in that described straight-line displacement
Sensor (1) passes through two fixed supports (10) in front and back and is placed on work platformses (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620847560.5U CN205928664U (en) | 2016-08-06 | 2016-08-06 | Industrial robot one -dimensional movement track testing arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620847560.5U CN205928664U (en) | 2016-08-06 | 2016-08-06 | Industrial robot one -dimensional movement track testing arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928664U true CN205928664U (en) | 2017-02-08 |
Family
ID=57922815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620847560.5U Withdrawn - After Issue CN205928664U (en) | 2016-08-06 | 2016-08-06 | Industrial robot one -dimensional movement track testing arrangement |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041944A (en) * | 2016-08-06 | 2016-10-26 | 四川乐成电气科技有限公司 | Industrial robot one-dimensional motion trail testing device |
| CN109752051A (en) * | 2019-03-19 | 2019-05-14 | 公安部第一研究所 | A kind of explosive-removal robot gripping performance experimental rig |
-
2016
- 2016-08-06 CN CN201620847560.5U patent/CN205928664U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041944A (en) * | 2016-08-06 | 2016-10-26 | 四川乐成电气科技有限公司 | Industrial robot one-dimensional motion trail testing device |
| CN109752051A (en) * | 2019-03-19 | 2019-05-14 | 公安部第一研究所 | A kind of explosive-removal robot gripping performance experimental rig |
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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 |
Granted publication date: 20170208 Effective date of abandoning: 20180622 |
|
| AV01 | Patent right actively abandoned |