CN210893006U - Robot joint module precision measuring device - Google Patents
Robot joint module precision measuring device Download PDFInfo
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- CN210893006U CN210893006U CN201922139928.9U CN201922139928U CN210893006U CN 210893006 U CN210893006 U CN 210893006U CN 201922139928 U CN201922139928 U CN 201922139928U CN 210893006 U CN210893006 U CN 210893006U
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Abstract
The utility model provides a robot joint module precision measurement device, belongs to robot joint and detects technical field to solve current robot joint module and lack the problem of the device of a set of independent measurement running accuracy. The utility model comprises a transfer flange, an adjustable grating ruler installation component, a loading component, a testing base and a position adjusting component; the adapter flange is connected with the adjustable grating ruler mounting assembly, the loading assembly is connected with the adjustable grating ruler mounting assembly, the adjustable grating ruler mounting assembly and the position adjusting assembly are fixed on the test base through screws respectively, the adapter flange is connected with the output flange on the joint module, and the corresponding interface of the joint module is connected with the position adjusting assembly. The utility model discloses can externally insert different loads and realize the measurement to joint module precision under different loads. The utility model is used for the measurement of robot joint module motion precision.
Description
Technical Field
The utility model relates to a measuring device, concretely relates to robot joint module precision measurement device.
Background
With the continuous progress of the technology in the robot field, the cooperative robot becomes the latest direction of the development of the robot field, and the cooperative robot gradually replaces the work of monotony, high repeatability and strong risk in the production process, thereby greatly improving the production efficiency. The cooperative robot has a plurality of technical parameters, the operation precision is one of the important technical parameters, the key component of the cooperative robot is a joint module, and the operation precision of the joint module is the guarantee of the accurate and efficient operation of the mechanical arm, so the operation precision of the joint module needs to be measured frequently in the processes of product research and development and production.
The existing robot joint module lacks a set of devices for independently measuring the running precision so as to analyze the motion precision of the robot joint module.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned problem, and provide a robot joint module precision measurement device.
The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be:
a robot joint module precision measuring device comprises a switching flange, an adjustable grating ruler mounting assembly, a loading assembly, a test base and a position adjusting assembly;
the adapter flange is connected with the adjustable grating ruler mounting assembly, the loading assembly is connected with the adjustable grating ruler mounting assembly, the adjustable grating ruler mounting assembly and the position adjusting assembly are fixed on the test base through screws respectively, the adapter flange is connected with the output flange on the joint module, and the corresponding interface of the joint module is connected with the position adjusting assembly.
Further, the adjustable grating ruler mounting assembly comprises a grating ruler mounting plate, reading heads, a grating ruler mounting shaft, a grating ruler sensor, a grating ruler mounting seat and two reading head mounting brackets;
grating chi installation hub rotation sets up on the grating chi mount pad, and grating chi sensor and adapter flange are fixed respectively on grating chi installation axle, and grating chi installation axle passes through the key and is connected with the loading subassembly, and grating chi mount pad and two reading head installing supports are fixed respectively on the grating chi mounting panel, and two reading head installing supports set up in the both sides of grating chi sensor, install the reading head on every reading head installing support.
Compared with the prior art, the utility model following beneficial effect has:
the utility model discloses can dock the joint module and the adaptor flange of robot, the loading subassembly provides the load through the outside, and the motion precision of grating chi installation component to the joint module is measured through adjustable. To different loads, the motion precision of joint module is different, through the utility model discloses can externally insert different loads and realize the measurement to joint module precision under different loads.
Drawings
Fig. 1 is a schematic view of the present invention;
fig. 2 is a schematic view of an adjustable grating scale mounting assembly 3;
FIG. 3 is a schematic view of the position adjustment assembly 6;
fig. 4 is a schematic view of the loading assembly 4.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 4, and includes an adapter flange 2, an adjustable grating ruler mounting assembly 3, a loading assembly 4, a test base 5, and a position adjusting assembly 6;
The second embodiment is as follows: the embodiment is described with reference to fig. 2, the adjustable grating ruler mounting assembly 3 of the embodiment includes a grating ruler mounting plate 31, a reading head 33, a grating ruler mounting shaft 34, a grating ruler sensor 35, a grating ruler mounting seat 37, and two reading head mounting brackets 32;
grating chi installation axle 34 rotates and sets up on grating chi mount pad 37, and grating chi sensor 35 and adapter flange 2 are fixed respectively on grating chi installation axle 34, and grating chi installation axle 34 passes through the key and is connected with loading component 4, and grating chi mount pad 37 and two reading head installing supports 32 are fixed respectively on grating chi mounting panel 31, and two reading head installing supports 32 set up the both sides at grating chi sensor 35, install reading head 33 on every reading head installing support 32.
Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 2, the reading head mounting bracket 32 of the present embodiment is provided with a set of kidney-shaped holes, each set of kidney-shaped holes is provided with a screw, and each reading head mounting bracket 32 is connected to the reading head 33 through the screw in the kidney-shaped hole and enables the reading head 33 to move along the axial direction of the grating ruler mounting shaft 34.
Other components and connection relationships are the same as those in the second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 3, and the position adjustment assembly 6 of the present embodiment includes a joint base 61, a joint attachment plate 62, and a plurality of screws 63;
the joint base 61 is fixed on the test base 5, a group of threaded holes and two groups of waist-shaped holes are processed on the joint mounting plate 62, each threaded hole of one group of threaded holes is provided with a screw 63, the length direction of one group of waist-shaped holes is the same as the axial direction of the adapter flange 2, the two groups of waist-shaped holes are perpendicular to each other, and the two groups of waist-shaped holes are connected with the joint base 61 through the screws 63.
All the screws 63 are loosened, the two groups of waist-shaped holes can realize axial and transverse movement, the width of the two groups of waist-shaped holes is slightly larger than the diameter of the screws, so that the joint mounting plate 62 can not be limited by the screws of the other group of waist-shaped holes when moving along the length direction of one group of waist-shaped holes, the joint mounting plate 62 is jacked up by adjusting the screws 63 in the threaded holes, and the height of the joint mounting plate 62 is adjusted.
Other components and connection relationships are the same as those in the second embodiment.
The fifth concrete implementation mode: referring to fig. 4 to describe the present embodiment, the loading unit 4 of the present embodiment includes a first adapter flange 41 and a second adapter flange 42;
the first adapter flange 41 is fixedly connected with the grating ruler mounting shaft 34, and the first adapter flange 41 is connected with the second adapter flange 42 through screws.
Other compositions and connection relations are the same as those of the fourth embodiment.
The working principle is as follows:
the adjustable grating ruler mounting component 3 is firstly fixed on the test base 5, then the adapter flange 2 is connected with the grating ruler mounting shaft 34, the joint module 1 is fixed on the test base 5 through the position adjusting component 6, and then the output flange of the joint module 1 is coaxial with the adapter flange 2 through adjusting the position adjusting component 6. When joint module 1 circular telegram operation, can drive grating chi installation axle 34 through adapter flange 2 and rotate, and grating chi sensor 35 on the grating chi installation axle 34 can rotate in step, reads the reading of scale grating on the grating chi sensor 35 through reading head 33 and realizes joint module 1's measurement of motion accuracy.
Claims (5)
1. The utility model provides a robot joint module precision measurement device which characterized in that: the device comprises a switching flange (2), an adjustable grating ruler installation component (3), a loading component (4), a test base (5) and a position adjusting component (6);
adapter flange (2) is connected with adjustable grating chi installation component (3), and loading subassembly (4) is connected with adjustable grating chi installation component (3), and adjustable grating chi installation component (3) and position adjustment subassembly (6) are respectively through the fix with screw on test base (5), and adapter flange (2) is connected with the output flange on joint module (1), and the interface that corresponds of joint module (1) is connected with position adjustment subassembly (6).
2. The robot joint module precision measuring device of claim 1, wherein: the adjustable grating ruler mounting component (3) comprises a grating ruler mounting plate (31), reading heads (33), a grating ruler mounting shaft (34), a grating ruler sensor (35), a grating ruler mounting seat (37) and two reading head mounting brackets (32);
grating chi installation axle (34) rotates and sets up on grating chi installation seat (37), grating chi sensor (35) and adaptor flange (2) are fixed respectively on grating chi installation axle (34), grating chi installation axle (34) are connected with loading subassembly (4) through the key, grating chi installation seat (37) and two reading head installing support (32) are fixed respectively on grating chi installation board (31), two reading head installing support (32) set up the both sides at grating chi sensor (35), install reading head (33) on every reading head installing support (32).
3. The robot joint module precision measuring device of claim 2, wherein: each reading head mounting bracket (32) is provided with a group of kidney-shaped holes, each group of kidney-shaped holes is internally provided with a screw, and each reading head mounting bracket (32) is connected with a reading head (33) through the screw in the kidney-shaped hole and can enable the reading head (33) to move along the axial direction of the grating ruler mounting shaft (34).
4. The robot joint module precision measuring device of claim 3, wherein: the position adjusting assembly (6) comprises a joint base (61), a joint mounting plate (62) and a plurality of screws (63);
joint base (61) are fixed on test base (5), and processing has a set of screw hole and two sets of waist type hole on joint mounting panel (62), all is equipped with a screw (63) on wherein every screw hole of a set of screw hole, and the length direction in a set of waist type hole is the same with the axis direction of adaptor flange (2), and two sets of waist type holes are mutually perpendicular, and two sets of waist type holes all are connected with joint base (61) through screw (63).
5. The robot joint module precision measuring device of claim 4, wherein: the loading assembly (4) comprises a first adapter flange (41) and a second adapter flange (42);
the first adapter flange (41) is fixedly connected with the grating ruler mounting shaft (34), and the first adapter flange (41) is connected with the second adapter flange (42) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922139928.9U CN210893006U (en) | 2019-12-02 | 2019-12-02 | Robot joint module precision measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922139928.9U CN210893006U (en) | 2019-12-02 | 2019-12-02 | Robot joint module precision measuring device |
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| Publication Number | Publication Date |
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| CN210893006U true CN210893006U (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922139928.9U Active CN210893006U (en) | 2019-12-02 | 2019-12-02 | Robot joint module precision measuring device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218654A (en) * | 2021-05-06 | 2021-08-06 | 北京工业大学 | Robot joint return difference static test system |
| CN114543675A (en) * | 2021-08-18 | 2022-05-27 | 长光（沧州）光栅传感技术有限公司 | Mounting structure of grating ruler |
-
2019
- 2019-12-02 CN CN201922139928.9U patent/CN210893006U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218654A (en) * | 2021-05-06 | 2021-08-06 | 北京工业大学 | Robot joint return difference static test system |
| CN114543675A (en) * | 2021-08-18 | 2022-05-27 | 长光（沧州）光栅传感技术有限公司 | Mounting structure of grating ruler |
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