CN213579239U

CN213579239U - Industrial robot position appearance degree of accuracy and position appearance repeatability detection device

Info

Publication number: CN213579239U
Application number: CN202023233416.8U
Authority: CN
Inventors: 韩莉莉
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-06-29
Anticipated expiration: 2030-12-28

Abstract

The utility model discloses an industrial robot pose accuracy and pose repeatability detection device, which comprises a test end effector, a measurement frame and a four-axis measurement instrument; the measuring rack comprises a mounting bottom plate, an upright post and a sample marking needle, and the bottom of the sample marking needle is provided with a quick-change positioning device; the bottom of the peripheral measuring instrument is provided with a quick-change positioning device, and the four-axis measuring instrument comprises an X-axis micrometering table, a Y-axis micrometering table, an R-axis micrometering rotary table and a Z-axis micrometering table; a position detection claw and a posture detection claw are fixedly connected to the Z-axis moving platform; the detection device of the utility model has simple structure, portability, low production cost and convenient installation; the detection method is simple to operate, can detect most industrial robots, and is beneficial to improving the product quality of the industrial robots.

Description

Industrial robot position appearance degree of accuracy and position appearance repeatability detection device

Technical Field

The utility model relates to a robot performance detection area, especially an industrial robot position appearance degree of accuracy and position appearance repeatability detection device.

Background

Industrial robots are multi-degree-of-freedom machine devices oriented in the industrial field, the position and attitude of the end effector of which is a composite result of multi-axis motions. The pose accuracy and the pose repeatability are important indexes for measuring the technical performance of the industrial robot, and have important significance for keeping the industrial robot in a stable working state.

Several detection devices for pose accuracy and pose repeatability are introduced in GB/T12642, but the existing detection devices for pose accuracy and pose repeatability are complex in equipment structure, high in price, complex to operate, high in technical requirements for operators, high in detection cost and not suitable for popularization and application.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an industrial robot position appearance degree of accuracy and position appearance repeatability detection device, detection device simple structure, portable, low in production cost, simple to operate, easy operation, it is not high to operating personnel's technical requirement, can detect most industrial robot, help improving industrial robot's product quality.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a device for detecting pose accuracy and pose repeatability of an industrial robot comprises an end effector for testing, a measuring rack and a four-axis measuring instrument; the end effector for testing comprises a probe interface plate, a probe and a plurality of balancing weights; one side of the probe interface board is fixedly connected to a mechanical interface flange plate at the tail end of the robot, the probe is fixedly connected to the other side of the probe interface board, a measuring pin is installed at the position, close to the tip, of the probe, and balancing weights are symmetrically and fixedly connected to the two sides of the probe; the measuring rack comprises a mounting bottom plate, an upright post and a sample marking needle, the upright post is divided into a first upright post, a second upright post, a third upright post, a fourth upright post and a fifth upright post which are all fixedly connected on the mounting bottom plate, and the second upright post and the third upright post have the same structure and are higher than the first upright post; the fourth upright post and the fifth upright post have the same structure and are lower than the first upright post in height; the second upright post, the third upright post, the fourth upright post and the fifth upright post sequentially enclose a rectangular structure, and the first upright post is arranged at the center of the rectangle; the bottom of the sample mark needle is provided with a quick-change positioning device, and the sample mark needle is respectively arranged at the top of each upright post; when the sample marking needle is arranged on the top of the first upright post, the position of the needle point is marked as P1, when the sample marking needle is arranged on the top of the second upright post, the position of the needle point is marked as P2, when the sample marking needle is arranged on the top of the third upright post, the position of the needle point is marked as P3, when the sample marking needle is arranged on the top of the fourth upright post, the position of the needle point is marked as P4, when the sample marking needle is arranged on the top of the fifth upright post, the position of the needle point is marked as P5, and the positions of P1, P2, P3, P4 and P5 meet the requirements of GB/T12642; the four-axis measuring instrument comprises a measuring instrument fixing base, an X-axis micrometering table, a Y-axis micrometering table, an R-axis micrometering turntable and a Z-axis micrometering table, wherein the bottom of the measuring instrument fixing base is fixedly connected with a quick-change positioning device; the X-axis micro measurement platform comprises an X-axis micro measurement platform fixing base, an X-axis moving platform and an X-axis movement detection measuring tool, a movement kinematic pair is formed between the X-axis moving platform and the X-axis micro measurement platform fixing base, the X-axis movement detection measuring tool comprises a fixing part and a movement displacement detection part, and the fixing part and the movement displacement detection part of the X-axis movement detection measuring tool are respectively installed on the X-axis micro measurement platform fixing base and the X-axis moving platform; the Y-axis micro measurement platform comprises a Y-axis micro measurement platform fixing base, a Y-axis moving platform and a Y-axis movement detection measuring tool, a movement kinematic pair is formed between the Y-axis moving platform and the Y-axis micro measurement platform fixing base, the Y-axis movement detection measuring tool comprises a fixing part and a movement displacement detection part, and the fixing part and the movement displacement detection part of the Y-axis movement detection measuring tool are respectively installed on the Y-axis micro measurement platform fixing base and the Y-axis moving platform; the R-axis micrometric rotary table comprises an R-axis micrometric rotary table fixing base, an R-axis rotating platform and an R-axis rotation detection measuring tool, a rotating kinematic pair is formed between the R-axis rotating platform and the R-axis micrometric rotary table fixing base, the R-axis rotation detection measuring tool comprises a fixing part and a rotation displacement detection part, and the fixing part and the rotation displacement detection part of the R-axis rotation detection measuring tool are respectively arranged on the R-axis micrometric rotary table fixing base and the R-axis rotating platform; the Z-axis micro measurement platform comprises a Z-axis micro measurement platform upright post, a Z-axis moving platform and a Z-axis movement detection measuring tool, a moving kinematic pair is formed between the Z-axis moving platform and the Z-axis micro measurement platform upright post, the Z-axis movement detection measuring tool comprises a fixed part and a moving displacement detection part, and the fixed part and the moving displacement detection part of the Z-axis movement detection measuring tool are respectively arranged on the Z-axis micro measurement platform upright post and the Z-axis moving platform; the X-axis micrometer table fixing base is fixedly connected to the top of the measuring instrument fixing base; the Y-axis micrometer table fixing base is fixedly connected to the top of the X-axis moving platform, and the moving direction of the Y-axis moving platform is vertical to that of the X-axis moving platform; the R-axis micrometric turntable fixing base is fixedly connected to the top of the Y-axis moving platform; the Z-axis micrometering platform upright post is fixedly connected to the top of the R-axis rotating platform, and the moving direction of the Z-axis moving platform is respectively vertical to the moving direction of the X-axis moving platform and the moving direction of the Y-axis moving platform; the structure of the quick-change positioning device is matched with that of the stand column, the quick-change positioning device comprises a positioning sleeve, a positioning groove with an opening structure is arranged on the positioning sleeve, a positioning hole matched with the positioning groove is formed in the top end of the stand column, a positioning pin is arranged at the matching position of the positioning groove and the positioning hole, and a locking hand wheel used for locking the positioning sleeve is arranged on the stand column; the X-axis micro-measuring table, the Y-axis micro-measuring table and the R-axis micro-measuring rotary table are all provided with through holes for the sample marking needles to pass through; and the Z-axis moving platform is fixedly connected with a position detection claw and a posture detection claw.

Optionally, a plurality of threaded holes are uniformly formed in the circumferential direction of the balancing weight, and balancing screws are connected in the threaded holes in an internal thread mode.

Optionally, the X-axis micro-measurement platform further comprises an X-axis guide rail, and the fixing part of the X-axis movement detection measuring tool adopts an X-axis micro-measurement head, the X-axis guide rail is installed between the X-axis moving platform and the X-axis micro-measurement platform fixing base, an X-axis clamping device is arranged between the X-axis moving platform and the X-axis micro-measurement platform fixing base, and an X-axis return spring is arranged between the X-axis moving platform and the X-axis micro-measurement platform fixing base; the Y-axis micro-measuring platform comprises a Y-axis guide rail, a Y-axis moving detection measuring tool fixing part adopts a Y-axis micro-measuring head, the Y-axis guide rail is installed between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base, a Y-axis clamping device is arranged between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base, and a Y-axis reset spring is arranged between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base; an R-axis clamping device is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform, an R-axis micrometric head is adopted as the fixing part of the R-axis rotation detection measuring tool, and an R-axis resetting device is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform; the Z-axis micrometering platform comprises a Z-axis guide rail and a Z-axis movement detection measuring tool, a Z-axis micrometering head is adopted as a fixing part of the Z-axis movement detection measuring tool, the Z-axis guide rail is installed between a Z-axis moving platform and a Z-axis micrometering platform upright post, a Z-axis clamping device is arranged between the Z-axis moving platform and the Z-axis micrometering platform upright post, and a Z-axis reset spring is arranged between the Z-axis moving platform and the Z-axis micrometering platform upright.

Optionally, the position detection claw is provided with a measurement groove, and one vertex of the measurement groove is used as a measurement point.

Optionally, the posture detection claw is provided with a detection knife, an upper plane of the detection knife is horizontally arranged, a side face of the detection knife is obliquely arranged, an included angle between the side face of the detection knife and the upper plane is an acute angle, and a joint of the upper plane of the detection knife and the side face forms a linear detection blade.

The utility model discloses an industrial robot position appearance degree of accuracy and position appearance repeatability detection device has following advantage:

(1) the detection device has simple structure, portability, high measurement precision and low cost; the installation between spare part is convenient, swift.

(2) The operation method of the four-axis measuring instrument is simple, and compared with detection devices such as a laser tracker and the like, the four-axis measuring instrument does not need operators and has higher technical level.

(3) The quick-change positioning device is convenient to mount and dismount, quick replacement of the four-axis measuring instrument is facilitated, and detection efficiency is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of a four-axis measuring instrument.

Fig. 3 is a schematic structural view of the measuring rack.

Fig. 4 is a schematic structural view of the position detection claw.

Fig. 5 is a schematic structural view of the posture detecting pawl.

Fig. 6 is a schematic view of the quick-change positioning sleeve and the upright post.

Fig. 7 is a schematic sectional structure view of the quick-change positioning sleeve matched with the upright post.

Reference numerals: 1-end effector for test, 101-probe interface board, 102-counterweight block, 103-counterweight screw, 104-measuring pin, 105-probe, 2-four-axis measuring instrument, 201-measuring instrument fixing base, 202-X axis moving platform, 203-X axis movement detecting measuring instrument, 204-X axis clamping device, 205-Y axis moving platform, 206-Y axis movement detecting measuring instrument, 207-R axis rotating platform, 208-R axis rotation detecting measuring instrument, 209-R axis clamping device, 210-Z axis micro-measuring platform upright post, 211-Z axis moving platform, 212-Z axis movement detecting measuring instrument, 213-Z axis clamping device, 3-sample pointer, 4-measuring rack, 401-first upright post, 402-second upright post, 403-third upright post, 404-a fourth upright post, 405-a fifth upright post, 406-an installation bottom plate, 407-a locking hand wheel, 408-an upright post, 5-a position detection claw, 501-a measurement groove, 502-a measurement point, 6-a posture detection claw, 601-a detection knife, 602-a detection knife edge, 7-a quick-change positioning device, 701-a positioning sleeve and 8-a positioning pin.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 1 to 7, an industrial robot pose accuracy and pose repeatability detection device comprises a test end effector 1, a measurement rack 4 and a four-axis measuring instrument 2; the end effector 1 for testing comprises a probe interface plate 101, a probe 105 and a plurality of balancing weights 102; one side of the probe interface board 101 is fixedly connected to a mechanical interface flange plate at the tail end of the robot, the probe 105 is fixedly connected to the other side of the probe interface board 101, and a measuring pin 104 is arranged at the position, close to the tip, of the probe 105; the balancing weight 102 is symmetrically and fixedly connected to two sides of the probe 105, and the balancing weight 102 can be selected and matched according to 100% rated load, 50% rated load or 10% rated load of the industrial robot to be tested according to the requirement of GB/T12642.

The measuring frame 4 comprises a mounting base plate 406, a vertical column 408 and a sample marking pin 3, wherein the vertical column 408 is divided into a first vertical column 401, a second vertical column 402, a third vertical column 403, a fourth vertical column 404 and a fifth vertical column 405 which are all fixedly connected to the mounting base plate 406, and the second vertical column 402 and the third vertical column 403 have the same structure and are higher than the first vertical column 401; the fourth upright column 404 and the fifth upright column 405 have the same structure and are lower than the first upright column 401 in height; a second upright post 402, a third upright post 403, a fourth upright post 404 and a fifth upright post 405 sequentially form a square structure, and the first upright post 401 is arranged at the center of the square; quick change positioner 7 is installed to sample index needle 3 bottom, and sample index needle 3 accessible quick change positioner 7 is installed respectively at each stand 408 top, and sample index needle 3 only uses when demarcating the check point and demarcating four-axis measuring apparatu 2, and quick change positioner 7 can make the accurate, the dismantlement of installation of sample index needle 3 quick, improves the efficiency of demarcating the test point.

When the marking needle 3 is arranged on the top of the first upright column 401, the position of the needle point is marked as P1, when the marking needle 3 is arranged on the top of the second upright column 402, the position of the needle point is marked as P2, when the marking needle 3 is arranged on the top of the third upright column 403, the position of the needle point is marked as P3, when the marking needle 3 is arranged on the top of the fourth upright column 404, the position of the needle point is marked as P4, when the marking needle 3 is arranged on the top of the fifth upright column 405, the position of the needle point is marked as P5, and the positions of P1, P2, P3, P4 and P5 meet the requirements of GB/T12642.

Four-axis measuring apparatu 2 includes measuring apparatu unable adjustment base 201, X axle micrometering platform, Y axle micrometering platform, R axle micrometering revolving stage and Z axle micrometering platform, and measuring apparatu unable adjustment base 201 bottom fixedly connected with quick change positioner 7, and is further, four-axis measuring apparatu 2's measuring apparatu unable adjustment base 201 bottom fixedly connected with quick change positioner 7, quick change positioner 7's structure and stand 408 phase-match, and quick change positioner 7 includes position sleeve 701, is provided with open structure's constant head tank on the position sleeve 701, and the stand 408 top is provided with the locating hole with constant head tank assorted, and the cooperation department of constant head tank and locating hole is provided with locating pin 8, is provided with the locking hand wheel 407 that is used for locking position.

When the positioning sleeve 701 is inserted into the top of the upright column 408, the positioning pin 8 can be inserted into the positioning groove and the positioning hole to limit the rotation of the positioning sleeve 701 in the horizontal direction, the locking hand wheel 407 is abutted against the side wall of the positioning sleeve 701 to limit the movement of the positioning sleeve 701 in the vertical direction, and after the position of the positioning sleeve 701 is limited, the four-axis measuring instrument 2 fixedly connected with the positioning sleeve is also limited in the same way, namely, the four-axis measuring instrument 2 is stably installed at the top end of the upright column 408, so that subsequent operations such as calibration and detection are facilitated.

The parameter detection of five test points of P1~ P5 need be accomplished to four-axis measuring apparatu 2, and when four-axis measuring apparatu 2 changed stand 408, only need will loosen locking hand wheel 407, just can take off four-axis measuring apparatu 2, need not operate locating pin 8 when dismantling the change, and four-axis measuring apparatu 2's change is simple, quick, can improve detection efficiency. The method for assembling and disassembling the sample marking needle 3 is the same as that of the four-axis measuring instrument 2.

The X-axis micro measurement platform comprises an X-axis micro measurement platform fixing base, an X-axis moving platform 202 and an X-axis moving detection measuring tool 203, a moving kinematic pair is formed between the X-axis moving platform 202 and the X-axis micro measurement platform fixing base and can be realized through a rolling track, a sliding track and other connecting structures, the X-axis moving detection measuring tool 203 can measure the displacement deviation of the industrial robot in the X-axis direction, the X-axis moving detection measuring tool 203 comprises a fixing part and a moving displacement detection part, the fixing part of the X-axis moving detection measuring tool 203 is installed on the X-axis micro measurement platform fixing base, and the moving displacement detection part of the X-axis moving detection measuring tool 203 is installed on the X-axis moving platform 202.

The Y-axis micro measurement platform comprises a Y-axis micro measurement platform fixing base, a Y-axis moving platform 205 and a Y-axis moving detection measuring tool 206, a moving kinematic pair is formed between the Y-axis moving platform 205 and the Y-axis micro measurement platform fixing base and can be realized through a rolling rail, a sliding rail and other connecting structures, the Y-axis moving detection measuring tool 206 can measure the displacement deviation of the industrial robot in the Y-axis direction, the Y-axis moving detection measuring tool 206 comprises a fixing part and a moving displacement detection part, the fixing part of the Y-axis moving detection measuring tool 206 is installed on the Y-axis micro measurement platform fixing base, and the moving displacement detection part of the Y-axis moving detection measuring tool 206 is installed on the Y-axis moving platform 205.

The R-axis micrometric turntable comprises an R-axis micrometric turntable fixing base, an R-axis rotating platform 207 and an R-axis rotation detection measuring tool 208, wherein a rotating kinematic pair is formed between the R-axis rotating platform 207 and the R-axis micrometric turntable fixing base, and can be realized through a bearing and other structures. In the detection process of position accuracy and repeatability, when the displacement deviation measurement of the X axis, the Y axis and the Z axis is interfered, the angle of the measuring point 502 can be adjusted through the R axis micrometric turntable, so that the situation that the displacement deviation of the X axis, the Y axis and the Z axis cannot be measured due to mutual interference of the structure of the end effector 1 for testing and the structure of the four-axis measuring instrument 2 is prevented; in the detection process of attitude accuracy and repeatability, the R-axis micrometric rotary table can be used for measuring the pose angle of the industrial robot. The R-axis rotation detection gauge 208 includes a fixed portion and a rotational displacement detection portion, the fixed portion of the R-axis rotation detection gauge 208 is mounted on the R-axis micrometer stage fixed base, and the moving displacement detection portion of the R-axis rotation detection gauge 208 is mounted on the R-axis rotating platform 207.

The Z-axis micro measurement platform comprises a Z-axis micro measurement platform upright post 210, a Z-axis moving platform 211 and a Z-axis movement detection measuring tool 212, a movement kinematic pair is formed between the Z-axis moving platform 211 and the Z-axis micro measurement platform upright post 210 and can be realized through a rolling track, a sliding track and other connecting structures, the Z-axis movement detection measuring tool 212 can measure the displacement deviation of the industrial robot in the Z-axis direction, the Z-axis movement detection measuring tool 212 comprises a fixing part and a movement displacement detection part, the fixing part of the Z-axis movement detection measuring tool 212 is installed on a Z-axis micro measurement platform fixing base, and the movement displacement detection part of the Z-axis movement detection measuring tool 212 is installed on the Z-axis moving platform 211.

The movement or rotation of the X-axis micrometric table, the Y-axis micrometric table, the R-axis micrometric rotary table and the Z-axis micrometric table can be driven by manual, electric or other servo drives; the detection measuring tools of the X-axis micrometer table, the Y-axis micrometer table, the R-axis micrometer rotary table and the Z-axis micrometer table can adopt mechanical measuring tools such as micrometer heads, dial indicators and the like, and can also adopt contact or non-contact displacement sensors.

The X-axis micrometer table fixing base is fixedly connected to the top of the measuring instrument fixing base 201; the Y-axis micrometer stage fixing base is fixedly connected to the top of the X-axis moving platform 202, and the moving direction of the Y-axis moving platform 205 is vertical to that of the X-axis moving platform 202; the R-axis micrometric turntable fixing base is fixedly connected to the top of the Y-axis moving platform 205; the Z-axis micrometer stage upright column 210 is fixedly connected to the top of the R-axis rotating platform 207, and the moving direction of the Z-axis moving platform 211 is respectively vertical to the moving direction of the X-axis moving platform 202 and the moving direction of the Y-axis moving platform 205. The X-axis micrometric turntable fixing base and the measuring instrument fixing base 201 can be of an integral structure; the Y-axis micrometric turntable fixing base and the X-axis moving platform 202 can be of an integral structure; the R-axis micrometric turntable fixed base may be integrated with the Y-axis moving platform 205; the Z-axis micropositioner column 210 may be integrated with the R-axis rotary table 207 in a single structure, and the sequence and connection of the X-axis micropositioner, the Y-axis micropositioner, and the R-axis micropositioner may include, but are not limited to, the above structures.

The X-axis micro-measuring table, the Y-axis micro-measuring table and the R-axis micro-measuring rotary table are all provided with through holes for the sample marking needle 3 to pass through, when the four-axis measuring instrument 2 is calibrated, the sample marking needle 3 is installed inside the four-axis measuring instrument 2, and the needle point of the sample marking needle 3 is used for calibrating the measuring point 502; a position detection claw 5 and a posture detection claw 6 are fixedly connected to the Z-axis moving platform 211, and the position detection claw 5 is used for measuring the position accuracy and the position repeatability of the industrial robot; the attitude detection claw 6 is used for measuring the attitude accuracy and the attitude repeatability of the industrial robot.

Further, a plurality of threaded holes are uniformly formed in the circumferential direction of the balancing weight 102, the threaded holes can be used for being additionally provided with balancing weight screws 103 or being fixed by the balancing weight screws 103 after the number of the balancing weight 102 is increased, and the additionally provided balancing weight screws 103 or the balancing weight 102 can be used for adjusting the balancing weight and the mass center position.

Further, the X-axis micro-measurement platform further comprises an X-axis guide rail, an X-axis micro-measurement head is adopted as a fixing portion of the X-axis movement detection measuring tool 203, the X-axis guide rail is installed between the X-axis moving platform 202 and the X-axis micro-measurement platform fixing base, an X-axis clamping device 204 is arranged between the X-axis moving platform 202 and the X-axis micro-measurement platform fixing base, when the X-axis clamping device 204 is locked, movement of the four-axis measuring instrument 2 in the X-axis direction can be limited, an X-axis return spring is arranged between the X-axis moving platform 202 and the X-axis micro-measurement platform fixing base, and the X-axis return spring can enable the X-axis moving platform 202 and the X-axis movement detection measuring tool 203 to keep consistent, namely, the movement amount of the X-axis movement detection measuring tool 203.

The Y-axis micro-measuring table comprises a Y-axis guide rail, a Y-axis micro-measuring head is adopted as a fixing part of the Y-axis movable measuring tool 206, the Y-axis guide rail is installed between the Y-axis movable platform 205 and a fixed base of the Y-axis micro-measuring table, a Y-axis clamping device is arranged between the Y-axis movable platform 205 and the fixed base of the Y-axis micro-measuring table, when the Y-axis clamping device is locked, the movement of the four-axis measuring tool 2 in the Y-axis direction can be limited, a Y-axis reset spring is arranged between the Y-axis movable platform 205 and the fixed base of the Y-axis micro-measuring table, the Y-axis reset spring can enable the X-axis movable platform 202 and the Y-axis movable measuring tool 206 to keep consistent, namely the movement amount of the Y-axis.

An R-axis clamping device 209 is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform 207, an R-axis micrometric head is adopted as a fixing part of the R-axis rotation detection measuring tool 208, an R-axis resetting device is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform 207, and the R-axis resetting device can enable the R-axis rotating platform 207 and the R-axis rotation detection measuring tool 208 to keep consistency, namely the rotation quantity of the R-axis rotation detection measuring tool 208 is the same as that of the R-axis rotating platform 207.

The Z-axis micrometer table comprises a Z-axis guide rail, a Z-axis micrometer head is adopted as a fixing part of the Z-axis movement detection measuring tool 212, the Z-axis guide rail is installed between the Z-axis moving platform 211 and the Z-axis micrometer table upright post 210, a Z-axis clamping device 213 is arranged between the Z-axis moving platform 211 and the Z-axis micrometer table upright post 210, when the Z-axis clamping device 213 is locked, the movement of the four-axis measuring instrument 2 in the Z-axis direction can be limited, a Z-axis return spring is arranged between the Z-axis moving platform 211 and the Z-axis micrometer table upright post 210, and the Z-axis return spring can enable the Z-axis moving platform 211 and the Z-axis movement detection measuring tool 212 to keep consistency, namely the movement amount of the Z-axis movement detection measuring tool 212 is the same as the.

Further, the position detection claw 5 is provided with a measurement groove 501, one vertex of the measurement groove 501 is used as a measurement point 502, and when the position accuracy and the position repeatability of the industrial robot are measured, the position deviation of the industrial robot is measured through the distance between the measurement point 502 and the probe tip.

Further, the posture detection claw 6 is provided with a detection knife 601, the upper plane of the detection knife 601 is horizontally arranged, the side face of the detection knife 601 is obliquely arranged, the included angle between the side face of the detection knife 601 and the upper plane is an acute angle, a straight line detection knife edge 602 is formed at the joint of the upper plane and the side face of the detection knife 601, and the posture accuracy and the posture repeatability of the industrial robot are further solved by measuring the deviation value of the excircle contact point of the detection knife edge 602 and the probe 105 or the measuring pin 104.

The embodiments described above are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.

Claims

1. The device for detecting the pose accuracy and the pose repeatability of the industrial robot is characterized by comprising a testing end effector, a measuring rack and a four-axis measuring instrument; the end effector for testing comprises a probe interface plate, a probe and a plurality of balancing weights; one side of the probe interface board is fixedly connected to a mechanical interface flange plate at the tail end of the robot, the probe is fixedly connected to the other side of the probe interface board, a measuring pin is installed at the position, close to the tip, of the probe, and balancing weights are symmetrically and fixedly connected to the two sides of the probe; the measuring rack comprises a mounting bottom plate, an upright post and a sample marking needle, the upright post is divided into a first upright post, a second upright post, a third upright post, a fourth upright post and a fifth upright post which are all fixedly connected on the mounting bottom plate, and the second upright post and the third upright post have the same structure and are higher than the first upright post; the fourth upright post and the fifth upright post have the same structure and are lower than the first upright post in height; the second upright post, the third upright post, the fourth upright post and the fifth upright post sequentially enclose a rectangular structure, and the first upright post is arranged at the center of the rectangle; the bottom of the sample mark needle is provided with a quick-change positioning device, and the sample mark needle is respectively arranged at the top of each upright post; when the sample marking needle is arranged on the top of the first upright post, the position of the needle point is marked as P1, when the sample marking needle is arranged on the top of the second upright post, the position of the needle point is marked as P2, when the sample marking needle is arranged on the top of the third upright post, the position of the needle point is marked as P3, when the sample marking needle is arranged on the top of the fourth upright post, the position of the needle point is marked as P4, when the sample marking needle is arranged on the top of the fifth upright post, the position of the needle point is marked as P5, and the positions of P1, P2, P3, P4 and P5 meet the requirements of GB/T12642; the four-axis measuring instrument comprises a measuring instrument fixing base, an X-axis micrometering table, a Y-axis micrometering table, an R-axis micrometering turntable and a Z-axis micrometering table, wherein the bottom of the measuring instrument fixing base is fixedly connected with a quick-change positioning device; the X-axis micro measurement platform comprises an X-axis micro measurement platform fixing base, an X-axis moving platform and an X-axis movement detection measuring tool, a movement kinematic pair is formed between the X-axis moving platform and the X-axis micro measurement platform fixing base, the X-axis movement detection measuring tool comprises a fixing part and a movement displacement detection part, and the fixing part and the movement displacement detection part of the X-axis movement detection measuring tool are respectively installed on the X-axis micro measurement platform fixing base and the X-axis moving platform; the Y-axis micro measurement platform comprises a Y-axis micro measurement platform fixing base, a Y-axis moving platform and a Y-axis movement detection measuring tool, a movement kinematic pair is formed between the Y-axis moving platform and the Y-axis micro measurement platform fixing base, the Y-axis movement detection measuring tool comprises a fixing part and a movement displacement detection part, and the fixing part and the movement displacement detection part of the Y-axis movement detection measuring tool are respectively installed on the Y-axis micro measurement platform fixing base and the Y-axis moving platform; the R-axis micrometric rotary table comprises an R-axis micrometric rotary table fixing base, an R-axis rotating platform and an R-axis rotation detection measuring tool, a rotating kinematic pair is formed between the R-axis rotating platform and the R-axis micrometric rotary table fixing base, the R-axis rotation detection measuring tool comprises a fixing part and a rotation displacement detection part, and the fixing part and the rotation displacement detection part of the R-axis rotation detection measuring tool are respectively arranged on the R-axis micrometric rotary table fixing base and the R-axis rotating platform; the Z-axis micro measurement platform comprises a Z-axis micro measurement platform upright post, a Z-axis moving platform and a Z-axis movement detection measuring tool, a moving kinematic pair is formed between the Z-axis moving platform and the Z-axis micro measurement platform upright post, the Z-axis movement detection measuring tool comprises a fixed part and a moving displacement detection part, and the fixed part and the moving displacement detection part of the Z-axis movement detection measuring tool are respectively arranged on the Z-axis micro measurement platform upright post and the Z-axis moving platform; the X-axis micrometer table fixing base is fixedly connected to the top of the measuring instrument fixing base; the Y-axis micrometer table fixing base is fixedly connected to the top of the X-axis moving platform, and the moving direction of the Y-axis moving platform is vertical to that of the X-axis moving platform; the R-axis micrometric turntable fixing base is fixedly connected to the top of the Y-axis moving platform; the Z-axis micrometering platform upright post is fixedly connected to the top of the R-axis rotating platform, and the moving direction of the Z-axis moving platform is respectively vertical to the moving direction of the X-axis moving platform and the moving direction of the Y-axis moving platform; the structure of the quick-change positioning device is matched with that of the stand column, the quick-change positioning device comprises a positioning sleeve, a positioning groove with an opening structure is arranged on the positioning sleeve, a positioning hole matched with the positioning groove is formed in the top end of the stand column, a positioning pin is arranged at the matching position of the positioning groove and the positioning hole, and a locking hand wheel used for locking the positioning sleeve is arranged on the stand column; the X-axis micro-measuring table, the Y-axis micro-measuring table and the R-axis micro-measuring rotary table are all provided with through holes for the sample marking needles to pass through; and the Z-axis moving platform is fixedly connected with a position detection claw and a posture detection claw.

2. The industrial robot pose accuracy and pose repeatability detection device according to claim 1, wherein a plurality of threaded holes are evenly formed in the circumferential direction of the balancing weight, and balance weight screws are connected to the threaded holes in a threaded manner.

3. The industrial robot pose accuracy and pose repeatability detection device according to claim 1, wherein the X-axis micrometer table further comprises an X-axis guide rail, the fixing portion of the X-axis movement detection measuring tool adopts an X-axis micrometer head, the X-axis guide rail is installed between the X-axis moving platform and the X-axis micrometer table fixing base, an X-axis clamping device is arranged between the X-axis moving platform and the X-axis micrometer table fixing base, and an X-axis return spring is arranged between the X-axis moving platform and the X-axis micrometer table fixing base; the Y-axis micro-measuring platform comprises a Y-axis guide rail, a Y-axis moving detection measuring tool fixing part adopts a Y-axis micro-measuring head, the Y-axis guide rail is installed between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base, a Y-axis clamping device is arranged between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base, and a Y-axis reset spring is arranged between the Y-axis moving platform and the Y-axis micro-measuring platform fixing base; an R-axis clamping device is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform, an R-axis micrometric head is adopted as the fixing part of the R-axis rotation detection measuring tool, and an R-axis resetting device is arranged between the R-axis micrometric turntable fixing base and the R-axis rotating platform; the Z-axis micrometering platform comprises a Z-axis guide rail and a Z-axis movement detection measuring tool, a Z-axis micrometering head is adopted as a fixing part of the Z-axis movement detection measuring tool, the Z-axis guide rail is installed between a Z-axis moving platform and a Z-axis micrometering platform upright post, a Z-axis clamping device is arranged between the Z-axis moving platform and the Z-axis micrometering platform upright post, and a Z-axis reset spring is arranged between the Z-axis moving platform and the Z-axis micrometering platform upright.

4. The industrial robot pose accuracy and pose repeatability detection apparatus according to claim 1, wherein said position detection claw is provided with a measurement groove having one vertex of the measurement groove as a measurement point.

5. The industrial robot pose accuracy and pose repeatability detection apparatus according to claim 1, wherein the pose detection claw is provided with a detection knife, an upper plane of the detection knife is horizontally arranged, a side surface of the detection knife is obliquely arranged, an included angle between the side surface and the upper plane of the detection knife is an acute angle, and a joint of the upper plane and the side surface of the detection knife forms a linear detection blade.