CN110095286B - Testing device for friction pair of ball-and-socket joint of robot - Google Patents
Testing device for friction pair of ball-and-socket joint of robot Download PDFInfo
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- CN110095286B CN110095286B CN201910312842.3A CN201910312842A CN110095286B CN 110095286 B CN110095286 B CN 110095286B CN 201910312842 A CN201910312842 A CN 201910312842A CN 110095286 B CN110095286 B CN 110095286B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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Abstract
The invention discloses a testing device for a robot ball-and-socket joint friction pair. The existing abrasion tester is difficult to simulate the real abrasion condition of a robot ball-and-socket joint friction pair. The invention comprises a first rotating shaft, a second rotating shaft, a loading shaft, a joint socket clamp and a joint head clamp; the second rotation axis is coaxial with the loading axis, and the first rotation axis is perpendicular to the loading axis. According to the invention, the ball socket joint rotation and swing test is completed in the same set of device through different combined fixing modes of the socket clamp and the joint head clamp on the first rotating shaft, the second rotating shaft and the loading shaft, the dynamic measurement of the abrasion loss is realized through the sensitive galvanometer under the condition of not damaging the pairing relation, and the accuracy of the test result is higher.
Description
Technical Field
The invention belongs to the technical field of testing, relates to frictional wear of a robot kinematic joint friction pair, and particularly relates to a device for testing frictional wear of a robot ball-and-socket joint.
Background
The humanoid robot is one of the most active branches in the field of robotics, and in the mechanical body of the humanoid robot, the joint is the most important part, and the structure and performance of the joint directly influence the overall performance of the robot, including maneuverability, operability, motion smoothness and the like. The ball-and-socket joint is one of the important joints of the robot, and the friction performance of the ball-and-socket joint has great influence on the overall performance of the robot.
It is estimated that about 1/3-1/2 of world energy consumption is caused by friction and abrasion, and about 80% of parts in general mechanical equipment are scrapped due to abrasion. The wear of the parts is not only related to the material of the parts, but also to the environment and the state of motion in which the parts are located. Some researchers improve a common friction and abrasion tester, such as an MMU-10 screen display type end surface abrasion tester, in the form of end surface sliding friction, under the oil-immersed lubrication condition, to detect the friction coefficient and the abrasion loss of a material, but it is difficult to simulate the actual abrasion of a robot ball-and-socket joint friction pair in a motion state. It is necessary to use special test equipment to detect the wear of the ball and socket joint of the robot.
Disclosure of Invention
The invention aims to provide a testing device for a friction pair of a robot ball-and-socket joint, which can simulate the motion of the robot ball-and-socket joint under a sealing condition and complete the swinging abrasion test and the autorotation abrasion test of a joint head.
The invention discloses a testing device for a robot ball-and-socket joint friction pair.
The sealing device comprises a sealing cavity body; the sealing cavity is provided with a sealing cavity side door, and the inner side wall of the sealing cavity side door is provided with a sealing ring; the second rotating shaft and the loading shaft are coaxially arranged on two opposite surfaces of the cavity of the sealed cavity, and the first rotating shaft is vertical to the loading shaft; the first rotating shaft and the second rotating shaft are supported on the sealed cavity body through bearings; the loading shaft and the sealing cavity form a sliding pair; three grooves which are integrally formed and uniformly distributed along the circumferential direction are formed in the end faces of one ends, located in the sealed cavity, of the first rotating shaft, the second rotating shaft and the loading shaft.
The driving device comprises a first servo motor and a second servo motor; the output shaft of the first servo motor is connected with one end of the first rotating shaft, which is positioned outside the cavity of the sealed cavity body, through the first coupler, and the output shaft of the second servo motor is connected with one end of the second rotating shaft, which is positioned outside the cavity of the sealed cavity body, through the second coupler.
The fixing device comprises a socket clamp and a joint head clamp; the end face of the bottom end of the glenoid clamp is provided with three positioning bosses which are uniformly distributed along the circumferential direction; the bottom end face of the joint clamp is also provided with three positioning bosses which are uniformly distributed along the circumferential direction.
The loading device comprises a third servo motor; an output shaft of the third servo motor is connected with a lead screw through a third coupler, and the lead screw and a nut form a screw pair; the load loading shaft is sleeved on the screw rod, and the end face of one end of the load loading shaft, which is positioned outside the cavity of the sealed cavity, is fixed with the nut.
The detection system comprises a speed sensor I, a speed sensor II, a pressure sensor, a sensitive current detector, a precision electronic balance, a noise sensor and a vibration sensor; the first speed sensor is used for measuring the rotating speed of the first servo motor; the second speed sensor is used for measuring the rotating speed of the second servo motor; the pressure sensor measures the load of the nut on the load loading shaft; a sensitive current detector detects the change of the glenoid current supplied by a low-voltage direct-current power supply; and the precise electronic balance measures the abrasion loss of the joint socket. The noise sensor is arranged in the sealed cavity; the vibration sensor measures the vibration of the glenoid.
The computer control system consists of a data acquisition instrument and a computer. The data acquisition instrument receives data acquired by the speed sensor I, the speed sensor II, the pressure sensor, the sensitive current detector, the noise sensor and the vibration sensor through wireless communication, and transmits the data to the computer after processing; the computer controls the first servo motor, the second servo motor and the third servo motor.
The testing device for the friction pair of the ball-and-socket joint of the robot is used for manufacturing a ball-and-socket joint calibration piece before a joint head rotation abrasion test is carried out, a precision electronic balance is used for weighing the mass of the ball-and-socket joint calibration piece, and then the following pretesting is carried out: the joint head fixture clamps the joint head of the ball-and-socket joint standard piece, the joint socket fixture clamps the joint socket of the ball-and-socket joint standard piece, and the side door of the sealed cavity is opened, so that the three positioning bosses of the joint socket fixture are respectively sleeved on the three grooves of the loading shaft, and the joint socket fixture is fixed with the loading shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the second rotating shaft, and the joint head clamp is fixed with the second rotating shaft; and (3) enabling the working condition of the ball-and-socket joint calibration piece to be consistent with the tested ball-and-socket joint, starting a second servo motor to enable the joint head and the joint socket to be oppositely ground, and measuring the quality of the ball-and-socket joint calibration piece again after the test by the precision electronic balance to obtain the corresponding relation between the rotary wear amount of the ball-and-socket joint calibration piece and the current detected by the sensitive current detector. Different grinding time is set for continuous pretesting, and a discrete relation curve of the rotary wear amount of the ball-and-socket joint calibration piece and the current change is obtained.
The process of the test device for the friction pair of the ball-and-socket joint of the robot for testing the rotary wear of the joint head is as follows:
weighing the mass of the tested ball-and-socket joint by using a precision electronic balance, clamping the joint head of the tested ball-and-socket joint by using a joint head clamp, and clamping the joint socket of the tested ball-and-socket joint by using a joint socket clamp.
Opening a side door of the sealed cavity to enable three positioning bosses of the socket clamp to be respectively sleeved on three grooves of the loading shaft, and fixing the socket clamp and the loading shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the second rotating shaft, and the joint head clamp is fixed with the second rotating shaft. The sensitive current detector and the vibration sensor are both arranged on the joint socket.
And step three, closing a side door of the sealed cavity.
Step four, the computer sets the rotating speed of the second servo motor and sets the rotating time of the second servo motor so as to set the opposite grinding time; the data acquisition instrument acquires data measured by the pressure sensor and feeds the data back to the computer, and the computer controls the size of a load applied to the load loading shaft by the nut in a closed loop manner; and starting a second servo motor, carrying out friction test on the contact surface of the joint head and the joint socket, transmitting the data measured by the sensitive current detector, the noise sensor and the vibration sensor to a computer by the data acquisition instrument, and displaying a relation graph of vibration acceleration, noise sound pressure and rotation abrasion loss and time on a display after the data is processed by the computer. The relation between the rotary wear amount and the time is generated according to the relation between the current detected by the sensitive current detector and the time and comparing with the discrete relation data of the rotary wear amount and the current change stored by the computer.
And step five, opening the side door of the sealed cavity, taking down the joint socket clamp and the joint head clamp, and taking out the joint head and the joint socket.
The testing device for the friction pair of the ball-and-socket joint of the robot is used for manufacturing a ball-and-socket joint calibration piece before a joint head swinging abrasion test is carried out, the mass of the ball-and-socket joint calibration piece is weighed by a precision electronic balance, and then the following pretesting is carried out: the joint head fixture clamps the joint head of the ball-and-socket joint standard piece, the joint socket fixture clamps the joint socket of the ball-and-socket joint standard piece, and the side door of the sealed cavity is opened, so that the three positioning bosses of the joint socket fixture are respectively sleeved on the three grooves of the first rotating shaft, and the joint socket fixture is fixed with the first rotating shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the loading shaft, and the joint head clamp is fixed with the loading shaft; and enabling the working condition of the ball-and-socket joint calibration piece to be consistent with the tested ball-and-socket joint, starting the first servo motor to enable the joint head and the joint socket to be oppositely ground, and measuring the quality of the ball-and-socket joint calibration piece again after the test by the precision electronic balance to obtain the corresponding relation between the swinging abrasion loss of the ball-and-socket joint calibration piece and the current detected by the sensitive current detector. Different pre-tests are continuously carried out on the grinding time, so that a discrete relation curve of the swing abrasion loss and the current change of the ball-and-socket joint calibration piece is obtained.
The process of the test device for the friction pair of the ball-and-socket joint of the robot for the swing abrasion of the joint head is as follows:
weighing the mass of the tested ball-and-socket joint by using a precision electronic balance, clamping the joint head of the tested ball-and-socket joint by using a joint head clamp, and clamping the joint socket of the tested ball-and-socket joint by using a joint socket clamp.
Opening a side door of the sealed cavity to enable three positioning grooves of the socket fixture to be respectively sleeved on three bosses of the first rotating shaft, and fixing the socket fixture and the first rotating shaft; three positioning grooves of the joint head clamp are respectively sleeved on three bosses of the loading shaft, and the joint head clamp is fixed with the loading shaft. The sensitive current detector and the vibration sensor are both arranged on the joint socket.
And step three, closing a side door of the sealed cavity.
Step four, the computer sets the rotating speed of the first servo motor and sets the rotating time of the first servo motor so as to set the opposite grinding time; the data acquisition instrument acquires data measured by the pressure sensor and feeds the data back to the computer, and the computer controls the size of a load applied to the load loading shaft by the nut in a closed loop manner; starting a first servo motor, carrying out friction test on the contact surface of the joint head and the joint socket, transmitting data measured by a sensitive current detector, a noise sensor and a vibration sensor to a computer by a data acquisition instrument, and displaying a relation graph of vibration acceleration, noise sound pressure and swing abrasion loss and time by a computer display. The relationship between the swing abrasion loss and the time is generated according to the relationship between the current and the time detected by the sensitive current detector and the discrete relationship data of the swing abrasion loss and the current change stored by the computer.
And step five, opening the side door of the sealed cavity, loosening the joint socket clamp and the joint head clamp, and taking out the joint head and the joint socket.
Further, the data acquisition instrument acquires the rotating speed of the second servo motor measured by the speed sensor II and feeds the rotating speed back to the computer, and the computer controls the rotating speed of the second servo motor through a closed loop.
Further, the data acquisition instrument acquires the rotating speed of the first servo motor measured by the speed sensor and feeds the rotating speed back to the computer, and the computer controls the rotating speed of the first servo motor through a closed loop.
The invention has the following beneficial effects:
the device has simple structure and can display the test result in real time; the friction pair is completely in a sealed environment, the load application can be more accurate through the combination of the servo motor and the lead screw, the load and the rotating speed can be changed in the detection process, the use environment is approximately simulated really, and the measurement result has higher reference value; the detection of friction vibration and noise is realized through a vibration and noise sensor; the dynamic measurement of the abrasion loss is realized through the sensitive ammeter under the condition of not destroying the pairing relation, and the accuracy of the test result is higher; and the rotation and swing tests of the ball-and-socket joint can be completed in the same device.
Drawings
FIG. 1 is a schematic structural diagram of a joint head rotating wear test according to the present invention;
FIG. 2 is a schematic structural diagram of the joint head swing wear test of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in figures 1 and 2, the testing device for the friction pair of the ball-and-socket joint of the robot comprises a sealing device, a driving device, a fixing device, a loading device, a detection system and a computer control system.
The sealing device comprises a sealing cavity body 4; the sealed chamber 4 is provided with a sealed chamber side door 10 which can be opened and closed; a sealing ring is arranged on the inner side wall of the side door 10 of the sealing cavity; the second rotating shaft 5 and the loading shaft 13 are coaxially arranged on two opposite surfaces of the sealed cavity body 4, and the first rotating shaft 3 is perpendicular to the loading shaft 13; the first rotating shaft 3 and the second rotating shaft 5 are supported on the sealed cavity 4 through bearings; the loading shaft 13 and the sealed cavity 4 form a sliding pair; the end faces of the first rotating shaft 3, the second rotating shaft and the loading shaft 13, which are located in the sealed cavity, are provided with three grooves which are integrally formed and uniformly distributed along the circumferential direction.
The driving device comprises a first servo motor 1 and a second servo motor 7; an output shaft of the first servo motor 1 is connected with one end of the first rotating shaft 3, which is positioned outside the cavity 4 of the sealed cavity, through the first coupler 2, and an output shaft of the second servo motor 7 is connected with one end of the second rotating shaft 5, which is positioned outside the cavity 4 of the sealed cavity, through the second coupler 6.
The fixing device comprises a socket clamp 12 and a joint head clamp 8; the end face of the bottom end of the glenoid clamp 12 is provided with three positioning bosses which are uniformly distributed along the circumferential direction; the bottom end face of the joint clamp 8 is also provided with three positioning bosses which are uniformly distributed along the circumferential direction.
The loading means comprise a third servomotor 17; an output shaft of the third servo motor 17 is connected with a lead screw 15 through a third coupler 16, and the lead screw 15 and a nut 14 form a screw pair; the load loading shaft 13 is sleeved on the screw rod 15, and the end face of one end of the load loading shaft 13, which is positioned outside the cavity of the sealing cavity, is fixed with the nut 14.
The detection system comprises a first speed sensor 18, a second speed sensor 20, a pressure sensor 19, a sensitive current detector 21, a precision electronic balance, a noise sensor 23 and a vibration sensor 22; the first speed sensor 18 measures the rotating speed of the first servo motor 1; the second speed sensor 20 measures the rotating speed of the second servo motor 7; the pressure sensor 19 measures the load of the nut 14 on the load loading shaft 13; the glenoid 11 is powered by a low-voltage direct-current power supply, the sensitive current detector 21 detects the current change of the glenoid 11, the appearance of the surface of the glenoid 11 can be changed due to abrasion, so that the resistance value of the glenoid 11 is slightly changed, and the abrasion condition of the glenoid 11 can be reflected by the weak change of the current detected by the sensitive current detector; the precise electronic balance measures the abrasion loss of the joint socket 11. The noise sensor 23 is arranged in the sealed cavity, detects noise emitted by the ball-and-socket joint friction pair, and isolates noise of external environments such as a servo motor and the like compared with external devices; the vibration sensor 22 measures the vibration of the socket 11.
The computer control system consists of a data acquisition instrument and a computer. The data acquisition instrument receives data acquired by the speed sensor I18, the speed sensor II 20, the pressure sensor 19, the sensitive current detector 21, the noise sensor 23 and the vibration sensor 22 through wireless communication, and transmits the data to the computer after processing; the computer controls the first servomotor 1, the second servomotor 7 and the third servomotor 17.
The testing device for the friction pair of the ball-and-socket joint of the robot is characterized in that a ball-and-socket joint calibration piece is manufactured before a joint head rotation abrasion test, the mass of the ball-and-socket joint calibration piece is weighed by a precision electronic balance, and then the following pretesting is carried out: a joint head clamp 8 clamps a joint head 9 of the ball-and-socket joint standard piece, a joint socket clamp clamps a joint socket 11 of the ball-and-socket joint standard piece, a side door of a sealing cavity is opened, three positioning bosses of the joint socket clamp are respectively sleeved on three grooves of a loading shaft 13, and the joint socket clamp is fixed with the loading shaft 13; three positioning bosses of the joint head clamp 8 are respectively sleeved on three grooves of the second rotating shaft 5, and the joint head clamp 8 is fixed with the second rotating shaft 5; and enabling the working condition of the ball-and-socket joint calibration piece to be consistent with the tested ball-and-socket joint, starting the second servo motor 7 to enable the joint head 9 and the joint socket 11 to be oppositely ground, and measuring the quality of the ball-and-socket joint calibration piece again by the precision electronic balance after testing to obtain the corresponding relation between the exact rotary wear amount of the ball-and-socket joint calibration piece and the current detected by the sensitive current detector. Different grinding time is set for continuous pretesting, so that the exact discrete relation curve of the rotary wear amount and the current change of the ball-and-socket joint calibration piece is obtained.
A ball-and-socket joint calibration piece is manufactured before a swing abrasion test of a joint head of the testing device of the robot ball-and-socket joint friction pair, the mass of the ball-and-socket joint calibration piece is weighed by a precision electronic balance, and then the following pretesting is carried out: a joint head clamp 8 clamps a joint head 9 of the ball-and-socket joint standard piece, a joint socket clamp clamps a joint socket 11 of the ball-and-socket joint standard piece, a side door of a sealing cavity is opened, three positioning bosses of the joint socket clamp are respectively sleeved on three grooves of the first rotating shaft 3, and the joint socket clamp is fixed with the first rotating shaft 3; three positioning bosses of the joint head clamp 8 are respectively sleeved on three grooves of the loading shaft 13, and the joint head clamp 8 is fixed with the loading shaft 13; the working condition of the ball-and-socket joint calibration piece is consistent with that of the tested ball-and-socket joint, the first servo motor 1 is started to enable the joint head 9 and the joint socket 11 to be oppositely ground, the precision electronic balance measures the quality of the ball-and-socket joint calibration piece again after testing, and the corresponding relation between the accurate swing abrasion loss of the ball-and-socket joint calibration piece and the current detected by the sensitive current detector is obtained. Different grinding time is set for continuous pretesting, so that the exact discrete relation curve of the swing abrasion loss and the current change of the ball-and-socket joint calibration piece is obtained.
The test process of the rotary abrasion of the joint head of the test device of the robot ball-and-socket joint friction pair is as follows:
weighing the mass of the tested ball-and-socket joint by using a precision electronic balance, clamping a joint head 9 of the tested ball-and-socket joint by using a joint head clamp 8, and clamping a joint socket 11 of the tested ball-and-socket joint by using a joint socket clamp.
Step two, opening a side door of the sealed cavity to enable three positioning bosses of the socket clamp to be respectively sleeved on three grooves of the loading shaft 13, and fixing the socket clamp with the loading shaft 13; three positioning bosses of the joint head clamp 8 are respectively sleeved on three grooves of the second rotating shaft 5, and the joint head clamp 8 is fixed with the second rotating shaft 5. A sensitive current meter 21 and a vibration sensor 22 are both placed on the socket 11.
And step three, closing the side door 10 of the sealed cavity, and detecting under the condition that the sealed cavity 4 is sealed.
Step four, the computer sets the rotating speed of the second servo motor 7 and sets the rotating time of the second servo motor 7 so as to set the opposite grinding time; the data acquisition instrument acquires the rotating speed of the second servo motor 7 measured by the second speed sensor 20 and feeds the rotating speed back to the computer, and the computer accurately sets the rotating speed of the second servo motor 7 through closed-loop control; the data acquisition instrument acquires data measured by the pressure sensor 19 and feeds the data back to the computer, and the computer accurately sets the load applied by the nut 14 to the load loading shaft 13 through closed-loop control; and starting the second servo motor 7, performing friction test on the contact surface of the joint head 9 and the joint socket 11, transmitting data measured by the sensitive current detector 21, the noise sensor 23 and the vibration sensor 22 to a computer by the data acquisition instrument, and displaying a relation graph of vibration acceleration, noise sound pressure and rotation abrasion loss and time on a display after the data is processed by the computer. The relation between the rotary wear amount and the time is automatically generated according to the relation between the current and the time detected by the sensitive current detector and the discrete relation data of the rotary wear amount and the current change stored by the computer.
And step five, opening a side door of the sealed cavity, taking down the socket clamp and the joint head clamp 8, and taking out the joint head 9 and the joint socket 11.
The test process of the swing abrasion of the joint head of the test device of the robot ball-and-socket joint friction pair is as follows:
weighing the mass of the tested ball-and-socket joint by using a precision electronic balance, clamping a joint head 9 of the tested ball-and-socket joint by using a joint head clamp 8, and clamping a joint socket 11 of the tested ball-and-socket joint by using a joint socket clamp 12.
Step two, opening a side door 10 of the sealed cavity to enable three positioning grooves of the socket clamp to be respectively sleeved on three bosses of the first rotating shaft 3, and fixing the socket clamp 12 with the first rotating shaft 3; three positioning grooves of the joint head clamp 8 are respectively sleeved on three bosses of the loading shaft 13, and the joint head clamp 8 is fixed with the loading shaft 13. A sensitive current meter 21 and a vibration sensor 22 are both placed on the socket 11.
And step three, closing the side door 10 of the sealed cavity, and detecting under the condition that the sealed cavity is sealed.
Step four, the computer sets the rotating speed of the first servo motor 1 and sets the rotating time of the first servo motor 1 so as to set the opposite grinding time; the data acquisition instrument acquires the rotating speed of the first servo motor measured by the first speed sensor 18 and feeds the rotating speed back to the computer, and the computer accurately sets the rotating speed of the first servo motor through closed-loop control; the data acquisition instrument acquires data measured by the pressure sensor 19 and feeds the data back to the computer, and the computer accurately sets the load applied by the nut 14 to the load loading shaft 13 through closed-loop control; the first servo motor 1 is started to carry out friction test on the contact surface of the joint head 9 and the joint socket 11, the data acquisition instrument transmits the data measured by the sensitive current detection meter 21, the noise sensor 23 and the vibration sensor 22 to the computer, and the computer display displays the relation graph of the vibration acceleration, the noise sound pressure and the swing abrasion loss with time. The relation between the swing abrasion loss and the time is automatically generated according to the relation between the current and the time detected by the sensitive current detector and comparing with the discrete relation data of the swing abrasion loss and the current change stored by the computer.
And step five, opening a side door of the sealed cavity, loosening the socket clamp and the joint clamp 8, and taking out the joint head 9 and the joint socket 11.
Claims (3)
1. The utility model provides a vice testing arrangement of robot ball socket joint friction, includes sealing device, drive arrangement, fixing device, loading device, detecting system and computer control system, its characterized in that: the sealing device comprises a sealing cavity body; the sealing cavity body is provided with a sealing cavity side door, and the inner side wall of the sealing cavity side door is provided with a sealing ring; the second rotating shaft and the loading shaft are coaxially arranged on two opposite surfaces of the cavity of the sealed cavity, and the first rotating shaft is vertical to the loading shaft; the first rotating shaft and the second rotating shaft are supported on the sealed cavity body through bearings; the loading shaft and the sealing cavity form a sliding pair; the end faces of the first rotating shaft, the second rotating shaft and the loading shaft, which are positioned in the sealed cavity, at one end are provided with three grooves which are integrally formed and uniformly distributed along the circumferential direction;
the driving device comprises a first servo motor and a second servo motor; an output shaft of the first servo motor is connected with one end of the first rotating shaft, which is positioned outside the cavity of the sealed cavity, through a first coupler, and an output shaft of the second servo motor is connected with one end of the second rotating shaft, which is positioned outside the cavity of the sealed cavity, through a second coupler;
the fixing device comprises a socket clamp and a joint head clamp; the end face of the bottom end of the glenoid clamp is provided with three positioning bosses which are uniformly distributed along the circumferential direction; the end face of the bottom end of the joint head clamp is also provided with three positioning bosses which are uniformly distributed along the circumferential direction;
the loading device comprises a third servo motor; an output shaft of the third servo motor is connected with a lead screw through a third coupler, and the lead screw and a nut form a screw pair; the load loading shaft is sleeved on the screw rod, and the end face of one end of the load loading shaft, which is positioned outside the cavity of the sealed cavity, is fixed with the nut;
the detection system comprises a speed sensor I, a speed sensor II, a pressure sensor, a sensitive current detector, a precision electronic balance, a noise sensor and a vibration sensor; the first speed sensor is used for measuring the rotating speed of the first servo motor; the second speed sensor is used for measuring the rotating speed of the second servo motor; the pressure sensor measures the load of the nut on the load loading shaft; a sensitive current detector detects the change of the glenoid current supplied by a low-voltage direct-current power supply; measuring the abrasion loss of the joint socket by a precision electronic balance; the noise sensor is arranged in the sealed cavity; the vibration sensor measures the vibration of the glenoid fossa;
the computer control system consists of a data acquisition instrument and a computer; the data acquisition instrument receives data acquired by the speed sensor I, the speed sensor II, the pressure sensor, the sensitive current detector, the noise sensor and the vibration sensor through wireless communication, and transmits the data to the computer after processing; the computer controls the first servo motor, the second servo motor and the third servo motor;
the testing device for the friction pair of the ball-and-socket joint of the robot is used for manufacturing a ball-and-socket joint calibration piece before a joint head rotation abrasion test is carried out, a precision electronic balance is used for weighing the mass of the ball-and-socket joint calibration piece, and then the following pretesting is carried out: the joint head fixture clamps the joint head of the ball-and-socket joint standard piece, the joint socket fixture clamps the joint socket of the ball-and-socket joint standard piece, and the side door of the sealed cavity is opened, so that the three positioning bosses of the joint socket fixture are respectively sleeved on the three grooves of the loading shaft, and the joint socket fixture is fixed with the loading shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the second rotating shaft, and the joint head clamp is fixed with the second rotating shaft; enabling the working condition of the ball-and-socket joint calibration piece to be consistent with the tested ball-and-socket joint, starting a second servo motor to enable the joint head and the joint socket to be oppositely ground, and measuring the quality of the ball-and-socket joint calibration piece again after the test by a precision electronic balance to obtain the corresponding relation between the rotary wear amount of the ball-and-socket joint calibration piece and the current detected by a sensitive current detector; setting different grinding time to perform continuous pretesting to obtain a discrete relation curve of the rotary wear amount and the current change of the ball-and-socket joint calibration piece;
the process of the test device for the friction pair of the ball-and-socket joint of the robot for testing the rotary wear of the joint head is as follows:
weighing the mass of a tested ball-and-socket joint by using a precision electronic balance, clamping a joint head of the tested ball-and-socket joint by using a joint head clamp, and clamping a joint socket of the tested ball-and-socket joint by using a joint socket clamp;
opening a side door of the sealed cavity to enable three positioning bosses of the socket clamp to be respectively sleeved on three grooves of the loading shaft, and fixing the socket clamp and the loading shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the second rotating shaft, and the joint head clamp is fixed with the second rotating shaft; the sensitive current detector and the vibration sensor are both arranged on the joint socket;
step three, closing a side door of the sealed cavity;
step four, the computer sets the rotating speed of the second servo motor and sets the rotating time of the second servo motor so as to set the opposite grinding time; the data acquisition instrument acquires data measured by the pressure sensor and feeds the data back to the computer, and the computer controls the size of a load applied to the load loading shaft by the nut in a closed loop manner; starting a second servo motor, carrying out friction test on the contact surface of the joint head and the joint socket, transmitting data measured by a sensitive current detector, a noise sensor and a vibration sensor to a computer by a data acquisition instrument, and displaying a relation graph of vibration acceleration, noise sound pressure and rotary wear loss and time on a display after the data is processed by the computer; the relation between the rotary wear amount and the time is generated by contrasting the discrete relation data of the rotary wear amount and the current change stored in the computer according to the relation between the current and the time detected by the sensitive current detector;
opening a side door of the sealed cavity, taking down the joint socket clamp and the joint head clamp, and taking out the joint head and the joint socket;
the testing device for the friction pair of the ball-and-socket joint of the robot is used for manufacturing a ball-and-socket joint calibration piece before a joint head swinging abrasion test is carried out, the mass of the ball-and-socket joint calibration piece is weighed by a precision electronic balance, and then the following pretesting is carried out: the joint head fixture clamps the joint head of the ball-and-socket joint standard piece, the joint socket fixture clamps the joint socket of the ball-and-socket joint standard piece, and the side door of the sealed cavity is opened, so that the three positioning bosses of the joint socket fixture are respectively sleeved on the three grooves of the first rotating shaft, and the joint socket fixture is fixed with the first rotating shaft; three positioning bosses of the joint head clamp are respectively sleeved on three grooves of the loading shaft, and the joint head clamp is fixed with the loading shaft; enabling the working condition of the ball-and-socket joint calibration piece to be consistent with the tested ball-and-socket joint, starting a first servo motor to enable a joint head and a joint socket to be ground oppositely, and measuring the quality of the ball-and-socket joint calibration piece again after the test by a precision electronic balance to obtain the corresponding relation between the swinging abrasion loss of the ball-and-socket joint calibration piece and the current detected by a sensitive current detector; setting different grinding time to perform continuous pretesting, so as to obtain a discrete relation curve of the swing abrasion loss and the current change of the ball-and-socket joint calibration piece;
the process of the test device for the friction pair of the ball-and-socket joint of the robot for the swing abrasion of the joint head is as follows:
weighing the mass of a tested ball-and-socket joint by using a precision electronic balance, clamping a joint head of the tested ball-and-socket joint by using a joint head clamp, and clamping a joint socket of the tested ball-and-socket joint by using a joint socket clamp;
opening a side door of the sealed cavity to enable three positioning grooves of the socket fixture to be respectively sleeved on three bosses of the first rotating shaft, and fixing the socket fixture and the first rotating shaft; three positioning grooves of the joint head clamp are respectively sleeved on three bosses of the loading shaft, and the joint head clamp is fixed with the loading shaft; the sensitive current detector and the vibration sensor are both arranged on the joint socket;
step three, closing a side door of the sealed cavity;
step four, the computer sets the rotating speed of the first servo motor and sets the rotating time of the first servo motor so as to set the opposite grinding time; the data acquisition instrument acquires data measured by the pressure sensor and feeds the data back to the computer, and the computer controls the size of a load applied to the load loading shaft by the nut in a closed loop manner; starting a first servo motor, carrying out friction test on the contact surface of a joint head and a joint socket, transmitting data measured by a sensitive current detector, a noise sensor and a vibration sensor to a computer by a data acquisition instrument, and displaying a relation graph of vibration acceleration, noise sound pressure and swing abrasion loss and time by a computer display; the relation between the swing abrasion loss and the time is generated by contrasting the discrete relation data of the swing abrasion loss and the current change stored in the computer according to the relation between the current and the time detected by the sensitive current detector;
and step five, opening the side door of the sealed cavity, loosening the joint socket clamp and the joint head clamp, and taking out the joint head and the joint socket.
2. The device for testing the friction pair of the ball-and-socket joint of the robot as claimed in claim 1, wherein: the data acquisition instrument acquires the rotating speed of the second servo motor measured by the speed sensor II and feeds the rotating speed back to the computer, and the computer controls the rotating speed of the second servo motor through a closed loop.
3. The device for testing the friction pair of the ball-and-socket joint of the robot as claimed in claim 1, wherein: the data acquisition instrument acquires the rotating speed of the first servo motor measured by the speed sensor and feeds the rotating speed back to the computer, and the computer controls the rotating speed of the first servo motor through a closed loop.
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| CN113532825B (en) * | 2021-07-06 | 2022-04-01 | 燕山大学 | System and method for measuring ball hinge abrasion under complex working conditions |
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| DE102005027825A1 (en) * | 2005-06-15 | 2007-01-04 | Zf Friedrichshafen Ag | Ball joint with sensor device and method for leak detection |
| DE102005030971B4 (en) * | 2005-06-30 | 2016-01-21 | Zf Friedrichshafen Ag | Ball joint with sensor device, method for load measurement and method for wear measurement |
| CN101949773B (en) * | 2010-09-09 | 2012-05-30 | 河南科技大学 | Compound swinging type joint bearing testing machine |
| CN102445143B (en) * | 2011-09-24 | 2013-10-23 | 北京市三一重机有限公司 | Device for detecting wear of apparatus and shield machine provided with same |
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