CN105092124B - A kind of manipulator torque test device - Google Patents
A kind of manipulator torque test device Download PDFInfo
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- CN105092124B CN105092124B CN201510231028.0A CN201510231028A CN105092124B CN 105092124 B CN105092124 B CN 105092124B CN 201510231028 A CN201510231028 A CN 201510231028A CN 105092124 B CN105092124 B CN 105092124B
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Abstract
The present invention relates to torque test device technical field, more particularly to a kind of manipulator torque test device, including the manipulator adapter that torque sensor, bite frock, support and top offer keyway and bottom is connected with torque sensor top；The bite frock includes shell body, the rotating mechanism and bolt being arranged in shell body of the bottom connection of top and torque sensor, both sides at the top of shell body offer the screwed hole for the bolt that is spirally connected respectively, the bolt head of bolt is located in shell body, horizontal boss is provided between the bolt head of two bolts at the top of the rotating mechanism, rotating mechanism bottom is removably installed in the bottom of support.Present invention connection is simple and convenient, without changing the original structure of manipulator；And without the manually operated bite frock of personnel, human factor is avoided to influence, it is ensured that the accuracy of torque test.
Description
Technical field
The present invention relates to torque test device technical field, more particularly to a kind of manipulator torque test device.
Background technology
Overall bolt stretching machine is mainly used in the operation of reactor pressure vessel switch cover, for nuclear power station overhaul indispensability and very
Important instrument.Because reactor pressure vessel belongs to disposable apparatus, if bolt bite occurs when carrying out switch cover operation,
Pressure vessel screw will be caused to damage.If manipulator Torque Control poor performance, when super torque bite occurs, motor without
Method is stopped in time, causes that bolt, screw bite situation are serious, and loss will be very heavy.Manipulator torque test device
It is mainly used to test overall bolt stretching machine manipulator Torque Control performance.
In the prior art, typically by torque sensor installation on a robotic arm, manipulator is removed with kingbolt adapter to connect
Socket part position, friction pair is installed, the fastening bolt torque for then changing friction plate by manpower manual reaches control moment of friction
Purpose.Existing this kind of technology is primarily present following shortcoming：First, test tool installation process is complicated, torque sensor and friction
Secondary installation is required to remove the corresponding component of manipulator, changes manipulator original structure；2nd, the moment of friction control of friction pair
Mode is control manually, when carrying out quick bite and bite simulated test operating mode at a slow speed, is affected by human factors larger；3rd,
Without Special test stand, can only carry out on stretch ring during manipulator torque test, operating space is narrow, and personnel are carried out
Torque test needs to climb for a long time, adds industry security risk.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art manipulator original structure need not be changed by providing one kind
Connection carries out the manipulator torque test device of torque test.
In order to solve the above technical problems, the technical scheme is that：A kind of manipulator torque test device, including torque
Sensor, bite frock, support and top offer keyway and bottom is fitted with the manipulator being connected at the top of the torque sensor
Orchestration；The bite frock include top be connected with the bottom of the torque sensor shell body, be arranged at the shell body
Interior rotating mechanism and bolt, the both sides at the top of the shell body offer the screwed hole for the bolt that is spirally connected, institute respectively
The bolt head for stating bolt is located in the shell body, is provided with the top of the rotating mechanism between the bolt head of two bolts
Horizontal boss, the rotating mechanism bottom are removably installed in the bottom of the support.
According to manipulator torque test device provided by the invention, the rotating mechanism includes upper coupling body and the second line of a couplet
Axis body, the bottom of the upper coupling body are provided with projection at least two, fovea superior are formed between the adjacent two upper projections
Groove, at least two lower convexity are provided with the top of the lower coupling body, low groove is formed between adjacent two lower convexity,
The upper raised and low groove is connected, and the lower convexity and the upper groove are connected.
According to manipulator torque test device provided by the invention, the rotating mechanism also includes soft buffer stopper,
The soft buffer stopper is embedded between the upper groove and the low groove.
Annular is offered according to manipulator torque test device provided by the invention, on the outside of the lower coupling body to lead
To groove, the bottom of the shell body is provided with guider screw, and the guider screw is slidably connected in the annular guide groove.
According to manipulator torque test device provided by the invention, the bottom of the support offers the first square groove,
The bottom of the lower coupling body is provided with the first square key, and first square key is connected with first square groove.
According to manipulator torque test device provided by the invention, cushion block is provided with the manipulator adapter,
The inwall of the manipulator adapter is provided with internal thread, and the cushion block is provided with external screw thread, the external screw thread and the interior spiral shell
Line is spirally connected so that the cushion block is connected with the manipulator adapter, and the bottom of the cushion block is provided with the second square key, institute
State and the second square groove is provided with the top of torque sensor, second square key is connected with second square groove.
According to manipulator torque test device provided by the invention, the bottom of second square key and the cushion block is welded
Connect.
According to manipulator torque test device provided by the invention, third party is offered at the top of the shell body
Groove, the bottom of the torque sensor are provided with third party's key, and third party's key is connected with third party's groove.
According to manipulator torque test device provided by the invention, the top of the support is provided with support platform.
According to manipulator torque test device provided by the invention, the shell body is stainless steel casing body.
Implement the present invention and a kind of manipulator torque test device, its advantage, when carrying out torque test, by machine are provided
The keyway that tool hand opens up with manipulator adapter top is connected, and by the swollen pearl on manipulator and the lock of manipulator adapter
It is fixed, setting speed and torque alarm threshold value are required according to torque test, starts motor by manipulator adapter by moment of torsion
Transmit to torque sensor, torque sensor drives the shell body of bite frock to rotate, at the top of shell body in the screwed hole of both sides
The bolt being spirally connected followed by rotation, when the bolt head of bolt is blocked by the horizontal boss of rotating mechanism, then proceed to card
Puckery, motor is stopped due to super torque, and now torque sensor can be recorded in manipulator rotary course most
High-torque, then the threshold value of the torque and torque alarm settings is contrasted, you can draw the Torque Control of surveyed manipulator
Performance.The manipulator adapter of manipulator torque test device of the present invention can be transformed by adapter bolt, by manipulator with
Manipulator adapter connects, and the connection between manipulator, manipulator adapter, torque sensor, bite frock is simple and convenient, nothing
The original structure of manipulator need to be changed；Meanwhile without the manually operated bite frock of personnel, so as to effectively avoid human factor shadow
Ring, it is ensured that the accuracy of torque test.
Brief description of the drawings
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 manipulator 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 structural decomposition 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 includes：
10- manipulator adapter 11- keyway 12- cushion blocks
13- the second square key 20- torque sensors the second square grooves of 21-
22- third party's key 30- bite frock 31- shell bodies
32- rotating mechanism 33- bolt 40- supports
41- the first square groove 42- support platform 50- manipulators
311- screwed hole 312- guider screw 313- third party's grooves
The soft buffer stoppers of coupling body 323- under the upper coupling body 322- of 321-
The upper raised 3212- upper grooves 3213- transverse direction boss of 3211-
3221- lower convexity 3222- low grooves the first square keys of 3223-
3224- annular guide grooves.
Embodiment
The present invention is described in detail below in conjunction with accompanying drawing.
Embodiment one：
As shown in Figures 1 to 6, in the manipulator torque test device of one embodiment of the invention, including torque sensor
20th, bite frock 30, support 40 and top offer keyway 11 and bottom is fitted with the manipulator that the top of torque sensor 20 is connected
Orchestration 10；Bite frock 30 include top be connected with the bottom of torque sensor 20 shell body 31, be arranged in shell body 31
Rotating mechanism 32 and bolt 33, the both sides at the top of shell body 31 offer the screwed hole 311 for the bolt 33 that is spirally connected, spiral shell respectively
The bolt head of bolt 33 is located in shell body 31, is provided between the bolt head of two bolts 33 in the top of rotating mechanism 32
Horizontal boss 3213, the bottom of rotating mechanism 32 are 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 interior six
When corner bolt, hexagon socket head cap screw and the screwed hole 311 at the top of shell body 31 are spirally connected, conveniently tighten and unclamp, beneficial to operation, installation
Simply.
Specifically, when carrying out torque test, the keyway 11 that manipulator 50 opens up with the top of manipulator adapter 10 is connected
Connect, and by the swollen pearl on manipulator 50 and the locking of manipulator adapter 10, setting speed and power are required according to torque test
Square alarm threshold value, start motor and transmitted moment of torsion to torque sensor 20, torque sensor by manipulator adapter 10
The shell body 31 of 20 drive bite frocks 30 rotates, and the bolt 33 being spirally connected in the screwed hole 311 of the top both sides of shell body 31 follows
Rotation, when the bolt head of bolt 33 is blocked by the horizontal boss 3213 of rotating mechanism 32, has then gone to bite point, is driven
Motor is stopped due to super torque, and now torque sensor 20 can record the maximum, force in the rotary course of manipulator 50
Square, then the threshold value of the torque and torque alarm settings is contrasted, you can draw the Torque Control of surveyed manipulator 50
Energy.
The manipulator adapter 10 of manipulator torque test device of the present invention can be transformed by adapter bolt, by machinery
Hand 50 is connected with manipulator adapter 10, between manipulator 50, manipulator adapter 10, torque sensor 20, bite frock 30
Connection it is simple and convenient, without changing 50 original structure of manipulator；Meanwhile without the manually operated bite frock 30 of personnel, from
And human factor can be effectively avoided to influence, it is ensured that the accuracy of torque test.
Fig. 4 and Fig. 5 are referred to, rotating mechanism 32 includes upper coupling body 321 and lower coupling body 322, the bottom of upper coupling body 321
Projection 3211 at least two is provided with, upper groove 3212 is formed between adjacent two upper projections 3211, lower coupling body 322
Top is provided with least two lower convexity 3221, and low groove 3222, upper projection are formed between adjacent two lower convexity 3221
3211 are connected with low groove 3222, and the lower convexity 3221 and upper groove 3212 are connected；Wherein, horizontal boss 3213
It is arranged at the top of coupling body 321.Specifically, set when the bolt head of the bolt 33 rotated by the upper top of coupling body 321
Horizontal boss 3213 blocks, due to upper raised 3211 and low groove 3222 and lower convexity 3221 and upper groove of mating connection
Certain gap between 3212 be present, the upper coupling body 321 of bolt head direct drive of bolt 33 rotates in gap, when upper shaft coupling
Upper raised the 3211 of body 321 and upper groove 3212 and lower coupling body 322 3222 contact impact of lower convexity 3221 and low groove when,
Manipulator is stopped operating, so as to realize the quick bite operating mode of simulation immediately due to super torque.
In the present embodiment, the outside of lower coupling body 322 offers annular guide groove 3224, and the bottom of shell body 31 is provided with
Guider screw 312, the guider screw 312 are slidably connected in the annular guide groove 3224.Specifically, annular guide groove 3224 can be with
Formed by turning, wherein, during rotation, the guider screw 312 of shell body 31 is slided along in annular guide groove 3224, and annular is led
Cooperation to groove 3224 and guider screw 312 has the function that to be oriented to and 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 first party
Key 3223, first square key 3223 are connected with first square groove 41.Specifically, pass through the first square key 3223 and first
The mating connection of square groove 41, so as to be rotated by coupling body 322 under the fixed limitation of support 40, lower coupling body 322 is risen
To good spacing fixation.
In the present embodiment, cushion block 12 is provided with manipulator adapter 10, in the inwall of manipulator adapter 10 is provided with
Screw thread, the cushion block 12 are provided with external screw thread, and the external screw thread is spirally connected so that cushion block 12 and manipulator with the internal thread
Adapter 10 connects, and the bottom of the cushion block 12 is provided with the second square key 13, and the top of torque sensor 20 is provided with second party
Groove 21, second square key 13 are connected with the second square groove 21.Specifically, this kind of structure design may insure that manipulator is adapted to
Device 10 is stably connected with torque sensor 20, and avoids manipulator by the mating connection of the second square key 13 and the second square groove 21
Adapter 10 skids when rotating relative to torque sensor 20, so as to effectively ensure that being normally carried out for torque test, enters
And ensure the accuracy of test data.
Specifically, the bottom of the second square key 13 and cushion block 12 is welded to connect, cushion block 12 can offer square groove, then again will
The top of second square key 13 is inserted in the square groove, and spot welding is carried out again on the gap between the second square key 13 and the square groove, it is ensured that the
The stability that two square keys 13 are connected with cushion block 12, and then ensure that manipulator adapter 10 when rotating, can drive moment sensing
Device 20 rotates.
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
Three square keys 22, third party's key 22 are connected with third party's groove 313.Specifically, pass through third party's key 22 and third party's groove 313
It is connected, so that when torque sensor 20 drives the rotation of shell body 31, avoids the occurrence of the phenomenon of skidding, same energy
Enough effectively ensure that being normally carried out for torque test.
Fig. 6 is referred to, the top of support 40 is provided with support platform 42；Carrying out the torque test of manipulator 50 of robot
When, support platform 42 can be used for depositing robot, the support platform that robot can be set by bolt and the top of support 40
42 connections, the support 40 can be adapted to MSTM robots, and its storage rack carried with producer of MSTM robots is connected, height,
Width, slotting position match with said apparatus, can conveniently carry out the robot installation with torque test frock in place, special
Support 40, there is provided bigger operating space, so as to reduce the industry security risk of staff's operation.
Preferably, the shell body 31 is stainless steel casing body, the good mechanical property of shell body 31 of stainless steel, for a long time
Using being not easy to get rusty, service life is grown.
Embodiment two：
As shown in Figure 7 to 9, the present embodiment and the difference of embodiment one are, the rotating mechanism 32 also includes
Soft buffer stopper 323, the soft buffer stopper 323 are embedded between upper groove 3212 and low groove 3222.Specifically, when rotation
The bolt head of bolt 33 blocked by the horizontal boss 3213 that the top of upper coupling body 321 is set, upper raised the 3211 of mating connection
Certain gap between low groove 3222 and lower convexity 3221 and upper groove 3212 be present, the gap is by soft buffer stopper
323 fillings, when the bolt head of bolt 33, which turns to, to be contacted with the horizontal earthen platform 3213 at the top of upper coupling body 321 after, due to soft
The presence of matter buffer stopper 323, bite torque slowly increase, and when torque increases to the torque limit value of motor setting, manipulator stops
Rotation stop is moved, so as to realize simulation bite operating mode at a slow speed.
Preferably, soft buffer stopper 323 be quality of rubber materials soft buffer stopper 323, the soft buffer stopper 323 of quality of rubber materials
Good toughness, when being embedded between upper groove 3212 and low groove 3222, can be filled up completely with upper raised the 3211 of mating connection with
Gap between low groove 3222 and lower convexity 3221 and upper groove 3212, it is practical.
The remainder of the present embodiment is identical with embodiment one, in the present embodiment unaccounted feature, using implementation
The explanation of example one, is not discussed here.
Understand that the present invention is to have good characteristic as described below in summary：First, manipulator adapter 10 can pass through
Adapter bolt is transformed, and manipulator 50 is connected with manipulator adapter 10, and manipulator 50, manipulator adapter 10, torque pass
Connection between sensor 20, bite frock 30 is simple and convenient, without changing 50 original structure of manipulator；2nd, without personnel's hand
Dynamic operation bite frock 30, so as to effectively avoid human factor from influenceing, it is ensured that the accuracy of torque test；3rd, the energy of support 40
Enough be adapted to MSTM robots, its storage rack carried with producer of MSTM robots is connected, height, width, slotting position with it is upper
Device matching is stated, can conveniently carry out the robot installation with torque test frock in place, special support 40, there is provided bigger
Operating space, so as to reduce staff operation industry security risk；So as to be able to make it upper in use, promote conventional
The efficiency that does not have in technology and there is practicality, turn into the product of a great practical value.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, there will be changes, this specification content should not be construed as to the present invention in specific embodiments and applications
Limitation.
Claims (10)
- A kind of 1. manipulator torque test device, it is characterised in that：Including torque sensor (20), bite frock (30), support , and the top manipulator adapter that offers keyway (11) and be connected at the top of bottom and the torque sensor (20) (40) (10)；The bite frock (30) include top be connected with the torque sensor (20) bottom shell body (31), be arranged at Rotating mechanism (32) and bolt (33) in the shell body (31), the both sides at the top of the shell body (31) offer use respectively Screwed hole (311) in the bolt (33) that are spirally connected, the bolt head of the bolt (33) is located in the shell body (31), described At the top of rotating mechanism (32) horizontal boss (3213), the rotating mechanism are provided between the bolt head of two bolts (33) (32) bottom is removably installed in the bottom of the support (40).
- 2. manipulator torque test device according to claim 1, it is characterised in that：The rotating mechanism (32) includes the first line of a couplet Axis body (321) and lower coupling body (322), the bottom of the upper coupling body (321) are provided with least two raised (3211), phase Form upper groove (3212) between two adjacent upper raised (3211), be provided with the top of the lower coupling body (322) to Lack two lower convexity (3221), low groove (3222), the upper projection are formed between adjacent two lower convexity (3221) (3211) it is connected with the low groove (3222), the lower convexity (3221) and the upper groove (3212) are connected.
- 3. manipulator torque test device according to claim 2, it is characterised in that：The rotating mechanism (32) also includes soft Matter buffer stopper (323), the soft buffer stopper (323) be embedded at the upper groove (3212) and the low groove (3222) it Between.
- 4. manipulator torque test device according to claim 2, it is characterised in that：The outside of the lower coupling body (322) Annular guide groove (3224) is offered, the bottom of the shell body (31) is provided with guider screw (312), the guider screw (312) it is slidably connected in the annular guide groove (3224).
- 5. manipulator torque test device according to claim 3, it is characterised in that：The bottom of the support (40) offers First square groove (41), the bottom of the lower coupling body (322) are provided with the first square key (3223), first square key (3223) with First square groove (41) is connected.
- 6. manipulator torque test device according to claim 1, it is characterised in that：Set in the manipulator adapter (10) Cushion block (12) is equipped with, the inwall of the manipulator adapter (10) is provided with internal thread, and the cushion block (12) is provided with external screw thread, The external screw thread is spirally connected with the internal thread so that the cushion block (12) is connected with the manipulator adapter (10), described The bottom of cushion block (12) is provided with the second square key (13), and the second square groove (21) is provided with the top of the torque sensor (20), Second square key (13) is connected with second square groove (21).
- 7. manipulator torque test device according to claim 6, it is characterised in that：Second square key (13) and the pad The bottom welding of block (12).
- 8. manipulator torque test device according to claim 1, it is characterised in that：Opened up at the top of the shell body (31) Have third party's groove (313), the bottom of the torque sensor (20) is provided with third party's key (22), third party's key (22) with Third party's groove (313) is connected.
- 9. manipulator torque test device according to claim 1, it is characterised in that：The top of the support (40) is provided with Support platform (42).
- 10. according to manipulator torque test device described in claim 1~9 any one, it is characterised in that：The shell body (31) it 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 CN105092124A (en) | 2015-11-25 |
| CN105092124B true 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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