CN112549076A - Test bed for testing comprehensive performance of robot joint - Google Patents
Test bed for testing comprehensive performance of robot joint Download PDFInfo
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- CN112549076A CN112549076A CN202011347623.8A CN202011347623A CN112549076A CN 112549076 A CN112549076 A CN 112549076A CN 202011347623 A CN202011347623 A CN 202011347623A CN 112549076 A CN112549076 A CN 112549076A
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- 238000012360 testing method Methods 0.000 title claims abstract description 47
- 238000009434 installation Methods 0.000 claims abstract description 67
- 239000004579 marble Substances 0.000 claims abstract description 25
- 238000011056 performance test Methods 0.000 claims abstract 5
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000004323 axial length Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 239000006247 magnetic powder Substances 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 10
- 230000000903 blocking effect Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001612 separation test Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot joint comprehensive performance test bench which comprises a robot joint installation module, a torque sensor, a grating main shaft, a coupler, a linear guide rail and a loading mechanism. The above parts are uniformly placed on the marble platform base. The tested robot joint is arranged on the joint installation module, so that repeated clamping and positioning accuracy is high, and clamping is safe and reliable; the linear guide rail is arranged below the designed robot joint installation module, so that the axial movement of the tested joint can be realized, and the mechanical action requirements of different test items can be met. The loading mode is that a servo motor is used for loading instead of a magnetic powder brake, and the magnetic powder brake has the characteristics of small fluctuation of loading torque and high loading precision. The invention comprises a precise control system and a plurality of sensors, has high automation degree, high precision, high strength, stable and reliable performance and reliable loading performance, and meets the requirements of high-precision test, on-load test and the like of robot joint test.
Description
Technical Field
The invention relates to a test bed for testing the comprehensive performance of a robot joint, belonging to the field of precision testing and metering technology, precision instruments and mechanical transmission.
Background
The robot technology is a comprehensive technology developed by modern science, is a product of crossing multiple subjects such as mechanical electronic engineering, computers, automatic control, artificial intelligence and the like, is one of hot spots of current technological development, greatly changes the production and life style of human beings due to the appearance of the robot, and is another great progress of the human development.
At present, the robot technology is developing towards the direction of intelligent machines and intelligent systems, and the main development trend is as follows: modularization and reconfigurability of modules; the control technology is distributed and networked; digitization and decentralization of servo drive technology; the practicability of the multi-sensor fusion technology is realized; optimizing the work environment design, flexibly operating, networking and intelligentizing the system and the like. With the continuous development of electromechanical technologies such as servo drive and sensing technology, joint mechanisms of the robot joint tend to be serialized, modularized and standardized, and a highly integrated servo unit is formed by a drive motor, a speed reducer, a position detection element, a control circuit, a shell and the like
With the continuous development and maturity of the robot technology, the automation degree, the precision degree and the integration degree of the robot joint are higher and higher, and the robot joint is a key component of the robot, and the performance of the robot is directly influenced by the performance of the robot joint.
At present, the test research on the robot joint in China is less, the current joint evaluation method generally adopts the separation test of elements such as a motor, a reducer and the like of the joint, and the evaluation mode has the characteristics of low measurement precision, poor reliability and single test result, and cannot reflect the overall performance and dynamic characteristics of the joint, such as transmission precision, speed, response time, current, voltage, power consumption, power and the like, but the parameters directly relate to the working performance of the whole joint. Therefore, the conventional separation test method is not suitable for testing and evaluating the robot joints, and a brand-new test bed needs to be developed to evaluate various performances of robot shutdown.
Disclosure of Invention
Aiming at the deficiency of the existing robot joint in comprehensive performance testing equipment, the invention develops a test bench for testing the comprehensive performance of the robot joint. The test bed adopts a precise mechanical system, a sensor fusion system and a servo control system, has high repetition precision and wide test range, and can test most of robot joints in the market.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
this robot joint comprehensive properties test bench includes: robot joint installation module (1), a coupler (2), a precise locking nut (3), a bearing blocking cover (4), a bearing seat (5), a circular grating (6), a grating main shaft (7), a coupler (8), a torque sensor (9), a torque sensor support (10), a coupler (11), a load motor support (12), a load motor (13), a platform assembly (14), a tested robot joint (15), a joint installation positioning disc (16), a joint installation support (17), a joint installation disc (18), a joint output shaft (19), a joint installation support positioning blocking strip (20), a locking handle (21), a joint installation support supporting plate (22), a screw nut fixing plate (23), a first position adjusting ejector block (24), a locking handle support (25), a second position adjusting ejector block (26), a linear guide rail blocking shoulder (27), The marble machine comprises a linear guide rail (28), a guide rail sliding block (29), a locking sliding block guide groove (30), a locking sliding block (31), a locking sliding block limiting block (32), a marble platform base (33), a bearing seat (34), a nut (35), a lead screw (36), a bearing seat (37) and a foldable hand wheel (38).
The robot joint mounting module (1) is composed of 12 parts in total, namely a tested robot joint (15), a joint mounting positioning disc (16), a joint mounting support (17), a joint mounting disc (18), a joint output shaft (19), a joint mounting support positioning barrier strip (20), a locking handle (21), a joint mounting support supporting plate (22), a screw nut fixing plate (23), a first position adjusting ejector block (24), a locking handle support (25) and a second position adjusting ejector block (26). The joint (15) of the robot to be tested is fixed on a joint mounting positioning disc (16) through screws, the joint mounting positioning disc (16) is connected with a joint mounting disc (18) through screws, and the joint mounting disc (18) is fixed on a joint mounting support (17) through screws. The front and the rear of the joint mounting bracket (17) are provided with a first position adjusting ejector block (24), the left side is provided with a second position adjusting ejector block (26), the locking handle bracket (25) is connected with the joint mounting bracket (17) through a screw, and the locking handle (21) is arranged on the locking handle bracket (25). The joint mounting bracket (17) is mounted above a joint mounting bracket supporting plate (22), a joint mounting bracket positioning barrier strip (20) is mounted on the right side of the joint mounting bracket supporting plate (22), and a screw nut fixing plate (23) is mounted below the joint mounting bracket supporting plate. The whole robot joint installation module (1) is fixed on a guide rail sliding block (29) through a joint installation support supporting plate (22) by screws.
Joint output shaft (19) are connected with grating main shaft (7) through shaft coupling (2), and bearing shield lid (4) are installed on bearing frame (5), and accurate lock nut (3) are installed on grating main shaft (7) through the screw thread, and circle grating (6) pass through the fix with screw on bearing frame (5), and bearing frame (5) pass through the screw and link to each other with marble platform base (33). Torque sensor (9) and grating main shaft (7) keep on same axis installation torque sensor support (10), torque sensor support (10) pass through the fix with screw at marble platform base (33), the input of torque sensor (9) passes through shaft coupling (8) and links to each other with grating main shaft (7), the output of torque sensor (9) passes through shaft coupling (11) and links to each other with the main shaft of load motor (13), install on load motor support (12) load motor (13), load motor support (12) are fixed at marble platform base (33), load motor (13) and grating main shaft (7) keep same axis.
The paired linear guide rails (28) and the guide rail sliding blocks (29) matched with the paired linear guide rails are arranged on the marble platform base (33), and the linear guide rail retaining shoulders (27) are arranged on the inner sides of the linear guide rails (28) to ensure the linearity of the linear guide rails (28). Locking slider guide slot (30) pass through the screw installation at marble platform base (33) in pairs, and the guide slot internally mounted of locking slider guide slot (30) has locking slider (31), locking slider is spacing (32), and the combination of locking slider guide slot (30), locking slider (31) and locking slider spacing (32) three can be in the axis direction with robot joint installation module (1) fixed motionless, prevents that robot joint installation module (1) from having axial drunkenness in the testing process. Bearing frame (34) and bearing frame (37) are installed in the groove of marble platform base (33), it is fixed with lead screw (36), and guarantee that lead screw (36) are in same level, nut (35) are installed on lead screw (36), and link to each other with lead screw nut fixed plate (23) through the screw, make lead screw nut combination and robot joint installation module (1) become an organic whole, the end at lead screw (36) is installed in collapsible hand wheel (38), convenient removal robot joint installation module (1), collapsible hand wheel (38) can withdraw the handle when not using, both increase the test bench beautifully and reduce the axial length of test bench.
The invention has the following remarkable characteristics:
the robot joint installation module is uniquely designed and is installed on the linear guide rail, so that the axial movement of the tested joint can be realized, and the action of the mechanical structure of the test bed required by test items and test methods can be met.
The test bed can be used for measuring robot joints with various specifications, the test range is wide, and the range of joint output torque which can be covered is 0-100 Nm.
The robot joint installation module of the test bed can be used for installing and testing robot joints with various shapes: straight axis, L-shaped, square, etc.
The robot joint installation module of the test bed has good interchangeability and safe and reliable card installation.
The design of the robot joint installation module has the characteristics of high repeated positioning precision, simplicity in installation and the like.
The test bed is assembled by adopting a uniform standard, the precision of the test bed is high, and the measurement precision is improved.
The test bed is loaded by using the servo motor and has the characteristics of small fluctuation of loading torque and high loading precision.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a part of a robot joint installation module of the invention.
Fig. 3 is a schematic view of a portion of a marble slab of the present invention.
In the figure: 1-a robot joint installation module, 2-a coupler, 3-a precision locking nut, 4-a bearing baffle cover, 5-a bearing seat, 6-a circular grating, 7-a grating main shaft, 8-a coupler, 9-a torque sensor, 10-a torque sensor bracket, 11-a coupler, 12-a load motor bracket, 13-a load motor, 14-a platform component, 15-a tested robot joint, 16-a joint installation positioning disc, 17-a joint installation bracket, 18-a joint installation disc, 19-a joint output shaft, 20-a joint installation bracket positioning baffle bar, 21-a locking handle, 22-a joint installation bracket supporting plate, 23-a screw nut fixing plate, 24-a first position adjusting jacking block and 25-a locking handle bracket, 26-second position adjusting top block, 27-linear guide rail shoulder, 28-linear guide rail, 29-guide rail sliding block, 30-locking sliding block guide groove, 31-locking sliding block, 32-locking sliding block limit, 33-marble platform base, 34-bearing seat, 35-nut, 36-lead screw, 37-bearing seat, and 38-foldable hand wheel.
Detailed Description
The invention is further illustrated by the following figures and examples.
The structure of the invention is shown in figures 1, 2 and 3, and the test bed comprises: robot joint installation module (1), a coupler (2), a precise locking nut (3), a bearing blocking cover (4), a bearing seat (5), a circular grating (6), a grating main shaft (7), a coupler (8), a torque sensor (9), a torque sensor support (10), a coupler (11), a load motor support (12), a load motor (13), a platform assembly (14), a tested robot joint (15), a joint installation positioning disc (16), a joint installation support (17), a joint installation disc (18), a joint output shaft (19), a joint installation support positioning blocking strip (20), a locking handle (21), a joint installation support supporting plate (22), a screw nut fixing plate (23), a first position adjusting ejector block (24), a locking handle support (25), a second position adjusting ejector block (26), a linear guide rail blocking shoulder (27), The marble machine comprises a linear guide rail (28), a guide rail sliding block (29), a locking sliding block guide groove (30), a locking sliding block (31), a locking sliding block limiting block (32), a marble platform base (33), a bearing seat (34), a nut (35), a lead screw (36), a bearing seat (37) and a foldable hand wheel (38).
The robot joint mounting module (1) is composed of 12 parts in total, namely a tested robot joint (15), a joint mounting positioning disc (16), a joint mounting support (17), a joint mounting disc (18), a joint output shaft (19), a joint mounting support positioning barrier strip (20), a locking handle (21), a joint mounting support supporting plate (22), a screw nut fixing plate (23), a first position adjusting ejector block (24), a locking handle support (25) and a second position adjusting ejector block (26). The joint (15) of the robot to be tested is fixed on a joint mounting positioning disc (16) through screws, the joint mounting positioning disc (16) is connected with a joint mounting disc (18) through screws, and the joint mounting disc (18) is fixed on a joint mounting support (17) through screws. The front and the rear of the joint mounting bracket (17) are provided with a first position adjusting ejector block (24), the left side is provided with a second position adjusting ejector block (26), the locking handle bracket (25) is connected with the joint mounting bracket (17) through a screw, and the locking handle (21) is arranged on the locking handle bracket (25). The joint mounting bracket (17) is mounted above a joint mounting bracket supporting plate (22), a joint mounting bracket positioning barrier strip (20) is mounted on the right side of the joint mounting bracket supporting plate (22), and a screw nut fixing plate (23) is mounted below the joint mounting bracket supporting plate. The whole robot joint installation module (1) is fixed on a guide rail sliding block (29) through a joint installation support supporting plate (22) by screws.
Joint output shaft (19) are connected with grating main shaft (7) through shaft coupling (2), and bearing shield lid (4) are installed on bearing frame (5), and accurate lock nut (3) are installed on grating main shaft (7) through the screw thread, and circle grating (6) pass through the fix with screw on bearing frame (5), and bearing frame (5) pass through the screw and link to each other with marble platform base (33). Torque sensor (9) and grating main shaft (7) keep on same axis installation torque sensor support (10), torque sensor support (10) pass through the fix with screw at marble platform base (33), the input of torque sensor (9) passes through shaft coupling (8) and links to each other with grating main shaft (7), the output of torque sensor (9) passes through shaft coupling (11) and links to each other with the main shaft of load motor (13), install on load motor support (12) load motor (13), load motor support (12) are fixed at marble platform base (33), load motor (13) and grating main shaft (7) keep same axis.
The paired linear guide rails (28) and the guide rail sliding blocks (29) matched with the paired linear guide rails are arranged on the marble platform base (33), and the linear guide rail retaining shoulders (27) are arranged on the inner sides of the linear guide rails (28) to ensure the linearity of the linear guide rails (28). Locking slider guide slot (30) pass through the screw installation at marble platform base (33) in pairs, and the guide slot internally mounted of locking slider guide slot (30) has locking slider (31), locking slider is spacing (32), and the combination of locking slider guide slot (30), locking slider (31) and locking slider spacing (32) three can be in the axis direction with robot joint installation module (1) fixed motionless, prevents that robot joint installation module (1) from having axial drunkenness in the testing process. Bearing frame (34) and bearing frame (37) are installed in the groove of marble platform base (33), it is fixed with lead screw (36), and guarantee that lead screw (36) are in same level, nut (35) are installed on lead screw (36), and link to each other with lead screw nut fixed plate (23) through the screw, make lead screw nut combination and robot joint installation module (1) become an organic whole, the end at lead screw (36) is installed in collapsible hand wheel (38), convenient removal robot joint installation module (1), collapsible hand wheel (38) can withdraw the handle when not using, both increase the test bench beautifully and reduce the axial length of test bench.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
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| CN202011347623.8A CN112549076A (en) | 2020-11-26 | 2020-11-26 | Test bed for testing comprehensive performance of robot joint |
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| CN202011347623.8A CN112549076A (en) | 2020-11-26 | 2020-11-26 | Test bed for testing comprehensive performance of robot joint |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146680A (en) * | 2021-05-06 | 2021-07-23 | 北京工业大学 | Small-size joint return difference static test platform of robot |
| CN114952945A (en) * | 2022-07-26 | 2022-08-30 | 珞石（北京）科技有限公司 | Reconfigurable modular single-shaft robot for joint test and test platform |
| CN115635511A (en) * | 2022-12-01 | 2023-01-24 | 成都瑞迪智驱科技股份有限公司 | Magnetic type modularized robot driving mechanism comprehensive detection system |
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