CN206493337U - A kind of test device of industrial robot repetitive positioning accuracy - Google Patents
A kind of test device of industrial robot repetitive positioning accuracy Download PDFInfo
- Publication number
- CN206493337U CN206493337U CN201720103798.1U CN201720103798U CN206493337U CN 206493337 U CN206493337 U CN 206493337U CN 201720103798 U CN201720103798 U CN 201720103798U CN 206493337 U CN206493337 U CN 206493337U
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- CN
- China
- Prior art keywords
- testboard
- test device
- amesdial
- gauge rod
- industrial robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of test device of industrial robot repetitive positioning accuracy, including assemble the base being integrated, support arm, testboard successively from bottom to top；The testboard Shang Raoqi centers are evenly distributed with three position sensors, and the detection direction of the test section of three position sensors is tilted upward to be set towards center and space intersection in a bit.The position sensor is amesdial, and the test section is the gauge rod of amesdial.The axis of the gauge rod of three amesdials is vertically arranged two-by-two.The testboard is reversed round bench shaped, and its upper surface is provided with the inner concave arc surface concentric with testboard；Three amesdials are uniformly distributed in the testboard side, and its gauge rod, which is stretched to be stretched out by the inner concave arc surface, to be set.The test device that the utility model is used is simple in construction, the amesdial that factory can be used to widely apply, and easy to operate reliable, data are accurate, and the defect and high cost for overcoming existing equipment to exist can largely be used in working site, workshop.
Description
Technical field
The utility model is related to a kind of test device of industrial robot, more particularly to a kind of industrial robot resetting
The test device of precision.
Background technology
With the fast development of mechanical automation, the application of mechanical automation slowly in the industrial production, various robots
It is to substitute the artificial capital equipment for carrying out workpiece transport, processing.In the motion process of robot, in order to ensure to add for workpiece
The precision of work, requires higher for the repetitive positioning accuracy of robot motion.The patent No. 201410101895 discloses a kind of work
Industry robot resetting test device, solves laser tracker and exists at a high speed in the measurement of industrial robot repetitive positioning accuracy
The problem of easily losing the limitations such as light.But the device uses laser sensor and a large amount of apparatus for adjusting position, itself purchase cost
Height, position adjustments are complicated, and reliability is difficult to be guaranteed.The patent No. 201410523191 proposes a kind of using visible sensation method survey
The device of industrial robot repetitive positioning accuracy is measured, it is many relative to the reduction of laser tracker cost.But high-precision vision is measured
Requirement of the method to hardware be not also low, and cost is still higher, and software is calculated and also had higher requirements.The patent No.
201510098569 provide a kind of test system for being used to measure industrial robot repetitive positioning accuracy, using laser sensor,
Measurement accuracy is improved, and transmission rate is high, and communication modes flexibly, and are not limited to the measurement of single station, useful application
In the measurement of the repetitive positioning accuracy of multistation robot, but sensor self-position is not fixed, work during factory application
People's operating difficulties, it is difficult to realize orthogonal manner.
Utility model content
The purpose of this utility model is that there is provided a kind of test device of industrial robot repetitive positioning accuracy, Neng Goujing
The repetitive positioning accuracy of industrial robot is really measured, the amesdial widely applied by using factory is easy to operate reliable, data
Accurately, and can overcome existing equipment exist defect and high cost, can largely be used in working site and workshop.
The technical solution of the utility model：A kind of test device of industrial robot repetitive positioning accuracy, including from it is lower to
On assemble the base being integrated, support arm, testboard successively；
The testboard Shang Raoqi centers are evenly distributed with three position sensors, the test section of three position sensors
Detection direction tilt upward and set towards center and space intersection in a bit.
As the preferred embodiment of above-mentioned technical proposal, the industrial robot that the utility model embodiment is provided repeats fixed
The test device of position precision further comprises the part or all of of following technical characteristic：
As the improvement of above-mentioned technical proposal, the position sensor is amesdial, and the test section is the amount of amesdial
Bar.
As the improvement of above-mentioned technical proposal, the axis of the gauge rod of three amesdials is vertically arranged two-by-two.
As the improvement of above-mentioned technical proposal, the testboard is reversed round bench shaped, and its upper surface is provided with same with testboard
The inner concave arc surface in axle center；
Three amesdials are uniformly distributed in the testboard side, and its gauge rod, which is stretched to be stretched out by the inner concave arc surface, to be set
Put.
Three are provided with as the improvement of above-mentioned technical proposal, on the testboard side of the reversed round bench shaped to be uniformly distributed
Arc groove, the arc groove be provided with through hole；
The amesdial is fixed on the arc groove of the testboard by the gauge rod of the amesdial through the through hole.
As the improvement of above-mentioned technical proposal, the support arm includes upper reverse frustoconic and lower positive truncated cone-shaped, leads between it
Cross round platform connection.
As the improvement of above-mentioned technical proposal, the lower positive truncated cone-shaped bottom is provided with ring flange, and the ring flange is provided with
The circular hole that four even circumferentials around the ring flange are distributed.
As the improvement of above-mentioned technical proposal, the base is provided with bolt hole corresponding with the circular hole, passes through bolt
It is threadedly coupled through circular hole with the bolt hole, the support arm is fixedly connected with the base.
Compared with prior art, the utility model has the advantages that：A kind of industrial machine that the utility model is provided
The test device of device people's repetitive positioning accuracy, simple in construction, the amesdial that factory can be used to widely apply is easy to operate reliable,
Data are accurate, solve laser tracker and lose optical issue present in the measurement of industrial robot repetitive positioning accuracy, overcome existing
Defect and high cost with the presence of equipment, can largely be used in working site, workshop.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is that a kind of stereochemical structure of the test device for industrial robot repetitive positioning accuracy that the utility model is provided is shown
It is intended to；
Fig. 2 is a kind of front view of the test device for industrial robot repetitive positioning accuracy that the utility model is provided；
Fig. 3 be the utility model provide a kind of industrial robot repetitive positioning accuracy test device in testboard knot
Structure schematic diagram；
Fig. 4 be the utility model provide a kind of industrial robot repetitive positioning accuracy test device in support arm knot
Structure schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
A kind of test device of industrial robot repetitive positioning accuracy, as shown in figure 1, including being assembled into successively from bottom to top
Base 10, support arm 20, the testboard 30 of one；
The Shang Raoqi centers of testboard 30 are evenly distributed with three position sensors, the detection of three position sensors
The detection direction in portion is tilted upward to be set towards center and space intersection in a bit.
Preferably, the position sensor is amesdial 40, and the test section is the gauge rod of amesdial 40.
Specifically, the axis of the gauge rod of three amesdials 40 is vertically arranged two-by-two.As shown in Fig. 2 any amesdial
Angle α between 40 axis and the axis of testboard 30 is acute angle.
The test device of the industrial robot repetitive positioning accuracy also includes Computerized analysis system and survey mass 50, described
Survey mass 50 is arranged on by connecting rod 60 on the test ring flange 70 of industrial robot end.
Preferably, base is set to Height Adjustable base, is adjusted by the height of base, so that the height of testboard
It can adjust within the specific limits, amesdial selects the amesdial formula position sensor with data output, and the data of amesdial
Output is connected with Computerized analysis system, obtains position data of the survey mass in three-dimensional measurement coordinate system.
When specific measurement is used：Industrial robot drives survey mass to move in three-dimensional measurement coordinate system, passes through computer
Analysis system is the position data that can obtain survey mass in three-dimensional measurement coordinate system, while robot end position can be obtained
Value, is repeated several times and measures and carry out data processing, you can draw robot repetitive positioning accuracy value.
As shown in Figure 1, Figure 3, the testboard 30 is reversed round bench shaped, and its upper surface is provided with concentric with testboard 30
Inner concave arc surface 31；
Three amesdials 40 are uniformly distributed in the side of testboard 30, and its gauge rod is stretched to be stretched by the inner concave arc surface 31
Go out to set.
As shown in figure 3, being provided with three equally distributed arc grooves on the side of testboard 30 of the reversed round bench shaped
32, the arc groove 32 is provided with through hole 33；
The amesdial 40 is fixed on the arc of the testboard 30 through the through hole 33 by the gauge rod of the amesdial 40
On connected in star 32.
Specifically, as shown in figure 4, the support arm 20 includes upper reverse frustoconic 21 and lower positive truncated cone-shaped 22, lead between it
A round platform 23 is crossed to connect.By the upper reverse frustoconic of round platform connection and lower positive truncated cone-shaped, to realize adjacent upper reverse frustoconic with
Positive truncated cone-shaped is fixedly connected, it is to avoid repeat the truncated cone-shaped stacked, because external force is acted on and occurs tilting situation about even skewing,
And then the harmfulness brought because truncated cone-shaped skews is greatly reduced, while also reducing the weight of test equipment itself.
As shown in figure 4, the area of the upper surface of upper reverse frustoconic 21 is more than the face of the lower positive lower surface of truncated cone-shaped 22
Product.
Specifically, the area of the upper surface of testboard 30 is more than the area of the upper upper surface of reverse frustoconic 21.
As shown in figure 4, the lower positive shape bottom of round platform 22 is provided with ring flange 24, the ring flange 24 is provided with four around institute
State the circular hole 25 of the even circumferential distribution of ring flange 24.
Specifically, the base 10 be provided with the corresponding bolt hole of the circular hole 25, by bolt through circular hole 25 with
The bolt hole threaded connection, the support arm 20 is fixedly connected with the base 10.The detachable connected mode, just
In the dismounting and assembling of base and support arm.
According to national regulations, industrial robot needs different loads and different speed when testing.No matter robot is
It is no to carry load, on the test ring flange that survey mass is arranged on to industrial robot end.By industrial robot motion to a certain
Specified location, test device by the past, adjusts test device, it is ensured that the show value of each sensor is attached in range median location
Closely.By position sensor back to zero, now three position sensors constitute a rectangular coordinate system, and it is former that survey mass is located at coordinate system
Point, position sensor direction is respectively X-axis, Y-axis, Z axis；Industrial robot often reruns once, three position sensors point
A, b, c value, as offset △ Xn, △ Yn, the △ Zn of survey mass in each direction are not obtained.Run meeting after n times
N group data are obtained, now according to GB/T 12642-2013 industrial robots performance specifications and its experimental method, pass through computer
Calculating can draw industrial robot to unified instruction pose from the consistent journey of actual arrival pose after same direction duplicate responses n times
Degree.Most of position sensor with data output directly can show measured value on computers in the market, it is not necessary to
Exclusive data acquisition module.
Described above is preferred embodiment of the present utility model, can not be limited certainly with this utility model it
Interest field, it is noted that for those skilled in the art, before the utility model principle is not departed from
Put, some improvement and variation can also be made, these are improved and variation is also considered as protection domain of the present utility model.
Claims (8)
1. a kind of test device of industrial robot repetitive positioning accuracy, it is characterised in that：Including being assembled into successively from bottom to top
Base, support arm, the testboard of one；
The testboard Shang Raoqi centers are evenly distributed with three position sensors, the inspection of the test section of three position sensors
Survey direction and tilt upward and set towards center and space intersection in a bit.
2. test device according to claim 1, it is characterised in that：The position sensor is amesdial, the detection
Portion is the gauge rod of amesdial.
3. test device according to claim 2, it is characterised in that：The axis of the gauge rod of three amesdials is vertically set two-by-two
Put.
4. the test device according to Claims 2 or 3, it is characterised in that：The testboard is reversed round bench shaped, its upper end
Face is provided with the inner concave arc surface concentric with testboard；
Three amesdials are uniformly distributed in the testboard side, and its gauge rod, which is stretched to be stretched out by the inner concave arc surface, to be set.
5. test device according to claim 4, it is characterised in that：Set on the testboard side of the reversed round bench shaped
There are three equally distributed arc grooves, the arc groove is provided with through hole；
The amesdial is fixed on the arc groove of the testboard by the gauge rod of the amesdial through the through hole.
6. test device according to claim 1, it is characterised in that：The support arm includes upper reverse frustoconic and lower positive round
Platform shape, passes through a round platform between it and connects.
7. test device according to claim 6, it is characterised in that：The lower positive truncated cone-shaped bottom is provided with ring flange, institute
State the circular hole that ring flange is distributed provided with four even circumferentials around the ring flange.
8. test device according to claim 7, it is characterised in that：The base is provided with spiral shell corresponding with the circular hole
Keyhole, is threadedly coupled with the bolt hole through circular hole by bolt, the support arm is fixedly connected with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720103798.1U CN206493337U (en) | 2017-01-26 | 2017-01-26 | A kind of test device of industrial robot repetitive positioning accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720103798.1U CN206493337U (en) | 2017-01-26 | 2017-01-26 | A kind of test device of industrial robot repetitive positioning accuracy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206493337U true CN206493337U (en) | 2017-09-15 |
Family
ID=59803925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720103798.1U Expired - Fee Related CN206493337U (en) | 2017-01-26 | 2017-01-26 | A kind of test device of industrial robot repetitive positioning accuracy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206493337U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| US20210347045A1 (en) * | 2019-04-24 | 2021-11-11 | Nanjing University Of Aeronautics And Astronautics | Variable-parameter stiffness identification and modeling method for industrial robot |
-
2017
- 2017-01-26 CN CN201720103798.1U patent/CN206493337U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| US20210347045A1 (en) * | 2019-04-24 | 2021-11-11 | Nanjing University Of Aeronautics And Astronautics | Variable-parameter stiffness identification and modeling method for industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170915 Termination date: 20210126 |