CN118913665B - A performance testing device for industrial robot intelligent manufacturing - Google Patents
A performance testing device for industrial robot intelligent manufacturing Download PDFInfo
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- CN118913665B CN118913665B CN202411406865.8A CN202411406865A CN118913665B CN 118913665 B CN118913665 B CN 118913665B CN 202411406865 A CN202411406865 A CN 202411406865A CN 118913665 B CN118913665 B CN 118913665B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 18
- 238000012360 testing method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000005381 potential energy Methods 0.000 claims abstract description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 48
- 230000005484 gravity Effects 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 229910052742 iron Inorganic materials 0.000 claims description 24
- 238000011056 performance test Methods 0.000 claims description 10
- 229910001018 Cast iron Inorganic materials 0.000 claims description 9
- 230000032258 transport Effects 0.000 abstract description 4
- 230000006698 induction Effects 0.000 description 17
- 230000005389 magnetism Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
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- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
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- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000003252 repetitive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
本发明属于机器人性能测试技术领域，具体是指一种工业机器人智能制造用性能测试设备，包括机器人滑动座、导向滑轨、驱动齿条、势能高差型负载机构和安全限位机构，所述导向滑轨对称设于机器人滑动座两端上壁，所述驱动齿条两两为一组对称设于机器人滑动座的上壁和底壁，所述势能高差型负载机构设于导向滑轨上，所述安全限位机构设于机器人滑动座两端上壁。本发明提供了一种能够对机械臂在空载运动下和负载运动下，对其动力滑动系统定位性能进行测试，且能够将机械臂从高处将物体运往低处时，其产生的势能对动力系统定位精度造成的偏差进行检出的工业机器人智能制造用性能测试设备。
The present invention belongs to the field of robot performance testing technology, and specifically refers to a performance testing device for intelligent manufacturing of industrial robots, including a robot sliding seat, a guide rail, a driving rack, a potential energy height difference type load mechanism and a safety limit mechanism, wherein the guide rails are symmetrically arranged on the upper walls at both ends of the robot sliding seat, the driving racks are symmetrically arranged on the upper wall and the bottom wall of the robot sliding seat in a group of two, the potential energy height difference type load mechanism is arranged on the guide rail, and the safety limit mechanism is arranged on the upper walls at both ends of the robot sliding seat. The present invention provides a performance testing device for intelligent manufacturing of industrial robots that can test the positioning performance of the power sliding system of a robot arm under no-load movement and load movement, and can detect the deviation of the positioning accuracy of the power system caused by the potential energy generated by the robot arm when it transports an object from a high place to a low place.
Description
Technical Field
The invention belongs to the technical field of robot performance test, and particularly relates to performance test equipment for intelligent manufacturing of an industrial robot.
Background
Industrial robots, which are an important component of intelligent manufacturing, are mechanical devices with autonomous learning and task execution capabilities, which can replace manual work to accomplish repetitive, high-risk and tedious work, often employ advanced sensors and control systems, which can sense the surrounding environment and make corresponding reactions, thus realizing efficient automated production.
The prior performance testing device has the following problems:
The existing performance test equipment for intelligent manufacturing of the industrial robot does not have the function of testing the positioning performance of the power sliding system of the mechanical arm under no-load movement and under load movement, and can not detect the deviation of the positioning precision of the power system caused by potential energy generated by the mechanical arm when the mechanical arm transports an object to a low position from a high position, so that the use requirement of the existing performance test equipment for intelligent manufacturing of the industrial robot cannot be met.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the technical scheme provides the performance test equipment for intelligent manufacturing of the industrial robot, which can test the positioning performance of the power sliding system of the mechanical arm under the condition of no-load movement and load movement, and can detect the deviation caused by potential energy generated by the mechanical arm to the positioning precision of the power system when the mechanical arm transports an object from a high position to a low position.
The technical scheme includes that the intelligent industrial robot manufacturing performance testing device comprises a robot sliding seat, guide sliding rails, driving racks, potential energy height difference type loading mechanisms and a safety limiting mechanism, wherein the guide sliding rails are symmetrically arranged on the upper walls of two ends of the robot sliding seat, the driving racks are symmetrically arranged on the upper walls and the bottom walls of the robot sliding seat in pairs, the potential energy height difference type loading mechanisms are arranged on the guide sliding rails, the safety limiting mechanism is arranged on the upper walls of two ends of the robot sliding seat, the potential energy height difference type loading mechanisms comprise driving mechanisms, potential difference mechanisms, weight increasing mechanisms, positioning mechanisms and distance measuring mechanisms, the driving mechanisms are arranged on the upper wall of the robot sliding seat, the potential difference mechanisms are arranged on the upper wall of the driving mechanisms, the weight increasing mechanisms are arranged on one ends of the potential difference mechanisms far away from the driving mechanisms, and the distance measuring mechanisms are arranged on the side walls of the robot sliding seat.
As a further preferable scheme, the driving mechanism comprises a load table, a motor base, a driving motor, a speed reducer, a driving gear set, a proximity switch and an induction block, wherein the load table is arranged on the upper wall of the guide slide rail in a sliding manner, the motor base is symmetrically arranged on the bottom walls of the two ends of the load table, the driving motor is arranged in the motor base, the speed reducer is arranged on one side, far away from the load table, of the motor base, the power end of the driving motor penetrates through the motor base and is connected with the power input end of the speed reducer, the driving gear set is arranged at the power output end of the speed reducer, the driving gear set is meshed with the driving rack, the proximity switch is arranged on the upper walls of the two ends of the guide slide rail in a penetrating manner, and the induction block is symmetrically arranged on the bottom walls of the two ends of the load table in a two-by-two symmetrical manner; the weight increasing mechanism comprises a gravity ball cylinder, an iron plug and a cast iron weight, the gravity ball cylinder is arranged on the inner wall of the gravity ball cylinder, the iron plug penetrates through the upper wall and the bottom wall of the gravity ball cylinder, the iron plug is in threaded connection with the gravity ball cylinder, the cast iron weight is arranged in the gravity ball cylinder, the positioning mechanism comprises a positioning plate and a positioning electromagnet, the positioning plate is arranged at one end of the gravity ball cylinder, which is far away from the load table, the positioning electromagnet is arranged at the bottom wall of the positioning plate, the distance measuring mechanism comprises distance measuring sensors, distance measuring grooves and distance measuring plates, the distance measuring sensors are symmetrically arranged at two sides of a robot sliding seat, the distance measuring grooves are arranged on the upper wall of the robot sliding seat, which is arranged between driving racks, the distance measuring grooves are arranged in a penetrating manner, the load platform both sides are located to the range finding board symmetry, and the one end that the load platform was kept away from to the range finding board is located the range finding inslot portion, and range finding inboard wall is located in the range finding board slip, and range finding sensor range finding end runs through and locates the range finding inslot portion.
When the device is used, in an initial state, the extension spring is in extension setting, the extension spring extends to drive the differential sliding plate to slide along the differential column to descend by a height, the differential column drives the gravity ball cylinder to be positioned on the upper wall of the load table, the driving motor drives the speed reducer to rotate through the power end, the speed reducer drives the driving gear set to rotate, the driving gear set is meshed with the driving gear rack, the driving gear set drives the load table to slide along the guide sliding rail, the load table drives the induction block to reach the position of the proximity switch, the proximity switch induces the induction block, the power end of the driving motor stops driving the speed reducer to rotate, the speed reducer reduces the output rotating speed of the driving motor, at the moment, the induction block is arranged opposite to the proximity switch, the distance sensor measures the distance measuring plate on one side of the load table, which is close to the distance measuring plate through the distance measuring end, and the distance measuring sensor is the positioning distance of the speed reducer when the driving motor under no load stops;
when the safety performance of a power system of a robot sliding base is tested, an iron plug is rotated out from the upper wall of a gravity ball cylinder, a cast iron weight required by a user is added into the gravity ball cylinder, then the iron plug is screwed into the upper wall of the gravity ball cylinder, at the moment, the gravity ball cylinder is positioned on the upper wall of a load table, a driving motor drives a load table to reach one end of a guide sliding rail through a power end, distance measuring plates arranged on two sides of the load table are respectively positioned at the farthest and nearest distances from a distance measuring sensor, an induction block on the nearest distance between the distance measuring plate and the distance measuring sensor is arranged opposite to a proximity switch, the load table is driven to move to one side farthest from the distance measuring sensor, so that the positioning accuracy of the load table under the condition of load is conveniently tested, the power end of the driving motor is rotated, the rotating speed of the power end of the driving motor is adjusted to the rotating speed required by the user, the speed reducer is driven by the power end to drive the driving motor to rotate along the driving rack, the driving gear set drives the load table to slide along the guide sliding rail, after the distance measuring plates on one side of the distance measuring plates and the distance measuring sensor reach the farthest and the closest distance measuring switch, and the distance measuring plates can be compared with the idle-load accuracy when the distance between the distance measuring plates and the load table is tested at the farthest and the farthest;
The driving motor drives the load platform to move, the load platform drives the distance measuring sensor at the current position and the induction block at one side of the distance measuring plate, the distance measuring sensor and the induction block at one side of the distance measuring plate are moved to the position opposite to the proximity switch, then the positioning electromagnet is fixed on the bottom wall of the positioning plate and electrified to generate magnetism, the positioning plate adsorbs the iron plug through magnetism, the differential sliding plate is manually lifted under the assistance of magnetic attraction, the differential sliding plate drives the gravity ball cylinder to slide up along the differential column to rise, the iron plug and the positioning electromagnet are mutually attached, the positioning electromagnet adsorbs the iron plug through magnetism, the differential sliding plate is fixed at one end of the differential column far away from the load platform, the driving motor drives the driving gear set to roll along the driving rack through the power end, the driving gear set drives the load platform to slide along the guide slide rail, when the load platform slides to drive the induction block to move towards the proximity switch at the other end of the guide slide rail, the current fed into the positioning electromagnet is gradually reduced, the adsorption magnetic force of the positioning electromagnet weakens the gravity of the iron plug, the differential sliding plate continuously drops down under the action of gravity force of the gravity ball cylinder and an extension spring reset spring, when the load platform drives the induction block to reach the position of the differential column to stop the differential sliding plate, and the distance measuring device can fall down to the distance measuring device through the gravity value, and the distance measuring device can fall down to the distance measuring device, and the distance between the load platform and the distance measuring device can reach the distance measuring accuracy when the distance measuring ball can reach the distance measuring value.
Preferably, the safety limiting mechanism comprises limiting blocks, threaded holes and limiting bolts, wherein the limiting blocks are symmetrically arranged on the upper walls of the two ends of the robot sliding seat in pairs, the limiting blocks and the guide sliding rail are coaxially and horizontally arranged, the threaded holes are formed in the side walls of the limiting blocks, the limiting bolts are arranged in the threaded holes, and the limiting bolts are in threaded connection with the threaded holes.
When the device is used, according to the minimum numerical value between the measured ranging sensor and the ranging plate, the distance from the limiting bolt to one end of the guiding sliding rail is set, the distance from the limiting bolt to one side of the guiding sliding rail is adjusted and stretched along the threaded hole, the distance between the limiting bolt and the load table can be adjusted according to the inertial moving force generated when the load table is loaded, collision between the load table and the limiting bolt during normal operation is avoided, and the limiting bolt can be adjusted to a safe limiting position in a matched mode.
Specifically, a controller is arranged on the upper wall of one end of the robot sliding seat.
The controller is electrically connected with the driving motor, the proximity switch, the positioning electromagnet and the ranging sensor respectively.
Preferably, the controller is of the type HAD-SC200.
Further, the ranging sensor is of model C1-JCS1501.
The beneficial effect that this scheme of adoption above-mentioned structure obtained is as follows:
Compared with the prior art, this scheme adopts the mode of no-load positioning accuracy and load inertia deviation and potential energy inertia deviation looks comparison, the positioning deviation that produces when loading out the load platform, and can adjust the spacing distance of stop bolt through the deviation numerical value of load, make stop bolt can avoid stop bolt and load platform to collide again when guaranteeing safe spacing distance, secondly, through the simulation to the arm from the high transport goods motion to low, the positioning accuracy deviation after the potential energy influence is received to the driving system that sets up on the robot sliding seat that can test out the arm use, thereby the transfer accuracy of arm to the driving system that sets up on the robot sliding seat that the arm adopted that can be better, and then guarantee the transfer accuracy of arm that can be better, when the load platform slides and drives the proximity switch removal of the induction block guide rail other end, the inside electric current that lets in the location electromagnet reduces gradually, the absorption magnetic force of location electromagnet to the iron plug weakens, differential slide plate constantly descends the height under the effect of gravity ball section of thick bamboo gravity and extension spring reset spring, after the load platform drives the position of the induction block and stops the motor, the moment, the kinetic energy value is fallen down to the distance measuring device through the moment, can be the distance measuring device after the load platform stops the moment, the kinetic energy value is fallen down to the distance measuring device.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present solution;
FIG. 2 is a front perspective view of the present solution;
FIG. 3 is a bottom perspective view of the present solution;
FIG. 4 is a schematic diagram of the internal structure of the present embodiment;
fig. 5 is a schematic structural view of the sliding seat of the robot according to the present embodiment;
FIG. 6 is a front view of the present solution;
FIG. 7 is a side view of the present solution;
FIG. 8 is a top view of the present solution;
FIG. 9 is an enlarged view of the portion I of FIG. 2;
FIG. 10 is an enlarged view of the portion II of FIG. 4;
FIG. 11 is an enlarged view of the portion III of FIG. 5;
FIG. 12 is a partial cross-sectional view of portion A-A of FIG. 8;
Fig. 13 is a partial cross-sectional view of B-B of fig. 8.
Wherein, 1, a robot sliding seat, 2, a guiding sliding rail, 3, a driving rack, 4, a potential energy height difference type load mechanism, 5, a driving mechanism, 6, a load table, 7, a motor seat, 8, a driving motor, 9, a speed reducer, 10, a driving gear set, 11, a proximity switch, 12, an induction block, 13, a potential difference mechanism, 14, a potential difference column, 15, a potential difference sliding plate, 16 and an extension spring, 17, weight increasing mechanism, 18, gravity ball cylinder, 19, iron plug, 20, cast iron weight, 21, positioning mechanism, 22, positioning plate, 23, positioning electromagnet, 24, ranging mechanism, 25, ranging sensor, 26, ranging slot, 27, ranging plate, 28, safety limiting mechanism, 29, limiting block, 30, threaded hole, 31, limiting bolt, 32 and controller.
The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this disclosure, illustrate and do not limit the disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any creative effort based on the embodiments in the present invention are all within the protection scope of the present invention.
In the description of the present embodiment, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientation or positional relationships based on those shown in the drawings, merely to facilitate description of the present embodiment and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present embodiment.
As shown in fig. 1-13, the performance test device for intelligent manufacturing of an industrial robot provided by the scheme comprises a robot sliding seat 1, guide sliding rails 2, a driving rack 3, potential energy height difference type load mechanisms 4 and a safety limiting mechanism 28, wherein the guide sliding rails 2 are symmetrically arranged on the upper walls of the two ends of the robot sliding seat 1, the driving racks 3 are symmetrically arranged on the upper walls and the bottom walls of the robot sliding seat 1 in pairs, the potential energy height difference type load mechanisms 4 are arranged on the guide sliding rails 2, the safety limiting mechanism 28 is arranged on the upper walls of the two ends of the robot sliding seat 1, the potential energy height difference type load mechanisms 4 comprise driving mechanisms 5, difference mechanisms 13, weighting mechanisms 17, positioning mechanisms 21 and ranging mechanisms 24, the driving mechanisms 5 are arranged on the upper walls of the robot sliding seat 1, the difference mechanisms 13 are arranged on the upper walls of the difference mechanisms 13, the positioning mechanisms 21 are arranged on one ends of the difference mechanisms 13 far away from the driving mechanisms 5, and the ranging mechanisms 24 are arranged on the side walls of the robot sliding seat 1.
The driving mechanism 5 comprises a load table 6, a motor seat 7, a driving motor 8, a speed reducer 9, a driving gear set 10, a proximity switch 11 and an induction block 12, wherein the load table 6 is slidably arranged on the upper wall of the guide slide rail 2, the motor seat 7 is symmetrically arranged on the bottom walls of the two ends of the load table 6, the driving motor 8 is arranged in the motor seat 7, the speed reducer 9 is arranged on one side, far away from the load table 6, of the motor seat 7, the power end of the driving motor 8 penetrates through the motor seat 7 and is connected with the power input end of the speed reducer 9, the driving gear set 10 is arranged at the power output end of the speed reducer 9, the driving gear set 10 is meshed with the driving rack 3, the proximity switch 11 penetrates through the upper walls of the two ends of the guide slide rail 2, and the induction block 12 is symmetrically arranged on the bottom walls of the two ends of the load table 6 in pairs; the differential mechanism 13 comprises a differential column 14, a differential slide plate 15 and an extension spring 16, wherein the differential column 14 is symmetrically arranged on the upper wall of the load table 6, the differential slide plate 15 is slidably arranged between the differential columns 14, the extension spring 16 is arranged between the upper wall of the differential slide plate 15 outside the differential column 14 and one end of the differential column 14 far away from the load table 6, the weight increasing mechanism 17 comprises a gravity ball cylinder 18, an iron plug 19 and a cast iron weight 20, the gravity ball cylinder 18 is arranged on the inner wall of the differential slide plate 15, the iron plug 19 penetrates through the upper wall and the bottom wall of the gravity ball cylinder 18, the iron plug 19 is in threaded connection with the gravity ball cylinder 18, the cast iron weight 20 is arranged in the gravity ball cylinder 18, the positioning mechanism 21 comprises a positioning plate 22 and a positioning electromagnet 23, the positioning plate 22 is arranged at one end of the differential column 14 far away from the load table 6, the positioning electromagnet 23 is arranged on the bottom wall of the positioning plate 22, the distance measuring mechanism 24 comprises a distance measuring sensor 25, a distance measuring groove 26 and a distance measuring plate 27, the both sides of robot sliding seat 1 are located to the range finding sensor 25 symmetry, and the upper wall of robot sliding seat 1 between the drive rack 3 is located to range finding groove 26, and range finding groove 26 is for lining up the setting, the load platform 6 both sides are located to range finding board 27 symmetry, and the one end that load platform 6 was kept away from to range finding board 27 is located range finding groove 26 inside, and range finding board 27 slides and locates range finding groove 26 inner wall, and range finding sensor 25 range finding end runs through and locates range finding groove 26 inside.
The safety limiting mechanism 28 comprises limiting blocks 29, threaded holes 30 and limiting bolts 31, the limiting blocks 29 are symmetrically arranged on the upper walls of the two ends of the robot sliding seat 1 in pairs, the limiting blocks 29 are horizontally arranged coaxially with the guide sliding rail 2, the threaded holes 30 are formed in the side walls of the limiting blocks 29, the limiting bolts 31 are arranged in the threaded holes 30, and the limiting bolts 31 are in threaded connection with the threaded holes 30.
The upper wall of one end of the robot sliding seat 1 is provided with a controller 32.
The controller 32 is electrically connected with the driving motor 8, the proximity switch 11, the positioning electromagnet 23 and the distance measuring sensor 25 respectively.
The controller 32 is of the type HAD-SC200.
The distance measuring sensor 25 is of the model C1-JCS1501.
In the first embodiment, in the initial state, the extension spring 16 is in extension arrangement, the extension spring 16 extends to drive the differential sliding plate 15 to slide along the differential column 14 to descend by a height, and the differential column 14 drives the gravity ball cylinder 18 to be located on the upper wall of the load table 6;
Specifically, the controller 32 controls the driving motor 8 to start, the driving motor 8 drives the speed reducer 9 to rotate through a power end, the speed reducer 9 drives the driving gear set 10 to rotate, the driving gear set 10 is meshed with the driving rack 3, the driving gear set 10 drives the load table 6 to slide along the guiding sliding rail 2, the load table 6 drives the sensing block 12 to reach the position of the proximity switch 11 at one end of the guiding sliding rail 2, the positioning accuracy of the load table 6 under no load is tested, the controller 32 controls the driving motor 8 to start again to drive the load table 6 to slide along the guiding sliding rail 2, the load table 6 drives the sensing block 12 at the bottom wall of the other end to reach the position of the proximity switch 11 arranged at the other end of the guiding sliding rail 2, the controller 32 controls the proximity switch 11 to start, the sensing block 12 is sensed to enable the power end of the driving motor 8 to stop driving the speed reducer 9 to rotate, at the moment, the sensing block 12 is opposite to the proximity switch 11, the controller 32 controls the ranging sensor 25 to start, the ranging sensor 25 measures the distance plate 27 at one side of the load table 6 through the ranging end, the distance between the ranging sensor 25 and the ranging plate 27 is recorded, and the distance between the ranging sensor 25 and the motor is stopped at the position of the idle load table 6 at the position of the guiding sliding rail 2 under the condition that the speed reducer 8 is stopped at the position of the speed reducer 9;
When the safety performance of the power system of the robot sliding base is tested, the iron plug 19 is manually rotated, the iron plug 19 is screwed out from the upper wall of the gravity ball barrel 18, a cast iron weight 20 required by a user is added into the gravity ball barrel 18, then the iron plug 19 is screwed into the upper wall of the gravity ball barrel 18, at the moment, the gravity ball barrel 18 is positioned on the upper wall of the load table 6, the controller 32 controls the driving motor 8 to start, the driving motor 8 drives the load table 6 to reach one end of the guide slide rail 2 through the power end, the distance measuring plates 27 arranged on two sides of the load table 6 are respectively positioned on the distance from the distance measuring sensor 25 to the nearest distance, the sensing block 12 on the nearest distance between the distance measuring plates 27 and the distance measuring sensor 25 is opposite to the proximity switch 11, the load table 6 is driven to move to the side of the distance measuring sensor 25 farthest from the distance measuring plates 27, so that the positioning accuracy of the load table 6 under the condition of load is conveniently tested, the power end of the driving motor 8 rotates, the rotating speed of the power end of the driving motor 8 is adjusted to the rotating speed required by a user, the driving motor 8 drives the speed reducer 9 to rotate through the power end, the speed reducer 9 drives the driving gear set 10 to roll along the driving rack 3, the driving gear set 10 drives the load table 6 to slide along the guiding slide rail 2 at a certain speed, after the sensing block 12 at the furthest distance side of the ranging plate 27 and the ranging sensor 25 in the initial state reaches the position of the proximity switch 11, the controller 32 controls the power end of the driving motor 8 to stop rotating, and then the distance between the distance sensor 25 under load and the distance between the distance sensor 25 and the ranging plate 27 under no load is compared with the distance between the distance sensor 25 and the ranging plate 27 of the load table 6 under no load, so that the deviation of the positioning accuracy of the load table 6 under no load and no load can be tested;
The influence of potential energy generated by the load table 6 on the positioning precision is tested, the controller 32 controls the driving motor 8 to drive the load table 6 to move, the load table 6 drives the sensing block 12 at the side, closest to the distance measuring plate 27, of the distance measuring sensor 25 at the current position to move, the sensing block 12 at the side, closest to the distance measuring plate 27, of the distance measuring sensor 25 moves to a position opposite to the proximity switch 11, then the controller 32 controls the positioning electromagnet 23 to start, the positioning electromagnet 23 is fixed on the bottom wall of the positioning plate 22 to generate magnetism, the positioning plate 22 adsorbs the iron plug 19 through magnetism, the differential sliding plate 15 is manually lifted under the assistance of the magnetism, the differential sliding plate 15 drives the gravity ball 18 to slide upwards along the differential column 14, the iron plug 19 is mutually attached to the positioning electromagnet 23, the differential sliding plate 15 is fixed at one end, far away from the load table 6, of the differential column 14 through magnetism to adsorb the iron plug 19, the driving motor 8 drives the driving gear set 10 to roll along the driving rack 3 through the power end, the driving gear set 10 drives the load table 6 to slide along the guide slide rail 2, when the load table 6 slides to drive the induction block 12 to move towards the proximity switch 11 at the other end of the guide slide rail 2, the controller 32 controls the current which is introduced into the positioning electromagnet 23 to gradually decrease, the absorption magnetic force of the positioning electromagnet 23 to the iron plug 19 is weakened, the potential difference slide plate 15 continuously descends to a height under the action of gravity of the gravity ball cylinder 18 and the reset elastic force of the extension spring 16, after the load table 6 drives the induction block 12 to reach the position of the proximity switch 11, the driving motor 8 stops rotating, the gravity ball cylinder 18 falls to the upper wall of the load table 6 to be placed, at the moment, the distance between the gravity ball cylinder 18 and the distance measuring plate 27 is measured through the distance measuring sensor 25, and when the gravity ball cylinder 18 falls from a high place, the inertia influence value generated on the positioning precision of the load table 6 after the gravitational potential energy generated by the device is converted into kinetic energy;
According to the minimum value between the measured distance measuring sensor 25 and the distance measuring plate 27, the distance that the limit bolt 31 stretches to one end of the guide slide rail 2 is set, the limit bolt 31 is manually rotated, the distance that the limit bolt 31 stretches to one side of the guide slide rail 2 is adjusted along the threaded hole 30 in a rotating mode, the distance between the limit bolt 31 and the load table 6 can be adjusted according to the inertial movement force generated by the load table 6 during loading, therefore the load table 6 is prevented from colliding with the limit bolt 31 during normal operation, the limit bolt 31 can be adjusted to a safe limit position in a matched mode, and the operation is repeated during the next time.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The present embodiment and the embodiments thereof have been described above with no limitation, and the embodiment shown in the drawings is merely one of the embodiments of the present embodiment, and the actual structure is not limited thereto. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the technical solution.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411406865.8A CN118913665B (en) | 2024-10-10 | 2024-10-10 | A performance testing device for industrial robot intelligent manufacturing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411406865.8A CN118913665B (en) | 2024-10-10 | 2024-10-10 | A performance testing device for industrial robot intelligent manufacturing |
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| Publication Number | Publication Date |
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| CN118913665A CN118913665A (en) | 2024-11-08 |
| CN118913665B true CN118913665B (en) | 2024-12-10 |
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| CN106839933A (en) * | 2016-12-23 | 2017-06-13 | 重庆华数机器人有限公司 | A kind of Simple robot accuracy detecting device and detection method |
| CN110926801A (en) * | 2019-12-23 | 2020-03-27 | 北京工业大学 | Small-size joint comprehensive properties test machine of service robot |
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| US4880992A (en) * | 1987-10-08 | 1989-11-14 | Siemens Aktiengesellschaft | Non-contacting measuring system for precision characteristics, particularly of industrial robots |
| JP3766484B2 (en) * | 1996-11-01 | 2006-04-12 | 株式会社不二越 | Automatic calculation method of load weight and load center of gravity position of articulated robot |
| CN205785078U (en) * | 2016-07-17 | 2016-12-07 | 济宁精道智能科技有限责任公司 | A kind of industrial robot repetitive positioning accuracy measurement apparatus |
| CN210893349U (en) * | 2019-10-17 | 2020-06-30 | 苏州华云视创智能科技有限公司 | Displacement measuring device |
| CN215065730U (en) * | 2021-04-19 | 2021-12-07 | 保定科海自动化科技有限公司 | Load measuring clamp for industrial robot |
| CN113587820A (en) * | 2021-06-18 | 2021-11-02 | 宿迁斯玛特机器人科技有限公司 | Industrial robot secondary positioning precision detection method and device |
| CN116481805B (en) * | 2023-02-22 | 2025-02-25 | 宁波博银谐波科技有限公司 | A reducer precision measuring device and a measuring method thereof |
| DE102023120195B3 (en) * | 2023-07-28 | 2024-09-12 | Geze Gmbh | Test bench and procedure for testing a drive |
| CN117734641A (en) * | 2024-01-12 | 2024-03-22 | 昆明理工大学 | Braking energy recovery device of electric automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106839933A (en) * | 2016-12-23 | 2017-06-13 | 重庆华数机器人有限公司 | A kind of Simple robot accuracy detecting device and detection method |
| CN110926801A (en) * | 2019-12-23 | 2020-03-27 | 北京工业大学 | Small-size joint comprehensive properties test machine of service robot |
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