CN218082804U - Industrial robot position accuracy detection device - Google Patents
Industrial robot position accuracy detection device Download PDFInfo
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- CN218082804U CN218082804U CN202222391251.XU CN202222391251U CN218082804U CN 218082804 U CN218082804 U CN 218082804U CN 202222391251 U CN202222391251 U CN 202222391251U CN 218082804 U CN218082804 U CN 218082804U
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- range finder
- laser range
- industrial robot
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- position accuracy
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Abstract
The utility model provides an industrial robot position accuracy detection device, which comprises a measured bracket and a measuring bracket, wherein the measured bracket is configured to be connected with the industrial robot and moves under the driving of the industrial robot; the measuring support is connected with a detection assembly, the detection assembly comprises an X-axis laser range finder, a Y-axis laser range finder and a Z-axis laser range finder in a rectangular spatial coordinate system taking X, Y and Z axes as coordinate axes, the X-axis laser range finder is configured to emit laser beams along the X axis, the Y-axis laser range finder is configured to emit laser beams along the Y axis, and the Z-axis laser range finder is configured to emit laser beams along the Z axis. The utility model discloses an industrial robot position accuracy detection device, simple structure, it is with low costs, carry out the precision measurement to the removal of being surveyed the support through X axle laser range finder, Y axle laser range finder and Z axle laser range finder, can satisfy high accuracy testing requirement.
Description
Technical Field
The utility model relates to an industrial robot precision detects technical field, in particular to industrial robot position accuracy testing device.
Background
Industrial robots are increasingly used in industries of industrial production and equipment manufacturing, and the position precision of the industrial robots is used as an important index for measuring the performance level of the industrial robots and needs to be measured accurately. The conventional method mainly comprises a laser tracker measurement method and a mechanical contact measurement method, wherein the laser tracker measurement method can achieve accurate measurement, but the cost of the whole equipment is high, the cost of the latter is low, and the operation is convenient.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can satisfy the high accuracy and detect the requirement, have the industrial robot position accuracy detection device of price/performance ratio simultaneously concurrently.
In order to achieve the above object, the utility model provides an industrial robot position accuracy detection device, it includes:
the measured bracket is configured to be connected with the industrial robot and moves under the driving of the industrial robot;
the device comprises a measuring support, wherein a detection assembly is connected to the measuring support, and in a space rectangular coordinate system taking X, Y and Z axes as coordinate axes, the detection assembly comprises an X-axis laser range finder, a Y-axis laser range finder and a Z-axis laser range finder, the X-axis laser range finder is configured to emit laser beams along the X axis, the Y-axis laser range finder is configured to emit laser beams along the Y axis, and the Z-axis laser range finder is configured to emit laser beams along the Z axis.
The industrial robot position accuracy detecting device as described above, further comprising a drive controller electrically connected to the detecting member, the drive controller being configured to control the detecting member to acquire movement information.
The industrial robot position accuracy detecting apparatus as described above, wherein the drive controller is connected to the measuring carriage.
The position accuracy detecting device for an industrial robot as described above, wherein the measuring bracket includes an upper frame, a lower frame, and a column connected between the upper frame and the lower frame, the X-axis laser range finder and the Y-axis laser range finder are connected to the upper frame, and the Z-axis laser range finder is connected to the lower frame.
As above industrial robot position accuracy detection device, wherein, be connected with the backup pad on the last frame, go up on the backup pad and correspond to detection mouth has been seted up to Z axle laser range finder's position, X axle laser range finder with Y axle laser range finder connect in go up on the backup pad.
The industrial robot position accuracy detection device as described above, wherein the X-axis laser range finder and the Y-axis laser range finder are respectively connected to the upper support plate by bolts.
The position accuracy detecting device for an industrial robot as described above, wherein a lower support plate is connected to the lower frame, and the Z-axis laser range finder is connected to the lower support plate.
The position accuracy detecting apparatus for an industrial robot as described above, wherein the Z-axis laser range finder is attached to the lower support plate by a bolt.
The position accuracy detecting apparatus for an industrial robot as described above, wherein a leg is attached to a bottom surface of the lower frame.
The position accuracy detecting device for the industrial robot as described above, wherein a roller is connected to the supporting leg.
Compared with the prior art, the technical scheme has the following advantages:
the utility model discloses an industrial robot position accuracy detection device, simple structure, it is with low costs, carry out the accurate measurement to the removal of being surveyed the support through X axle laser range finder, Y axle laser range finder and Z axle laser range finder, can satisfy the high accuracy and detect the requirement;
the utility model discloses an industrial robot position accuracy detection device detects through drive controller control detection subassembly in order to acquire and record actual movement information for it becomes simple and convenient to drive detection subassembly to carry out the operation;
the utility model discloses an industrial robot position accuracy testing device through setting up the gyro wheel for the operation that removes the measurement support becomes simple and convenient, thereby makes the operation that removes industrial robot position accuracy testing device become simple and convenient, labour saving and time saving.
Drawings
The following drawings are only intended to illustrate and explain the present invention, and do not limit the scope of the present invention. Wherein:
fig. 1 is a schematic structural view of the industrial robot position accuracy detection device of the present invention for removing a measured support;
fig. 2 is a schematic view of a usage state structure of the industrial robot position accuracy detecting apparatus shown in fig. 1.
The reference numbers indicate:
10. a measured support;
20. a measuring support;
21. an upper frame; 211. an upper support plate; 2111. a detection port;
22. a lower frame; 221. a lower support plate; 222. a support leg; 223. a roller;
23. a column;
30. a detection component;
31. an X-axis laser rangefinder; 32. a Y-axis laser rangefinder; 33. a Z-axis laser range finder;
40. a drive controller;
100. an industrial robot.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the utility model provides an industrial robot position accuracy detection device, it includes surveyed support 10 and measurement support 20, wherein:
a measured support 10 configured to be connected with the industrial robot 100 and move under the driving of the industrial robot 100, that is, the industrial robot 100 can drive the measured support 10 to move a preset distance;
the measuring support 20 is connected with a detection assembly 30, in a rectangular space coordinate system with X, Y and Z axes as coordinate axes, the detection assembly 30 comprises an X-axis laser range finder 31, a Y-axis laser range finder 32 and a Z-axis laser range finder 33, the X-axis laser range finder 31 is positioned on the X axis, the X-axis laser range finder 31 is configured to emit laser beams along the X axis, the Y-axis laser range finder 32 is positioned on the Y axis, the Y-axis laser range finder 32 is configured to emit laser beams along the Y axis, the Z-axis laser range finder 33 is positioned on the Z axis, the Z-axis laser range finder 33 is configured to emit laser beams along the Z axis, and the laser beams emitted by the X-axis laser range finder 31, the Y-axis laser range finder 32 and the Z-axis laser range finder 33 can converge at a point, which is used as the initial position of the measured support 10.
Specifically, the X-axis laser range finder 31, the Y-axis laser range finder 32, and the Z-axis laser range finder 33 all employ high-precision laser range finders, which can accurately measure the distance between the measured object and the range finder within a certain range.
As shown in fig. 2, when a measurement is required, a measured support 10 is installed at the end of an industrial robot 100, wherein the measured support 10 and the industrial robot 100 are all the prior art, and are not repeated herein, the industrial robot 100 drives the measured support 10 to move, so that laser beams to an X-axis laser range finder 31, a Y-axis laser range finder 32 and a Z-axis laser range finder 33 are all irradiated onto the measured support 10, measurement data a of an initial position is obtained, then the industrial robot 100 drives the measured support 10 to move along any one of three directions of an X-axis direction, a Y-axis direction and a Z-axis direction, measurement data B of an end position is obtained, an actual moving distance L of the measured support 10 can be obtained by calculating a difference value of two data, and an absolute position accuracy of the industrial robot 100 is obtained by comparing the actual moving distance L and a command moving distance L, thereby determining the position accuracy of the industrial robot 100.
Alternatively, the industrial robot 100 may drive the measured support 10 to move to the specified position C a plurality of times, record the actual measurement data C each time the measured support reaches the specified position, and compare the actual measurement data C a plurality of times, thereby obtaining the repeated position accuracy corresponding to the point, and determining the position accuracy of the industrial robot 100.
The utility model discloses an industrial robot position accuracy detection device, simple structure, it is with low costs, carry out the precision measurement to the removal of being surveyed support 10 through X axle laser range finder 31, Y axle laser range finder 32 and Z axle laser range finder 33, can satisfy high accuracy testing requirement.
Further, as shown in fig. 1, the industrial robot position accuracy detecting device further includes a driving controller 40, the driving controller 40 is electrically connected to the detecting component 30, the driving controller 40 is configured to control the detecting component 30 to detect to obtain the movement information, specifically, the driving controller 40 controls the X-axis laser range finder 31, the Y-axis laser range finder 32 and the Z-axis laser range finder 33 to detect and transmit the detected information to the driving controller 40, and the driving controller 40 records the information and can transmit the information to the PLC controller or a computer device including the PLC controller, so that the PLC controller or the computer device including the PLC controller calculates the position accuracy of the industrial robot 100, thereby making the operation of obtaining the position accuracy of the industrial robot 100 simple and convenient.
Further, the driving controller 40 is connected to the measuring bracket 20, that is, the driving controller 40 is disposed adjacent to the detecting assembly 30, so as to prevent the transmission signal from being blocked by other objects, thereby ensuring the accuracy of the calculation result.
Further, as shown in fig. 1, the measuring bracket 20 includes an upper frame 21, a lower frame 22 and a column 23 connected between the upper frame 21 and the lower frame 22, the upper frame 21 and the lower frame 22 are parallel to each other and spaced apart from each other, specifically, the upper frame 21 and the lower frame 22 are rectangular frames, each corner of the upper frame 21 is connected with one column 23, the lower end of each column 23 is connected with each corner of the lower frame 22, so that the measured bracket 10 can move in the measuring bracket 20 for detection, the X-axis laser distance meter 31 and the Y-axis laser distance meter 32 are connected to the upper frame 21, and the Z-axis laser distance meter 33 is connected to the lower frame 22, so that the measured bracket 10 can also move above the measuring bracket 20 for detection.
Still further, be connected with backup pad 211 on the upper ledge 21, go up the position that corresponds to Z axle laser range finder 33 on backup pad 211 and seted up detection mouth 2111, the internal diameter of detection mouth 2111 is greater than the external diameter of surveyed support 10, so that surveyed support 10 can smoothly move in detection mouth 2111, X axle laser range finder 31 and Y axle laser range finder 32 are connected on backup pad 211, go up the setting of backup pad 211, make the installation of X axle laser range finder 31 and Y axle laser range finder 32 become simple and convenient.
Still further, X axle laser range finder 31 and Y axle laser range finder 32 are respectively through bolted connection on last backup pad 211, and bolted connection's mode is simple and convenient, the dismouting of X axle laser range finder 31 and Y axle laser range finder 32 of being convenient for, and X axle laser range finder 31 and Y axle laser range finder 32 can also be connected on last backup pad 211 through the locating pin certainly.
Further, as shown in fig. 1, a lower support plate 221 is connected to the lower frame 22, the Z-axis laser range finder 33 is connected to the lower support plate 221, and the lower support plate 221 is provided, so that the installation of the Z-axis laser range finder 33 becomes simple and convenient.
Still further, Z axle laser range finder 33 passes through bolted connection on lower support plate 221, and bolted connection's mode is simple and convenient, the dismouting of Z axle laser range finder 33 of being convenient for, and Z axle laser range finder 33 also can pass through the locating pin to be connected on last backup pad 211 certainly.
Further, as shown in fig. 1, a leg 222 is connected to the bottom surface of the lower frame 22, and the leg 222 is disposed so that the measuring stand 20 can be more stably placed on uneven ground.
Still further, be connected with gyro wheel 223 on the landing leg 222, the setting of gyro wheel 223 for the operation of moving measurement support 20 becomes simple and convenient, thereby makes the operation of moving industrial robot position accuracy detection device become simple and convenient, labour saving and time saving.
To sum up, the industrial robot position precision detection device of the utility model has simple structure and low cost, and can accurately measure the movement of the measured bracket through the X-axis laser range finder, the Y-axis laser range finder and the Z-axis laser range finder, thereby meeting the high precision detection requirement;
the utility model discloses an industrial robot position accuracy detection device detects through drive controller control detection subassembly in order to obtain and record actual movement information for it becomes simple and convenient that drive detection subassembly carries out the operation;
the utility model discloses an industrial robot position accuracy testing device is through setting up the gyro wheel for the operation that removes the measuring stand becomes simple and convenient, thereby makes the operation of moving industrial robot position accuracy testing device become simple and convenient, labour saving and time saving.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on operational states of the present application, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise explicitly specified or limited. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The present application has been described above with reference to preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the present application can be subjected to various substitutions and improvements, and the substitutions and the improvements are all within the protection scope of the present application.
Claims (10)
1. An industrial robot position accuracy detecting device, characterized in that industrial robot position accuracy detecting device includes:
the measured support is configured to be connected with an industrial robot and moves under the driving of the industrial robot;
the measuring support is connected with a detection assembly, and in a rectangular space coordinate system taking X, Y and Z axes as coordinate axes, the detection assembly comprises an X-axis laser range finder, a Y-axis laser range finder and a Z-axis laser range finder, the X-axis laser range finder is configured to emit laser beams along the X axis, the Y-axis laser range finder is configured to emit laser beams along the Y axis, and the Z-axis laser range finder is configured to emit laser beams along the Z axis.
2. The industrial robot position accuracy detecting device according to claim 1, further comprising a drive controller electrically connected to the detecting member, the drive controller configured to control the detecting member to detect to acquire movement information.
3. The industrial robot position accuracy detecting device according to claim 2,
the drive controller is connected to the measuring bracket.
4. The industrial robot position accuracy detecting device according to any one of claims 1 to 3,
the measuring support comprises an upper frame, a lower frame and an upright column connected between the upper frame and the lower frame, the X-axis laser range finder and the Y-axis laser range finder are connected on the upper frame, and the Z-axis laser range finder is connected on the lower frame.
5. The industrial robot position accuracy detecting device according to claim 4,
go up the backup pad that is connected with on the frame, go up on the backup pad corresponding to the detection mouth has been seted up to Z axle laser range finder's position, X axle laser range finder with Y axle laser range finder connect in go up on the backup pad.
6. The industrial robot position accuracy detecting device according to claim 5,
the X-axis laser range finder and the Y-axis laser range finder are respectively connected to the upper supporting plate through bolts.
7. The industrial robot position accuracy detecting device according to claim 4,
the lower frame is connected with a lower supporting plate, and the Z-axis laser range finder is connected to the lower supporting plate.
8. The industrial robot position accuracy detecting device according to claim 7,
and the Z-axis laser range finder is connected to the lower supporting plate through a bolt.
9. The industrial robot position accuracy detecting device according to claim 4,
the bottom surface of the lower frame is connected with supporting legs.
10. The industrial robot position accuracy detecting device according to claim 9,
the supporting legs are connected with rollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222391251.XU CN218082804U (en) | 2022-09-05 | 2022-09-05 | Industrial robot position accuracy detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222391251.XU CN218082804U (en) | 2022-09-05 | 2022-09-05 | Industrial robot position accuracy detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218082804U true CN218082804U (en) | 2022-12-20 |
Family
ID=84452246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222391251.XU Active CN218082804U (en) | 2022-09-05 | 2022-09-05 | Industrial robot position accuracy detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218082804U (en) |
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2022
- 2022-09-05 CN CN202222391251.XU patent/CN218082804U/en active Active
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