CN208744877U - Robot trajectory's test device - Google Patents
Robot trajectory's test device Download PDFInfo
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- CN208744877U CN208744877U CN201820809593.XU CN201820809593U CN208744877U CN 208744877 U CN208744877 U CN 208744877U CN 201820809593 U CN201820809593 U CN 201820809593U CN 208744877 U CN208744877 U CN 208744877U
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Abstract
The utility model provides a kind of robot trajectory's test device, and robot trajectory's test device includes: firm banking；Track detection plate, track detection plate are removably mounted on firm banking, and detection groove is provided on track detection plate, and detection groove extends along desired trajectory；The movement pointer of industrial robot to be detected being at least partially disposed in detection groove and moving along the extending direction of detection groove；Wherein, track detection plate and movement pointer are located in the same detection circuit, detection circuit is connected when moving pointer and being in contact with the inner wall for detecting groove, and detection circuit is set to be in off state when moving pointer and not being in contact with the inner wall of detection groove.Robot trajectory's test device solves the problems, such as to be difficult to carry out validity test to the kinematic accuracy of industrial robot in the prior art.
Description
Technical field
The utility model relates to robot testing fields, in particular to a kind of robot trajectory's test device.
Background technique
With the development of science and technology with the progress of industrial technology, industrial robot using more and more extensive.Industrial robot
It is a kind of multi-joint mechanical hand or multivariant installations, it realizes various controls by self power and control ability
Function.In general, industrial robot includes three industrial machine human body, drive system and control system parts.Industrial robot
Ontology includes base, arm, wrist, hand and walking mechanism.Drive system includes power device and transmission mechanism, is mainly used to
Executing agency is driven to generate corresponding movement, control system is the instruction according to drive system to executing agency's sending signal, and
It is controlled.
Most of industrial robots have 3 to 6 freedom of motion, wherein wrist usually has 1 to 3 freedom of motion.Work
Industry robot is during executing operation, it will usually be moved within the scope of larger space, in industrial processes
Complete the linking and control to each production process.And the reliability of industrial robot control is mainly reflected in kinematic accuracy
On.In existing production process, usually there is industrial robot because kinematic accuracy is inadequate, its control ability is caused to weaken, it is each
Production process can not be controlled effectively, thus the phenomenon that causing production process to disconnect.Also, it is difficult in the prior art to work
The kinematic accuracy of industry robot carries out validity test, and then not can guarantee the reliability to industrial robot control.
Utility model content
The main purpose of the utility model is to provide a kind of robot trajectory's test devices, difficult in the prior art to solve
The problem of carrying out validity test with the kinematic accuracy to industrial robot.
To achieve the goals above, one aspect according to the present utility model provides a kind of robot trajectory's test dress
It sets, comprising: firm banking；Track detection plate, track detection plate are removably mounted on firm banking, are set on track detection plate
It is equipped with detection groove, detection groove extends along desired trajectory；At least partly position of the movement pointer of industrial robot to be detected
It is moved in detection groove and along the extending direction of detection groove；Wherein, track detection plate and movement pointer are located at the same inspection
In slowdown monitoring circuit, detection circuit is connected when moving pointer and being in contact with the inner wall for detecting groove, and pointer is being moved not
Detection circuit is set to be in off state when being in contact with the inner wall of detection groove.
Further, track detection plate be metal plate, movement pointer be metal finger, track detection plate with move pointer it
Between form power-on switch, with move pointer contacted with track detection plate when detection circuit is connected, and move pointer not with
Track detection plate makes detection circuit be in off state when being in contact.
Further, track detection plate is multiple, each not phase in the extension track of the detection groove on multiple track detection plates
Together, each track detection plate is selectively attached on firm banking.
Further, detection groove includes straight-line groove section and curved slot section, straight-line groove section and curved slot section phase
It connects.
Further, firm banking includes leg section and mounting platform, and the bottom of mounting platform is arranged in prop up in leg section
Mounting platform is supportted, track detection plate is mounted on mounting platform.
Further, it is provided with positioning pin on mounting platform, determining of matching with positioning pin is provided on track detection plate
Position hole, positioning pin are plugged in positioning hole.
Further, locking member is provided on firm banking, locking member is connect with track detection plate, by track detection plate
Locking is on the fixed base.
Further, limiting section is provided on firm banking, locking member is threadedly coupled with limiting section, to pass through rotation lock
Part keeps one end of locking member mobile towards the side wall of track detection plate until abutting with the side wall of track detection plate.
Further, locking member is multiple, and multiple locking members are arranged around track detection plate.
Robot trajectory's test device in the utility model includes firm banking and track detection plate, and track detection plate can
It releasably installs on the fixed base, detection groove is provided on track detection plate, detection groove extends along desired trajectory, to be checked
The movement pointer of the industrial robot of survey being at least partially disposed in detection groove and moving along the extending direction of detection groove, rail
Mark detection plate and movement pointer are located in the same detection circuit, make when moving pointer and being in contact with the inner wall for detecting groove
Detection circuit conducting, and so that detection circuit is in off state when moving pointer and not being in contact with the inner wall of detection groove,
The kinematic accuracy of industrial robot is tested in this way, whether can be connected by detecting the detection circuit, to solve
It has determined and has been difficult to the problem of validity test is carried out to the kinematic accuracy of industrial robot in the prior art.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of robot trajectory's test device according to the present utility model.
Wherein, the above drawings include the following reference numerals:
10, firm banking；11, leg section；12, mounting platform；20, track detection plate；21, groove is detected；30, movement refers to
Needle；40, industrial robot；50, live wire；60, displacement sensor.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The utility model provides a kind of robot trajectory's test device, referring to FIG. 1, robot trajectory's test device
It include: firm banking 10；Track detection plate 20, track detection plate 20 are removably mounted on firm banking 10, track detection
Detection groove 21 is provided on plate 20, detection groove 21 extends along desired trajectory；The movement of industrial robot 40 to be detected refers to
Needle 30 being at least partially disposed in detection groove 21 and moving along the extending direction of detection groove 21；Wherein, track detection plate 20
It is located in the same detection circuit with movement pointer 30, to make when moving pointer 30 and being in contact with the inner wall for detecting groove 21
Detection circuit conducting, and so that detection circuit is in breaking shape when moving pointer 30 and not being in contact with the inner wall of detection groove 21
State.
Robot trajectory's test device in the utility model includes firm banking 10 and track detection plate 20, track detection
Plate 20 is removably mounted on firm banking 10, and detection groove 21 is provided on track detection plate 20, detects groove 21 along pre-
Fixed track extends, and the movement pointer 30 of industrial robot 40 to be detected is at least partially disposed in detection groove 21 and along detection
The extending direction of groove 21 moves, and track detection plate 20 and movement pointer 30 are located in the same detection circuit, in movement pointer
30 with detection groove 21 inner wall be in contact when detection circuit is connected, and movement pointer 30 not with detection groove 21 in
So that detection circuit is in off state when wall is in contact, in this way, can by detect the detection circuit whether be connected come pair
The kinematic accuracy of industrial robot 40 is tested, and is difficult to the essence of the movement to industrial robot 40 in the prior art to solve
Degree carries out the problem of validity test.
Preferably, movement pointer 30 passes through in 50 detection circuit for access of live wire.
In order to realize the on-off of detection circuit, track detection plate 20 is metal plate, and movement pointer 30 is metal finger, track
Power-on switch is formed between detection plate 20 and movement pointer 30, to make to detect when moving pointer 30 and contacting with track detection plate 20
Circuit conducting, and so that detection circuit is in off state when moving pointer 30 and not being in contact with track detection plate 20.In this way,
It can be more easily according to the on-off of the contact condition control detection circuit between track detection plate 20 and movement pointer 30.
In order to which the different motion modes to industrial robot 40 carry out kinematic accuracy measurement, track detection plate 20 is more
A, the extension track of the detection groove 21 on multiple track detection plates 20 is different, and each track detection plate 20 is selectively
It is mounted on firm banking 10.In this way, suitable track can be selected according to the kinematic accuracy of the motion mode of required detection
Detection plate 20.
The concrete form of detection groove 21 in the present embodiment is, as shown in Figure 1, detection groove 21 includes straight-line groove section
With curved slot section, straight-line groove section and curved slot section connect.Preferably, straight-line groove section and curved slot section are more
Section, multiple straight-line groove sections and multiple curved slot sections are mutually spliced according to detection needs.
In the present embodiment, as shown in Figure 1, firm banking 10 includes leg section 11 and mounting platform 12, leg section 11 is set
It sets in the bottom of mounting platform 12 to support mounting platform 12, track detection plate 20 is mounted on mounting platform 12.
In order to realize the positioning to track detection plate 20, as shown in Figure 1, being provided with positioning pin, track on mounting platform 12
The location hole matched with positioning pin is provided in detection plate 20, positioning pin is plugged in positioning hole.Preferably, positioning pin is more
It is a.
In the present embodiment, locking member is provided on firm banking 10, locking member is connect with track detection plate 20, by rail
Mark detection plate 20 is locked on firm banking 10.The present embodiment, can be more easily to track detection by setting locking member
Plate 20 is locked.
Specifically, it is provided with limiting section on firm banking 10, locking member is threadedly coupled with limiting section, to pass through rotation lock
Part keeps one end of locking member mobile towards the side wall of track detection plate 20 until abutting with the side wall of track detection plate 20.In this way,
More easily locking member can be mounted on firm banking 10.
In the present embodiment, locking member is multiple, and multiple locking members are arranged around track detection plate 20.
Preferably, robot trajectory's test device further includes displacement sensor 60, which is arranged in industry
On the end flange of robot 40, whether it is subjected to displacement relative to end flange with detection movement pointer 30.
In addition, a kind of robot trajectory's test method, robot rail can be applicable in using robot trajectory's test device
Mark test method includes: the track detection plate that selection has the detection groove of desired trajectory；By track detection plate and work to be detected
The operation pointer of industry robot is arranged in the same detection circuit；Make being at least partially inserted into for the operation pointer of industrial robot
It detects in groove and along detection concave slot sports, lead detection circuit when moving pointer and being in contact with the inner wall for detecting groove
It is logical, and so that detection circuit is in off state when moving pointer and not being in contact with the inner wall of detection groove.
Robot trajectory's test device in the utility model be by joint of robot install a detection contact pin,
Its structure as shown in Figure 1, by robot body according to scheduled track test bottom plate track groove in run, track groove
Width and height be fixed value.The outer diameter for detecting contact pin is selected by measuring accuracy grade.It is set when test run track is offset to
It is inclined to trigger track for system after detection contact pin is contacted with the track groove inner wall (bottom plate is conductive material) for testing bottom plate when determining precision
From signal, robot stops and alarms, therefore, it is determined that whether this robot trajectory's precision meets the requirements.
It can be seen from the above description that the above embodiments of the utility model achieve the following technical effects:
Robot trajectory's test device in the utility model includes firm banking 10 and track detection plate 20, track detection
Plate 20 is removably mounted on firm banking 10, and detection groove 21 is provided on track detection plate 20, detects groove 21 along pre-
Fixed track extends, and the movement pointer 30 of industrial robot 40 to be detected is at least partially disposed in detection groove 21 and along detection
The extending direction of groove 21 moves, and track detection plate 20 and movement pointer 30 are located in the same detection circuit, in movement pointer
30 with detection groove 21 inner wall be in contact when detection circuit is connected, and movement pointer 30 not with detection groove 21 in
So that detection circuit is in off state when wall is in contact, in this way, can by detect the detection circuit whether be connected come pair
The kinematic accuracy of industrial robot 40 is tested, and is difficult to the essence of the movement to industrial robot 40 in the prior art to solve
Degree carries out the problem of validity test.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of robot trajectory's test device characterized by comprising
Firm banking (10)；
Track detection plate (20), the track detection plate (20) are removably mounted on the firm banking (10), the rail
Detection groove (21) is provided in mark detection plate (20), the detection groove (21) extends along desired trajectory；Industry to be detected
The movement pointer (30) of robot (40) is at least partially disposed in the detection groove (21) and along the detection groove (21)
Extending direction movement；
Wherein, the track detection plate (20) and the movement pointer (30) are located in the same detection circuit, in the fortune
The detection circuit is connected when being in contact with the inner wall of detection groove (21) in dynamic pointer (30), and refers in the movement
Needle (30) makes the detection circuit be in off state when not being in contact with the inner wall of detection groove (21).
2. robot trajectory's test device according to claim 1, which is characterized in that the track detection plate (20) is gold
Belong to plate, the movement pointer (30) is metal finger, is formed between the track detection plate (20) and the movement pointer (30)
Power-on switch, the detection circuit is connected when the movement pointer (30) contacts with the track detection plate (20), and
The detection circuit is set to be in off state when the movement pointer (30) is not in contact with the track detection plate (20).
3. robot trajectory's test device according to claim 1, which is characterized in that the track detection plate (20) is more
A, the extension track of the detection groove (21) on multiple track detection plates (20) is different, each track
Detection plate (20) is selectively attached on the firm banking (10).
4. robot trajectory's test device according to claim 1, which is characterized in that the detection groove (21) includes straight
Line groove section and curved slot section, the straight-line groove section and the curved slot section connect.
5. robot trajectory's test device according to claim 1, which is characterized in that the firm banking (10) includes branch
Leg (11) and mounting platform (12), the leg section (11) are arranged in the bottom of the mounting platform (12) to support the peace
Assembling platform (12), the track detection plate (20) are mounted on the mounting platform (12).
6. robot trajectory's test device according to claim 5, which is characterized in that be arranged on the mounting platform (12)
There is positioning pin, is provided with the location hole matched with the positioning pin on the track detection plate (20), the positioning pin plugs
In the positioning hole.
7. robot trajectory's test device according to any one of claim 1 to 6, which is characterized in that the fixed bottom
It is provided with locking member on seat (10), the locking member is connect with the track detection plate (20), by the track detection plate
(20) it is locked on the firm banking (10).
8. robot trajectory's test device according to claim 7, which is characterized in that be arranged on the firm banking (10)
There is limiting section, the locking member is threadedly coupled with the limiting section, to make the one of the locking member by rotating the locking member
Hold the side wall towards the track detection plate (20) mobile until abutting with the side wall of the track detection plate (20).
9. robot trajectory's test device according to claim 8, which is characterized in that the locking member be it is multiple, it is multiple
The locking member is arranged around the track detection plate (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820809593.XU CN208744877U (en) | 2018-05-28 | 2018-05-28 | Robot trajectory's test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820809593.XU CN208744877U (en) | 2018-05-28 | 2018-05-28 | Robot trajectory's test device |
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| Publication Number | Publication Date |
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| CN208744877U true CN208744877U (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820809593.XU Active CN208744877U (en) | 2018-05-28 | 2018-05-28 | Robot trajectory's test device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131657A (en) * | 2021-12-28 | 2022-03-04 | 芜湖藦卡机器人科技有限公司 | Industrial robot orbit detection device |
-
2018
- 2018-05-28 CN CN201820809593.XU patent/CN208744877U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131657A (en) * | 2021-12-28 | 2022-03-04 | 芜湖藦卡机器人科技有限公司 | Industrial robot orbit detection device |
| CN114131657B (en) * | 2021-12-28 | 2024-01-23 | 芜湖藦卡机器人科技有限公司 | Industrial robot track detection device |
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