CN105092124A - Manipulator moment test apparatus - Google Patents
Manipulator moment test apparatus Download PDFInfo
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- CN105092124A CN105092124A CN201510231028.0A CN201510231028A CN105092124A CN 105092124 A CN105092124 A CN 105092124A CN 201510231028 A CN201510231028 A CN 201510231028A CN 105092124 A CN105092124 A CN 105092124A
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Abstract
The invention relates to the technical field of moment test apparatuses, especially to a manipulator moment test apparatus. The test apparatus comprises a moment sensor, a clamping tool, a support, and a manipulator adapter. The top of the manipulator adapter is equipped with a keyway, and the bottom of the manipulator adapter is connected to the top of the moment sensor. The clamping tool comprises an outer housing the top of which is connected to the bottom of the moment sensor, and also comprises a rotary mechanism and bolts that are all arranged in the outer housing. The two sides of the top of the outer housing are equipped with threaded holes for being in threaded connection with the bolts. The head of each bolt is positioned in the outer housing. A transverse boss is disposed between the two heads of the bolts on the top of the rotary mechanism. The rotary mechanism is detachably disposed at the bottom of the support. The manipulator moment test apparatus is easy and convenient to connect, and the original structure of a manipulator needs not to be changed. Workers do not need to manually operate the clamping tool, so the influence of human factors is avoided, and the accuracy of a moment test is ensured.
Description
Technical field
The present invention relates to torque test device technical field, particularly relate to a kind of mechanical arm torque test device.
Background technology
Overall bolt stretching machine is mainly used in the operation of reactor pressure vessel switch cover, the instrument indispensable and very important for nuclear power station overhaul.Because reactor pressure vessel belongs to disposable apparatus, if there is bolt bite when carrying out switch cover operation, damage will be caused to pressure vessel screw.If mechanical arm Torque Control poor performance, when there is super moment bite, motor cannot quit work in time, and cause bolt, screw bite situation serious, loss will be very heavy.Mechanical arm torque test device is mainly used to test overall bolt stretching machine mechanical arm Torque Control performance.
In prior art, generally torque sensor is installed on a robotic arm, remove mechanical arm and kingbolt adapter connecting portion, friction pair is installed, then reach by the fastening bolt moment of manpower manual change friction disc the object controlling moment of friction.Mainly there is following shortcoming in existing this kind of technology: one, test tool installation process is complicated, and the installation of torque sensor and friction pair all needs the corresponding component removing mechanical arm, changes mechanical arm original structure; Two, the moment of friction control mode of friction pair is Non-follow control, carry out quick bite and at a slow speed bite simulation test operating mode time, be affected by human factors larger; Three, without Special test stand, can only carry out on stretch ring when carrying out mechanical arm torque test, operating space is narrow, and personnel carry out torque test needs to climb for a long time, adds industrial safety risk.
Summary of the invention
The object of the invention is to provide a kind of for the deficiencies in the prior art and can connect without the need to changing mechanical arm original structure the mechanical arm torque test device carrying out torque test.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of mechanical arm torque test device, comprises torque sensor, bite frock, support and offers keyway with top and the mechanical arm adapter that is connected with described torque sensor top of bottom; Described bite frock comprises shell body that top is connected with the bottom of described torque sensor, be arranged at rotating mechanism in described shell body and bolt, the both sides at described shell body top offer the threaded hole for the described bolt that is spirally connected respectively, the bolt head of described bolt is positioned at described shell body, be provided with horizontal boss between the bolt head of two the described bolts in described rotating mechanism top, bottom described rotating mechanism, be removably installed in the bottom of described support.
According in mechanical arm torque test device provided by the invention, described rotating mechanism comprises coupling body and lower coupling body, the bottom of described upper coupling body is provided with at least two projections, upper groove is formed between two adjacent described projections, the top of described lower coupling body is provided with at least two lower convexity, form low groove between two adjacent described lower convexity, described projection and described low groove are connected, and described lower convexity and described upper groove are connected.
According in mechanical arm torque test device provided by the invention, described rotating mechanism also comprises soft buffer stopper, and described soft buffer stopper is embedded between described upper groove and described low groove.
According in mechanical arm torque test device provided by the invention, the outside of described lower coupling body offers annular gathering sill, and the bottom of described shell body is provided with guider screw, and described guider screw is slidably connected in described annular gathering sill.
According in mechanical arm torque test device provided by the invention, the bottom of described support offers the first square groove, and the bottom of described lower coupling body is provided with the first square key, and described first square key is connected with described first party slot fit.
According in mechanical arm torque test device provided by the invention, cushion block is provided with in described mechanical arm adapter, the inwall of described mechanical arm adapter is provided with internal thread, described cushion block is provided with external thread, described external thread is spirally connected with described internal thread thus described cushion block is connected with described mechanical arm adapter, the bottom of described cushion block is provided with the second square key, and the top of described torque sensor is provided with the second square groove, and described second square key is connected with described second party slot fit.
According in mechanical arm torque test device provided by the invention, the bottom welding of described second square key and described cushion block.
According in mechanical arm torque test device provided by the invention, the top of described shell body offers third party's groove, and the bottom of described torque sensor is provided with third party's key, and described third party's key is connected with described third party's slot fit.
According in mechanical arm torque test device provided by the invention, the top of described support is provided with support platform.
According in mechanical arm torque test device provided by the invention, described shell body is stainless steel casing body.
Enforcement the invention provides a kind of mechanical arm torque test device, its beneficial effect, when carrying out torque test, the keyway that mechanical arm and mechanical arm adapter top are offered is connected, and rely on the locking of swollen pearl on mechanical arm and mechanical arm adapter, setting speed and moment alarm threshold value is required according to torque test, start drive motor and pass through mechanical arm adapter by torque transfer to torque sensor, torque sensor drives the shell body of bite frock to rotate, the bolt be spirally connected in the threaded hole of both sides, shell body top followed by rotation, when the bolt head of bolt is blocked by the horizontal boss of rotating mechanism, then forward bite point to, drive motor quits work due to super moment, now torque sensor can record mechanical hand-screw and turn over maximum moment in journey, then the threshold value of this moment and moment alarm settings is contrasted, the Torque Control performance of surveyed mechanical arm can be drawn.The mechanical arm adapter of mechanical arm torque test device of the present invention can be transformed by adapter bolt, mechanical arm is connected with mechanical arm adapter, connection between mechanical arm, mechanical arm adapter, torque sensor, bite frock is simple and convenient, without the need to changing the original structure of mechanical arm; Meanwhile, without the need to personnel's manual operation bite frock, thus can effectively avoid human factor to affect, guarantee the accuracy of torque test.
Accompanying drawing explanation
Fig. 1 is the structural representation of the torque test device of the embodiment of the present invention one.
Fig. 2 is the structural representation of the mechanical arm adapter of the torque test device of the embodiment of the present invention one.
Fig. 3 is the structural representation of the torque sensor of the torque test device of the embodiment of the present invention one.
Fig. 4 is the structural representation of the bite frock of the torque test device of the embodiment of the present invention one.
Fig. 5 is the STRUCTURE DECOMPOSITION schematic diagram of the rotating mechanism of the torque test device of the embodiment of the present invention one.
Fig. 6 is the structural representation of the support of the torque test device of the embodiment of the present invention one.
Fig. 7 is the structural representation of the torque test device of the embodiment of the present invention two.
Fig. 8 is the structural representation of the bite frock of the torque test device of the embodiment of the present invention two.
Fig. 9 is the structural representation of the soft buffer stopper of the torque test device of the embodiment of the present invention two.
Reference numeral comprises:
10-mechanical arm adapter 11-keyway 12-cushion block
13-second square key 20-torque sensor 21-second square groove
22-third party's key 30-bite frock 31-shell body
32-rotating mechanism 33-bolt 40-support
41-first square groove 42-support platform 50-mechanical arm
311-threaded hole 312-guider screw 313-third party groove
The soft buffer stopper of coupling body 323-under 321-upper coupling body 322-
The horizontal boss of 3211-projection 3212-upper groove 3213-
3221-lower convexity 3222-low groove 3223-first square key
3224-annular gathering sill.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Embodiment one:
As shown in Figures 1 to 6, in the mechanical arm torque test device of one embodiment of the invention, comprise torque sensor 20, bite frock 30, support 40 and top and offer keyway 11 and the mechanical arm adapter 10 that is connected with torque sensor 20 top of bottom; Bite frock 30 comprises shell body 31 that top is connected with the bottom of torque sensor 20, be arranged at rotating mechanism 32 in shell body 31 and bolt 33, the both sides at shell body 31 top offer the threaded hole 311 for the bolt 33 that is spirally connected respectively, the bolt head of bolt 33 is positioned at shell body 31, be provided with horizontal boss 3213 between the bolt head of the described bolt 33 in described two, rotating mechanism 32 top, bottom rotating mechanism 32, be removably installed in the bottom of support 40.
Wherein, bolt 33 can be interior hexagonal, interior yi word pattern or inner cross shape bolt; Preferably, bolt 33 is hexagon socket head cap screw, when the threaded hole 311 at hexagon socket head cap screw and shell body 31 top is spirally connected, conveniently tightens and unclamps, being beneficial to operation, installs simple.
Concrete, when carrying out torque test, the keyway 11 that mechanical arm 50 and mechanical arm adapter 10 top are offered is connected, and rely on the locking of swollen pearl on mechanical arm 50 and mechanical arm adapter 10, setting speed and moment alarm threshold value is required according to torque test, start drive motor and pass through mechanical arm adapter 10 by torque transfer to torque sensor 20, torque sensor 20 drives the shell body 31 of bite frock 30 to rotate, the bolt 33 be spirally connected in the threaded hole 311 of both sides, shell body 31 top followed by rotation, when the bolt head of bolt 33 is blocked by the horizontal boss 3213 of rotating mechanism 32, then forward bite point to, drive motor quits work due to super moment, now torque sensor 20 can record the maximum moment in mechanical arm 50 rotary course, then the threshold value of this moment and moment alarm settings is contrasted, the Torque Control performance of surveyed mechanical arm 50 can be drawn.
The mechanical arm adapter 10 of mechanical arm torque test device of the present invention can be transformed by adapter bolt, mechanical arm 50 is connected with mechanical arm adapter 10, connection between mechanical arm 50, mechanical arm adapter 10, torque sensor 20, bite frock 30 is simple and convenient, without the need to changing the original structure of mechanical arm 50; Meanwhile, without the need to personnel's manual operation bite frock 30, thus can effectively avoid human factor to affect, guarantee the accuracy of torque test.
Refer to Fig. 4 and Fig. 5, rotating mechanism 32 comprises coupling body 321 and lower coupling body 322, the bottom of upper coupling body 321 is provided with at least two projections 3211, upper groove 3212 is formed between two adjacent projections 3211, the top of lower coupling body 322 is provided with at least two lower convexity 3221, form low groove 3222 between two adjacent lower convexity 3221, projection 3211 and low groove 3222 are connected, and described lower convexity 3221 and upper groove 3212 are connected; Wherein, horizontal boss 3213 is arranged at the top of coupling body 321.Concrete, when the bolt head of the bolt 33 rotated is blocked by the horizontal boss 3213 that upper coupling body 321 top is arranged, due to the projection 3211 and the low groove 3222 that are connected and there is certain gap between lower convexity 3221 and upper groove 3212, on the bolt head Direct driver of bolt 33, coupling body 321 rotates in gap, when lower convexity 3221 and low groove 3222 contact impact of the projection 3211 of upper coupling body 321 and upper groove 3212 and lower coupling body 322, mechanical arm is due to super moment, stop operating immediately, thus realize the quick bite operating mode of simulation.
In the present embodiment, the outside of lower coupling body 322 offers annular gathering sill 3224, and the bottom of shell body 31 is provided with guider screw 312, and this guider screw 312 is slidably connected in described annular gathering sill 3224.Concrete, annular gathering sill 3224 can be formed by turning, and wherein, during rotation, the guider screw 312 of shell body 31 slides in annular gathering sill 3224, reaches the coordinating of annular gathering sill 3224 and guider screw 312 and leads and the effect of fixing tool.
In the present embodiment, the bottom of support 40 offers the first square groove 41, and the bottom of lower coupling body 322 is provided with the first square key 3223, and described first square key 3223 is connected with described first square groove 41.Concrete, by being connected of the first square key 3223 and the first square groove 41, thus rotated by the restriction time coupling body 322 that maintains static of support 40, good spacing fixation is played to lower coupling body 322.
In the present embodiment, cushion block 12 is provided with in mechanical arm adapter 10, the inwall of mechanical arm adapter 10 is provided with internal thread, described cushion block 12 is provided with external thread, described external thread is spirally connected with described internal thread thus cushion block 12 is connected with mechanical arm adapter 10, the bottom of described cushion block 12 is provided with the second square key 13, and the top of torque sensor 20 is provided with the second square groove 21, and described second square key 13 and the second square groove 21 are connected.Concrete; this kind of structural design can guarantee that mechanical arm adapter 10 is connected with torque sensor 20 is stable; and avoid mechanical arm adapter 10 skid relative to torque sensor 20 when rotating by being connected of the second square key 13 and the second square groove 21; thus effectively can guarantee normally carrying out of torque test, and then guarantee the accuracy of test data.
Concrete; second square key 13 is connected with the bottom welding of cushion block 12; cushion block 12 can offer square groove; and then the top of the second square key 13 is inserted in this square groove; spot welding is carried out again in gap between second square key 13 and this square groove; guarantee the stability that the second square key 13 is connected with cushion block 12, and then guarantee that mechanical arm adapter 10 is when rotating, and can drive torque sensor 20 to rotate.
In the present embodiment, the top of shell body 31 offers third party's groove 313, and the bottom of torque sensor 20 is provided with third party's key 22, and third party's key 22 and third party's groove 313 are connected.Concrete, by being connected of third party's key 22 and third party's groove 313, thus when torque sensor 20 can be made to drive shell body 31 to rotate, avoiding the phenomenon occurring skidding, effectively can guarantee normally carrying out of torque test equally.
Refer to Fig. 6, the top of support 40 is provided with support platform 42; When carrying out mechanical arm 50 torque test of robot, support platform 42 may be used for depositing robot, the support platform 42 that robot can be arranged by bolt and support 40 top is connected, this support 40 can adaptive MSTM robot, its storage rack carried with producer of MSTM robot is connected, highly, width, slotting position mate with said apparatus, conveniently can carry out the robot installation with torque test frock in place, special support 40, provide larger operating space, thus the industrial safety risk of operated by personnel can be reduced.
Preferably, described shell body 31 is stainless steel casing body, and shell body 31 good mechanical property of stainless steel, Long-Time Service not easily gets rusty, long service life.
Embodiment two:
As shown in Figure 7 to 9, the difference of the present embodiment and embodiment one is, described rotating mechanism 32 also comprises soft buffer stopper 323, and described soft buffer stopper 323 is embedded between upper groove 3212 and low groove 3222.Concrete, when the bolt head of the bolt 33 rotated is blocked by the horizontal boss 3213 that upper coupling body 321 top is arranged, the projection 3211 be connected and low groove 3222 and there is certain gap between lower convexity 3221 and upper groove 3212, this gap is filled by soft buffer stopper 323, when the bolt head of bolt 33 turn to contact with the horizontal earthen platform 3213 at upper coupling body 321 top time after, due to the existence of soft buffer stopper 323, bite moment slowly increases, when moment increases to the torque limit value of motor setting, mechanical arm stops operating, thus realize simulating bite operating mode at a slow speed.
Preferably, soft buffer stopper 323 is the soft buffer stopper 323 of quality of rubber materials, soft buffer stopper 323 good toughness of quality of rubber materials, when being embedded between upper groove 3212 and low groove 3222, the projection 3211 and low groove 3222 and the gap between lower convexity 3221 and upper groove 3212 that are connected can be filled completely, practical.
The remainder of the present embodiment is identical with embodiment one, in the present embodiment unaccounted feature, all adopts the explanation of embodiment one, no longer repeats here.
Known the present invention has good characteristic as described below in sum: one, mechanical arm adapter 10 can be transformed by adapter bolt, mechanical arm 50 is connected with mechanical arm adapter 10, connection between mechanical arm 50, mechanical arm adapter 10, torque sensor 20, bite frock 30 is simple and convenient, without the need to changing the original structure of mechanical arm 50; Two, without the need to personnel's manual operation bite frock 30, thus can effectively avoid human factor to affect, guarantee the accuracy of torque test; Three, support 40 can adaptive MSTM robot, its storage rack carried with producer of MSTM robot is connected, highly, width, slotting position mate with said apparatus, conveniently can carry out the robot installation with torque test frock in place, special support 40, provide larger operating space, thus the industrial safety risk of operated by personnel can be reduced; Thus made it in use, promote in conventional art the usefulness that do not have and there is practicality, becoming the product that has practical value.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (10)
1. a mechanical arm torque test device, it is characterized in that: comprise torque sensor (20), bite frock (30), support (40), and top offers keyway (11) and the mechanical arm adapter (10) that is connected with described torque sensor (20) top of bottom, described bite frock (30) comprises the shell body (31) that top is connected with described torque sensor (20) bottom, be arranged at the rotating mechanism (32) in described shell body (31) and bolt (33), the both sides at described shell body (31) top offer the threaded hole (311) for described bolt (33) that are spirally connected respectively, the bolt head of described bolt (33) is positioned at described shell body (31), horizontal boss (3213) is provided with between the bolt head of two the described bolts (33) in described rotating mechanism (32) top, described rotating mechanism (32) bottom is removably installed in the bottom of described support (40).
2. mechanical arm torque test device according to claim 1, it is characterized in that: described rotating mechanism (32) comprises coupling body (321) and lower coupling body (322), the bottom of described upper coupling body (321) is provided with at least two projections (3211), upper groove (3212) is formed between two adjacent described projections (3211), the top of described lower coupling body (322) is provided with at least two lower convexity (3221), low groove (3222) is formed between two adjacent described lower convexity (3221), described projection (3211) and described low groove (3222) are connected, described lower convexity (3221) and described upper groove (3212) are connected.
3. mechanical arm torque test device according to claim 2, it is characterized in that: described rotating mechanism (32) also comprises soft buffer stopper (323), described soft buffer stopper (323) is embedded between described upper groove (3212) and described low groove (3222).
4. mechanical arm torque test device according to claim 2, it is characterized in that: the outside of described lower coupling body (322) offers annular gathering sill (3224), the bottom of described shell body (31) is provided with guider screw (312), and described guider screw (312) is slidably connected in described annular gathering sill (3224).
5. mechanical arm torque test device according to claim 3, it is characterized in that: the bottom of described support (40) offers the first square groove (41), the bottom of described lower coupling body (322) is provided with the first square key (3223), and described first square key (3223) and described first square groove (41) are connected.
6. mechanical arm torque test device according to claim 1, it is characterized in that: in described mechanical arm adapter (10), be provided with cushion block (12), the inwall of described mechanical arm adapter (10) is provided with internal thread, described cushion block (12) is provided with external thread, described external thread is spirally connected with described internal thread thus described cushion block (12) is connected with described mechanical arm adapter (10), the bottom of described cushion block (12) is provided with the second square key (13), the top of described torque sensor (20) is provided with the second square groove (21), described second square key (13) and described second square groove (21) are connected.
7. mechanical arm torque test device according to claim 6, is characterized in that: the bottom welding of described second square key (13) and described cushion block (12).
8. mechanical arm torque test device according to claim 1, it is characterized in that: the top of described shell body (31) offers third party's groove (313), the bottom of described torque sensor (20) is provided with third party's key (22), and described third party's key (22) and described third party's groove (313) are connected.
9. mechanical arm torque test device according to claim 1, is characterized in that: the top of described support (40) is provided with support platform (42).
10. mechanical arm torque test device according to claim 1 ~ 9 any one, is characterized in that: described shell body (31) is stainless steel casing body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231028.0A CN105092124B (en) | 2015-05-08 | 2015-05-08 | A kind of manipulator torque test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231028.0A CN105092124B (en) | 2015-05-08 | 2015-05-08 | A kind of manipulator torque test device |
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| CN105092124A true CN105092124A (en) | 2015-11-25 |
| CN105092124B CN105092124B (en) | 2018-03-02 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3921445A (en) * | 1973-10-15 | 1975-11-25 | Stanford Research Inst | Force and torque sensing method and means for manipulators and the like |
| CN2741124Y (en) * | 2004-11-19 | 2005-11-16 | 张力 | Rotary torque sensor from bearing power supply |
| CN101118194A (en) * | 2007-09-14 | 2008-02-06 | 哈尔滨工业大学 | Joint moment sensor providing torque and bending moment overload protection |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN204228312U (en) * | 2014-08-26 | 2015-03-25 | 中国船舶重工集团公司第七0四研究所 | The torgue measurement of the two working arm multifunction manipulator peculiar to vessel of two-fold arm and restriction system |
| CN204924519U (en) * | 2015-05-08 | 2015-12-30 | 阳江核电有限公司 | Manipulator moment test device |
-
2015
- 2015-05-08 CN CN201510231028.0A patent/CN105092124B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3921445A (en) * | 1973-10-15 | 1975-11-25 | Stanford Research Inst | Force and torque sensing method and means for manipulators and the like |
| CN2741124Y (en) * | 2004-11-19 | 2005-11-16 | 张力 | Rotary torque sensor from bearing power supply |
| CN101118194A (en) * | 2007-09-14 | 2008-02-06 | 哈尔滨工业大学 | Joint moment sensor providing torque and bending moment overload protection |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN204228312U (en) * | 2014-08-26 | 2015-03-25 | 中国船舶重工集团公司第七0四研究所 | The torgue measurement of the two working arm multifunction manipulator peculiar to vessel of two-fold arm and restriction system |
| CN204924519U (en) * | 2015-05-08 | 2015-12-30 | 阳江核电有限公司 | Manipulator moment test device |
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