CN110696045A - Experimental device for simulating variable load and variable inertia of joint of industrial robot - Google Patents
Experimental device for simulating variable load and variable inertia of joint of industrial robot Download PDFInfo
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- CN110696045A CN110696045A CN201911032425.XA CN201911032425A CN110696045A CN 110696045 A CN110696045 A CN 110696045A CN 201911032425 A CN201911032425 A CN 201911032425A CN 110696045 A CN110696045 A CN 110696045A
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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
Abstract
The invention discloses an experimental device for simulating variable load and variable inertia of a joint of an industrial robot, which comprises a working table top, an input servo motor, a planetary gear reducer, a first coupler, a dynamic torque sensor, a second coupler, an angle sensor, a double bearing seat, a variable inertia lever arm, a third coupler, a rotating shaft, a mass slider, a positioning bolt, a hysteresis dynamometer, a first supporting base, a second supporting base and a third supporting base, wherein an output shaft of the input servo motor is sequentially connected with the planetary gear reducer, the first coupler, the dynamic torque sensor, the second coupler, the angle sensor, the rotating shaft, the third coupler and the hysteresis dynamometer which are sequentially distributed along a straight line; the invention integrates inertia static change, can change inertia and load, and the load control system can meet the conditions of various complex loads and can briefly simulate the joint motion condition.
Description
Technical Field
The invention relates to the field of testing of joint servo control systems, relates to the field of variable-load and variable-inertia experimental devices, and particularly relates to an experimental device for simulating variable load and variable inertia of a joint of an industrial robot.
Background
At present, the experiment of the servo motor control algorithm directly carried out on the joint of the industrial robot needs to overcome a plurality of technical difficulties, and the cost of the mechanical part of the individual research industrial robot is high, so that the research is limited to a software simulation stage and a semi-simulation stage. In order to effectively evaluate a control algorithm through experiments, the working condition of the simulated robot joint is the joint, and mainly a process of changing load and inertia.
The loading modes generally adopted by the existing load simulation device are mechanical loading, electromagnetic loading, motor loading, inertia simulation loading devices and the like. The main advantages of mechanical loading are reliable operation, simple structure, and the disadvantages of not being able to realize continuously changing load spectrum, not being able to load or adjust load during operation, and inconvenient disassembly and assembly. At present, a direct current motor or a torque motor is mainly adopted as motor loading equipment, the direct current motor is used as a loading element, armature current is large, power loss is large, and the motor loading equipment is inconvenient to provide positive and reverse torque due to the existence of a commutator. The electromagnetic loading equipment mainly comprises a hysteresis dynamometer, a magnetic powder brake and the like, and has the main advantages of wide rotating speed range, convenience in control, capability of realizing automatic operation and the like. Inertia simulation loading device adopts inertia dish etc. mostly, realizes changing the purpose of inertia through adjusting inertia dish size and mass, because of inertia dish installation axiality scheduling problem, causes certain experimental degree of difficulty.
Aiming at the problems existing in the loading and inertia changing modes, the inertia is changed by changing the relative position of the mass slider without considering the problem of coaxiality, and a hysteresis dynamometer is used for realizing continuously changing load.
Disclosure of Invention
The invention aims to overcome the defects that the existing load simulation device is difficult to disassemble and assemble in the variable inertia process, the load change does not have real-time performance, the same device does not have the functions of variable load and variable inertia, and the like, and provides an experimental device capable of simulating the variable load and variable inertia of the joint of an industrial robot.
The invention realizes the purpose through the following technical scheme: an experimental device for simulating variable load and variable inertia of a joint of an industrial robot comprises a working table top, an input servo motor, a planetary gear reducer, a first coupler, a dynamic torque sensor, a second coupler, an angle sensor, a double bearing seat, a variable inertia lever arm, a third coupler, a rotating shaft, a mass slider, a positioning bolt, a hysteresis dynamometer, a first supporting base, a second supporting base and a third supporting base, wherein the input servo motor and the planetary gear reducer are fixed on the third supporting base, an output shaft of the input servo motor is sequentially connected with the planetary gear reducer, the first coupler, the dynamic torque sensor, the second coupler, the angle sensor, the rotating shaft, the third coupler and the hysteresis dynamometer which are sequentially distributed along a straight line, the dynamic torque sensor is fixed on the second supporting base, and the rotating shaft is supported by the double bearing seat, the double bearing seats are fixed on the first supporting base; the first supporting base, the second supporting base and the third supporting base are all fixed on the working table top; one end of the variable inertia lever arm is fixedly installed on the rotating shaft through a key, the axial lead of the variable inertia lever arm is perpendicular to the axial lead of the rotating shaft, at least three annular positioning grooves which are uniformly distributed along the axial lead direction are uniformly distributed on the variable inertia lever arm, the mass sliding block is sleeved on the variable inertia lever arm, a positioning screw hole is formed in the mass sliding block, and the positioning bolt penetrates through the mass sliding block and extends into the bottom of the annular positioning groove of the variable inertia lever arm through the front end of the positioning bolt to fix the position of the mass sliding block and the variable inertia lever arm.
Furthermore, the output shaft of the input servo motor, the planetary gear reducer, the first coupler, the dynamic torque sensor, the second coupler, the angle sensor, the rotating shaft, the third coupler and the axis of the hysteresis dynamometer are located on the same straight line.
Further, be provided with the bar groove on the table surface, the bar groove is located and becomes inertia lever arm under, and the length in bar groove is greater than twice of inertia lever arm length, and the width in bar groove is greater than the diameter of quality slider. The inertia variable lever arm can freely pass through the strip-shaped groove when carrying the mass slide block to rotate.
Furthermore, five annular positioning grooves are formed in the annular positioning groove and are distributed at equal intervals along the axial direction of the variable inertia lever arm.
Further, the input servo motor is a permanent magnet synchronous motor.
Furthermore, the first coupling, the second coupling and the third coupling are all elastic couplings.
Furthermore, the rotating shaft is a multi-section stepped shaft and comprises a first straight line section, a second straight line section, a third straight line section, a fourth stage and a fifth straight line section which are sequentially connected, the diameters of the first straight line section, the second straight line section, the third straight line section and the fourth stage are gradually increased, key grooves are formed in the first straight line section, the third straight line section and the fifth straight line section, a sensor positioning groove is formed in one end, close to the first straight line section, of the second straight line section, the first straight line section of the rotating shaft is in key connection with the second coupler, the fifth straight line section of the rotating shaft is in key connection with the third coupler, a sleeve in clearance fit with the outer diameter of the third straight line section of the rotating shaft is arranged at one end of the inertia variable lever arm, and the sleeve of the inertia variable lever arm is fixedly connected; the second straight-line segment of the rotating shaft is supported on the double bearing seats through bearings, and the left end and the right end of the variable inertia lever arm are respectively positioned through the fourth stage of the rotating shaft and the bearings of the double bearing seats; the angle sensor is a hollow disc-shaped angular displacement sensor, an external fixed seat of the angle sensor is fixed on the double bearing seats, the rotating end of the angle sensor is sleeved at one end of the second straight line section of the rotating shaft, and the rotating end of the angle sensor is fixed and positioned through the sensor positioning groove in the rotating shaft. The rotating end inside the angle sensor rotates along with the rotation of the rotating shaft.
The specific working principle of the invention is as follows: the invention is mainly used for simulating the experiment of variable load and variable inertia of the joint of the industrial robot, namely, the variable inertia lever arm for simulating the joint of the industrial robot has the functions of variable inertia and variable load, the control system controls the output torque of the input servo motor, the torque is transmitted to the speed reducer to increase the torque, and finally the rotating shaft and the variable inertia lever arm with the external load are driven to move, the external load is realized by the hysteresis dynamometer, and the hysteresis dynamometer is loaded on the variable inertia lever arm by inputting the load which is in the same direction or in the opposite direction of the input servo motor, so that the function of simulating the load change of the variable inertia lever arm is realized. The inertia change of the variable inertia lever arm is realized through the mass sliding block, the variable inertia lever arm is provided with a plurality of circles of axial annular positioning grooves, the mass sliding block is fixed on different annular positioning grooves through positioning bolts, and the rotating radius of the mass sliding block during movement is changed by changing the distance between the mass sliding block and the rotating center, so that the integral rotational inertia of the variable inertia lever arm is changed. The angle sensor detects a rotation angle, an unknown signal obtained by the angle sensor is fed back to the control system, and the unknown signal is input into the output of the servo motor through closed-loop control, so that the accurate control of the position of the variable inertia lever arm is realized. The dynamic torque sensor collects torque signals, and the torque obtained by the torque sensor is used for feeding back the hysteresis dynamometer, so that the accurate control of the load of the variable inertia lever arm is ensured.
When the control algorithm is not changed, a plurality of groups of graphs of position signals of the variable inertia lever arms changing along with time are measured by changing the inertia and responsibility of the variable inertia lever arms; if the control algorithm needs to be changed, the inertia and the load are kept unchanged, the control algorithm is changed, the curve graphs of the plurality of groups of position signals changing along with time are continuously tested, the results obtained by the various control algorithms are analyzed and compared, and the control algorithm is tested and researched after multiple tests.
The invention also applies a conventional servo control system, a motor driver and a dynamometer driver, wherein the servo control system controls the motor driver and the dynamometer driver, the motor driver controls the motion of the input servo motor, and the dynamometer driver drives the motion of the hysteresis dynamometer.
The invention has the beneficial effects that:
1. the invention integrates inertia static change, can change inertia and load, and the load control system can meet the conditions of various complex loads and can briefly simulate the joint motion condition.
2. The invention can test the static and dynamic performances of the servo system under different load working conditions by measuring signals such as torque, angle and the like of the controlled object, can form a position or force control closed-loop system, and can be used for researching the performance of a control algorithm of the joint servo system.
3. The invention adopts the variable inertia lever arm to arrange the annular positioning groove, realizes the change of the rotational inertia by utilizing the different installation positions of the mass sliding block, manually fixes the mass sliding block at different annular positioning grooves so as to change the distance between the mass sliding block and the rotating axis line, and utilizes J-mr2The change of the rotational inertia is realized by changing the size of the rotational radius r, the operation of inertia change is simple, the installation is convenient, the adjustment is easy, and the experiment process is convenient to carry out.
4. The invention adopts a hysteresis dynamometer to output load which changes in the same direction or the reverse direction to be loaded on the variable inertia mechanical arm, thereby realizing the function of simulating the change of the joint load.
Drawings
FIG. 1 is a schematic overall structure diagram of an experimental device for simulating variable load and variable inertia of a joint of an industrial robot.
Fig. 2 is a schematic structural view of the angle sensor of the present invention.
Fig. 3 is a schematic diagram of a variable inertia lever arm of the present invention.
Fig. 4 is a schematic structural view of the rotating shaft of the present invention.
Fig. 5 is a schematic view of the structure of the mass slider of the present invention.
Fig. 6 is a schematic structural view of the first supporting base of the present invention.
Fig. 7 is a schematic structural view of a second support base according to the present invention.
Fig. 8 is a schematic structural view of a third support base according to the present invention.
In the figure, 1-an input servo motor, 2-a planetary gear reducer, 3-a first coupler, 4-a dynamic torque sensor, 5-a second coupler, 6-an angle sensor, 7-a double bearing seat, 8-a mass slider, 9-an inertia variable lever arm, 10-a positioning bolt, 11-a rotating shaft, 12-a third coupler, 13-a hysteresis dynamometer, 14-a first supporting base, 15-a second supporting base, 16-a third supporting base, 17-a working table top, 18-an annular positioning groove, 20-a positioning screw hole, 21-a first straight line segment, 22-a second straight line segment, 23-a third straight line segment, 24-a fourth stage, 25-a fifth straight line segment and 26-a sensor positioning groove.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 8, an experimental device for simulating joint variable load and variable inertia of an industrial robot comprises a working table 17, an input servo motor 1, a planetary gear reducer 2, a first coupler 3, a dynamic torque sensor 4, a second coupler 5, an angle sensor 6, a double bearing seat 7, an inertia variable lever arm 9, a third coupler 12, a rotating shaft 11, a mass slider 8, a positioning bolt 10, a hysteresis dynamometer 13, a first supporting base 14, a second supporting base 15 and a third supporting base 16, wherein the input servo motor 1 and the planetary gear reducer 2 are fixed on the third supporting base 16, an output shaft of the input servo motor 1 is sequentially connected with the planetary gear reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 5, the angle sensor 6, the rotating shaft 11, the third coupler 12 and the hysteresis dynamometer 13 which are sequentially distributed along a straight line, the dynamic torque sensor 4 is fixed on the second support base 15, the rotating shaft 11 is supported by the double bearing seats 7, and the double bearing seats 7 are fixed on the first support base 14.
The first support base 14, the second support base 15 and the third support base 16 are all fixed on a working table 17. The bottom parts of the first support base 14, the second support base 15 and the third support base 16 are respectively provided with four positioning mounting holes, and the first support base 14, the second support base 15 and the third support base 16 are fixed on a working table surface 17 through positioning bolts penetrating through the four positioning mounting holes; during installation, the coaxiality of the first supporting base 14, the second supporting base 15 and the third supporting base 16 is ensured through the positions of the corresponding installation holes on the working table surface 17. The upper surfaces of the first supporting base 14 and the second supporting base 15 are provided with four fixed mounting holes, the four fixed mounting holes on the first supporting base 14 and the second supporting base 15 are respectively used for fixing the double bearing seat 7 and the dynamic torque sensor 4, a vertical surface with a round hole of the third supporting base 16 is provided with four fixed mounting holes, the third supporting base 16 is used for fixing the planetary gear reducer 2, and the input servo motor 1 is fixed on the side surface of the planetary gear reducer 2.
One end of the variable inertia lever arm 9 is fixedly installed on the rotating shaft 11 through a key, the axial lead of the variable inertia lever arm 9 is perpendicular to the axial lead of the rotating shaft 11, at least three annular positioning grooves 18 evenly distributed along the axial lead direction are evenly distributed on the variable inertia lever arm 9, the mass sliding block 8 is sleeved on the variable inertia lever arm 9, a positioning screw hole 20 is formed in the mass sliding block 8, and the positioning bolt 10 penetrates through the mass sliding block 8 and extends into the bottom of the annular positioning groove 18 of the variable inertia lever arm 9 through the front end of the positioning bolt 10 to fix the position of the mass sliding block 8 and the variable inertia lever arm 9.
The output shaft of the input servo motor 1, the planetary gear reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 5, the angle sensor 6, the rotating shaft 11, the third coupler 12 and the hysteresis dynamometer 13 are located on the same straight line.
A strip-shaped groove is formed in the working table surface 17 and located right below the variable inertia lever arm 9, the length of the strip-shaped groove is larger than two times of the length of the variable inertia lever arm 9, and the width of the strip-shaped groove is larger than the diameter of the mass sliding block 8.
Five annular positioning grooves 18 are formed in the annular positioning groove 18, and the five annular positioning grooves 18 are distributed at equal intervals along the axial direction of the variable inertia lever arm 9.
The input servo motor 1 is a permanent magnet synchronous motor. The first coupler 3, the second coupler 5 and the third coupler 12 are all elastic couplers.
The rotating shaft 11 is a multi-section stepped shaft and comprises a first straight line section 21, a second straight line section 22, a third straight line section 23, a fourth stage 24 and a fifth straight line section 25 which are connected in sequence, the diameters of the first straight line section 21, the second straight line section 22, the third straight line section 23 and the fourth stage 24 are gradually increased, the first straight line segment 21, the third straight line segment 23 and the fifth straight line segment 25 are provided with key slots, one end of the second straight line segment 22 close to the first straight line segment 21 is provided with a sensor positioning groove 26, the first straight line section 21 of the rotating shaft 11 is connected with the second coupler 5 through a key, the fifth straight line section 25 of the rotating shaft 11 is connected with the third coupler 12 through a key, one end of the variable inertia lever arm 9 is provided with a sleeve in clearance fit with the outer diameter of the third straight-line segment 23 of the rotating shaft 11, and the sleeve of the variable inertia lever arm 9 is fixedly connected with the third straight-line segment 23 of the rotating shaft 11 through a key; the second straight-line segment 22 of the rotating shaft 11 is supported on the double bearing seat 7 through a bearing, and the left end and the right end of the variable inertia lever arm 9 are respectively positioned through the fourth stage 24 of the rotating shaft 11 and the bearing of the double bearing seat 7; the angle sensor 6 is a hollow disk-shaped angular displacement sensor, an external fixed seat of the angle sensor 6 is fixed on the double bearing seat 7, the rotating end of the angle sensor 6 is sleeved at one end of the second straight line section 22 of the rotating shaft 11, which is provided with a sensor positioning groove 26, and the rotating end of the angle sensor 6 is fixed and positioned through the sensor positioning groove 26 on the rotating shaft 11. The rotating end inside the angle sensor 6 follows the rotation with the rotation of the rotating shaft 11.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (7)
1. The utility model provides an experimental apparatus of inertia is become in simulation industrial robot joint variable load which characterized in that: the novel magnetic force-based magnetic force sensor comprises a working table top (17), an input servo motor (1), a planetary gear reducer (2), a first coupler (3), a dynamic torque sensor (4), a second coupler (5), an angle sensor (6), a double bearing seat (7), an inertia variable lever arm (9), a third coupler (12), a rotating shaft (11), a mass slider (8), a positioning bolt (10), a magnetic hysteresis dynamometer (13), a first supporting base (14), a second supporting base (15) and a third supporting base (16), wherein the input servo motor (1) and the planetary gear reducer (2) are fixed on the third supporting base (16), and an output shaft of the input servo motor (1) is sequentially connected with the planetary gear reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (5) which are sequentially distributed along a straight line, The dynamic torque sensor (4) is fixed on the second supporting base (15), the rotating shaft (11) is supported through a double bearing seat (7), and the double bearing seat (7) is fixed on the first supporting base (14); the first supporting base (14), the second supporting base (15) and the third supporting base (16) are all fixed on a working table surface (17); one end of the variable inertia lever arm (9) is fixedly installed on the rotating shaft (11) through a key, the axial lead of the variable inertia lever arm (9) is perpendicular to the axial lead of the rotating shaft (11), at least three annular positioning grooves (18) which are uniformly distributed along the axial lead direction are uniformly distributed on the variable inertia lever arm (9), the mass sliding block (8) is sleeved on the variable inertia lever arm (9), a positioning screw hole (20) is formed in the mass sliding block (8), and the positioning bolt (10) penetrates through the mass sliding block (8) and extends into the bottom of the annular positioning groove (18) of the variable inertia lever arm (9) through the front end of the positioning bolt (10) to fix the position of the mass sliding block (8) and the variable inertia lever arm (9).
2. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the output shaft of the input servo motor (1), the planetary gear reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (5), the angle sensor (6), the rotating shaft (11), the third coupler (12) and the hysteresis dynamometer (13) are located on the same straight line.
3. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: a strip-shaped groove is formed in the working table surface (17), the strip-shaped groove is located under the variable inertia lever arm (9), the length of the strip-shaped groove is larger than two times of the length of the variable inertia lever arm (9), and the width of the strip-shaped groove is larger than the diameter of the mass sliding block (8).
4. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: five annular positioning grooves (18) are formed in the annular positioning groove (18), and the five annular positioning grooves (18) are distributed at equal intervals along the axial direction of the variable inertia lever arm (9).
5. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the input servo motor (1) is a permanent magnet synchronous motor.
6. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the first coupler (3), the second coupler (5) and the third coupler (12) are all elastic couplers.
7. The experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the rotating shaft (11) is a multi-section stepped shaft and comprises a first straight line section (21), a second straight line section (22), a third straight line section (23), a fourth stage (24) and a fifth straight line section (25) which are sequentially connected, the diameters of the first straight line section (21), the second straight line section (22), the third straight line section (23) and the fourth stage (24) are gradually increased, key slots are formed in the first straight line section (21), the third straight line section (23) and the fifth straight line section (25), a sensor positioning groove (26) is formed in one end, close to the first straight line section (21), of the second straight line section (22), of the rotating shaft (11) is in key connection with a second coupler (5), the fifth straight line section (25) of the rotating shaft (11) is in key connection with a third coupler (12), and a sleeve in clearance fit with the outer diameter of the third straight line section (23) of the rotating shaft (11) is arranged at one end of the variable inertia (9), the sleeve of the variable inertia lever arm (9) is fixedly connected with the third straight line section (23) of the rotating shaft (11) through a key; the second straight line section (22) of the rotating shaft (11) is supported on the double bearing seat (7) through a bearing, and the left end and the right end of the variable inertia lever arm (9) are respectively positioned through a fourth stage (24) of the rotating shaft (11) and the bearing of the double bearing seat (7); angle sensor (6) are cavity dish form angular displacement sensor, and the outside fixing base of angle sensor (6) is fixed on biax bearing seat (7), and the rotation end suit of angle sensor (6) is provided with the one end of sensor constant head tank (26) in second straightway (22) of pivot (11), and the rotation end of angle sensor (6) is fixed and is fixed a position through sensor constant head tank (26) on pivot (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911032425.XA CN110696045A (en) | 2019-10-28 | 2019-10-28 | Experimental device for simulating variable load and variable inertia of joint of industrial robot |
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| CN201911032425.XA CN110696045A (en) | 2019-10-28 | 2019-10-28 | Experimental device for simulating variable load and variable inertia of joint of industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113783A (en) * | 2020-09-21 | 2020-12-22 | 四川航天烽火伺服控制技术有限公司 | Testing device for steering engine |
| CN113146680A (en) * | 2021-05-06 | 2021-07-23 | 北京工业大学 | Small-size joint return difference static test platform of robot |
-
2019
- 2019-10-28 CN CN201911032425.XA patent/CN110696045A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113783A (en) * | 2020-09-21 | 2020-12-22 | 四川航天烽火伺服控制技术有限公司 | Testing device for steering engine |
| CN113146680A (en) * | 2021-05-06 | 2021-07-23 | 北京工业大学 | Small-size joint return difference static test platform of robot |
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