CN109015756B - A kind of series connection mechanical arm repetitive positioning accuracy reliability test and method - Google Patents
A kind of series connection mechanical arm repetitive positioning accuracy reliability test and method Download PDFInfo
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- CN109015756B CN109015756B CN201810978943.XA CN201810978943A CN109015756B CN 109015756 B CN109015756 B CN 109015756B CN 201810978943 A CN201810978943 A CN 201810978943A CN 109015756 B CN109015756 B CN 109015756B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
A kind of series connection mechanical arm repetitive positioning accuracy reliability test and method, device include shake table and test box, and shake table includes pedestal, air spring, top plate and vibrating motor；Top plate is connected with pedestal by air spring, and vibrating motor totally four, be the center of circle circumferentially to being uniformly arranged top plate lower surface using roof center；Test box includes rectangular box, hydraulically operated fixture, laser emitter, electro-optical package, thermoregulator and samming fan；Hydraulically operated fixture is located on rectangular box bottom plate, and electro-optical package is laid in pairs with laser emitter, and the laser beam that laser emitter issues is radiated on electro-optical package.Method are as follows: series connection mechanical arm is fixed in rectangular box；Shading ball is installed in series connection mechanical arm tail end, by programming Control series connection manipulator motion, passes through shading ball motion profile immediately ahead of electro-optical package；Set the temperature inside the box and vibration operating condition；Control series connection mechanical arm moves back and forth, and passes through shading ball back and forth immediately ahead of electro-optical package, obtains repetitive positioning accuracy data.
Description
Technical field
The invention belongs to mechanical arm repetitive positioning accuracy the field of test technology of connecting, more particularly to a kind of series connection mechanical arm
Repetitive positioning accuracy reliability test and method.
Background technique
A special class of the industrial machinery arm as modern intelligent robot, existing automation and intelligentized shared category
Property, and the unique individualities such as the promising high-accuracy, high speed for meeting particular industry production requirement and having and high reliability.Usually meaning
The mechanical arm of justice is to refer to imitate mankind's hand and the certain movements of arm and function and can grab by fixed routine, carry object
Or the automatic device of operational instrument.
Currently, although China series connection industrial machinery arm usage amount it is huge, due to domestic series connection industrial machinery arm can
The reasons such as not high, dynamic and repetitive positioning accuracy retentivity difference by property level so that middle and high end series connection industrial machinery arm still with
Based on external product, and domestic similar product is still based on middle and low-end market.Therefore, domestic series connection industrial machinery arm is developed
Repetitive positioning accuracy and its retentivity test equipment are of great significance.
As an important measurement standard of mechanical arm overall performance, the test process of repetitive positioning accuracy is generally required
It is unfolded in conjunction with mechanical arm typical motion track, while also needs to consider the shadow of the work condition environments factor such as vibration, temperature and humidity
It rings.
What existing series connection mechanical arm repetitive positioning accuracy measuring device generally relied on is three-coordinates measuring machine, but three coordinates
Measuring instrument is high to operating temperature requirements, the true temperature of unbearable series connection mechanical arm at work, while can not also simulate
The high-frequency vibration that series connection mechanical arm is born at work, therefore, three-coordinates measuring machine is unable to complete under the conditions of temperature-vibration coupling
Measurement task.
Existing vibration mechine is mostly comprehensive testing table for fatigue strength, although temperature-vibration coupling condition can be completed
Under measurement task, but measurement object is only limitted to workpiece, and can not measure to the repetitive positioning accuracy of series connection mechanical arm.
Therefore, there is an urgent need to find a kind of completely new measurement means, to meet the survey of series connection mechanical arm repetitive positioning accuracy
Amount needs, and can complete the measurement task under the conditions of temperature-vibration coupling.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of series connection mechanical arm repetitive positioning accuracy reliability test
Device and method, can satisfy the measurement needs of series connection mechanical arm repetitive positioning accuracy, and can complete temperature-vibration coupling item
Measurement task under part.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of series connection mechanical arm repetitive positioning accuracy can
It is fixedly mounted on a vibration table by property experimental rig, including shake table and test box, test box；The shake table includes pedestal, air
Spring, top plate and vibrating motor；The top plate is located at right above pedestal, mutually solid by several air springs between top plate and pedestal
Even；The vibrating motor is packed in top plate lower surface, and the quantity of vibrating motor is four, and four vibrating motors are with roof center
The center of circle is circumferentially to being uniformly arranged；The test box includes rectangular box, hydraulically operated fixture, laser emitter, electro-optical package, temperature tune
Save device and samming fan；The rectangular box is packed in cover top surface；The hydraulically operated fixture is packed in the bottom of rectangular box
On plate, clamping is carried out to series connection mechanical arm by hydraulically operated fixture and is fixed；The hydraulically operated fixture is made of three hydraulic cylinders, three liquid
Cylinder pressure is the center of circle circumferentially to being uniformly arranged using the bottom plate center of rectangular box, and the piston rod of three hydraulic cylinders is directed to justify
The heart；The electro-optical package and laser emitter mounted in pairs, laser emitter is packed on rectangular box inner surface, with Laser emission
The electro-optical package of device mounted in pairing mode is packed in the rectangular box inner surface of laser emitter right opposite, the laser that laser emitter issues
Beam is radiated on electro-optical package；The thermoregulator and samming fan are installed on rectangular box inner surface.
The laser emitter and electro-optical package are arranged three pairs altogether, and first pair of laser emitter and electro-optical package are mounted on vertical Z
To second pair of laser emitter and electro-optical package are mounted on horizontal X to third is mounted on horizontal Y to laser emitter and electro-optical package
To.
A kind of series connection mechanical arm repetitive positioning accuracy reliability test method, it is fixed to repeat using the series connection mechanical arm
Position precision reliability experimental rig, includes the following steps:
Step 1: need to series connection mechanical arm to be tested be placed into rectangular box, then by hydraulically operated fixture by cascade machine
Tool arm clamping is fixed on the bottom plate of rectangular box；
Step 2: installing a shading ball in the end of series connection mechanical arm, by programming Control series connection manipulator motion, and
Pass through the motion profile of shading ball immediately ahead of electro-optical package；
Step 3: rectangular box body temperature is set by thermoregulator, while being made in rectangular box by samming fan
Temperature be uniformly distributed；
Step 4: oscillating load is exported to rectangular box by vibrating motor, for simulating series connection mechanical arm at work
The vibration operating condition of receiving；
Step 5: it is moved back and forth according to programming Control series connection mechanical arm, makes shading ball along motion profile back and forth from electro-optical package
Front is passed through, and then obtains series connection mechanical arm repetitive positioning accuracy data；
Step 6: adjustment temperature and vibration operating condition execute step 5 again, and then obtain under different temperatures and vibration operating condition
Series connection mechanical arm repetitive positioning accuracy data.
It is connected between the shading ball and series connection mechanical arm tail end by connecting rod, and shading ball and connecting rod are by glass ceramics
It is made.
Vibrating operating condition includes following five kinds:
The first vibration operating condition: adjustment vibration frequency and amplitude
Revolving speed by changing vibrating motor realizes the adjustment of vibration frequency, and the exciting force by changing vibrating motor is realized
The adjustment of amplitude；
Second of vibration operating condition: adjustment exciting force
Angle by changing vibrating motor eccentric block realizes the adjustment of exciting force, and exciting force is adjusted to electrodeless tune
It is whole；
The third vibration operating condition: adjustment mode of vibration is to be translatable along vertical Z-direction
In four vibrating motors, make wherein diagonally adjacent two vibrating motor rotate backward, water at this time
Vibration in plane is cancelled out each other, and is only retained the vibration of vertical Z-direction, then the mode of vibration of shake table is realized along vertical Z
To translation；
4th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal diagonal line direction
Rotate in same direction four vibrating motors all, the rolling vibration of four vibrating motors is retained at this time, and is rolled
Vibration is uniformly distributed along horizontal diagonal line direction, then the mode of vibration of shake table is realized to roll along horizontal diagonal line direction and be vibrated；
5th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal end direction
In four vibrating motors, rotate backward two neighboring vibrating motor, the vibration in horizontal plane is mutually supported at this time
Disappear, and the vibration of vertical Z-direction is retained, but the Displacements Distribution in vertical Z-direction is uneven, then the mode of vibration of shake table realizes edge
The rolling vibration of horizontal end direction.
When shading ball passes through immediately ahead of electro-optical package along motion profile, the luminous flux of laser emitter can be hidden by shading ball
A part is gone, and makes to act on the decrease of the luminous flux on electro-optical package, and the registration that electro-optical package generates is in electro-optical package light-receiving area
Linear relationship is then changed by the registration of electro-optical package, can be obtained the variation of electro-optical package light-receiving area, so obtain shading ball with
The relative position error between electro-optical package, then the relative position error will be as series connection mechanical arm repetitive positioning accuracy data.
Beneficial effects of the present invention:
Series connection mechanical arm repetitive positioning accuracy reliability test of the invention and method, can satisfy series connection mechanical arm
The measurement of repetitive positioning accuracy needs, and can complete the measurement task under the conditions of temperature-vibration coupling.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of series connection mechanical arm repetitive positioning accuracy reliability test of the invention；
Fig. 2 is the structural schematic diagram of shake table of the invention；
Fig. 3 is the structural schematic diagram of test box of the invention；
Fig. 4 is schematic diagram when shading ball passes through immediately ahead of electro-optical package along motion profile；
Fig. 5 is the light-receiving area change procedure schematic diagram of electro-optical package；
In figure, 1-pedestal, 2-air springs, 3-top plates, 4-vibrating motors, 5-rectangular box, 6-hydraulically operated fixtures,
7-laser emitters, 8-electro-optical packages, 9-thermoregulators, 10-samming fans, 11-shading balls, 12-connecting rods.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figures 1 to 3, a kind of series connection mechanical arm repetitive positioning accuracy reliability test, including shake table and survey
Case is tried, test box is fixedly mounted on a vibration table；The shake table includes pedestal 1, air spring 2, top plate 3 and vibrating motor 4；It is described
Top plate 3 is located at right above pedestal 1, is fixedly connected between top plate 3 and pedestal 1 by several air springs 2；The vibrating motor 4 is solid
Mounted in 3 lower surface of top plate, the quantity of vibrating motor 4 is four, four vibrating motors 4 using 3 center of top plate as the center of circle circumferentially to
It is uniformly arranged；The test box include rectangular box 5, hydraulically operated fixture 6, laser emitter 7, electro-optical package 8, thermoregulator 9 and
Samming fan 10；The rectangular box 5 is packed in 3 upper surface of top plate；The hydraulically operated fixture 6 is packed in the bottom of rectangular box 5
On plate, clamping is carried out by 6 pairs of series connection mechanical arms of hydraulically operated fixture and is fixed；The hydraulically operated fixture 6 is made of three hydraulic cylinders, and three
Hydraulic cylinder is the center of circle circumferentially to being uniformly arranged using the bottom plate center of rectangular box 5, and the piston rod of three hydraulic cylinders refers both to
To the center of circle；The electro-optical package 8 and 7 mounted in pairs of laser emitter, laser emitter 7 are packed on 5 inner surface of rectangular box, with
The electro-optical package 8 of 7 mounted in pairing mode of laser emitter is packed in 5 inner surface of rectangular box of 7 right opposite of laser emitter, Laser emission
The laser beam that device 7 issues is radiated on electro-optical package 8；The thermoregulator 9 and samming fan 10 are installed in rectangular box 5
On surface.
The laser emitter 7 is arranged three pairs with electro-optical package 8 altogether, and first pair of laser emitter 7 is mounted on perpendicular with electro-optical package 8
Straight Z-direction, second pair of laser emitter 7 and electro-optical package 8 are mounted on horizontal X to third installs laser emitter 7 and electro-optical package 8
In horizontal Y-direction.
A kind of series connection mechanical arm repetitive positioning accuracy reliability test method, it is fixed to repeat using the series connection mechanical arm
Position precision reliability experimental rig, includes the following steps:
Step 1: need to series connection mechanical arm to be tested be placed into rectangular box 5, then by hydraulically operated fixture 6 will connect
Mechanical arm clamping is fixed on the bottom plate of rectangular box 5；
Step 2: series connection mechanical arm end install a shading ball 11, by programming Control connect manipulator motion,
And pass through the motion profile of shading ball 11 immediately ahead of electro-optical package 8；
Step 3: temperature in rectangular box 5 is set by thermoregulator 9, while rectangular box is made by samming fan 10
Temperature in body 5 is uniformly distributed；
Step 4: exporting oscillating load to rectangular box 5 by vibrating motor 4, is working for simulating series connection mechanical arm
When the vibration operating condition born；
Step 5: it is moved back and forth according to programming Control series connection mechanical arm, makes shading ball 11 along motion profile back and forth from photoelectricity
Pass through immediately ahead of plate 8, and then obtains series connection mechanical arm repetitive positioning accuracy data；
Step 6: adjustment temperature and vibration operating condition execute step 5 again, and then obtain under different temperatures and vibration operating condition
Series connection mechanical arm repetitive positioning accuracy data.
Be connected between the shading ball 11 and series connection mechanical arm tail end by connecting rod 12, and shading ball 11 and connecting rod 12 by
Glass ceramics is made.Since the material of shading ball 11 and connecting rod 12 is glass ceramics, the temperature change in rectangular box 5
When, shading ball 11 and connecting rod 12 can be avoided because of the volume change for causing itself to generate of expanding with heat and contract with cold as far as possible, to reduce to examination
Test the influence of result.
Vibrating operating condition includes following five kinds:
The first vibration operating condition: adjustment vibration frequency and amplitude
Revolving speed by changing vibrating motor 4 realizes the adjustment of vibration frequency, real by the exciting force for changing vibrating motor 4
The adjustment of existing amplitude；
Second of vibration operating condition: adjustment exciting force
Angle by changing vibrating motor 4 eccentric block realizes the adjustment of exciting force, and exciting force is adjusted to electrodeless tune
It is whole；
The third vibration operating condition: adjustment mode of vibration is to be translatable along vertical Z-direction
In four vibrating motors 4, make wherein diagonally adjacent two vibrating motor 4 rotate backward, at this time
Vibration in horizontal plane is cancelled out each other, and is only retained the vibration of vertical Z-direction, then the mode of vibration of shake table is realized along vertical
Z-direction translation；
4th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal diagonal line direction
Rotate in same direction four vibrating motors 4 all, the rolling vibration of four vibrating motors 4 is retained at this time, and is turned over
Rolling vibration is uniformly distributed along horizontal diagonal line direction, then the mode of vibration of shake table is realized to roll along horizontal diagonal line direction and be shaken
It is dynamic；
5th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal end direction
In four vibrating motors 4, rotate backward two neighboring vibrating motor 4, the vibration in horizontal plane is mutual at this time
It offsets, and the vibration of vertical Z-direction is retained, but the Displacements Distribution in vertical Z-direction is uneven, then the mode of vibration of shake table is realized
It rolls and vibrates along horizontal end direction.
As shown in Figure 4,5, when shading ball 11 passes through immediately ahead of electro-optical package 8 along motion profile, the light of laser emitter 7
Flux can be screened off to a part by shading ball 11, and weaken the luminous flux acted on electro-optical package 8, and what electro-optical package 8 generated shows
Number is in a linear relationship with 8 light-receiving area of electro-optical package, then is changed by the registration of electro-optical package 8, can be obtained 8 light-receiving area of electro-optical package
Variation, and then obtain the relative position error between shading ball 11 and electro-optical package 8, then the relative position error will be as series connection
Mechanical arm repetitive positioning accuracy data.
The scope of patent protection that scheme in embodiment is not intended to limit the invention, it is all without departing from carried out by the present invention etc.
Effect implements or change, is both contained in the scope of the patents of this case.
Claims (4)
1. a kind of series connection mechanical arm repetitive positioning accuracy reliability test method, using series connection mechanical arm repetitive positioning accuracy can
By property experimental rig, device includes shake table and test box, and test box is fixedly mounted on a vibration table；The shake table include pedestal,
Air spring, top plate and vibrating motor；The top plate is located at right above pedestal, passes through several air springs between top plate and pedestal
It is fixedly connected with；The vibrating motor is packed in top plate lower surface, and the quantity of vibrating motor is four, and four vibrating motors are in top plate
The heart is the center of circle circumferentially to being uniformly arranged；The test box includes rectangular box, hydraulically operated fixture, laser emitter, electro-optical package, temperature
Spend adjuster and samming fan；The rectangular box is packed in cover top surface；The hydraulically operated fixture is packed in rectangular box
On bottom plate, clamping is carried out to series connection mechanical arm by hydraulically operated fixture and is fixed；The hydraulically operated fixture is made of three hydraulic cylinders, and three
A hydraulic cylinder is the center of circle circumferentially to being uniformly arranged using the bottom plate center of rectangular box, and the piston rod of three hydraulic cylinders refers both to
To the center of circle；The electro-optical package and laser emitter mounted in pairs, laser emitter is packed on rectangular box inner surface, with laser
The electro-optical package of transmitter mounted in pairing mode is packed in the rectangular box inner surface of laser emitter right opposite, what laser emitter issued
Laser beam is radiated on electro-optical package；The thermoregulator and samming fan are installed on rectangular box inner surface；It is described to swash
Optical transmitting set and electro-optical package are arranged three pairs altogether, and first pair of laser emitter and electro-optical package are mounted on vertical Z-direction, second pair of laser hair
Emitter and electro-optical package are mounted on horizontal X to third is mounted on horizontal Y-direction to laser emitter and electro-optical package；It is characterized by: examination
Proved recipe method includes the following steps:
Step 1: need to series connection mechanical arm to be tested be placed into rectangular box, then will be connected mechanical arm by hydraulically operated fixture
Clamping is fixed on the bottom plate of rectangular box；
Step 2: one shading ball is installed in the end of series connection mechanical arm, by programming Control series connection manipulator motion, and makes to hide
The motion profile of photosphere passes through immediately ahead of electro-optical package；
Step 3: rectangular box body temperature is set by thermoregulator, while the intracorporal temperature of rectangular box is made by samming fan
Degree is uniformly distributed；
Step 4: exporting oscillating load to rectangular box by vibrating motor, bears at work for simulating series connection mechanical arm
Vibration operating condition；
Step 5: according to programming Control series connection mechanical arm move back and forth, make shading ball along motion profile back and forth from electro-optical package just before
Side is passed through, and then obtains series connection mechanical arm repetitive positioning accuracy data；
Step 6: adjustment temperature and vibration operating condition execute step 5 again, and then obtain different temperatures and vibrate the string under operating condition
Join mechanical arm repetitive positioning accuracy data.
2. series connection mechanical arm repetitive positioning accuracy reliability test method according to claim 1, it is characterised in that: described
It is connected between shading ball and series connection mechanical arm tail end by connecting rod, and shading ball and connecting rod are made of glass ceramics.
3. series connection mechanical arm repetitive positioning accuracy reliability test method according to claim 1, it is characterised in that: vibration
Operating condition includes following five kinds:
The first vibration operating condition: adjustment vibration frequency and amplitude
Revolving speed by changing vibrating motor realizes the adjustment of vibration frequency, and the exciting force by changing vibrating motor realizes amplitude
Adjustment；
Second of vibration operating condition: adjustment exciting force
Angle by changing vibrating motor eccentric block realizes the adjustment of exciting force, and exciting force is adjusted to stepless changing；
The third vibration operating condition: adjustment mode of vibration is to be translatable along vertical Z-direction
In four vibrating motors, make wherein diagonally adjacent two vibrating motor rotate backward, horizontal plane at this time
Interior vibration is cancelled out each other, and is only retained the vibration of vertical Z-direction, then the mode of vibration of shake table is realized flat along vertical Z-direction
It is dynamic；
4th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal diagonal line direction
Rotate in same direction four vibrating motors all, the rolling vibration of four vibrating motors is retained at this time, and vibration of rolling
It is uniformly distributed along horizontal diagonal line direction, then the mode of vibration of shake table is realized to roll along horizontal diagonal line direction and be vibrated；
5th kind of vibration operating condition: adjustment mode of vibration is to roll to vibrate along horizontal end direction
In four vibrating motors, rotate backward two neighboring vibrating motor, the vibration in horizontal plane is cancelled out each other at this time, and
The vibration of vertical Z-direction is retained, but the Displacements Distribution in vertical Z-direction is uneven, then the mode of vibration of shake table is realized along level
The rolling vibration of sideline direction.
4. series connection mechanical arm repetitive positioning accuracy reliability test method according to claim 1, it is characterised in that: work as screening
When photosphere is passed through immediately ahead of electro-optical package along motion profile, the luminous flux of laser emitter can be screened off to a part by shading ball, and
Make to act on the luminous flux on electro-optical package to weaken, and registration and electro-optical package light-receiving area that electro-optical package generates are in a linear relationship, then
Changed by the registration of electro-optical package, can be obtained the variation of electro-optical package light-receiving area, and then obtain between shading ball and electro-optical package
The relative position error, then the relative position error will as series connection mechanical arm repetitive positioning accuracy data.
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| CN110000810B (en) * | 2018-12-18 | 2023-12-22 | 浙江大学台州研究院 | Application method of zero gravity manipulator fatigue testing device |
| CN110594350B (en) * | 2019-09-09 | 2021-02-02 | 热测测试技术(苏州)有限公司 | Height and levelness adjusting method for floating platform |
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| CN103245520A (en) * | 2013-04-19 | 2013-08-14 | 南京工业大学 | Numerical control rotary table test bed testing device for simulating working conditions |
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