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Robot joint motion precision measuring method

A technology of robot joints and measurement methods, which is applied in manipulators, manufacturing tools, etc., can solve the problem of inability to evaluate robot joint movement accuracy with motion accuracy, and achieve the effect of improving accuracy and test efficiency, improving accuracy and high degree of automation.

Active Publication Date: 2021-06-08
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The robot joint is mainly composed of a servo motor and a precision reducer. The traditional test uses the servo motor and the precision reducer as two parts to test separately. Kinematic Accuracy Evaluating the Kinematic Accuracy of Robot Joints

Method used

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0038] like figure 2 As shown, the present invention is realized by a measuring device for the motion accuracy of a robot joint, the measuring device includes an angle encoder 2, a torque speed sensor 3, a load unit and a robot joint 1 to be measured, the robot joint 1, the angle The encoder 2, the torque speed sensor 3, and the load unit are connected in sequence, wherein the load unit includes a servo motor 5 and a speed increaser 4, and the torque speed sensor 3, the speed increaser 4 and the servo motor 5 are connected in sequence, and the speed increaser The device 4 is used to reduce the loading torque of the servo motor 5, and then the low-torque servo motor 5 can be selected to reduce the hardware cost of the measuring device and also reduce the space of the load unit. In this embodiment, the angle encoder 2 is a HEIDENHAIN high-precision angle enco...

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Abstract

The invention relates to the technical field of robot testing, in particular to a robot joint motion precision measuring method. The robot joint motion precision measuring method comprises the following steps that: 1, basic parameters are set through a control system; 2, a zero point parameter is set through the control system; 3, a test is triggered to obtain an actual zero point angle value of a robot joint; 4, the step 3 is repeated for n times to obtain n groups of actual zero point angle values of the robot joint, and zero point accuracy and zero point repeatability of the robot joint are obtained through calculation; 5, on the basis of the robot joint in the step 4, motion parameters are set through the control system; 6, the test is triggered again to obtain an actual motion angle value of the robot joint; 7, the step 6 is repeated for n times, and position accuracy and position repeatability of the robot joint are obtained through calculation; and 8, after the test is completed, a numerical value is output. According to the robot joint motion precision measuring method, the robot joint can be directly tested, and the accuracy and test efficiency of robot joint motion precision measurement are improved.

Description

technical field [0001] The invention relates to the technical field of robot testing, in particular to a method for measuring the motion accuracy of robot joints. Background technique [0002] Robots are outstanding representatives of contemporary high-end intelligent equipment and high-tech, and an important symbol to measure a country's manufacturing level and core competitiveness. The robot joint is the core component of the robot. Its motion accuracy is an important indicator of the robot joint. It is of great significance for evaluating the performance of the robot joint. At the same time, it can be used to adjust the parameters of the robot and improve the motion performance of the robot. [0003] The robot joint is mainly composed of a servo motor and a precision reducer. The traditional test uses the servo motor and the precision reducer as two parts to test separately. The motion accuracy of robot joints is evaluated by the motion accuracy. Contents of the invent...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李志海李星吴镇炜董雪松顾岩
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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