CN102410924B - Door body hinge durability detection method and apparatus thereof - Google Patents
Door body hinge durability detection method and apparatus thereof Download PDFInfo
- Publication number
- CN102410924B CN102410924B CN 201110225638 CN201110225638A CN102410924B CN 102410924 B CN102410924 B CN 102410924B CN 201110225638 CN201110225638 CN 201110225638 CN 201110225638 A CN201110225638 A CN 201110225638A CN 102410924 B CN102410924 B CN 102410924B
- Authority
- CN
- China
- Prior art keywords
- door body
- joint
- manipulator
- door
- measured
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims abstract description 6
- 210000002310 elbow joint Anatomy 0.000 claims description 17
- 210000000323 shoulder joint Anatomy 0.000 claims description 17
- 210000001503 joint Anatomy 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 15
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 17
- 238000013461 design Methods 0.000 abstract description 3
- 238000012827 research and development Methods 0.000 abstract description 3
- 238000007634 remodeling Methods 0.000 abstract 1
- 238000004513 sizing Methods 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 241001123248 Arma Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a door body hinge durability detection method and an apparatus thereof. The apparatus comprises: a manipulator, motors and a controller. The manipulator comprises a plurality of movable joints. The each movable joint is driven to move by the independent motor. A front end of a robotic arm is connected with the door body to be detected. The controller controls a plurality of motors to perform combination motion so as to further drive the front end of the robotic arm to simulate an actual moving track of the door body to open and close the door body to be detected. In the invention, a motion process of a human hand can be simulated. An actual working state and a stress state of the door body hinge can be really reflected. A working efficiency and accuracy of detection are high. After remodeling a design every time or improving a material, a household electric enterprise needs to carry out a life test of a household electrical appliance. By using the detection apparatus of the invention, real and effective data of household electrical appliance door body hinge durability detection can be provided for the household electric enterprise or a related mechanism. Therefore, research and development and sizing periods of a new product can be shortened.
Description
Technical Field
The invention belongs to the technical field of equipment detection, and particularly relates to a method and a device for automatically detecting the durability problem of a door body hinge.
Background
With the development of social economy and the improvement of the living standard of people, the social possession quantity of household electrical appliances is larger and larger, the updating is faster and faster, and the requirements of users on the quality of the household electrical appliances are stricter and stricter.
In most of the existing household electrical appliances, such as refrigerators, freezers, washing machines, microwave ovens, etc., the opening and closing of the door body are accomplished by means of hinges. After the household appliance with the door body is used for a period of time, the hinge is abraded, and a light person can slightly shift and eccentrically abrade the door body, so that the problem of poor sealing is caused; even serious people can cause the falling of the door body, and the use of the product is influenced. Therefore, the durability detection of the door body hinge of the household electrical appliance becomes an extremely important detection content in the quality detection of the household electrical appliance. At present, some household electrical appliance enterprises propose that when the service life of a household electrical appliance product exceeds 7 years, if relevant problems occur in the product, relevant responsibility to the product should be avoided. Some countries and regions require household appliance manufacturing enterprises to bear the responsibility of household appliance recycling, and all of the countries and regions need a reasonable detection method and scientific detection data to support, which is related to the management problem of the life cycle of household appliance products.
The existing door body hinge durability detection method is characterized in that simple pneumatic mechanical equipment is utilized to drive a door body to be opened and closed, the hinge is affected by external force applied by an air cylinder during the opening and closing of the door body by the detection method, the stress is uneven, and the problem of eccentric wear of the hinge is easily caused, so that the accuracy of a detection test is affected. Meanwhile, the operation track of the pneumatic mechanical equipment is single, and the opening angle of the door body cannot be adjusted, so that the detection requirements of the national standard GB/T8059 on different types of household electrical appliances cannot be met.
Therefore, a new door hinge durability detection device and method capable of truly simulating the use of household appliances by users are urgently needed by household appliance enterprises and related organizations, so that the detection accuracy is improved, the reasonable service life of the household appliance door hinge is determined, the period of research and development and shaping of new products is shortened, and the cost is reduced.
Disclosure of Invention
The invention provides a brand-new door body hinge durability detection device for solving the problems of laggard technology and low accuracy of the existing door body hinge durability detection method, and real detection data can be obtained by simulating a human hand to open and close a door body.
In order to solve the technical problems, the invention adopts the following technical scheme:
a door body hinge durability detection device comprises a manipulator, a motor and a controller, wherein the manipulator comprises a plurality of movable joints, each movable joint is driven to move by an independent motor, and the front end of the manipulator arm is connected with a door body to be detected; the controller controls the motors to move in a combined mode, and then drives the front end of the mechanical arm to simulate the actual running track of the door body to switch on and off the door body to be tested.
Preferably, the manipulator comprises three movable joints: the waist joint, the shoulder joint and the elbow joint are provided with a rotating shaft mechanism at each joint and are respectively driven and controlled by three motors; wherein, the waist joint rotates horizontally; pitching motion of the shoulder joint and elbow joint.
Furthermore, the front end of the mechanical arm is provided with a flexible connecting device made of flexible materials, one end of the flexible connecting device is a connecting part used for connecting the front end of the mechanical arm, and the other end of the flexible connecting device is a clamp or a vacuum chuck used for clamping a handle of a door body to be detected or adsorbing the door body to be detected.
Furthermore, a pulling pressure sensor is arranged on the flexible connecting device and used for detecting the force applied by a mechanical arm in the opening and closing process of the detected door body; a position sensor for detecting the door opening angle of the detected door body is arranged around the detected door body; the controller receives signals collected by the pulling pressure sensor and the position sensor, judges the damage condition of the door hinge and controls the manipulator to stop acting when judging that the door hinge is damaged.
Based on the door body hinge durability detection device, the invention also provides a door body hinge durability detection method designed based on the device, which comprises the following steps:
(1) adjusting the position relation between the manipulator and the door body to be measured;
(2) connecting the front end of the mechanical arm with a measured door body;
(3) the controller controls a plurality of motors to move in a combined mode, each motor correspondingly drives one movable joint in the manipulator to move, and the plurality of movable joints are controlled to move in a combined mode, so that the front end of the manipulator is controlled to simulate the actual running track of a door body to open and close the door body to be tested.
Preferably, the manipulator comprises three movable joints: the waist joint, the shoulder joint and the elbow joint are provided with a rotating shaft mechanism at each joint and are respectively driven and controlled by three motors; wherein, the waist joint rotates horizontally; pitching rotation of the shoulder joint and the elbow joint; and lifting the big arm of the manipulator and lowering the small arm to form an initial posture to be connected with the measured door body.
Further, after the front end of the mechanical arm is connected with the door body to be measured, joint angles of movable joints of the mechanical arm at the initial action position are calculated according to the handle height of the door body to be measured, the height of a mechanical arm base and the relative distance between the door body to be measured and the mechanical arm
(ii) a And combined with the door opening target position of the detected door bodyCalculating joint angle of each movable joint of manipulator at action target position
(ii) a And calculating the action process of each movable joint of the manipulator by utilizing a cubic spline function difference method, and further generating a corresponding control signal to be output to the motor so as to drive the manipulator to act.
Still further, the cubic polynomial difference function generated by the cubic spline function difference method is:
wherein,is the joint angle of the movable joint at time t; t is in the time zone of the opening of the measured door body
，
]The value of the interior is selected,is the time when the measured door body is opened,the moment when the measured door body is opened to the door opening target position.
And further, the front end of the mechanical arm is connected with the door body to be detected through a flexible connecting device, a pull pressure sensor is arranged on the flexible connecting device, the force applied by the mechanical arm in the opening and closing process of the door body to be detected is detected, a detection signal is transmitted to the controller, the damage condition of the door body hinge is judged, and the mechanical arm is controlled to stop acting when the door body hinge is judged to be damaged.
Furthermore, a position sensor is arranged around the detected door body, the door opening angle of the detected door body is detected, and a detection signal is transmitted to the controller; when the measured door body can not reach the door opening target position continuously for multiple times, the controller judges that the door body hinge is damaged or the manipulator is separated from the measured door body, and controls the manipulator to stop acting.
Compared with the prior art, the invention has the advantages and positive effects that: the invention utilizes the manipulator to replace the traditional pneumatic mechanical equipment to switch the door body to be detected, the detection device formed by the invention can simulate the action process of a human hand, meets the requirements of national standard GB/T8059, truly reflects the actual working condition and stress condition of the door body hinge, has high working efficiency and greatly improves the detection accuracy. After each design modification or material improvement, the household appliance enterprise needs to perform a life test on the household appliance product, and the detection device can provide real and effective data for detecting the durability of the door body hinge of the household appliance product for the household appliance enterprise or related mechanisms, so that the research and development and shaping period of a new product is shortened.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a manipulator in the door hinge durability detection device provided by the invention;
FIG. 2 is a schematic structural view of one embodiment of a flexible connection apparatus;
FIG. 3 is a schematic structural view of another embodiment of a flexible connection apparatus;
FIG. 4 is a schematic structural diagram of the manipulator shown in FIG. 1 connected to a door body to be tested;
FIG. 5 is a flowchart illustrating a method for detecting the durability of a hinge of a door according to the present invention;
fig. 6 is a geometrical diagram of the initial operation state of the robot.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In a first embodiment, the door hinge durability detection device of this embodiment utilizes a manipulator to simulate a human hand to open and close a door to be detected, and detects the durability of a door hinge, and mainly includes a manipulator provided with a plurality of movable joints, a motor driving each movable joint in the manipulator to move, and a controller controlling the operation of the motor. As a preferable design of this embodiment, the motor preferably adopts a servo motor to drive and control each movable joint of the manipulator, and one servo motor controls the movement of one movable joint. The controller can adopt a Programmable Logic Controller (PLC) to drive and control the servo motor, the servo motor drives the mechanical arm to rotate through the speed reducer, the operation track at the front end of the mechanical arm is fitted by utilizing the combined motion of a plurality of servo motors, and the operation track is overlapped with the actual operation track of the door body to be detected, so that the working condition of the door body hinge under the real condition can be simulated, and correct detection data can be provided.
Referring to fig. 1, the manipulator of the present embodiment is a spatial joint structure, and preferably has three movable joints: the waist joint 3, the shoulder joint 2 and the elbow joint 1 are respectively driven and controlled by three servo motors. The waist joint 3 is positioned between the manipulator base 4 and the manipulator arm, can horizontally rotate, and limits the horizontal rotation angle of the waist joint 3 within the range of 180 degrees by setting mechanical limit. The mechanical arm comprises a mechanical arm front end 5, a small arm 7, a large arm 6, a connecting arm 8 connected with the waist joint 3 and the like, wherein the shoulder joint 2 is positioned between the connecting arm 8 and the large arm 6 and can perform pitching motion so as to drive the large arm 6 to lift up or lower down; the elbow joint 1 is positioned between the large arm 6 and the small arm 7 and also performs pitching motion so as to drive the small arm to lift up or lower down. By providing mechanical stops, the shoulder joint 2 and the elbow joint 3 can be limited to pitch movements within a range of 220 °. The front end of the small arm 7 is a mechanical arm front end 5 which is used for connecting a door body to be measured. In the embodiment, each movable joint is provided with a rotating shaft mechanism, and three rotating shaft mechanisms are respectively driven to rotate by three servo motors, so that horizontal or pitching motion of each joint is realized.
In order to simulate the actual stress condition of the door body to be tested by the hand switch to the maximum extent so as to meet the door body stress requirement specified by the national standard, the flexible connecting device 9 made of flexible materials such as rubber is installed at the front end 5 of the mechanical arm in the embodiment, as shown in fig. 2 and 3. The flexible connection means 9 are mainly composed of three parts: one end is a connecting part 9-2 which is used for connecting to the front end 5 of the mechanical arm; the other end is provided with a clamp 9-3 or a vacuum chuck 9-4, and is used for clamping a handle of the detected door body 10 (for a door body with a handle, the clamp 9-3 can be used for clamping the handle to realize the connection of the manipulator and the detected door body) or adsorbing the detected door body 10 (for a door body without a handle, the connection of the manipulator and the detected door body can be realized by adopting a mode that the vacuum chuck 9-4 is adsorbed on the door body), which is shown in the combined drawing 4; the middle part is a rubber rod 9-1, but can be a rod body made of other flexible materials. Because flexible connection device 9 has certain pliability, consequently, act on the measured door body 10 with the manipulator through flexible connection device 9, the actual application of force condition of simulation people's hand to the measured door body 10 that can be fine to acquire more accurate detection data, realize the true detection of door body hinge durability.
In the process of opening and closing the detected door 10 by the manipulator, in order to detect whether the door hinge is damaged in real time so as to automatically control the test process, the door hinge durability detection device of the embodiment is further provided with a pull pressure sensor and a position sensor 11, as shown in fig. 2. Wherein, draw pressure sensor to install on flexible connection device 9 for gather in real time and be surveyed a body 10 and carry out contrastive analysis to the PLC controller at the power that the in-process manipulator of switch exerted to a body 10, the data transmission that will gather appears changing or surpassing the scope of presetting in succession by a wide margin suddenly, then can judge that a body hinge appears damaging. At this time, the PLC stops outputting the pulse signal, and controls the servo motor to stop operating, so that the manipulator stops operating. The position sensor 11 may be installed around the door 10 to be tested, for example, at a position on the test bench 12 close to a target door opening position of the door 10 to be tested, that is, a termination position of the door opening, for detecting a door opening angle reached by the door 10 to be tested, and limiting a maximum door opening angle. When the door body 10 cannot be detected to be opened to the target position within a period of time, the door body hinge is considered to be damaged (for example, the door body falls) or the manipulator is separated from the detected door body (for example, a clamp or a sucker on the flexible connecting device falls), and at the moment, the PLC controls the manipulator to stop running and alarm.
The periphery of the door body 10 to be tested can be further provided with a video monitoring probe 13 for recording the whole testing process of the door body hinge, so that the door body hinge can be conveniently analyzed by a tester. The sound collection device 14 is arranged on the test table position 12 for fixing the door body 10 to be tested, so that the rotating sound of the hinge of the door body can be collected and recorded in real time, and a tester can be helped to indirectly know the abrasion condition of the hinge.
The PLC controller can be installed in the switch board, the touch display screen that sets up on the cooperation switch board can provide human-computer interaction interface for the tester on the one hand, on the other hand can also receive the working parameter of tester input, transmit to the PLC controller, according to the program of compiling in advance, the moving trajectory of this experimental manipulator is generated in automatic calculation, and then control servo motor drives the manipulator action, flexible connecting device 9 drives the measured door body 10 and follows the same reciprocating motion of manipulator, realize the action of the switch door body, alright from this with the automated inspection who realizes door body hinge durability.
In this embodiment, the operation trajectory of the manipulator is preferably calculated by a cubic spline function difference method. The durability detection method of the door hinge will be described in detail with reference to the detection device. As shown in fig. 5 and 6, the method includes the following steps:
a. fixing the door body 10 to be tested on the test bench 12, adjusting the distance between the door body 10 to be tested and the manipulator, and connecting the front end of the manipulator arm with the door body 10 to be tested by using a flexible connecting device.
In consideration of the overall aesthetic property and the convenience of observation, the manipulator is preferably placed opposite to the door body 10 to be measured, and the large arm is lifted up and the small arm is lowered down to form the initial posture of the manipulator, as shown in fig. 6.
b. The working mode (namely the opening direction and the mode of the door body to be detected) is selected through a man-machine interaction interface on the control cabinet, and then working parameters are input, such as: the maximum working frequency, the width of the measured door body 10, the handle height, the door opening angle (i.e. the angle corresponding to the measured door body 10 being opened to the target position), and the like, and the PLC generates a control program.
In this embodiment, the control program of the PLC may execute the following process:
firstly, according to the initial working state of the manipulator and the input parameters of the measured door body, determining the joint angle of each movable joint of the manipulator at the initial position of action
。
In this embodiment, the manipulator is still described by taking three movable joints as an example, that is: the lumbar, shoulder and elbow joints. According to the handle height H (namely the height from the front end of the mechanical arm to the horizontal plane), the mechanical arm base height T (namely the height from the shoulder joint to the horizontal plane) and the relative distance S between the door body 10 to be measured and the mechanical arm (namely the distance from the shoulder joint to the door body 10 to be measured), by utilizing the geometrical relationship, the following can be obtained:
here, the robot and the test stand 12 are assumed to be fixed on the same horizontal plane, and the solution in the above equation is obtained
、
The initial angle of the elbow joint and the shoulder joint can be obtained. Wherein L is1Is the forearm length of the manipulator; l is2The length of the large arm of the manipulator. Since the manipulator is aligned with the door body 10 to be measured, the joint angle at the initial position of the waist joint movement
Is 0 deg.. In the present embodiment, the horizontal direction of the shoulder joint toward the door 10 to be measured is defined as 0 °, and the clockwise direction is a positive angle direction. The rotation angle of the elbow joint can be adjusted by the rotation angle of the small arm
A conversion determination (i.e. the angle of the elbow joint =90 ° -forearm angle) is made, wherein the rotation angle of the forearm is defined as 0 ° in the horizontal direction away from the measured door body 10 and the counterclockwise direction is the positive angle direction. Solving for
、Respectively corresponds to a positive solution and a negative solution, and due to the limitation of the rotation angle of the manipulator joint,
、
a positive number solution is uniformly selected.
Secondly, determining the target position of the manipulator according to the input width of the door body and the door opening angle, and further calculating the joint angle of each movable joint of the manipulator at the action target position
，
The calculation method is the same as that of
And a description thereof will not be repeated here.
Thirdly, calculating the joint angle of each movable joint of the manipulator at each moment t in the moving process by utilizing a cubic spline function difference method
Angular velocity
And angular acceleration。
Here, in order to describe the relationship between the joint angle of the robot arm at the initial position of the operation and the joint angle at the target position of the operation, the time zone 2 when the door body is opened
，
]There is a smooth interpolation function in the memory
Whereinat the moment when the door body 10 to be tested is opened,
the boundary conditions of the moment when the measured door body 10 is opened to the target position are as follows:
in order to ensure the robot arm to run smoothly, the motion trajectory function of each movable joint should satisfy the speed constraints of two end points in addition to the position constraints of the two end points:
a cubic polynomial can be uniquely determined by using the four constraints given above to describe the motion of the movable joint of the manipulator:
solving the equation set through the boundary conditions to obtain:
；；
；
。
for joint motion with zero velocity at the initial position and the target position of the motion, the cubic polynomial interpolation function meeting the requirement of continuous and stable motion is as follows:
the expressions of the joint angular velocity and the angular acceleration are respectively as follows:
by calculating the three movable joints by the method, the action angle, the action speed and the action acceleration of each movable joint can be determined. After the data are obtained, the PLC can send corresponding pulse signals to corresponding servo motor controllers, and simultaneously control the three servo motors to do different rotary actions, so that the running track of the front end of the mechanical arm is fitted, and the detection test of the door body opening and closing is completed.
An example of the test is given below. Taking the durability detection of the left-opening refrigerator hinge as an example, assuming that the width of a refrigerator door body is 450 mm; handle height H =1200 mm; door opening angleThe degree is 90 degrees; the working frequency is 20 times/min; the height T =950mm of the base of the manipulator; the distance S =1100mm between the manipulator and the door body to be measured; small arm length L of manipulator1=600 mm; length of large arm L2=600 mm. Calculated from the above data:=8°，
=33°，
=0°；
=29°，
=64°，
=35 °. The values of the angles here are rounded uniformly, ignoring the decimal. Thereby the device is provided with
The elbow joint comprises:
(Here, the
The rotation angle of the small arm is 90 degrees corresponding to the rotation angle of the elbow joint
）
For the shoulder joint:
the waist joint comprises:
discretizing the above formula, and determining the rotation direction of each joint by comparing the angle of each movable joint at the front moment and the rear moment so as to drive the servo motor to rotate forwards or backwards; the number of pulses output in unit time can be calculated through the speed value PLC, and the rotating speed of the servo motor is further controlled; and comparing the calculated acceleration with a set value, and intervening to avoid too severe vibration of the manipulator.
c. Each movable joint of the manipulator operates under the drive control of the servo motor, starts a durability detection test on the door body hinge, and records the times of opening and closing the door body.
d. The whole test process is recorded by using a video monitoring probe, and each sensor in the device collects data in real time and transmits the data to the PLC for analysis.
e. When the analysis result shows that the door body hinge is damaged and the test cannot be continued, the PLC stops outputting pulse signals, controls the mechanical arm to stop acting and utilizes the audible and visual alarm to give an alarm and remind.
In this embodiment, when the collected data fed back by the tension and pressure sensor installed on the flexible connection device continuously and largely changes or exceeds a preset range, it is determined that the door hinge is damaged; or when the position sensor cannot detect the preset door opening angle of the door body within a period of time, the door body hinge is considered to be damaged or the mechanical arm is separated from the detected door body. Of course, other detection methods may be adopted to detect the damage of the door hinge, and the embodiment is not limited to the above example.
f. If the door body hinge is not seriously damaged in the test process and the test times reach the preset maximum working times, the PLC controls the mechanical arm to stop working and prompts by using sound-light alarm.
g. And calculating the service life of the door body hinge according to the opening and closing times of the door body, and finishing the durability detection of the door body hinge.
The core technology of the invention is to provide a novel door body hinge durability detection method by using a mechanical arm, and the method is particularly suitable for durability detection of household appliance door body hinges. Compared with the traditional pneumatic mechanical detection method and device, the door body hinge durability detection method and device provided by the embodiment have the following remarkable advantages:
(1) on the basis of the existing method and equipment functions for detecting the durability of the household appliance door body hinge, the condition that a user actually uses a household appliance product can be simulated more truly, and the test result is reflected more accurately;
(2) the device has high intelligent degree and relatively simple operation and control;
(3) the device can be suitable for household electrical appliances with doors of different models and sizes.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. The utility model provides a door hinge durability detection device which characterized in that: the mechanical arm comprises a plurality of movable joints, each movable joint is driven to move by an independent motor, and the front end of the mechanical arm is connected with a door body to be detected; the controller controls the motors to move in a combined manner, so that the front end of the mechanical arm simulates the actual running track of a door body to be tested to switch on and off the door body to be tested; the controller is connected with the measured door body at the front end of the manipulator, and then the controller is used for controlling the height of the manipulator base according to the handle height of the measured door body and the height of the measured door bodyRelative distance between the robot arm and the robot arm, and joint angle of each movable joint of the robot arm at the initial position of motion
(ii) a And joint angles of all movable joints of the manipulator at the action target position are calculated by combining the door opening target position of the detected door body(ii) a Calculating the action process of each movable joint of the manipulator by utilizing a cubic spline function difference method, and further generating a corresponding control signal to be output to a motor so as to drive the manipulator to act;
the cubic polynomial difference function generated by the cubic spline function difference method is as follows:
wherein,
is the joint angle of the movable joint at time t; t is in the time zone of the opening of the measured door body
，
]The value of the interior is selected,
is the time when the measured door body is opened,
the moment when the measured door body is opened to the door opening target position.
2. The door body hinge durability detection device according to claim 1, characterized in that: the manipulator comprises three movable joints: the waist joint, the shoulder joint and the elbow joint are provided with a rotating shaft mechanism at each joint and are respectively driven and controlled by three motors; wherein, the waist joint rotates horizontally; pitching motion of the shoulder joint and elbow joint.
3. The door body hinge durability detection device according to claim 1 or 2, characterized in that: the flexible connecting device is characterized in that the front end of the mechanical arm is provided with a flexible connecting device made of a flexible material, one end of the flexible connecting device is a connecting part used for connecting the front end of the mechanical arm, and the other end of the flexible connecting device is a clamp or a vacuum chuck used for clamping a handle of a door body to be detected or adsorbing the door body to be detected.
4. The door body hinge durability detection device according to claim 3, characterized in that: the flexible connecting device is provided with a pulling pressure sensor for detecting the force applied by a mechanical arm in the opening and closing process of the detected door body; a position sensor for detecting the door opening angle of the detected door body is arranged around the detected door body; the controller receives signals collected by the pulling pressure sensor and the position sensor, judges the damage condition of the door hinge and controls the manipulator to stop acting when judging that the door hinge is damaged.
5. A door hinge durability detection method comprises the following steps:
(1) adjusting the position relation between the manipulator and the door body to be measured;
(2) connecting the front end of the mechanical arm with a measured door body;
(3) the controller controls a plurality of motors to move in a combined manner, each motor correspondingly drives one movable joint in the manipulator to move, and the plurality of movable joints are controlled to move in a combined manner, so that the front end of the manipulator is controlled to simulate the actual running track of a door body to switch on and off the door body to be tested; wherein,
after the front end of the mechanical arm is connected with the door body to be measured, the controller calculates joint angles of movable joints of the mechanical arm at the initial action position according to the handle height of the door body to be measured, the height of a mechanical arm base and the relative distance between the door body to be measured and the mechanical arm
(ii) a And joint angles of all movable joints of the manipulator at the action target position are calculated by combining the door opening target position of the detected door body
(ii) a Calculating the action process of each movable joint of the manipulator by utilizing a cubic spline function difference method, and further generating a corresponding control signal to be output to a motor so as to drive the manipulator to act;
the cubic polynomial difference function generated by the cubic spline function difference method is as follows:
wherein,
is the joint angle of the movable joint at time t; t is in the time zone of the opening of the measured door body
，
]The value of the interior is selected,
is the time when the measured door body is opened,
the moment when the measured door body is opened to the door opening target position.
6. The door body hinge durability detection method according to claim 5, characterized in that: the manipulator comprises three movable joints: the waist joint, the shoulder joint and the elbow joint are provided with a rotating shaft mechanism at each joint and are respectively driven and controlled by three motors; wherein, the waist joint rotates horizontally; pitching rotation of the shoulder joint and the elbow joint; and lifting the big arm of the manipulator and lowering the small arm to form an initial posture to be connected with the measured door body.
7. The door body hinge durability detection method according to claim 5 or 6, characterized in that: the front end of the mechanical arm is connected with the door body to be detected through the flexible connecting device, the flexible connecting device is provided with a pull pressure sensor, the force applied by the mechanical arm in the opening and closing process of the door body to be detected is detected, a detection signal is transmitted to the controller, the damage condition of the door body hinge is judged, and the mechanical arm is controlled to stop acting when the door body hinge is judged to be damaged.
8. The door body hinge durability detection method according to claim 7, characterized in that: installing a position sensor around the detected door body, detecting the door opening angle of the detected door body, and transmitting a detection signal to the controller; when the measured door body can not reach the door opening target position continuously for multiple times, the controller judges that the door body hinge is damaged or the manipulator is separated from the measured door body, and controls the manipulator to stop acting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110225638 CN102410924B (en) | 2011-08-08 | 2011-08-08 | Door body hinge durability detection method and apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110225638 CN102410924B (en) | 2011-08-08 | 2011-08-08 | Door body hinge durability detection method and apparatus thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102410924A CN102410924A (en) | 2012-04-11 |
| CN102410924B true CN102410924B (en) | 2013-08-14 |
Family
ID=45913129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110225638 Expired - Fee Related CN102410924B (en) | 2011-08-08 | 2011-08-08 | Door body hinge durability detection method and apparatus thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102410924B (en) |
Families Citing this family (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103033347B (en) * | 2012-05-23 | 2015-03-18 | 上海英伦帝华汽车部件有限公司 | Handrail testing apparatus and test method of handrail strength |
| CN103018023A (en) * | 2012-11-29 | 2013-04-03 | 无锡众望四维科技有限公司 | Testing machine for dehydrator braking device |
| CN103950035B (en) * | 2014-05-14 | 2016-04-06 | 中国家用电器研究院 | Power adjustable type mechanical arm Washing machine switch door actuator |
| CN104803334B (en) * | 2015-04-21 | 2017-02-01 | 西安东仪海博机电科技有限责任公司 | Automatic cover opening and closing device |
| CN106932180A (en) * | 2015-12-31 | 2017-07-07 | 深圳市祈飞科技有限公司 | Cabinet door electronic lock is opened and closed automatic testing equipment |
| CN106441845A (en) * | 2016-09-26 | 2017-02-22 | 江西奋发科技有限公司 | Detecting device for door and window repeated opening and closing test and method thereof |
| CN107322611B (en) * | 2017-08-24 | 2023-04-18 | 广东顺德三扬科技股份有限公司 | Detection manipulator and detection system for window |
| CN109781394B (en) * | 2017-11-15 | 2020-09-18 | 宁波方太厨具有限公司 | Microwave oven product door body hinge life test device |
| CN109839234A (en) * | 2017-11-24 | 2019-06-04 | 广州誉鑫精密部件有限公司 | Full-automatic dynamics detection machine |
| CN108051194A (en) * | 2017-12-12 | 2018-05-18 | 常州工学院 | Fire-fighting life-saving locks life detecting device |
| CN108247620A (en) * | 2018-01-22 | 2018-07-06 | 东莞市精联精密技术有限公司 | A kind of micron order commercial measurement quality inspection mechanical arm and its detection method |
| CN108225758B (en) * | 2018-01-23 | 2020-10-09 | 青岛海佰利机械有限公司 | Testing method and control system of refrigerator door opening and closing fatigue testing machine |
| CN108332961B (en) * | 2018-03-12 | 2024-06-11 | 青岛海容商用冷链股份有限公司 | Switch life testing machine for horizontal display refrigerator door body |
| CN108731925B (en) * | 2018-04-18 | 2020-06-02 | 合肥羿振电力设备有限公司 | High-efficiency uninterrupted door opener for durability test of refrigerator door switch |
| CN108562428B (en) * | 2018-04-18 | 2020-06-02 | 合肥羿振电力设备有限公司 | Door opener with uninterruptible power supply for refrigerator door test |
| CN108680373B (en) * | 2018-04-18 | 2020-06-02 | 合肥羿振电力设备有限公司 | Intelligent testing system for refrigerator durability test |
| CN108776036B (en) * | 2018-04-18 | 2020-06-12 | 合肥羿振电力设备有限公司 | Intelligent testing system for refrigerator durability test |
| CN108776035B (en) * | 2018-04-18 | 2020-06-02 | 合肥羿振电力设备有限公司 | Intelligent high-stability testing system for refrigerator durability test |
| CN108776007B (en) * | 2018-04-18 | 2020-03-27 | 合肥安力电力工程有限公司 | Door opener with lifting platform for refrigerator door switch durability test |
| CN108680345B (en) * | 2018-04-18 | 2019-12-31 | 合肥安力电力工程有限公司 | Door opening machine for refrigerator door switch durability test |
| CN108548664B (en) * | 2018-04-18 | 2020-01-21 | 南京宁宣机械制造有限公司 | Self-aligning door opener with lifting platform for refrigerator door switch durability test |
| CN108731926B (en) * | 2018-04-18 | 2020-06-02 | 合肥羿振电力设备有限公司 | Refrigerator door is experimental with incessant door operator of self-alignment |
| CN108535002B (en) * | 2018-04-18 | 2019-12-31 | 合肥安力电力工程有限公司 | Self-aligning door opener for durability test of refrigerator door switch |
| CN108760345A (en) * | 2018-08-10 | 2018-11-06 | 芜湖职业技术学院 | A kind of autonomous driving vehicle door hinge device for testing endurance |
| CN109974992A (en) * | 2019-04-16 | 2019-07-05 | 南京康尼机电股份有限公司 | A kind of escape door door body and door lock service life detection device |
| CN110231155A (en) * | 2019-06-26 | 2019-09-13 | 芜湖瑞泰汽车零部件有限公司 | A kind of automotive seat heel row middle handrail durability experiment equipment and application method |
| CN112683501B (en) * | 2020-11-27 | 2022-11-15 | 中杭监测技术研究院有限公司 | Intelligent bionic type switch blade opening and closing experimental device and experimental method |
| CN114545904A (en) * | 2022-02-22 | 2022-05-27 | 浙江西图盟数字科技有限公司 | Vehicle door dynamic simulation test system and control method thereof |
| CN114960535B (en) * | 2022-05-17 | 2024-01-16 | 长江重庆航道工程局 | Positioning reef cleaning device and positioning reef cleaning method for high-frequency breaking hammer extension arm |
| CN115597853B (en) * | 2022-11-28 | 2023-04-21 | 泰州市华驰不锈钢制品有限公司 | Life detection device of multi-angle hinge |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2441943Y (en) * | 2000-10-10 | 2001-08-08 | 华林 | Mechanical hand device for door |
| CN101733749A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Multidomain uniform modeling and emulation system of space robot |
| DE202010005934U1 (en) * | 2009-05-13 | 2010-07-29 | Julius Blum Gmbh | furniture drive |
| CN201544229U (en) * | 2009-10-30 | 2010-08-11 | 中国第一汽车集团公司 | Automobile door opening/closing manipulator used for automobile door opening/closing operation endurance test |
| CN201680977U (en) * | 2010-05-27 | 2010-12-22 | 上海机动车检测中心 | Automobile closure durability test stand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8074401B2 (en) * | 2007-06-28 | 2011-12-13 | The Mitre Corporation | Mechanical arm system for opening a door |
-
2011
- 2011-08-08 CN CN 201110225638 patent/CN102410924B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2441943Y (en) * | 2000-10-10 | 2001-08-08 | 华林 | Mechanical hand device for door |
| DE202010005934U1 (en) * | 2009-05-13 | 2010-07-29 | Julius Blum Gmbh | furniture drive |
| CN201544229U (en) * | 2009-10-30 | 2010-08-11 | 中国第一汽车集团公司 | Automobile door opening/closing manipulator used for automobile door opening/closing operation endurance test |
| CN101733749A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Multidomain uniform modeling and emulation system of space robot |
| CN201680977U (en) * | 2010-05-27 | 2010-12-22 | 上海机动车检测中心 | Automobile closure durability test stand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102410924A (en) | 2012-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102410924B (en) | Door body hinge durability detection method and apparatus thereof | |
| CN107192545A (en) | A kind of durability test apparatus and its system and endurance test method | |
| CN105136576A (en) | Spring load test system | |
| CN109434152B (en) | Full-automatic machining equipment | |
| CN110763498A (en) | System and method for testing service life durability of intelligent door lock | |
| CN111766088B (en) | Intelligent closestool detection device and method | |
| CN212207472U (en) | Detection apparatus for signal in shielding simulation motion | |
| CN101957431A (en) | Intelligent test device of frame breaker mechanism | |
| CN105643665A (en) | Thumb far-end joint detection device for data glove | |
| CN106368970B (en) | A kind of automatic exhaust device monitoring air quality by Internet of Things | |
| CN202837128U (en) | Test device for wear-resisting property of electric cooker body | |
| CN108061641A (en) | A kind of electric pushrod endurance testing device | |
| CN209728075U (en) | Jig for VR glasses signal detection | |
| CN207866483U (en) | A kind of equipment for testing service life of vacuum sealer | |
| CN103267688A (en) | Double-shaft notebook computer rotating shaft torsion test method | |
| CN205521413U (en) | Line detection manipulator of shifting gears under manual gear shifting ware | |
| CN103776494A (en) | Measuring instrument | |
| CN111077016B (en) | Experimental device for detecting compressive strength and using method thereof | |
| CN211292024U (en) | Intelligent door lock service life durability test system | |
| CN104742128A (en) | Middle finger palm knuckle force feedback unit | |
| CN106019134B (en) | A kind of full intelligence pressing test machine | |
| CN207649885U (en) | A kind of high-precision circular flat static pressure chokes parameters self-operated measuring unit | |
| CN203688210U (en) | Valve service life testing system | |
| CN114038115B (en) | Intelligent cabinet performance online automatic test method | |
| CN108225758B (en) | Testing method and control system of refrigerator door opening and closing fatigue testing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20140808 |
|
| EXPY | Termination of patent right or utility model |