CN104613872A - Test system for measuring repositioning precision of industrial robot - Google Patents
Test system for measuring repositioning precision of industrial robot Download PDFInfo
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- CN104613872A CN104613872A CN201510098569.0A CN201510098569A CN104613872A CN 104613872 A CN104613872 A CN 104613872A CN 201510098569 A CN201510098569 A CN 201510098569A CN 104613872 A CN104613872 A CN 104613872A
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Abstract
The invention discloses a test system for measuring the repositioning precision of an industrial robot. The test system has the structure that a detection device is connected with a data processing terminal through a data acquisition unit; three axial brackets are arranged on a bracket sliding rod of the detection device; three laser displacement sensors are mounted on the axial brackets and are perpendicular to one another in space; when the industrial robot arrives at the test centers of the laser displacement sensors, three paths of light are projected to the tail end of the industrial robot to measure the positions of the three coordinates in space. Due to the adoption of the structure, compared with traditional equipment and a traditional operation manner, the test system provided by the invention is simple in process, is relatively low in cost, is improved in measuring precision, is high in transmission rate, is flexible in communication way, is not restricted to the measurement of a single workstation, can be applied to measurement of the repositioning precision of a multi-workstation robot, and can also be applied to on-the-spot monitoring in factories.
Description
Technical field
The present invention relates to the manufacture field of industrial robot, particularly a kind of test macro for measuring industrial robot repetitive positioning accuracy.
Background technology
Repetitive positioning accuracy is the important parameter of industrial robot, is also one of important parameter of the precision about robot.
Present repetitive positioning accuracy is measured main based on laser tracker, and laser tracker measuring accuracy is higher, and measurement function is more.But in measuring process, need tester to follow the tracks of operation in real time, real time record measurement data, and need robot end and tracker accurately to light.Final measurement data needs tester to carry out post-processed, therefore can only to the robot testing of single station.Laser tracker equipment cost is higher, and measures while being unfavorable for being applied to multistation robot.Meanwhile, for the coordinate measuring apparatus for measuring repetitive positioning accuracy of advantage of lower cost, although cost is lower, but the precision of the test of itself is not high enough, and measured value is main mainly with analog output greatly, communication modes is single, and the accuracy of final data is lower.
For the problems referred to above, provide the test macro that a kind of cost is lower, precision is higher, the measurement of industrial robot repetitive positioning accuracy is had great importance.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of test macro for measuring industrial robot repetitive positioning accuracy, improves measuring accuracy, simplifies procedures, can be widely used in factory's monitoring.
For achieving the above object, technical scheme of the present invention is, a kind of test macro for measuring industrial robot repetitive positioning accuracy, and described test macro is that pick-up unit is connected to data processing terminal by data acquisition unit; Described pick-up unit is that bracket slide bar is provided with three axial supports, and spatially inequality is vertical axial support to be provided with three laser displacement sensors; When industrial robot arrives test center's scope of sensor, three tunnel ray cast are recorded the position of industrial robot at space three axes to the end of robot.
Described data acquisition unit is that controller gathers the measurement data on the amplifier of laser displacement sensor by communication unit, and by wireless communication module, data is passed to data processing terminal.
Described test macro comprises operating personnel and controls industrial robot, and center in the measurement range making its end load move to laser displacement sensor, guarantees that laser sensor is in normal measuring state, and this position is as measurement initial position; The repeated multiple times robot motion of allowing arrives this measuring position, and carries out data acquisition to the robot after putting in place at every turn; In data processing terminal, the initial of measurement is controlled, the real-time curve of observation data, generate database, preserve final data, complete measuring process.
Be enclosed within bracket slide bar after described axial support connection bracket fixed block.
Described laser displacement sensor is connected to mounting blocks, and mounting blocks is fixed on axial support by lock-screw.
Described bracket slide bar is built up on base, and base is provided with adjustable foot cup, can fixed test device.
Be provided with multi-directional ball below described base, facilitate motion detection device.
A kind of test macro for measuring industrial robot repetitive positioning accuracy, owing to adopting above-mentioned structure, the present invention is compared with existing equipment and mode of operation, process is simple, cost is lower, and measuring accuracy is improved, and transfer rate is high, communication modes is flexible, and being not limited to the measurement of single station, useful application, in the measurement of the repetitive positioning accuracy of multistation robot, also can be merged in factory site monitoring.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation;
Fig. 1 is the structural representation of a kind of test macro for measuring industrial robot repetitive positioning accuracy of the present invention;
Fig. 2 is the connection diagram of data acquisition unit in a kind of test macro for measuring industrial robot repetitive positioning accuracy of the present invention;
Fig. 3 is the connection diagram of data processing terminal in a kind of test macro for measuring industrial robot repetitive positioning accuracy of the present invention;
Fig. 4 is the operating diagram of a kind of test macro for measuring industrial robot repetitive positioning accuracy of the present invention;
In figures 1-4,1, bracket slide bar; 2, support fixed block; 3, laser displacement sensor; 4, mounting blocks; 5, axial support; 6, lock-screw; 7, adjustable foot cup; 8, base; 9, multi-directional ball; 10, communication unit; 11, amplifier; 12, controller; 13, data processing terminal; 14, wireless communication module.
Embodiment
The present invention includes pick-up unit, data acquisition unit and data processing terminal 13 3 part composition.Wherein pick-up unit is the axial support 5 that bracket slide bar 1 is provided with three, and spatially inequality is vertical axial support 5 to be provided with three laser displacement sensors 3.Laser displacement sensor 3 is rack-mount, can be analogous to the three-dimensional system of coordinate in space.During measurement, arrived test center's scope of sensor by control, guarantee the end of three tunnel ray cast to robot, the position of robot at space three axes can be recorded by the principle of laser diffusion.
Data acquisition unit is then utilize the measurement data in the amplifier 11 of controller 12 read sensor.Corresponding communication unit 10 is housed between controller 12 to amplifier 11, connects or the mode of ether connects in the mode of serial ports, the data of collection are digital signal, can obtain real-time measurement data accurately and rapidly, and do simple data processing.What data processing terminal 13 adopted is that touch-screen phase and corresponding monitoring software realize data monitoring and final process.Touch-screen and controller 12 logical between employing wireless communication module 14 carry out communication, wireless communication modes effectively increases transmission range, saves wiring, facilitates the situation of staff's side by side monitoring and test manyly.
Be enclosed within bracket slide bar 1 after axial support 5 connection bracket fixed block 2.Laser displacement sensor 3 is connected to mounting blocks 4, and mounting blocks 4 is fixed on axial support 4 by lock-screw 6.Bracket slide bar 1 is built up on base 8, and base 8 is provided with adjustable foot cup 7.Multi-directional ball 9 is provided with below base 8.
As Figure 1-4, the present invention is that three laser displacement sensor heads 3 are arranged on axial support 5 respectively, and spatially the orthogonal antarafacial of the throw light of sensor, can be analogous to rectangular coordinate system in space.Each axial cradling piece places sensor by mounting blocks, and sensor axially can carry out slidable adjustment along cradling piece, is furnished with lock-screw 6, for the position of fixation of sensor simultaneously; Three axial supports 5 to be connected on support fixed block 2, and support fixed block 2 is enclosed within bracket slide bar 1, thus slip fixed block can make three cradling pieces do moves vertically; And the base 8 of whole support is equipped with multi-directional ball 9 can move whole support, bottom disc end face is equipped with adjustable foot cup 7 for fixing whole device, to guarantee that device can measure the repetitive positioning accuracy of different spatial point.
Laser displacement sensor 3 is connected to corresponding amplifier 11 by dress cable.Amplifier 11 is equipped with respective communication unit 10, connects without the need to unnecessary cable corresponding interface.By serial ports or the connected mode of Ethernet interface, connecting communication can be carried out with the controller 12 as data acquisition module.
Data processing terminal 13 and controller 12 can carry out telecommunication by wireless communication module 14, and the data that controller 12 gathers by wireless network transmissions to touch-screen.Touch-screen is used for terminal data processing and monitoring display, for measurement the data obtained, can carry out presenting and the generation of data sheet of image.
Operating personnel control industrial robot, center in the measurement range making its end load move to laser displacement sensor 3, and guarantee that laser sensor 3 is in normal measuring state, this position is as measuring position; The repeated multiple times robot motion of allowing arrives this measuring position, and carries out data acquisition to the robot after putting in place at every turn; In data processing terminal 13, the initial of measurement is controlled, the real-time curve of observation data, generate database, preserve final data, complete measuring process.
The present invention is compared with existing equipment and mode of operation, process is simple, cost is lower, measuring accuracy is improved, transfer rate is high, communication modes is flexible, and being not limited to the measurement of single station, useful application, in the measurement of the repetitive positioning accuracy of multistation robot, also can be merged in factory site monitoring.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the various improvement that technical solution of the present invention is carried out, or directly apply to other occasion, all within protection scope of the present invention without improving.
Claims (7)
1., for measuring a test macro for industrial robot repetitive positioning accuracy, described test macro is that pick-up unit is connected to data processing terminal (13) by data acquisition unit; Described pick-up unit is that bracket slide bar (1) is provided with three axial supports (5), and spatially inequality is vertical axial support (5) to be provided with three laser displacement sensors (3); When industrial robot arrives test center's scope of sensor, three tunnel ray cast are recorded the position of industrial robot at space three axes to the end of robot.
2. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, it is characterized in that: described data acquisition unit is that controller (12) gathers the measurement data on the amplifier (11) of laser displacement sensor (3) by communication unit (10), and by wireless communication module (14), data is passed to data processing terminal (13).
3. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, it is characterized in that: described test macro comprises operating personnel and controls industrial robot, center in the measurement range making its end load move to laser displacement sensor (3), guarantee that laser sensor (3) is in normal measuring state, this position is as measuring position; The repeated multiple times robot motion of allowing arrives this measuring position, and carries out data acquisition to the robot after putting in place at every turn; In data processing terminal (13), the initial of measurement is controlled, the real-time curve of observation data, generate database, preserve final data, complete measuring process.
4. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, is characterized in that: be enclosed within bracket slide bar (1) after described axial support (5) connection bracket fixed block (2).
5. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, it is characterized in that: described laser displacement sensor (3) is connected to mounting blocks (4), and mounting blocks (4) is fixed on axial support (5) by lock-screw (6).
6. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, it is characterized in that: described bracket slide bar (1) is built up on base (8), and base (8) is provided with adjustable foot cup (7).
7. a kind of test macro for measuring industrial robot repetitive positioning accuracy according to claim 1, is characterized in that: described base (8) below is provided with multi-directional ball (9).
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| CN201510098569.0A CN104613872A (en) | 2015-03-05 | 2015-03-05 | Test system for measuring repositioning precision of industrial robot |
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| CN201510098569.0A CN104613872A (en) | 2015-03-05 | 2015-03-05 | Test system for measuring repositioning precision of industrial robot |
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Cited By (17)
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|---|---|---|---|---|
| CN105651329A (en) * | 2015-12-18 | 2016-06-08 | 南京熊猫电子股份有限公司 | Measurement system for measuring trajectory precision and repeatability of industrial robot and measurement method thereof |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN106546270A (en) * | 2017-01-11 | 2017-03-29 | 诺伯特智能装备（山东）有限公司 | A kind of robot localization precision tester and contact measurement method |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN106826922A (en) * | 2017-03-02 | 2017-06-13 | 宁波韦尔德斯凯勒智能科技有限公司 | A kind of industrial robot performance detecting system based on monocular camera machine vision |
| CN106885513A (en) * | 2017-02-22 | 2017-06-23 | 上海砺晟光电技术有限公司 | A kind of robot three-dimensional repetitive positioning accuracy test system |
| CN107253193A (en) * | 2017-06-13 | 2017-10-17 | 上海交通大学 | Robot repetitive positioning accuracy detection and zero correction system |
| CN107643031A (en) * | 2016-07-21 | 2018-01-30 | 上海福赛特机器人有限公司 | Robot repetitive positioning accuracy detection means and method |
| CN108115722A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Mobile robot precision detection system and method |
| CN108489392A (en) * | 2018-04-11 | 2018-09-04 | 上海交通大学 | Mechanical arm tail end repetitive positioning accuracy measuring device and method |
| CN110985827A (en) * | 2019-12-09 | 2020-04-10 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN111912431A (en) * | 2020-03-19 | 2020-11-10 | 中山大学 | Positioning precision test scheme for mobile robot navigation system |
| CN111981985A (en) * | 2020-08-31 | 2020-11-24 | 华中科技大学 | Industrial robot tail end three-dimensional position measuring instrument and method |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
| CN116117869A (en) * | 2023-02-02 | 2023-05-16 | 广东建石科技有限公司 | Method, device and system for testing position accuracy of robot |
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Cited By (23)
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| CN105651329B (en) * | 2015-12-18 | 2018-09-25 | 南京熊猫电子股份有限公司 | A kind of measuring system for measuring industrial robot path accuracy and multiplicity |
| CN105651329A (en) * | 2015-12-18 | 2016-06-08 | 南京熊猫电子股份有限公司 | Measurement system for measuring trajectory precision and repeatability of industrial robot and measurement method thereof |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN105737735B (en) * | 2016-03-08 | 2018-08-03 | 上海大学 | Portable self calibration end effector repetitive positioning accuracy measuring device and method |
| CN107643031A (en) * | 2016-07-21 | 2018-01-30 | 上海福赛特机器人有限公司 | Robot repetitive positioning accuracy detection means and method |
| CN108115722A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Mobile robot precision detection system and method |
| CN106546270A (en) * | 2017-01-11 | 2017-03-29 | 诺伯特智能装备（山东）有限公司 | A kind of robot localization precision tester and contact measurement method |
| CN106546270B (en) * | 2017-01-11 | 2023-07-21 | 诺伯特智能装备（山东）有限公司 | Robot positioning precision tester and contact type measuring method |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN106885513A (en) * | 2017-02-22 | 2017-06-23 | 上海砺晟光电技术有限公司 | A kind of robot three-dimensional repetitive positioning accuracy test system |
| CN106826922A (en) * | 2017-03-02 | 2017-06-13 | 宁波韦尔德斯凯勒智能科技有限公司 | A kind of industrial robot performance detecting system based on monocular camera machine vision |
| CN107253193A (en) * | 2017-06-13 | 2017-10-17 | 上海交通大学 | Robot repetitive positioning accuracy detection and zero correction system |
| CN108489392A (en) * | 2018-04-11 | 2018-09-04 | 上海交通大学 | Mechanical arm tail end repetitive positioning accuracy measuring device and method |
| CN108489392B (en) * | 2018-04-11 | 2019-10-08 | 上海交通大学 | Mechanical arm tail end repetitive positioning accuracy measuring device and method |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN110985827A (en) * | 2019-12-09 | 2020-04-10 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN110985827B (en) * | 2019-12-09 | 2021-02-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN111912431A (en) * | 2020-03-19 | 2020-11-10 | 中山大学 | Positioning precision test scheme for mobile robot navigation system |
| CN111981985A (en) * | 2020-08-31 | 2020-11-24 | 华中科技大学 | Industrial robot tail end three-dimensional position measuring instrument and method |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
| CN116117869A (en) * | 2023-02-02 | 2023-05-16 | 广东建石科技有限公司 | Method, device and system for testing position accuracy of robot |
| CN116117869B (en) * | 2023-02-02 | 2023-08-15 | 广东建石科技有限公司 | Method, device and system for testing position accuracy of robot |
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Application publication date: 20150513 |