CN112213635B - Automatic loading and unloading device and system of motor test platform - Google Patents
Automatic loading and unloading device and system of motor test platform Download PDFInfo
- Publication number
- CN112213635B CN112213635B CN201910612602.5A CN201910612602A CN112213635B CN 112213635 B CN112213635 B CN 112213635B CN 201910612602 A CN201910612602 A CN 201910612602A CN 112213635 B CN112213635 B CN 112213635B
- Authority
- CN
- China
- Prior art keywords
- axial
- motor
- position information
- tested
- control host
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an automatic loading and unloading device and system of a motor test platform, which is used for a control host to control the automatic loading and unloading between a motor to be tested and the axle center of test equipment, and comprises the following components: the control host controls the mobile platform correspondingly based on the position information generated by the position information sensing group, so that a bearing seat for bearing the motor to be tested can be automatically driven to a corresponding position to finish the alignment joint or removal between the axis of the motor to be tested and the axis of the testing equipment, the front operation of motor power testing can be automatically executed more effectively and correctly, and the front preparation time and manpower for testing are reduced.
Description
Technical Field
The present invention relates to a centering device for a testing apparatus for testing a motor, and more particularly, to an automatic loading and unloading device and system for a motor testing platform.
Background
The motor power test often requires a lot of time to perform the shaft alignment between the motor under test and the test equipment in preparation for the pre-run.
Conventionally, a motor to be tested mounted on a test platform is manually moved to a position corresponding to an axis of the motor to be tested and an axis of a motor of a power meter by an adjusting device, so as to reduce measurement errors and mechanical vibration caused by eccentricity.
The centering operation of the motor to be tested and the motor of the power meter needs to rely on the experience of an operator to adjust the position of the motor to be tested, and the alignment degree of the bilateral motor to be adjusted can reach a specified range. Although the inspection apparatus can provide accurate measurement values, it cannot provide guidance as to what corrections the operator should make.
Based on this, the operator's expertise has no small influence on the pre-operation of testing the motor to be tested, and the accuracy of the judgment is very important to the operation efficiency of the motor test platform.
Disclosure of Invention
The invention aims to improve the use convenience of the motor test platform.
Another object of the invention is to reduce the preparation time and manpower for testing the lead in order to axially center.
It is a further object of the present invention to enable the axial centering operation of motor power tests to be performed more efficiently and correctly automatically.
In order to achieve the above and other objects, the present invention provides an automatic loading and unloading device for a motor testing platform, for a control host to control automatic loading and unloading between a motor to be tested and a spindle of a testing apparatus, comprising: a mobile platform; a position information sensing set. The mobile platform is coupled to the control host, and includes: the multi-axial moving seat is arranged on the multi-axial moving seat and is used for fixing the bearing seat of the motor to be tested. The position information sensing set is coupled with the control host, is arranged opposite to the bearing seat and generates position information by taking an upright wall of the bearing seat as a reference position. Based on the position information, the control host correspondingly controls the multi-axial moving seat to enable the bearing seat to be moved to a corresponding position, and alignment joint or removal between the axis of the motor to be tested and the axis of the testing equipment is completed.
In an embodiment of the present invention, the test device further includes a first coupling unit disposed at an axial end of the motor to be tested and a flexible coupling disposed at an axial end of the test device, and the flexible coupling further includes a second coupling unit, where the first coupling unit and the second coupling unit are used for coupling when the axial center of the motor to be tested and the axial center of the test device are aligned.
In an embodiment of the invention, the first engagement unit has a plurality of first teeth portions disposed around the outer peripheral surface and protruding radially, the second engagement unit has a through hole, and the inner peripheral wall of the through hole has a plurality of second teeth portions protruding radially.
In an embodiment of the invention, the position information sensing set includes an image sensor and a distance sensor disposed at one side of the test device, the image sensor is used for obtaining image data of the upright wall with a marking information, the distance sensor is used for obtaining distance data of a distance between the image sensor and the upright wall, and the image data and the distance data are the position information.
In an embodiment of the invention, the image sensor is coupled to the control host and disposed above the axial end of the mobile platform and the testing device, so as to capture an image of an axial alignment joint area between the motor to be tested and the testing device, and generate the position information.
In an embodiment of the present invention, the multi-axial moving seat includes: first to third axial track groups and first and second axial moving seats; the first axial moving seat is arranged on the first axial track group, and two sides of the first axial moving seat are respectively provided with an upright mounting wall; the second axial track groups are arranged on the mounting walls; the second axial moving seat is configured above the first axial moving seat by the bearing of the second axial track group; the third axial track group is arranged on the second axial moving seat and bears the bearing seat, so that the bearing seat moves in the third axial direction.
In an embodiment of the present invention, the second axial track group may have at least four second axial tracks, and each of the mounting walls has at least two second axial tracks thereon, so as to provide differential adjustment of each of the second axial tracks carrying the second axial moving seat in the second axial direction, so that a normal vector of a wall surface of the standing wall of the carrying seat may rotate in the first axial direction or the third axial direction.
In an embodiment of the present invention, the third axial track group may have at least two third axial tracks, so as to provide differential adjustment of the third axial tracks of the bearing seat in a third axial direction, so that a normal vector of a wall surface of the standing wall of the bearing seat may rotate in a second axial direction.
In order to achieve the above and other objects, the present invention further provides an automatic loading and unloading system for a motor testing platform, comprising: test equipment, mobile platform, position information sensing group, microscope carrier and control host computer. The testing equipment comprises an axle center end part for being jointed with the axle center of the motor to be tested; the mobile platform includes: the multi-axial moving seat is arranged on the multi-axial moving seat and is used for fixing the bearing seat of the motor to be tested; the position information sensing set is arranged opposite to the bearing seat, and generates position information by using an upright wall of the bearing seat as a reference position; the carrier carries the test equipment, the movable platform and the position information sensing set; the control host is coupled with the test equipment, the multi-axial moving seat and the position information sensing set, and correspondingly adjusts the multi-axial moving seat based on the position information, so that the axis of the motor to be tested and the axis end of the test equipment can be automatically aligned and connected or removed.
In an embodiment of the invention, the test device further includes a power meter motor, a torsion meter disposed at an axial end of the test device, and a flexible coupling having a second engaging unit engaged with a first engaging unit disposed at an axial end of the motor to be tested, wherein the first engaging unit and the second engaging unit are engaged when the axial center of the motor to be tested and the axial center of the test device are aligned.
In an embodiment of the present invention, the control host rotates the axis of the motor to be tested or the axis of the test device by a certain degree during the automatic alignment and connection process, so that the first connection unit is connected with the second connection unit.
In an embodiment of the invention, the position information sensing set includes a first image sensor and a distance sensor disposed at one side of the testing device, the first image sensor obtains first image data of the upright wall, and the distance sensor obtains first distance data of a distance between the first image sensor and the upright wall. The control host obtains the position information of the bearing seat in the first axial direction and the second axial direction based on the comparison of the first image data and the reference image data, and the control host obtains the position information of the bearing seat in the third axial direction based on the first distance data; and the control host controls the multi-axial moving seat to move the bearing seat in the first axial direction and the second axial direction until the bearing seat is matched with the reference image data, and then controls the multi-axial moving seat to move the bearing seat in the third axial direction so as to enable the axle center to be in alignment joint.
In an embodiment of the present invention, the control host is configured to determine a tilting degree of the axial end portion of the motor to be tested in the second axial direction based on a reduction amount of the first image data in the second axial direction compared to the reference image data, and the control host is configured to determine a tilting degree of the axial end portion of the motor to be tested in the first axial direction based on a reduction amount of the first image data in the first axial direction compared to the reference image data.
Accordingly, based on the vertical wall and the position information generated by the position information sensing group, the movable platform is correspondingly controlled, so that the bearing seat bearing the motor to be tested can be automatically driven to the corresponding position, the alignment joint or removal between the axis of the motor to be tested and the axis of the testing equipment is completed, the prepositive operation of motor power testing can be automatically executed more effectively and correctly, and the prepositive preparation time and manpower for testing are reduced.
Drawings
FIG. 1 is an illustration of an automated handling system for a motor test platform in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of an engaging structure of an automatic handling device according to an embodiment of the present invention;
FIG. 3 is a schematic view of the first and second bonding units according to the embodiment of FIG. 2;
FIG. 4 is a schematic diagram of a position information sensing set of the automatic loading and unloading device according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the sensing of the position information sensing set in the embodiment of FIG. 4;
FIG. 6 (a) is a schematic diagram illustrating a state of alignment sensing in an embodiment;
FIG. 6 (b) is a schematic diagram of a first offset state of the alignment sensing in the embodiment of FIG. 6 (a);
FIG. 6 (c) is a diagram illustrating a second offset state of the alignment sensing in the embodiment of FIG. 6 (a);
FIG. 7 is a schematic diagram of the embodiment of FIG. 6 (a) illustrating the sensing of the position information sensing set.
Detailed Description
For a complete understanding of the objects, features and advantages of the present invention, reference should be made to the following detailed description of the invention when read in conjunction with the accompanying drawings, in which:
The terms "a" or "an" are used herein to describe a component, structure, device, module, system, apparatus, etc. This is for convenience of description only and is not intended to provide a general sense of the scope of the invention. Accordingly, unless expressly stated otherwise, such description should be construed as including one or at least one and the singular also includes the plural.
The terms "comprises," "comprising," or any other variation thereof, are intended to be limited to the elements shown herein, but may include other elements or steps not expressly listed but inherent to such element, structure, device, module, system, or apparatus.
The terms "first" or "second" and the like, as used herein, are used for distinguishing or referring to the same or similar signal, element or operation and not necessarily for implying a sequential order of such signals, elements or operations. It is to be understood that in some cases or configurations, ordinal terms may be used interchangeably without affecting the practice of the present invention.
Referring to fig. 1, an automatic loading and unloading system of a motor test platform according to an embodiment of the invention is shown. The carrier 100 is used for carrying the test equipment 200, the mobile platform 300, the position information sensing set 400 and the motor 600 to be tested. The control host 500 is coupled to the test device 200, the mobile platform 300 and the position information sensor set 400. The test apparatus 200 performs a characteristic test of the motor 600 to be tested, for example: the test device 200 with a power meter or the test device 200 with a meter such as a power meter, a torsion meter, etc. The mobile platform 300 and the position information sensor set 400 are main automatic loading and unloading devices.
The control host 500 is used for controlling the automatic loading and unloading of the motor 600 to be tested and the axial end of the test device 200, and also controlling the execution of the test program after the axial connection. The control host 500 may be a separate external host as shown in fig. 1, or may be a host integrated with the test device 200 or a host integrated with other devices.
The movable platform 300 carries the motor 600 to be tested, so that the motor 600 to be tested can change the position of the motor 600 to be tested by the control of the movable platform 300, and further the motor 600 to be tested can be in alignment connection with the axial end 210 of the testing equipment 200 for testing; alternatively, the removal of the hub end 210 of the test apparatus 200 is completed for the end of the test procedure. The shaft end 210 of the test apparatus 200 is coupled to the motor 600 to be tested to transfer the driving capability of the motor 600 to be tested, thereby obtaining the relevant characteristic parameters of the motor 600 to be tested.
The position information sensing set 400 can detect the position of the mobile platform 300, generate position information based on the position information, and provide the position information to the control host 500, so that the control host 500 can correspondingly control the mobile platform 300, adjust the motor 600 to be tested to a preset target position, and complete the alignment and the connection or the removal of the motor 600 to be tested and the axial end 210 of the test equipment 200, thereby further having the capability of self-correction adjustment without manual adjustment by an operator.
The acquisition of the positional information of the motor 600 to be measured relates to the accuracy of the automatic loading and unloading. In the embodiment of the present invention, the carrier 310 on the mobile platform 300 is used as a basis for determination. The carrier 310 has a base (reference is made to the base 312 of fig. 5) and an upstanding wall 314 that are secured to the mobile platform 300. The position information sensing set 400 is disposed opposite to the standing wall 314, that is, the position information sensing set 400 obtains position information based on the standing wall 314, and then controls the movable platform 300 to move the motor 600 to be tested to a desired position by controlling a preset target position in the host 500. The motor 600 to be measured is fixed to the standing wall 314, and thus the axial end 610 of the motor 600 to be measured can be indirectly confirmed. In other words, the preset target position in the control host 500 has been set based on the relative relationship between the axial end 210 of the test apparatus 200 and the axial end 610 of the motor 600 to be tested, and the accurate acquisition of the position information of the motor 600 to be tested mounted on the carrier 310 can be performed by using the standing wall 314 as a criterion, and by selecting and combining the information obtained from the standing wall 314 and the information obtained by using the standing wall 314 as a reflective medium, the accuracy of automatic mounting and dismounting can be improved, so that the tolerance required during the mounting can be reduced as much as possible, and the installation cost required for providing high tolerance can be reduced.
Next, please refer to fig. 2, which illustrates a connection structure of an automatic loading and unloading device according to an embodiment of the present invention. In addition to the movable platform 300 and the position information sensing set 400, the automatic loading and unloading device may further include a first coupling unit 612 on the axial end 610 of the motor to be tested, and a flexible coupling 212 on the axial end 210 of the testing device 200, where the flexible coupling 212 may include a second coupling unit 2122. The flexible coupling 212 may accommodate some of the errors in the engagement of the first engagement unit 612 with the second engagement unit 2122, such that some of the latitude may still be provided when engaged.
Referring to fig. 2 and 3, fig. 3 is a schematic view of the first and second engaging units of the automatic loading and unloading device in the embodiment of fig. 2. As illustrated in fig. 2, the first engaging unit 612 may have a plurality of first teeth 6122 disposed around the outer peripheral surface and protruding radially. The second engagement unit 2122 has a through hole 2126, and a plurality of second teeth 2124 radially protruding from an inner peripheral wall of the through hole 2126. The first tooth 6122 and the second tooth 2124 are used for aligning and relatively jointing the axial end 210 of the testing device 200 and the axial end 610 of the motor 600 to be tested. Also for example: when the first engagement unit 612 approaches the second engagement unit 2122, the control host 500 can control the axial end 210 of the testing device 200 to slowly rotate, so that the first tooth portion 6122 and the second tooth portion 2124 can be engaged more smoothly.
Referring next to fig. 4, a schematic diagram of a position information sensing set of an automatic handling device according to an embodiment of the invention is shown. The position information sensing set 400 includes an image sensor 410 and a distance sensor 420 disposed on one side of the test apparatus 200. The image sensor 410 is used for acquiring image data of the standing wall 314 (refer to fig. 5) with the indication information. The indication information is, for example, the contour of the standing wall 314, an identification point on the standing wall 314, preferably a combination of the contour of the standing wall 314 and the identification point. The distance sensor 420 is used to obtain a distance data of the distance between the distance sensor 420 and the standing wall 314. The image sensor 410 can correspondingly obtain at least two axial position information, such as a Y axis and a Z axis; the distance sensor 420 may correspondingly obtain the position information of the remaining axis, such as the X-axis.
For example, the image sensor mentioned herein may be a Complementary Metal Oxide Semiconductor (CMOS) sensor, a photo-sensitive coupling element (CCD) sensor, a Thin Film Transistor (TFT) sensor, or other image-capturing sensor. The distance sensor mentioned herein may be an infrared distance meter, a laser distance meter, an ultrasonic distance meter, or other sensor that can measure the distance between the sensor and the opposite arrangement.
Next, please refer to fig. 5, which is a schematic diagram illustrating the sensing of the position information sensing set in the embodiment of fig. 4. The carrier 310 on the mobile platform 300 has a base 312 and an upright wall 314 disposed on the base 312, and the upright wall 314 and the base 312 may be integrated or assembled. The upright wall 314 has a locking hole 3142 and a through hole 3144 for locking the fixing piece 316, and the fixing piece 316 is used for locking the motor 600 to be tested. The through hole 3144 may define a first image sensing area SE1 at a sensing viewing angle of the position information sensing set 400 illustrated in fig. 4, where the first image sensing area SE1 includes: the outline of the lock hole 3142, the outline of the periphery of the through hole 3144, the outline of a part of the fixing piece 316, and the outline of the first engaging unit 612 on the axial end 610 of the motor 600 to be measured.
Thus, the indication information (e.g., information displayed by the configuration itself and/or other additional information, such as a pattern or a symbol for alignment) obtained by the image sensor 410 in the defined first image sensing area SE1 can be used to determine whether the carrier 310 has been driven to a predetermined position in a specific axial direction. In addition, based on the standing wall 314 on the carrier 310, a first distance sensing area SE2 for sensing by the distance sensor 420 can be defined, and used for determining whether the carrier 310 has been driven to a predetermined position in a specific axial direction.
The first image sensing area SE1 can be used to define the position information of the first axial direction (Y) and the second axial direction (Z), so that the sensed image (which can be used as the reference image data) in the first image sensing area SE1 can be stored in the control host 500 when the axial end 610 of the motor 600 to be tested and the axial end 210 of the test apparatus 200 are aligned in the two axial directions (Y and Z). Then, let the control host 500 control the multiaxial mobile seat 320 to complete alignment in two axial directions (Y and Z) when the image presented by the first image sensing area SE1 matches the comparison of the internal storage, which means that the axial end 610 of the motor 600 to be tested and the axial end 210 of the test equipment 200. Based on this, the alignment accuracy can be improved, and the alignment accuracy can be achieved by performing self-correction under the control of the control host 500 (to match images).
Within the defined first image sensing region SE1, at least 1/3 of each of the following contours may be included: the locking hole 3142, the peripheral outline of the through hole 3144, part of the outline of the fixing piece 316, and the outline of the first coupling unit 612. As illustrated in fig. 5, 1/2 of each contour is taken as position information for determination. By forming a special geometric profile group by the lock hole 3142, the through hole 3144, the through hole 3162 of the fixing piece 316 and the first joint unit 612, a marking information is presented, and alignment accuracy can be improved.
In other embodiments, the position information sensing set 400 may include only the sensor for capturing images, and is disposed above the carrier 310 at a top view angle to capture images of top outlines of the standing wall 314, the first bonding unit 612, and the second bonding unit 2122, so as to obtain position information of both X-axis and Y-axis. So that when the multi-axis moving seat 320 of the movable platform 300 is controlled to move in both the X-axis and the Y-axis, the alignment in the Z-axis is not required, and thus the movable platform is suitable for the situation that the Z-axis is fixed by the structural arrangement of the multi-axis moving seat 320.
Referring to fig. 5, the track set in the multi-axis motion seat 320 includes: first axial track set 322 (Y-axis), second axial track set 328 (Z-axis), and third axial track set 329 (X-axis). The first axial moving seat 324 is disposed on the first axial track set 322, so that the first axial moving seat 324 can move along the Y-axis direction. The second axial moving seat 326 is disposed above the platform of the first axial moving seat 324 by a second axial rail set 328 on the side and movable in the Z-axis direction, and the second axial rail set 328 is disposed on a mounting wall 3241 erected on both sides of the first axial moving seat 324. The third axial track set 329 is disposed on the second axial moving seat 326 and carries the base 312 of the carrier 310, whereby the carrier 310 can move along the X-axis direction by the third axial track set 329. Accordingly, the control host 500 can control the position of the carrier 310 through the multi-axial moving seat 320, so as to control the alignment of the axial end 610 of the motor 600 to be tested and the axial end 210 of the testing device 200.
Based on the comparison of the image data and the stored image data (reference image data), the position information of the carrier 310 in the first (Y) and second (Z) axial directions can be obtained under the control of the multi-axial moving stage 320. The control host 500 obtains positional information of the carrier 310 in the third (X) axis based on the distance data. The control host 500 may control the multi-axis moving seat 320 to move the carrier 310 in the first and second axial directions, and then control the multi-axis moving seat 320 to move the carrier 310 in the third axial direction to match the stored distance data, so as to align and connect the axes. Further, the control host 500 may rotate the axis of the motor 600 or the axis of the testing apparatus 200 to a certain degree (e.g. slowly rotate by a certain angle) during the automatic alignment and engagement process, so that the first engagement unit 612 and the second engagement unit 2122 are engaged smoothly.
In addition, when the aligned axis is to be removed (end the test), the control host 500 may first move the carrier 310 in the third axial direction (X) to be away from the axis of the test apparatus 200, and then move the carrier 310 in the first (Y) and second (Z) axial directions to the initial position, and subsequently detach the motor 600 to be tested.
In further alignment sensing, since tilt conditions may also occur, axial adjustment of X, Y, Z alone may not be sufficient to achieve more accurate positioning and confirmation, and thus tilt conditions may be detected and adjusted based on the present automated handling apparatus and system to achieve further positioning and confirmation.
Referring next to fig. 6 (a) to 6 (c), fig. 6 (a) is a schematic diagram of a state of alignment sensing in an embodiment, fig. 6 (b) is a schematic diagram of a first offset state of alignment sensing in the embodiment of fig. 6 (a), and fig. 6 (c) is a schematic diagram of a second offset state of alignment sensing in the embodiment of fig. 6 (a). In fig. 6 (a) to 6 (c), the standing wall 314, the image sensor 410, the first image sensing area SE1, and the example pattern T for alignment located in the first image sensing area SE1 are schematically illustrated on the left side, the image sensor 410 acquires the identification image data TF of the example pattern T from the first image sensing area SE1 (as the indication information), and compares the identification image data TF with the reference image data SF stored in the control host, and the compared state is shown on the right side in fig. 6 (a) to 6 (c). When the inclination condition is met, the image of the example pattern T acquired by the image sensor 410 may be reduced, and this embodiment is used as a basis for determining whether the inclination is present.
As shown in fig. 6 (a), when the inclination is not present, the example pattern T on the standing wall 314 is captured, and then the identification image data TF is superimposed on the reference image data SF in the image recognition comparison, and the illustrated frame lines and the center are superimposed in this example.
As shown in fig. 6b, when the second axis (Z axis) has an inclination (or Y-turn around the first axis), the exemplary pattern T on the standing wall 314 is imaged at an angle of θ Z, and then, in the recognition alignment of the image, the recognized image data TF is offset from the reference image data SF in the second axis (Z axis), and the recognized image data TF is presented with flattened image data (determination reduction) in the second axis (Z axis), and is presented with an offset degree Δθ Z in the up and down directions as illustrated in fig. 6 b. The corresponding adjustment allows the normal vector of the wall surface of the standing wall 314 to rotate in the first axial direction (Y-axis). In addition, the adjustment mode can be to fix one steering to judge initially, and can maintain the original steering to continue adjustment to the offset degree without delta theta Z under the condition that the offset degree of delta theta Z is not increased and is reduced; on the other hand, when the determination is made while fixing the steering, if the degree of displacement of Δθ Z is increased instead, indicating that the direction of adjustment is wrong, the degree of displacement of Δθ Z should be adjusted in the opposite direction so as to be reduced without increasing any more, and then the adjustment is continued until no degree of displacement of Δθ Z is obtained.
As shown in fig. 6 (c), when the first axial direction (Y axis) has an inclination (or is rotated about the second axis Z), the offset is θ Y, and after the example pattern T on the standing wall 314 is imaged, the identification image data TF is offset from the reference image data SF in the first axial direction (Y axis) in the identification comparison of the images, and the identification image data TF is compressed in the first axial direction (Y axis) to form image data (determination reduction amount), and further, the offset degree of Δθ Y is present in the left and right as illustrated in fig. 6 (c). The corresponding adjustment allows the normal vector of the wall surface of the standing wall 314 to rotate in the second axis (Z axis). In addition, the adjustment mode can be to fix one steering to judge initially, and can maintain the original steering to continue adjustment to the offset degree without delta theta Y under the condition that the offset degree of delta theta Y is not increased and is reduced; on the other hand, when the determination is made while fixing the steering, if the degree of displacement of Δθ Y is increased instead, indicating that the direction of adjustment is wrong, the degree of displacement of Δθ Y should be adjusted in the opposite direction so as to be reduced without increasing any more, and then the adjustment is continued until no degree of displacement of Δθ Y is obtained.
Next, please refer to fig. 7, which is a schematic diagram illustrating the sensing of the position information sensing set in the embodiment of fig. 6 (a). The second axial track set 328 may have four second axial tracks, and may further have first through fourth adjustment directions Z1-Z4 of the Z axis. Wherein the mounting wall 3241 on each side has two second axial tracks thereon to provide differential adjustment of the respective second axial tracks carrying the second axial movement seat 326 in the second axial direction, thereby enabling the normal vector of the wall surface of the upstanding wall 314 of the carrying seat 310 to rotate in the first axial direction (Y) or the third axial direction (X).
For example, referring to fig. 6 (b), when the first direction Z1 and the third direction Z3 are a set, and the second direction Z2 and the fourth direction Z4 are a set, the normal vector of the wall surface of the standing wall 314 can rotate in the first axial direction (Y), that is, the angle of θ Z can be adjusted, so that the offset degree of Δθ Z is zero, and the inclination is controlled. On the other hand, when the first direction Z1 and the second direction Z2 are set and the third direction Z3 and the fourth direction Z4 are set, the normal vector of the wall surface of the standing wall 314 can rotate in the third direction (X), that is, the inclination control can be additionally provided for the degree of the rotational offset in the third direction (X).
Referring to fig. 7 again, the third axial track set 329 may have two third axial tracks, and may further have first to second adjustment directions X1 to X2 of the X axis. The third axial track group 329 has at least two third axial tracks to provide differential adjustment of the third axial tracks of the bearing seat 310 in a third axial direction, so that a normal vector of a wall surface of the standing wall 314 of the bearing seat 310 can rotate in a second axial direction (Z).
For example, referring to fig. 6 (c), when the first X-axis direction X1 and the second X-axis direction X2 are differentially adjusted, the base 312 has a slight rotation degree on the Z-axis, so that the normal vector of the wall surface of the standing wall 314 can be rotated on the second axis (Z), that is, the angle of θ Y can be adjusted, and the offset degree of Δθ Y is zero, so as to achieve the inclination control.
In summary, the matching of the mobile platform and the position information sensing set enables the axial centering operation of the motor power test to be more effectively and correctly automatically performed, and the automatic centering operation can be more rapidly and accurately performed by taking an image of the bearing seat through the position information sensing set, so that the use convenience of the motor test platform is improved, and the time and labor for the pre-preparation of the axial centering test are reduced.
The present invention has been disclosed in the foregoing in terms of preferred embodiments, however, it will be appreciated by those skilled in the art that the embodiments are merely illustrative of the invention and should not be construed as limiting the scope of the invention. It should be noted that all changes and substitutions equivalent to the described embodiments are intended to be included in the scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
[ Symbolic description ]
100. Carrier table
200. Test equipment
210. Axial end of test equipment
212. Flexible coupling
2122. Second joint unit
2124. Second tooth part
2126. Through hole
300. Movable platform
310. Bearing seat
312. Base seat
314. Upright wall
3142. Lock hole
3144. Through holes of upstanding walls
316. Fixing piece
3162. Through hole of fixing piece
320. Multi-axial moving seat
322. First axial track group
324. First axial moving seat
3241. Mounting wall
326. Second axial moving seat
328. Second axial track group
329. Third axial track group
400. Position information sensing set
410. Image sensor
420. Distance sensor
500. Control host
600. Motor to be tested
610. Axial end of motor to be measured
612. First joint unit
6122. First tooth part
SE1 first image sensing region
SE2 first distance sensing region
T example pattern for alignment
TF-identified image data
SF reference image data
Angle theta Y
Angle theta Z
Degree of Δθ Y offset
Degree of Δθ Z offset
X third axial direction
First alignment of X1X axis
Second direction of X2X axis
Y first axial direction
Z second axis
First Z1Z axis adjustment direction
Second direction of Z2Z axis
Z3Z axis third direction of adjustment
And the fourth adjustment direction of the Z4Z axis.
Claims (15)
1. An automatic loading and unloading device for a motor test platform, which is used for a control host to control automatic loading and unloading between a motor to be tested and a shaft center of a test device, comprises:
a mobile platform coupled to the control host, comprising: the multi-axial moving seat is arranged on the multi-axial moving seat and is used for fixing the bearing seat of the motor to be tested; and
The position information sensing set is coupled with the control host, is arranged opposite to the bearing seat and generates position information by taking an upright wall of the bearing seat as a reference position;
Wherein, based on the position information, the control host correspondingly controls the multi-axial moving seat to move the bearing seat to the corresponding position to finish the contraposition joint or removal between the axle center of the motor to be tested and the axle center of the test equipment,
The position information sensing set comprises an image sensor and a distance sensor, wherein the image sensor is arranged on one side of the test equipment and is used for acquiring image data of the vertical wall with marking information, the distance sensor is used for acquiring distance data of a distance between the image sensor and the vertical wall, and the image data and the distance data are the position information.
2. The automatic loading and unloading device according to claim 1, further comprising a first engagement unit disposed at an axial end of the motor to be tested and a flexible coupling disposed at an axial end of the testing apparatus, the flexible coupling further comprising a second engagement unit, the first engagement unit and the second engagement unit being adapted to be engaged with each other in alignment between the axial centers of the motor to be tested and the testing apparatus.
3. The automatic assembling and disassembling device according to claim 2, wherein the first engaging unit has a plurality of first teeth portions disposed around the outer peripheral surface and protruding radially, the second engaging unit has a through hole, and the inner peripheral wall of the through hole has a plurality of second teeth portions protruding radially.
4. The automatic handling device of claim 1, wherein the image sensor is one of a Complementary Metal Oxide Semiconductor (CMOS) sensor, a photo-sensitive coupling element (CCD) sensor, and a Thin Film Transistor (TFT) sensor, and the distance sensor is one of an infrared range finder, a laser range finder, and an ultrasonic range finder.
5. The automatic handling device of claim 1, wherein the position information sensing set comprises another image sensor coupled to the control host, and is disposed above an axial end of the mobile platform and the testing equipment, so as to image an axial alignment joint area between the motor to be tested and the testing equipment, and generate the position information.
6. The robot handling device of any of claims 1 to 5, wherein the multi-axis mobile station comprises:
A first axial track set;
the first axial moving seat is arranged on the first axial track group, and two sides of the first axial moving seat are respectively provided with an upright mounting wall;
A second axial track set arranged on each mounting wall;
a second axial moving seat, which is configured above the first axial moving seat by the bearing of the second axial track group; and
The third axial track set is arranged on the second axial moving seat and bears the bearing seat so that the bearing seat moves in the third axial direction.
7. The automatic handling device of claim 6, wherein the second axial track set has at least four second axial tracks, the respective mounting walls having at least two of the second axial tracks thereon to provide differential adjustment of the respective second axial tracks carrying the second axial movement mount in a second axial direction such that a normal vector of a wall surface of the upstanding wall of the carrier mount is rotatable in a first axial or third axial direction.
8. The automatic handling device of claim 6, wherein the third axial track set has at least two third axial tracks to provide differential adjustment of the respective third axial tracks carrying the carrier in a third axial direction such that a normal vector of a wall surface of the upstanding wall of the carrier is rotatable in a second axial direction.
9. An automated handling system for a motor test platform, comprising:
a testing device including an axial end for engaging an axial center of the motor to be tested;
a mobile platform, comprising: the multi-axial moving seat is arranged on the multi-axial moving seat and is used for fixing the bearing seat of the motor to be tested;
A position information sensing set, which is arranged opposite to the bearing seat and generates position information by using an upright wall of the bearing seat as a reference position;
The carrier is used for carrying the test equipment, the movable platform and the position information sensing set; and
The control host is coupled with the test equipment, the multi-axial moving seat and the position information sensing set, and correspondingly adjusts the multi-axial moving seat based on the position information to enable the axis of the motor to be tested and the axis end of the test equipment to be automatically aligned and connected or removed;
The position information sensing set comprises a first image sensor and a distance sensor, wherein the first image sensor and the distance sensor are arranged on one side of the testing equipment, the first image sensor obtains first image data of the vertical wall, and the distance sensor obtains first distance data of the distance between the first image sensor and the vertical wall.
10. The automated handling system of claim 9, wherein the test equipment further comprises a power meter motor, a torquemeter disposed at an axial end of the test equipment, and a flexible coupling having a second engagement unit engaged with a first engagement unit disposed at an axial end of the motor under test, the first engagement unit and the second engagement unit being engaged with each other in alignment between the axial centers of the motor under test and the test equipment.
11. The automatic loading and unloading system according to claim 10, wherein the control host rotates the axis of the motor to be tested or the axis of the test equipment to a degree during the automatic alignment and engagement process, so that the first engagement unit is engaged with the second engagement unit.
12. The automatic loading and unloading system according to claim 9, wherein the control host obtains position information of the bearing seat in the first and second axial directions based on the comparison of the first image data and a reference image data, and the control host obtains position information of the bearing seat in the third axial direction based on the first distance data; and the control host controls the multi-axial moving seat to move the bearing seat in the first axial direction and the second axial direction until the bearing seat is matched with the reference image data, and then controls the multi-axial moving seat to move the bearing seat in the third axial direction so as to enable the axle center to be in alignment joint.
13. The automatic handling system of claim 12, wherein the control host is configured to determine a degree of inclination of the axial end of the motor under test in the second axis direction based on an amount of reduction of the first image data in the second axis direction compared to the reference image data, and the control host is configured to determine a degree of inclination of the axial end of the motor under test in the first axis direction based on an amount of reduction of the first image data in the first axis direction compared to the reference image data.
14. The automated handling system of claim 12, wherein when the aligned hub is removed, the control host first moves the carrier in the third axial direction away from the axis of the test equipment, and then moves the carrier in the first and second axial directions to an initial position.
15. The automatic loading and unloading system according to claim 9, wherein the position information sensing set further comprises another image sensor coupled to the control host, and disposed above the movable platform and the axial end of the testing device, so as to image an axial alignment joint area between the motor to be tested and the testing device, and generate the position information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612602.5A CN112213635B (en) | 2019-07-09 | 2019-07-09 | Automatic loading and unloading device and system of motor test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612602.5A CN112213635B (en) | 2019-07-09 | 2019-07-09 | Automatic loading and unloading device and system of motor test platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112213635A CN112213635A (en) | 2021-01-12 |
| CN112213635B true CN112213635B (en) | 2024-07-30 |
Family
ID=74048334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910612602.5A Active CN112213635B (en) | 2019-07-09 | 2019-07-09 | Automatic loading and unloading device and system of motor test platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112213635B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108778963A (en) * | 2016-03-01 | 2018-11-09 | Ewab工程有限公司 | Autonomous conveyer system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1391086A (en) * | 2001-06-11 | 2003-01-15 | 鼎测科技股份有限公司 | Automatic grain testing system and working procedures |
| WO2005057159A1 (en) * | 2003-12-12 | 2005-06-23 | Hirata Corporation | Test equipment of engine motoring |
| US9038798B2 (en) * | 2010-06-10 | 2015-05-26 | Meidensha Corporation | Shaft connection structure and shaft connection method |
| US8991803B2 (en) * | 2011-09-02 | 2015-03-31 | Bosch Automotive Service Solutions Llc | Mounting apparatus and method |
| EP4155799A3 (en) * | 2011-09-28 | 2023-06-28 | Bruker Nano, Inc. | Testing method including tilting or rotating a sample stage, and apparatus in particular therefor |
| KR101482733B1 (en) * | 2013-06-19 | 2015-01-14 | 김광렬 | multiple channel camera module measuring apparatus and method thereof |
| CN204515088U (en) * | 2015-02-16 | 2015-07-29 | 浙江露通机电有限公司 | A kind of direct driving motor test macro |
| TWI530700B (en) * | 2015-03-11 | 2016-04-21 | 旺矽科技股份有限公司 | Testing machine and operation method thereof |
| CN109828207B (en) * | 2019-03-26 | 2024-05-03 | 安徽大学 | Three-degree-of-freedom spherical motor gesture and moment detection bench and detection method |
-
2019
- 2019-07-09 CN CN201910612602.5A patent/CN112213635B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108778963A (en) * | 2016-03-01 | 2018-11-09 | Ewab工程有限公司 | Autonomous conveyer system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112213635A (en) | 2021-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI690699B (en) | Automatic mounting and demounting device and system for motor testing platform | |
| US9857786B2 (en) | System and method for aligning a coordinated movement machine reference frame with a measurement system reference frame | |
| CN212255574U (en) | Wafer test equipment | |
| CN104913722A (en) | True position detecting method for pin of socket connector of vehicle controller | |
| CN110470247B (en) | Device and method for detecting coaxiality of inner and outer circular surfaces of part | |
| US11460713B2 (en) | System and method for aligning multiple lens elements | |
| WO2015058201A1 (en) | Tire digitizer | |
| CN114770517B (en) | Method for calibrating robot through point cloud acquisition device and calibration system | |
| CN112213635B (en) | Automatic loading and unloading device and system of motor test platform | |
| CN219266127U (en) | Calibration block for multi-axis linkage visual detection equipment | |
| CN109031854B (en) | Jitter correction characteristic evaluation device for optical device with jitter correction function | |
| JPH1011146A (en) | Device for correcting stop posture of mobile object | |
| JP4867219B2 (en) | Inspection device and positioning method of inspection device | |
| CN116045854B (en) | Multi-axis linkage visual inspection equipment and multi-station motor consistency calibration method | |
| CN114571199A (en) | Screw locking machine and screw positioning method | |
| WO2020105218A1 (en) | Measurement method | |
| CN112833782B (en) | A method for realizing mechanical zero detection and adjustment by means of monochromatic light imaging | |
| CN109807935A (en) | An industrial robot arm strain detection device and method | |
| CN118456333B (en) | Vertical thin cabin docking device and posture adjustment docking method based on three-phase machine measurement | |
| CN119108317B (en) | Wafer edge searching method and device | |
| JPH1177562A (en) | Mobile robot | |
| CN117233167B (en) | Detection device and method | |
| CN116045855B (en) | Multi-axis linkage visual inspection equipment and station consistency calibration method thereof | |
| US20240264223A1 (en) | Integrated actuator test system and method for operating the same | |
| Liang et al. | Pose Alignment for Electronic Component Insertion Using Rotational Stereo Vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |