CN113715058A - Industrial robot connecting rod rigidity testing method - Google Patents
Industrial robot connecting rod rigidity testing method Download PDFInfo
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- CN113715058A CN113715058A CN202110920393.8A CN202110920393A CN113715058A CN 113715058 A CN113715058 A CN 113715058A CN 202110920393 A CN202110920393 A CN 202110920393A CN 113715058 A CN113715058 A CN 113715058A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 26
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- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000017105 transposition Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram 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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Abstract
The invention relates to the field of rigidity testing of connecting rods of industrial robots, in particular to a rigidity testing method of a connecting rod of an industrial robot, which comprises the following steps: s1: the whole robot is laterally arranged; s2: calculating the load of the connecting rod of the robot; s3: adjusting the test pose of the robot; s4: installing a robot testing tool; s5: load loading and relative displacement recording; s6: the rigidity calculation result of the connecting rod is output, the rigidity of the connecting rod of the industrial robot is quantitatively obtained under the condition of not disassembling the machine, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested for ensuring the accuracy of the independent test result of each connecting rod, the test is assisted by a small-sized tool, the test process is convenient, the requirement on experimental testers is low, and the test efficiency is high.
Description
Technical Field
The invention relates to the field of rigidity testing of connecting rods of industrial robots, in particular to a rigidity testing method of a connecting rod of an industrial robot.
Background
The rigidity of the robot connecting rod refers to the capability of resisting deformation of the structure of the tail end of the robot connecting rod under the action of external force, is an important performance index of the industrial robot, not only determines the positioning precision of the industrial robot under load, but also influences the dynamic characteristic of the robot body structure.
The problem of robot connecting rod stress deformation is rarely considered when an industrial robot carries out precision analysis in the past, because the absolute precision requirement of a high-precision industrial robot on the tail end track is high at present, the absolute precision of the tail end track of the robot is reduced due to the fact that the robot connecting rod stress deformation also causes, the problem is needed to be solved at present, in order to solve the problem, the rigidity result of the robot connecting rod needs to be output in a quantification mode, and meanwhile, in order to complete batch test on the rigidity of the robot connecting rod, the rigidity test of the robot connecting rod needs to be achieved under the condition that the robot connecting rod is not dismounted.
At present, the common method for acquiring the rigidity of the robot connecting rod is to perform structural equivalence on the rigidity of the robot connecting rod, so that the complexity of calculation is reduced, but the calculation result of the mathematical model has high volatility, so that an industrial robot connecting rod rigidity testing method is urgently needed to be output at present, and meanwhile, the data are guaranteed to be real and reliable, and the applicability is high.
Disclosure of Invention
In order to solve the problems, the invention provides a method for testing the rigidity of a connecting rod of an industrial robot.
A rigidity testing method for a connecting rod of an industrial robot comprises the following steps:
s1: the whole robot is laterally arranged;
s2: calculating the load of the connecting rod of the robot;
s3: adjusting the test pose of the robot;
s4: installing a robot testing tool;
s5: load loading and relative displacement recording;
s6: and outputting a calculation result of the rigidity of the connecting rod.
The step S1 includes the steps of:
a. partial test work preparation is required before the test is started, and the rigidity of the robot connecting rod is different from the rigidity test of the whole machine;
b. the rigidity test of the connecting rod needs to be carried out in different directions, the robot needs to be laterally installed by means of a navigation vehicle, and the robot and the portal frame need to be fixed by means of a flat tool.
The step S2 includes the steps of:
a. after the robot is laterally installed, the load mass of each connecting rod is calculated, and the rigidity of each connecting rod needs to be tested in multiple directions, so that various speed reducers of the robot are stressed in the torsion and overturning directions;
b. the overturning rigidity of the speed reducer is more than five times of the torsional rigidity, and the torsional rigidity value of each shaft speed reducer needs to be considered preferentially by the rigidity load mass of the connecting rod.
The step S3 includes the steps of:
the multi-direction rigidity test of the connecting rod is needed, therefore, when the rigidity test of each connecting rod is carried out, the joint position of J1-J6 needs to be adjusted to a designated position, the test is mainly carried out around four partial connecting rods of a robot rotating seat, a big arm, a motor seat and a small arm, and therefore the following operations are carried out:
a. when the robot is in transposition test, the joint position of J1-J6 needs to be adjusted to a designated position;
b. when the robot arm is tested, the joint position of J1-J6 needs to be adjusted to a designated position;
c. when the robot motor base is tested, the joint positions J1-J6 need to be adjusted to the designated positions;
d. when the robot forearm is tested, the joint positions of J1-J6 need to be adjusted to the designated positions.
The step S4 includes the steps of:
a. the rigidity test of each connecting rod of the robot is different from the rigidity test of the whole robot, and under the condition of not disassembling the robot, in order to ensure the accuracy of the individual test result of each connecting rod, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested, so the test needs to be assisted by a small tool;
b. the test tool is used for installing 3 target balls and establishing a reference coordinate system of each connecting rod, the 4 th target ball is installed at the tail end of each connecting rod and used for testing relative displacement, and the fourth target ball in front of the connecting rod of the test robot is displaced relative to the established reference coordinate system.
The step S5 includes the steps of:
a. taking a robot large arm as an example, firstly, starting a tracker for preheating, adjusting the position of the tracker, and then fixing a test tool at the rear end of the large arm;
b. fixing 3 test target balls on the test tool in advance, and fixing the target balls by means of the tool of the 4 th target ball;
c. loading is carried out according to a load calculation result, a load is gradually applied and data is recorded in the test process, the target balls are firstly numbered according to data recording, the numbers of 3 target balls and the 4 th target ball of a reference coordinate system are determined, meanwhile, the laser tracker carries out position dotting in a dotting mode, the positions of the 4 target balls relative to the laser tracker need to be determined in advance, and the test and the data acquisition are facilitated;
d. and acquiring target ball position data under different loads, namely the displacement of the 4 th target ball relative to the reference coordinate system, and repeatedly measuring for 3 times to ensure the stability and accuracy of the data.
The step S6 includes the steps of:
the data measured by the laser tracker is the relative displacement of the tail end of the connecting rod relative to a reference coordinate system, different loads correspond to different relative displacements, and under the condition that the loads and the displacements are known, the rigidity result of the connecting rod is calculated and output.
The invention has the beneficial effects that: the rigidity of the connecting rod of the industrial robot is quantitatively acquired under the condition of not disassembling the machine, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested for ensuring the accuracy of the independent test result of each connecting rod, the test process is convenient and fast by means of small-sized tool auxiliary test, the requirement on experimental testers is low, and the test efficiency is high.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of a testing method of the present invention;
FIG. 2 is a side view of the robot of the present invention;
FIG. 3 is a schematic view of a robot testing tool of the present invention;
fig. 4 is a schematic diagram of the robot link stiffness calculation according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1, a method for testing rigidity of a connecting rod of an industrial robot comprises the following steps:
s1: the whole robot is laterally arranged;
s2: calculating the load of the connecting rod of the robot;
s3: adjusting the test pose of the robot;
s4: installing a robot testing tool;
s5: load loading and relative displacement recording;
s6: and outputting a calculation result of the rigidity of the connecting rod.
The rigidity of the connecting rod of the industrial robot is quantitatively acquired under the condition of not disassembling the machine, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested for ensuring the accuracy of the independent test result of each connecting rod, the test process is convenient and fast by means of small-sized tool auxiliary test, the requirement on experimental testers is low, and the test efficiency is high.
As shown in fig. 2, the step S1 includes the following steps:
a. partial test work preparation is required before the test is started, and the rigidity of the robot connecting rod is different from the rigidity test of the whole machine;
b. the rigidity test of the connecting rod needs to be carried out in different directions, the robot needs to be laterally installed by means of a navigation vehicle, and the robot and the portal frame need to be fixed by means of a flat tool.
The step S2 includes the steps of:
a. after the robot is laterally installed, the load mass of each connecting rod is calculated, and the rigidity of each connecting rod needs to be tested in multiple directions, so that various speed reducers of the robot are stressed in the torsion and overturning directions;
b. the overturning rigidity of the speed reducer is more than five times of the torsional rigidity, and the torsional rigidity value of each shaft speed reducer needs to be considered preferentially by the rigidity load mass of the connecting rod.
In the method for testing the rigidity of the connecting rod of the industrial robot, the robot is laterally arranged and then the load mass of each connecting rod is calculated, because the rigidity of the connecting rod needs to be tested in multiple directions, the rigidity of the connecting rod mainly comprises the stress in 2 bending directions of the connecting rod, the magnitude order of the rigidity of the connecting rod in the stretching direction is overlarge, and the test is not carried out temporarily, various speed reducers of the robot are stressed in the twisting and overturning directions, and the overturning rigidity of the speed reducers is at least five times higher than the twisting rigidity of the speed reducers, so the torsional rigidity value of each shaft reducer is preferably considered in the rigidity load mass of the connecting rod.
The step S3 includes the steps of:
the multi-direction rigidity test of the connecting rod is needed, therefore, when the rigidity test of each connecting rod is carried out, the joint position of J1-J6 needs to be adjusted to a designated position, the test is mainly carried out around four partial connecting rods of a robot rotating seat, a big arm, a motor seat and a small arm, and therefore the following operations are carried out:
a. when the robot is in transposition test, the joint position of J1-J6 needs to be adjusted to a designated position;
b. when the robot arm is tested, the joint position of J1-J6 needs to be adjusted to a designated position;
c. when the robot motor base is tested, the joint positions J1-J6 need to be adjusted to the designated positions;
d. when the robot forearm is tested, the joint positions of J1-J6 need to be adjusted to the designated positions.
As shown in fig. 3, in which reference numeral 1 is a target ball, reference numeral 2 is a target ball, reference numeral 3 is a target ball, reference numeral 4 is a target ball, and reference numeral 5 is a robot boom, the step S4 includes the steps of:
a. the rigidity test of each connecting rod of the robot is different from the rigidity test of the whole robot, and under the condition of not disassembling the robot, in order to ensure the accuracy of the individual test result of each connecting rod, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested, so the test needs to be assisted by a small tool;
b. the test tool is used for installing 3 target balls and establishing a reference coordinate system of each connecting rod, the 4 th target ball is installed at the tail end of each connecting rod and used for testing relative displacement, and the fourth target ball in front of the connecting rod of the test robot is displaced relative to the established reference coordinate system.
The step S5 includes the steps of:
a. taking a robot large arm as an example, firstly, starting a tracker for preheating, adjusting the position of the tracker, and then fixing a test tool at the rear end of the large arm;
b. fixing 3 test target balls on the test tool in advance, and fixing the target balls by means of the tool of the 4 th target ball;
c. loading is carried out according to a load calculation result, a load is gradually applied and data is recorded in the test process, the target balls are firstly numbered according to data recording, the numbers of 3 target balls and the 4 th target ball of a reference coordinate system are determined, meanwhile, the laser tracker carries out position dotting in a dotting mode, the positions of the 4 target balls relative to the laser tracker need to be determined in advance, and the test and the data acquisition are facilitated;
d. and acquiring target ball position data under different loads, namely the displacement of the 4 th target ball relative to the reference coordinate system, and repeatedly measuring for 3 times to ensure the stability and accuracy of the data.
Fixing 3 test target balls on a test tool, fixing the target balls by means of a tool of a 4 th target ball, wherein the load applying process in the test process is 0 kg-80 kg, adding 20kg of load each time, gradually applying the load and recording data, numbering the target balls, determining the numbers of the 3 target balls in a reference coordinate system to be B1, B2 and B3 respectively, and numbering the 4 th target ball to be B4, simultaneously performing position dotting by a laser tracker in a dotting mode, wherein the acquisition sequence is B1 → B2 → B3 → B4, acquiring the position data of the target balls under different loads, further calculating the displacement of the B4 relative to the reference coordinate system established by the reference coordinate system C or B1, B2 and B3, and repeatedly measuring for 3 times to ensure the stability and accuracy of the data.
The step S6 includes the steps of:
the data measured by the laser tracker is the relative displacement of the end of the connecting rod relative to the reference coordinate system, different loads correspond to different relative displacements, under the condition that the loads and the displacements are known, the rigidity result of the output connecting rod is calculated, and the output result is shown in fig. 4.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A rigidity testing method for a connecting rod of an industrial robot is characterized by comprising the following steps: the method comprises the following steps:
s1: the whole robot is laterally arranged;
s2: calculating the load of the connecting rod of the robot;
s3: adjusting the test pose of the robot;
s4: installing a robot testing tool;
s5: load loading and relative displacement recording;
s6: and outputting a calculation result of the rigidity of the connecting rod.
2. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S1 includes the steps of:
a. partial test work preparation is required before the test is started, and the rigidity of the robot connecting rod is different from the rigidity test of the whole machine;
b. the rigidity test of the connecting rod needs to be carried out in different directions, the robot needs to be laterally installed by means of a navigation vehicle, and the robot and the portal frame need to be fixed by means of a flat tool.
3. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S2 includes the steps of:
a. after the robot is laterally installed, the load mass of each connecting rod is calculated, and the rigidity of each connecting rod needs to be tested in multiple directions, so that various speed reducers of the robot are stressed in the torsion and overturning directions;
b. the overturning rigidity of the speed reducer is more than five times of the torsional rigidity, and the torsional rigidity value of each shaft speed reducer needs to be considered preferentially by the rigidity load mass of the connecting rod.
4. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S3 includes the steps of:
the multi-direction rigidity test of the connecting rod is needed, therefore, when the rigidity test of each connecting rod is carried out, the joint position of J1-J6 needs to be adjusted to a designated position, the test is mainly carried out around four partial connecting rods of a robot rotating seat, a big arm, a motor seat and a small arm, and therefore the following operations are carried out:
a. when the robot is in transposition test, the joint position of J1-J6 needs to be adjusted to a designated position;
b. when the robot arm is tested, the joint position of J1-J6 needs to be adjusted to a designated position;
c. when the robot motor base is tested, the joint positions J1-J6 need to be adjusted to the designated positions;
d. when the robot forearm is tested, the joint positions of J1-J6 need to be adjusted to the designated positions.
5. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S4 includes the steps of:
a. the rigidity test of each connecting rod of the robot is different from the rigidity test of the whole robot, and under the condition of not disassembling the robot, in order to ensure the accuracy of the individual test result of each connecting rod, the relative displacement of the tail end of each connecting rod relative to the coordinate system of the connecting rod needs to be tested, so the test needs to be assisted by a small tool;
b. the test tool is used for installing 3 target balls and establishing a reference coordinate system of each connecting rod, the 4 th target ball is installed at the tail end of each connecting rod and used for testing relative displacement, and the fourth target ball in front of the connecting rod of the test robot is displaced relative to the established reference coordinate system.
6. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S5 includes the steps of:
a. taking a robot large arm as an example, firstly, starting a tracker for preheating, adjusting the position of the tracker, and then fixing a test tool at the rear end of the large arm;
b. fixing 3 test target balls on the test tool in advance, and fixing the target balls by means of the tool of the 4 th target ball;
c. loading is carried out according to a load calculation result, a load is gradually applied and data is recorded in the test process, the target balls are firstly numbered according to data recording, the numbers of 3 target balls and the 4 th target ball of a reference coordinate system are determined, meanwhile, the laser tracker carries out position dotting in a dotting mode, the positions of the 4 target balls relative to the laser tracker need to be determined in advance, and the test and the data acquisition are facilitated;
d. and acquiring target ball position data under different loads, namely the displacement of the 4 th target ball relative to the reference coordinate system, and repeatedly measuring for 3 times to ensure the stability and accuracy of the data.
7. A method for testing stiffness of a connecting rod of an industrial robot according to claim 1, characterized in that: the step S6 includes the steps of:
the data measured by the laser tracker is the relative displacement of the tail end of the connecting rod relative to a reference coordinate system, different loads correspond to different relative displacements, and under the condition that the loads and the displacements are known, the rigidity result of the connecting rod is calculated and output.
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