CN208305106U - It is a kind of for detecting the device of industrial robot trajectory error - Google Patents
It is a kind of for detecting the device of industrial robot trajectory error Download PDFInfo
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- CN208305106U CN208305106U CN201820298713.4U CN201820298713U CN208305106U CN 208305106 U CN208305106 U CN 208305106U CN 201820298713 U CN201820298713 U CN 201820298713U CN 208305106 U CN208305106 U CN 208305106U
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Abstract
The utility model discloses a kind of for detecting the device of industrial robot trajectory error, including pedestal；Mobile mechanism is set on the base；Rotating platform is arranged in mobile mechanism；First rotating mechanism, setting is on the rotating platform；Second rotating mechanism is arranged on the first rotating mechanism；Column is detected, is arranged on the second rotating mechanism；Three dimensional detection head is arranged in the end flange of industrial robot to be checked.Utility model device devises a kind of device of the industrial robot trajectory error detection of simplicity, instead of original method for detecting trajectory error using laser traces instrument.Various height can be presented in the detection column of device, show various attitudes vibrations, are conducive to the selection in the calibrating of industrial robot track for point, complete to the position of industrial robot and the detection of posture.The device of development is suitble to promote guaranteeing to greatly reduce cost in the case where completing testing requirements.
Description
Technical field
The present invention relates to a kind of detection devices more particularly to a kind of for detecting the device of industrial robot trajectory error.
Background technique
With scientific and technological continuous development, industrially, the degree of automation is constantly being improved.Industrial robot is automating
Epoch play increasingly important role, and the working method of industrial robot is also sent out to increasingly automated off-line programing mode
Exhibition.It is guarantee industrial robot in the case where being detached from manual operation, the accuracy of work, therefore, to assure that industrial robot indispensability is higher
Control the accurate of precision and motion profile.Therefore the detection to the trajectory error of industrial robot is needed.
Application No. is 201610144262.4 patents to disclose a kind of industrial robot track detection device.Device includes
Standard trajectory template and actuator mounted in industrial robot end, standard trajectory template include template pedestal, cuboid and
Big cylinder, small column, actuator includes load erector and laser range sensor, and is connected with industrial robot ring flange
It connects.This method is moved along track template, and the error of actual path and standard trajectory is obtained by modeling.The program can only be studied
The position deviation of industrial robot can not study attitude error.Common method is using laser tracker method, and this method needs
Laser tracker is purchased, but laser tracker is expensive, it can not popularity.
Summary of the invention
For deficiency existing for existing detection method, the purpose of the present invention is to provide a kind of convenient and simple, meet detection
It is required that but cheap detection device.
To achieve the above object, the present invention provides the following technical scheme that it is a kind of for detecting industrial robot track mistake
The device of difference characterized by comprising
It is a kind of for detecting the device of industrial robot trajectory error characterized by comprising
Pedestal；
Mobile mechanism is set on the base, and the lower surface of the mobile mechanism is contacted with the upper surface of pedestal, is used for
Movement in vertical direction；
Rotating platform is arranged in mobile mechanism, the upper surface of the rotating platform lower surface and mobile mechanism (2)
Contact, for rotation in the horizontal plane；
First rotating mechanism, on the rotating platform, for rotating, the surfaces of revolution of first rotating mechanism is vertical for setting
In horizontal plane；
Second rotating mechanism is arranged on the first rotating mechanism, for rotating, the surfaces of revolution of second rotating mechanism
Perpendicular to horizontal plane, it is also perpendicularly to the surfaces of revolution of the first rotating mechanism；
Column is detected, is arranged on the second rotating mechanism, the upper surface of detection the column lower surface and the second rotating mechanism
Contact；
Three dimensional detection head is arranged in the end flange of industrial robot to be checked, for detecting the position of detection column.
Preferably, the mobile mechanism includes: mobile mechanism's shell, in the rectangular-shape of five face closures, the shifting
The upper surface of pedestal is arranged in the lower surface of dynamic mechanism shell；Mobile motor, the mobile motor are arranged outside mobile mechanism
Inside shell, the lower surface of mobile motor is contacted with mobile mechanism's shell；One end setting of mobile lead screw, the mobile lead screw exists
Mobile motor upper surface；Mobile platform, on mobile lead screw, the rotation of mobile lead screw drives the mobile platform hanging down for setting
The upward movement of histogram；One end of catch bar, the catch bar is arranged on mobile platform lower surface, with mobile platform one
Play movement；The other end of catch bar is arranged in grating reading head, as catch bar moves together；Scale grating, the scale
Grating is connected with grating reading head, and is fixed on mobile mechanism's shell；
Preferably, the rotating platform includes: rotating platform motor, the lower surface setting of the rotating platform motor
On the mobile platform of bottom；The upper table of rotating platform motor is arranged in one end of rotating platform lead screw, the rotating platform lead screw
Face；The other end of rotating platform lead screw is arranged in turntable, the turntable lower surface；Rotating platform grating head, setting exist
On the left of the upper surface of mobile platform；The lower surface of rotating platform grating disc, the rotating platform grating disc is arranged in rotary flat
Platform grating head, upper surface are contacted with turntable；
Preferably, first rotating mechanism includes: the first rotating mechanism pedestal, and setting is on a spinstand；First rotation
Rotation mechanism motor is arranged on the left of the upper surface of the first rotating mechanism pedestal；First rotating mechanism rotary shaft, first rotation
Rotation mechanism rotary shaft one end is arranged on the first rotating mechanism motor；First rotating mechanism screw, first whirler
The other end of the first rotating mechanism rotary shaft is arranged in one end of structure screw；First rotating mechanism grating disc, described first
Rotating mechanism grating disc is arranged on the first rotating mechanism screw；First rotating mechanism grating head, first whirler
Structure grating head one end is arranged on the first rotating mechanism pedestal, and the other end is contacted with the first rotating mechanism grating disc；
Preferably, second rotating mechanism includes: the second rotating mechanism pedestal, and setting is rotated in the first rotating mechanism
On ball；Second rotating mechanism motor is arranged on the left of the upper surface of the second rotating mechanism pedestal；Second rotating mechanism rotary shaft,
The second described rotating mechanism rotary shaft one end is arranged on the second rotating mechanism motor；Second rotating mechanism screw, it is described
One end of the second rotating mechanism screw the other end of the second rotating mechanism rotary shaft is set；Second rotating mechanism grating
Disk, the second rotating mechanism grating disc are arranged on the second rotating mechanism screw；Second rotating mechanism grating head, it is described
Second rotating mechanism grating head one end be arranged on the second rotating mechanism pedestal, the other end and the second rotating mechanism grating disc
Contact；
Preferably, the three dimensional detection head includes: detection pedestal, and the ring flange of industrial robot end to be checked is arranged in
On；X gauge head is rangefinder, and setting is on detection pedestal, for detecting the distance in X-direction；Y gauge head is rangefinder, setting
On detection pedestal, for detecting the distance in Y-direction；Z gauge head is rangefinder, and setting is on detection pedestal, for detecting Z
Distance on direction；
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the invention；
Fig. 2 is mobile mechanism of the present invention and rotating platform schematic diagram of internal structure；
Fig. 3 is the first rotating mechanism schematic diagram of internal structure；
Fig. 4 is the second rotating mechanism schematic diagram of internal structure；
Fig. 5 is three dimensional detection header structure schematic diagram；
Appended drawing reference: 1. pedestals；2. mobile mechanism；21. mobile mechanism's shell；22. mobile motor；23. mobile lead screw；
24. mobile platform；25. catch bar；26. grating reading head；27. scale grating；3. rotating platform；31. rotating platform motor；
32. rotating platform lead screw；33. turntable；34 rotating platform grating heads；35 rotating platform grating discs；4. the first rotating mechanism；
41. the first rotating mechanism pedestal；42. the first rotating mechanism motor；43. the first rotating mechanism rotary shaft；44. the first whirler
Structure screw；45. the first rotating mechanism grating disc；46. the first rotating mechanism grating head；5. the second rotating mechanism；51. second
Rotating mechanism pedestal；52. the second rotating mechanism motor；53. the second rotating mechanism rotary shaft；54. the second rotating mechanism rotates
Ball；55. the second rotating mechanism grating disc；56. the second rotating mechanism grating head；6. detecting column；7. three dimensional detection head；71. detection
Head pedestal；72.X gauge head；73.Y gauge head；74.Z gauge head；8. industrial robot to be checked.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of for detecting the dress of industrial robot trajectory error
It sets, comprising: pedestal 1, mobile mechanism 2, rotating platform 3, the first rotating mechanism 4, the second rotating mechanism 5, detection column 6, three-dimensional inspection
Gauge head 7.Mobile mechanism 2 is arranged on pedestal 1, and lower surface contacts with the upper surface of pedestal 1, in vertical direction
Mobile, mobile mechanism's shell 21 in the mobile mechanism 2, in the rectangular-shape of five face closures, lower surface is arranged in pedestal
1 upper surface, mobile motor 22 are arranged inside mobile mechanism's shell 21, and lower surface is contacted with mobile mechanism shell 21, move
Lead screw 23, setting is in 22 upper surface of mobile motor, and mobile platform 24, setting is on mobile lead screw 23, the rotation of mobile lead screw 23
The movement of mobile platform 24 in vertical direction, catch bar 25 are driven, one end is arranged on 24 lower surface of mobile platform, with
Mobile platform 24 moves together, and the other end of catch bar 25 is arranged in grating reading head 26, as catch bar 25 starts shipment
Dynamic, scale grating 27 is connected with grating reading head 26, and is fixed on mobile mechanism's shell 21；Rotating platform 3, setting are moving
On motivation structure 2, lower surface is contacted with the upper surface of mobile mechanism 2, for rotation in the horizontal plane, the rotating platform
Rotating platform motor 31 in 3, lower surface are arranged on bottom mobile platform 24, rotating platform lead screw 32, and one end setting is being revolved
Turn the upper surface of platform motor 31, turntable 33, the other end of rotating platform lead screw 32, rotating platform light is arranged in lower surface
Grid head 34 is arranged on the left of the upper surface of mobile platform 24, rotating platform grating disc 35, and lower surface is arranged in rotating platform light
Grid head 34, upper surface are contacted with turntable 33；First rotating mechanism 4 is arranged on rotating platform 3, for rotating, the surfaces of revolution
Perpendicular to horizontal plane, the first rotating mechanism pedestal 41 in first rotating mechanism 4 is arranged on turntable 33, the first rotation
Rotation mechanism motor 42 is arranged on the left of the upper surface of the first rotating mechanism pedestal 41, the first rotating mechanism rotary shaft 43, one end
It is arranged on the first rotating mechanism motor 42, the first rotating mechanism screw 44, one end setting is rotated in the first rotating mechanism
The other end of axis 43, the first rotating mechanism grating disc 45 are arranged on the first rotating mechanism screw 44, the first rotating mechanism
Grating head 46 is arranged on the first rotating mechanism pedestal 41, and the other end is contacted with the first rotating mechanism grating disc 45；Second rotation
Rotation mechanism 5 is arranged on the first rotating mechanism 4, and for rotating, the surfaces of revolution is also perpendicularly to the first rotation perpendicular to horizontal plane
The surfaces of revolution of mechanism, the second rotating mechanism pedestal 51 in second rotating mechanism 5 are arranged in the first rotating mechanism screw
On 44, the second rotating mechanism motor 52 is arranged on the left of the upper surface of the second rotating mechanism pedestal 51, the rotation of the second rotating mechanism
Axis 53, one end are arranged on the second rotating mechanism motor 52, the second rotating mechanism screw 54, and one end setting is in the second rotation
The other end of rotation mechanism rotary shaft 53, the second rotating mechanism grating disc 55 are arranged on the second rotating mechanism screw 54, second
Rotating mechanism grating head 56, one end are arranged on the second rotating mechanism pedestal 51, the other end and the second rotating mechanism grating
Disk (55) contact；Column 6 is detected, is arranged on the second rotating mechanism 5, lower surface is contacted with the upper surface of the second rotating mechanism 5；
Three dimensional detection head 7 is arranged in the end flange of industrial robot 8 to be checked, described for detecting the position of detection column 6
Three dimensional detection head 7 in detect pedestal 71, be arranged on the ring flange of industrial robot to be checked (8) end, X gauge head 72, for survey
Distance meter, setting is on detection pedestal 71, and for detecting the distance in X-direction, Y gauge head 73 is rangefinder, and setting is in detection pedestal
On 71, for detecting the distance in Y-direction, Z gauge head 74 is rangefinder, and setting is on detection pedestal 71, for detecting Z-direction
On distance.
Working principle: will test column and be placed in original state, i.e., detection column chooses the detection under original state perpendicular to pedestal
Capital point is initial origin, and vertex is the intersection point of three vertical planes two-by-two, resets grating reading head, rotating platform grating head, the
The numerical value of one rotating mechanism grating head and the second rotating mechanism grating head completes initialization.When starting detection, mobile industry to be checked
Near robot to the initial origin chosen, X gauge head, Y gauge head, Z gauge head are respectively aligned to three vertical planes, and initial origin is placed in X
The point of intersection of gauge head, Y gauge head, Z gauge head extended line, record X gauge head, Y gauge head, Z gauge head numerical value be Δ x0, Δ y0, Δ z0, read
Take at this time absolute location coordinates of the industrial robot end to be checked under robot coordinate be (x0,y0,z0), calculate initial original
Absolute location coordinates of the point under robot basis coordinates are (x0+Δx0,y0+Δy0,z0+Δz0), while recording each joint
Angle value.Mobile motor, rotating platform motor, the first rotating mechanism motor, the second rotating mechanism motor are successively rotated, is reached
First detection position, detection capital point under this state are the first test point.Grating reading head, rotating platform grating head,
One rotating mechanism grating head and the second rotating mechanism grating head have recorded the numerical value of variation, by being converted on the direction of X, Y, Z,
Coordinate position (a relative to initial origin is obtained1,b1,c1), the first test point coordinate is transformed under robot basis coordinates,
Its theoretical position coordinates is (x0+Δx0+a1,y0+Δy0+b1,z0+Δz0+c1).Operate industrial robot to be checked, movement three
It ties up near detector to the first test point, calculates distance values as Δ x in the method for detecting initial origin1, Δ y1, Δ z1, with
And absolute location coordinates of the industrial robot end to be checked under robot basis coordinates under the state are (x1,y1,z1), it calculates
The actual coordinate of the first test point is (x out1+Δx1,y1+Δy1,z1+Δz1).Compare theoretical coordinate numerical value and actual coordinate number
Value, obtains the location error numerical value of the first test point of industrial robot to be checked.Pass through rotating platform grating head, the first whirler
The numerical value of structure grating head and the second rotating mechanism grating head record obtains the X of the first test point by conversion, on Y and Z-direction
Angle value, be industrial robot to be checked point of theory value.Each joint angles numerical value of industrial robot to be checked is recorded, is passed through
Conversion is crossed, actual angle numerical value is obtained, by comparing the theoretical value and actual numerical value of angle, obtains the appearance of industrial robot to be checked
State error amount.Different test points is successively chosen, the actual value and theoretical value of each test point is obtained, is compared, missed
Difference value.Coordinate position error and angular error are passed through into a series of algorithm, compensated onto each joint of robot.
A kind of convenient and simple industrial robot detection device of this example design.Device devises a kind of three dimensional detection
Head measures the three-dimensional location coordinates of test point, detects the location error of robot.A variety of appearances can be presented in the detection seat of design
State is conducive to the posture for detecting robot.The present invention can be effectively instead of detecting robot trajectory error using tracker
Method, and greatly reduce testing cost, have great application prospect.While there has been shown and described that of the invention
Embodiment, for the ordinary skill in the art, it is possible to understand that the case where not departing from the principle and spirit of the invention
Under these embodiments can be carried out with a variety of change, modification, replacement and modification, the scope of the present invention by appended claims and its
Equivalent limits.
Claims (6)
1. a kind of for detecting the device of industrial robot trajectory error characterized by comprising
Pedestal (1)；
Mobile mechanism (2) is arranged on pedestal (1), and the lower surface of the mobile mechanism (2) and the upper surface of pedestal (1) connect
Touching, for movement in vertical direction；
Rotating platform (3) is arranged on mobile mechanism (2), and the rotating platform (3) lower surface is upper with mobile mechanism (2)
Surface contact, for rotation in the horizontal plane；
First rotating mechanism (4) is arranged on rotating platform (3), for rotating, the rotation of first rotating mechanism (4)
Face is perpendicular to horizontal plane；
Second rotating mechanism (5) is arranged on the first rotating mechanism (4), for rotating, second rotating mechanism (5)
The surfaces of revolution is also perpendicularly to the surfaces of revolution of the first rotating mechanism perpendicular to horizontal plane；
It detects column (6), is arranged on the second rotating mechanism (5), detection column (6) lower surface and the second rotating mechanism (5)
Upper surface contact；
Three dimensional detection head (7), is arranged in the end flange of industrial robot to be checked (8), for detecting detection column (6)
Position.
2. according to claim 1 for detecting the device of industrial robot trajectory error, which is characterized in that the shifting
Motivation structure (2) includes:
Mobile mechanism's shell (21), in the rectangular-shape of five face closures, the lower surface of mobile mechanism's shell (21) is arranged
In the upper surface of pedestal (1)；
Mobile motor (22), the mobile motor (22) setting is internal in mobile mechanism's shell (21), mobile motor (22)
Lower surface is contacted with mobile mechanism's shell (21)；
One end of mobile lead screw (23), the mobile lead screw (23) is arranged in mobile motor (22) upper surface；
Mobile platform (24), on mobile lead screw (23), the rotation of mobile lead screw (23) drives the mobile platform for setting
(24) movement in vertical direction；
One end of catch bar (25), the catch bar (25) is arranged on mobile platform (24) lower surface, with mobile platform
(24) it moves together；
The other end in catch bar (25) is arranged, as catch bar (25) moves together in grating reading head (26)；
Scale grating (27), the scale grating (27) is connected with grating reading head (26), and is fixed on mobile mechanism's shell
(21) on.
3. according to claim 1 for detecting the device of industrial robot trajectory error, which is characterized in that the rotation
Turning platform (3) includes:
The lower surface of rotating platform motor (31), the rotating platform motor (31) is arranged on bottom mobile platform (24)；
The upper table in rotating platform motor (31) is arranged in rotating platform lead screw (32), one end of the rotating platform lead screw (32)
Face；
The other end in rotating platform lead screw (32) is arranged in turntable (33), the turntable (33) lower surface；
Rotating platform grating head (34) is arranged on the left of the upper surface of mobile platform (24)；
The lower surface of rotating platform grating disc (35), the rotating platform grating disc (35) is arranged in rotating platform grating head
(34), upper surface is contacted with turntable (33).
4. according to claim 1 for detecting the device of industrial robot trajectory error, which is characterized in that described the
One rotating mechanism (4) includes:
First rotating mechanism pedestal (41) is arranged on turntable (33)；
First rotating mechanism motor (42) is arranged on the left of the upper surface of the first rotating mechanism pedestal (41)；
First rotating mechanism rotary shaft (43), first described rotating mechanism rotary shaft (43) one end are arranged in the first rotating mechanism
On motor (42)；
One end of first rotating mechanism screw (44), the first rotating mechanism screw (44) is arranged in the first whirler
The other end of structure rotary shaft (43)；
First rotating mechanism grating disc (45), the first rotating mechanism grating disc (45) setting are rotated in the first rotating mechanism
On ball (44)；
First rotating mechanism grating head (46), first described rotating mechanism grating head (46) one end are arranged in the first rotating mechanism
On pedestal (41), the other end is contacted with the first rotating mechanism grating disc (45).
5. according to claim 1 for detecting the device of industrial robot trajectory error, which is characterized in that described the
Two rotating mechanisms (5) include:
Second rotating mechanism pedestal (51) is arranged on the first rotating mechanism screw (44)；
Second rotating mechanism motor (52) is arranged on the left of the upper surface of the second rotating mechanism pedestal (51)；
Second rotating mechanism rotary shaft (53), second described rotating mechanism rotary shaft (53) one end are arranged in the second rotating mechanism
On motor (52)；
One end of second rotating mechanism screw (54), the second rotating mechanism screw (54) is arranged in the second whirler
The other end of structure rotary shaft (53)；
Second rotating mechanism grating disc (55), the second rotating mechanism grating disc (55) setting are rotated in the second rotating mechanism
On ball (54)；
Second rotating mechanism grating head (56), second described rotating mechanism grating head (56) one end are arranged in the second rotating mechanism
On pedestal (51), the other end is contacted with the second rotating mechanism grating disc (55).
6. according to claim 1 for detecting the device of industrial robot trajectory error, which is characterized in that described three
Tieing up detector (7) includes:
It detects pedestal (71), is arranged on the ring flange of industrial robot to be checked (8) end；
X gauge head (72) is rangefinder, and setting is in detection pedestal (71), for detecting the distance in X-direction；
Y gauge head (73) is rangefinder, and setting is in detection pedestal (71), for detecting the distance in Y-direction；
Z gauge head (74) is rangefinder, and setting is in detection pedestal (71), for detecting the distance in Z-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820298713.4U CN208305106U (en) | 2018-03-05 | 2018-03-05 | It is a kind of for detecting the device of industrial robot trajectory error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820298713.4U CN208305106U (en) | 2018-03-05 | 2018-03-05 | It is a kind of for detecting the device of industrial robot trajectory error |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208305106U true CN208305106U (en) | 2019-01-01 |
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ID=64720370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820298713.4U Expired - Fee Related CN208305106U (en) | 2018-03-05 | 2018-03-05 | It is a kind of for detecting the device of industrial robot trajectory error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208305106U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527441A (en) * | 2018-03-05 | 2018-09-14 | 中国计量大学 | A kind of device for detecting industrial robot trajectory error |
| CN113330277A (en) * | 2019-03-14 | 2021-08-31 | 株式会社东京精密 | Three-dimensional measurement system and three-dimensional measurement method |
-
2018
- 2018-03-05 CN CN201820298713.4U patent/CN208305106U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527441A (en) * | 2018-03-05 | 2018-09-14 | 中国计量大学 | A kind of device for detecting industrial robot trajectory error |
| CN108527441B (en) * | 2018-03-05 | 2024-02-13 | 中国计量大学 | Device for detecting track error of industrial robot |
| CN113330277A (en) * | 2019-03-14 | 2021-08-31 | 株式会社东京精密 | Three-dimensional measurement system and three-dimensional measurement method |
| CN113330277B (en) * | 2019-03-14 | 2022-04-29 | 株式会社东京精密 | Three-dimensional measurement system and three-dimensional measurement method |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20200305 |
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| CF01 | Termination of patent right due to non-payment of annual fee |