基于疲劳测试的工业机器人重复定位精度测量与分析  

Measurement and analysis of repeated positioning accuracy of industrial robot based on fatigue test

作　　者：李斌[1] 才磊[1] 郭建飞[1] LI Bin;CAI Lei;GUO Jianfei(Panasonic Welding Systems(Tangshan)Co.,Ltd.,Hebei Tangshan 063000,China)

机构地区：[1]唐山松下产业机器有限公司,河北唐山063000

出　　处：《工业仪表与自动化装置》2024年第5期65-70,共6页Industrial Instrumentation & Automation

摘　　要：工业机器人的定位精度是衡量机器人工作性能的一个重要指标,按照国标规定一般选用激光跟踪仪完成单组测量实验。该方法忽略了在实际应用中机器人长期处于疲劳作业状态,伴随着机器人关键零部件的老化其重复定位精度会发生偏移,因而不能真实反映机器人的工作性能水平。为解决此问题,设计了以激光测距仪为测量工具,以机器人末端负载块为测量点,能够在长期疲劳测试环境下中监测机器人重复定位精度变化趋势的实验平台。同时设计了以机器人疲劳测试和重复定位精度测试为主程序的实验流程控制方法。最后以6 kg负载的工业机器人为实验对象,对该机器人进行了长时间的重复定位精度测量及数据整理分析。结果表明:机器人在长期疲劳作业状态影响下其重复定位精度发生明显的下降趋势,验证了机器人的关键零部件老化对定位精度的影响。相比与国标中单组测量实验结果,在疲劳测试过程中测量的数据结果更符合企业应用实际,更具有代表性和参考意义。The positioning accuracy of industrial robot is an important index to measure the working performance of robot.According to the national standard,laser tracker is generally used to complete a single group measurement experiment.This method ignores the fact that the robot is in the fatigue working state for a long time in practical application,and the repeated positioning accuracy will shift with the aging of joint components,so it can not truly reflect the working performance level of the robot.To address this issue,an experimental platform with laser rangefinder as measuring tool and robot end load block as measuring point was designed to monitor the trend of repeated positioning accuracy of the robot in the long-term fatigue test environment.At the same time,the experimental flow control method based on robot fatigue test and repeated positioning accuracy test was designed.Finally,an industrial robot with a load of 6 kg was used as the experimental object for long-term repeated positioning accuracy measurement and data analysis.The results show that under the influence of long-term fatigue operation,the repetitive positioning accuracy of robots shows a significant downward trend,verifying the impact of aging of key components of robots on positioning accuracy.Compared with the single set of measurement experiment results in the national standard,the measured data results in the fatigue test process are more in line with the actual application of enterprises,and more representative and reference significance.

关 键 词：工业机器人 重复定位精度 疲劳测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]