CN110926801A - Small-size joint comprehensive properties test machine of service robot - Google Patents
Small-size joint comprehensive properties test machine of service robot Download PDFInfo
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- CN110926801A CN110926801A CN201911342848.1A CN201911342848A CN110926801A CN 110926801 A CN110926801 A CN 110926801A CN 201911342848 A CN201911342848 A CN 201911342848A CN 110926801 A CN110926801 A CN 110926801A
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Abstract
The invention discloses a comprehensive performance testing machine for a small joint of a service robot, and belongs to the technical field of precision testing. The test bed satisfies the comprehensive performance measurement of the key parameters of the small joint of the robot, and the measurement items comprise transmission errors, dynamic return difference, transmission efficiency and reverse starting torque. The mechanical structure of the robot joint clamp mainly comprises a robot small joint clamp, an output shaft, a rigid sleeve, a coupler, an output end angle encoder bearing seat, an output end angle encoder, an output end main shaft, an output end torque sensor support, an output end torque sensor, a loading servo motor support and a loading servo motor. The test bed also comprises an industrial personal computer, a data acquisition card, a motor controller, a driver, a subdivider, a power analyzer and the like. The invention fills the blank of the small-sized joint comprehensive performance testing machine of the service robot at home and abroad, and has reliable performance, good measurement repeatability and high precision.
Description
Technical Field
The invention relates to a device for testing the comprehensive performance of a small joint of a service robot, belonging to the field of precision testing and metering technology, precision instruments and mechanical transmission.
Background
The service robot small joint is a servo unit composed of a drive motor, a reducer, a position detection element, a control circuit, a housing and the like. The small joint of the robot is widely applied to the service robot due to the advantages of small size, light weight, high reliability, large torque, large impact resistance, high integration level and the like. With the continuous development of the robot industry, the requirements for automation and precision are higher and higher, and a small joint is used as one of the core components of the robot at the joint part of the service robot, and the precision of the small joint is very important for the service robot.
The joints applied to the robot mainly comprise small joints and large joints, the joints with the maximum output torque smaller than 6N.m are the small joints, and the joints with the maximum output torque larger than 6N.m are the large joints. The speed reducing unit of the small joint mainly comprises a parallel shaft gear, a planetary gear, a face gear and the like. The service robot has the requirements of large transmission ratio, high motion precision, high transmission efficiency, small return difference and the like on the small joint.
In the research and development and production processes of the small joints of the robot, the rationality of design is improved, and the detection of the transmission error, the dynamic return difference, the transmission efficiency and the reverse starting torque is particularly important. The transmission error of the robot small joint refers to a difference value between an actual rotation angle and a theoretical rotation angle of an output end when the input end of the control circuit controls the input end to rotate by a certain angle, and the difference value can be used for measuring the transmission precision and the running stability of the robot small joint. The backlash is the amount of lag of the output shaft in the rotational angle when the direction of motion of the input shaft changes. The existence of the backlash can cause the input shaft and the output shaft to lose connection in a short time, and sudden interruption of output is caused, so that nonlinearity of a motion transfer relation is caused, and the repeated positioning precision and the dynamic performance of the whole system are greatly influenced. The transmission efficiency of the robot small joint is the ratio of output power to input power, and a transmission efficiency curve is helpful for determining the optimal working point of the robot small joint. The anti-starting torque is torque generated at the moment when the input end starts rotating when torque is applied to the output end, and factors influencing the anti-starting torque are many, such as the position of an output shaft of a small joint of the robot, machining errors of a speed reducer and the like.
At present, the small joint for the robot is researched less in China, a motor and a transmission device of the small joint are generally researched separately, a performance evaluation system and a test technology of the small joint are analyzed respectively, and the small joint robot is low in measurement precision and poor in reliability. Although there is a test machine for testing the whole robot small joint abroad, the test is only performed on one aspect of the quality characteristics, such as rigidity or torque output density, and a comprehensive test machine for testing various performance indexes of the small joint is lacked, which is unfavorable for the wide application of the small joint in the robot.
The invention content is as follows:
aiming at the blank of the comprehensive performance test of the small joint of the robot at present, the invention provides a measuring device for the comprehensive performance of the small joint of the robot. The device combines advanced measurement and control technologies such as a machine, light, electricity and the like into a whole, adopts a modular design and combines a high-precision sensor fusion technology, and has high repetition precision. The test method refers to the latest standards of relevant countries, and the comprehensive performance test of the small joints of the robots with different sizes and output torques can be realized by one-time tool.
The tester can test the comprehensive performance of the small joints of the robot, such as transmission error, dynamic return difference, transmission efficiency, reverse starting torque and the like.
The mechanical part of the testing machine is sequentially connected with a robot small joint clamping assembly, an output end angle encoder assembly, an output end torque sensor assembly and a loading servo motor assembly. The robot small joint is an input component of the testing machine.
The clamping assembly is arranged on a sliding plate 20 capable of moving in one dimension, the sliding plate 20 is arranged on a group of linear guide rails 1 at the right end of the testing machine and can move axially independently in the longitudinal direction along the linear guide rails 1, and a locking fixing device is arranged on the sliding plate 20. The output end angle encoder assembly and the output end torque sensor assembly are fixed on the horizontal plane of the granite base 19, and the loading servo motor assembly is fixed on the vertical plane on one side of the granite base 19.
The clamping assembly comprises a robot small joint 3, a robot small joint clamp 2, a robot small joint output shaft 4 and a rigid sleeve; the output end angle encoder assembly comprises a first coupler 5, an output end angle encoder bearing 8, an output end angle encoder bearing block 9, an output end angle encoder 6 and an output end spindle 12; the output end torque sensor bracket comprises a second coupler 13, an output end torque sensor bracket 14 and an output end torque sensor 15; the loading servo motor assembly comprises a third coupling 16, a loading servo motor bracket 17 and a loading servo motor 18.
The small joint comprehensive performance testing machine of the service robot is connected in the following mode, a small joint output shaft 4 of the robot is fixed to the output end of a small joint 3 of the robot in a screw connection mode, the small joint output shaft 4 of the robot is connected with an output end spindle 12 through a first coupler 5, an output end angle encoder 6 is installed on the output end spindle 12 through a group of screws, an angle encoder bearing 8 supports the output end spindle 12, and the angle encoder bearing 8 is installed on an output end angle encoder bearing seat 9. The loading servo motor 18 is arranged on the servo motor support 17, the output end torque sensor 15 is arranged on the torque sensor support 14, and two ends of the output end torque sensor 15 are respectively connected with the output end spindle 12 and the loading servo motor 18 through the second coupler 13 and the third coupler 16.
The grating angle encoder is characterized in that evenly distributed angle encoder mounting positioning holes and bearing seat mounting positioning grooves are formed in the output end main shaft, a left side end pressing plate 7 and a right side end pressing plate 10 are arranged at two ends of the bearing seat, a support nut 11 is arranged on one side of the bearing seat, mounting and positioning positions can be conveniently identified, main shaft jumping is reduced, and mounting accuracy of gratings is greatly improved.
Specifically, the first coupler 5 and the second coupler 13 used by the testing machine are double-diaphragm couplers, the first coupler 5 and the second coupler 13 can avoid additional torque generated by directly connecting the input end and the output end of each component, the measurement precision of the angle encoder is improved, axial and radial errors caused by machining and mounting errors of the output shaft of the small joint of the robot can be compensated, angle signals are accurately transmitted, and the transmission precision is improved.
Specifically, the output end angle encoder adopts a double-reading head structure; the output end loading mode adopts the active loading of a servo motor.
Specifically, each rotating part is provided with a protection device for protection.
The invention can obtain the following beneficial effects:
1) the small-sized joint of the robot to be measured has multiple overall dimensions and specifications and wide output torque range, and the output shaft of the small-sized joint of the robot with different sizes can be customized to meet the measurement of the small-sized joints of the robots with various models.
2) The invention can realize the dynamic measurement of the small joint of the robot under the continuous operation condition, and opens up a road for detecting the transmission error and the dynamic return difference performance of the small joint of the robot.
3) The invention has the advantages of accurate and controllable load at the output end, adoption of the automatic loading technology of the servo motor, overcoming of the traditional weight loading or magnetic powder brake loading mode, convenient operation, high loading precision and improvement of the measurement efficiency.
4) The invention can improve the measurement efficiency, and the small joint of the robot can simultaneously measure the transmission error, the dynamic return difference, the transmission efficiency and the reverse starting torque through one-time tooling.
5) The invention has high measurement precision, the clamping assembly is arranged on the sliding plate and can slide in one dimension, the clamping assembly and the output end angle encoder assembly can be freely connected and disconnected, and the operation is simple. And a high-precision angle encoder and a torque sensor are selected for data acquisition, so that the requirement of field measurement can be met.
Description of the drawings:
fig. 1 is a main view of a service robot small joint comprehensive performance tester.
Fig. 2 is a measurement schematic diagram of a small joint comprehensive performance testing machine of the service robot.
Fig. 3 is a general mechanical structure diagram (without a protective cover) of the service robot small joint comprehensive performance testing machine.
Fig. 4 is a mechanical structure general diagram (with a protective cover) of the service robot small joint comprehensive performance testing machine.
In the figure:
1. a linear guide rail; 2, a robot small joint clamp; 3, a robot small joint;
4. a robot small joint output shaft; a first coupling; an output end angle encoder;
7. a left side end pressure plate; 8. output end angle encoder bearing 9. angle encoder bearing seat
10. A right side end pressing plate; a standoff nut; 12, an output end spindle;
13. a second coupling; a torque sensor support; an output end torque sensor;
16. a third coupling; a servo motor support; loading a servo motor;
19. a granite base; 20, a sliding plate; 21. A subdivider;
23. a data acquisition card; a power analyzer; an industrial personal computer;
26. a control card; a driver;
the specific implementation mode is as follows:
the invention is further illustrated with reference to the accompanying drawings:
the mechanical structure of the present invention is shown in fig. 1, and comprises an input assembly, an output assembly and a base. The input assembly comprises a robot small joint 3, a robot small joint clamp 2, a robot small joint output shaft 4 and a rigid sleeve; the output assembly comprises a first coupler 5, an output end angle encoder bearing 8, an output end angle encoder bearing seat 9, an output end angle encoder 6, an output end main shaft 12, a second coupler 13, an output end torque sensor support 14, an output end torque sensor 15, a third coupler 16, a loading servo motor support 17 and a loading servo motor 18.
The measurement principle of the invention is shown in figure 2, and the measurement of the transmission error, the dynamic return difference, the transmission efficiency and the reverse starting torque of the small joint of the robot can be realized.
(a) When transmission error is measured, the robot small joint 3 is firstly mounted on a robot small joint clamp, the coaxiality of the robot in the horizontal direction is guaranteed through the positioning sleeve, and the distance between the clamping assembly and the output end angle encoder assembly is adjusted. The industrial personal computer 25 controls the small joints 3 of the robot and the motion 18 of the servo motor, and simultaneously acquires input end angles, input end currents, input end voltages, output end angle encoders and output end torque sensor signals. The industrial personal computer 25 sends an instruction to drive the robot small joint 3 to rotate, power is transmitted to the output assembly through the output shaft, the signal acquisition terminal acquires an input end encoder signal of the robot small joint, the data acquisition card 23 acquires an output end angle encoder signal, and the output end angle encoder signal is sent to the industrial personal computer 25 to be subjected to data processing, so that transmission error information of the robot small joint is obtained. When the on-load transmission error is measured, the industrial personal computer 25 controls the driver 27 through the controller 26 to drive the loading servo motor 18 to rotate, power is transmitted to the input end component, a torque sensor signal is acquired through the data acquisition card 23, and meanwhile, the torque sensor signal is sent to the industrial personal computer 25 to be processed, so that on-load transmission error information of the robot small joint 3 is obtained.
(b) During the dynamic return difference test, the upper computer 25 controls the small-sized joint 3 of the robot to rotate forward and backward for one circle, the signal acquisition terminal is used for acquiring the encoder signal at the input end of the small-sized joint 3 of the robot, the data acquisition card 23 is used for acquiring the angle encoder signal at the output end, and meanwhile, the encoder signal is sent to the industrial personal computer 25 for data processing, so that the dynamic return difference information of the small-sized joint 3 of the robot is obtained.
(c) When the transmission efficiency is tested, the upper computer 25 sends a command to the robot small joint controller to drive the robot small joint 3 to rotate at the highest stable rotating speed, and the controller 26 controls the driver 27 to drive the output end loading motor 18 to reversely load at a constant speed with a very small gradient until the robot small joint 3 stops rotating. The industrial personal computer 25 collects signals of the torque transmitter and the angle encoder at the output end through the data acquisition card 23, collects signals of current and voltage of the small joint of the robot at the input end through the power analyzer 24, sends the signals into the industrial personal computer for data processing, and draws a comprehensive efficiency curve of the small joint of the robot.
(d) During the test of the anti-starting torque, the upper computer 25 controls the driver 27 through the controller 26 to drive the loading motor 18 to load at a very small gradient and a uniform speed to drive the robot small joint 3 to move, and when the torque of the output end servo motor 18 is loaded to a certain degree (to overcome the static friction force of the robot small joint), the robot small joint 3 can rotate at a fast speed. The industrial personal computer 25 simultaneously acquires signals of the output end torque sensor and the angle encoder, and sends the signals into the industrial personal computer 25 for data processing, so as to draw a reverse starting curve.
According to the above embodiments, the test items of the present invention can be well implemented, and based on the above structural design, even if some insubstantial changes or modifications are made to the present invention, the technical solutions adopted are still the same as the present invention, and therefore, the present invention should be within the protection scope of the present invention.
Claims (5)
1. A service robot small joint comprehensive performance testing machine is characterized by comprising an input assembly, an output assembly and a base; the input assembly comprises a small robot joint, a small robot joint clamp, a small robot joint output shaft and a rigid sleeve; the output assembly comprises an output end angle encoder bearing, an output end angle encoder bearing seat, an output end angle encoder, an output end main shaft, an output end torque sensor support, an output end torque sensor, a loading servo motor support and a loading servo motor; the base is provided with a linear guide rail for mounting the input assembly; the base is also provided with an output end angle encoder bearing seat, an output end torque sensor support and a loading servo motor support;
the robot small joint is fixed on the robot small joint clamp in a two-side clamping mode; the clamping assembly is arranged on a sliding plate capable of moving in one dimension, the sliding plate is arranged on a group of linear guide rails at the right end of the testing machine and can move axially independently in the longitudinal direction along the linear guide rails, and a locking and fixing device is arranged on the sliding plate;
the service robot small joint comprehensive performance testing machine is connected in the following way, a robot small joint output shaft is fixed to an output end of a robot small joint in a screw connection way, the robot small joint output shaft is connected with an output end main shaft through a first coupler, an output end angle encoder is installed on the output end main shaft through a group of screws, an angle encoder bearing supports the output end main shaft, and an angle encoder bearing is installed on an output end angle encoder bearing seat; the loading servo motor is installed on the servo motor support, the output end torque sensor is installed on the torque sensor support, and two ends of the output end torque sensor are connected with the output end spindle and the loading servo motor through the second coupler and the third coupler respectively.
2. The comprehensive performance testing machine for the small joints of the service robot as claimed in claim 1, wherein the testing machine is used for realizing comprehensive performance measurement of all key indexes of the small joints of the tested robot through a disposable robot small joint tool.
3. The machine as claimed in claim 1, wherein the tested small robot joint is used to measure a plurality of models of small robot joints through output shafts with different customized diameters.
4. The comprehensive performance testing machine for the small joints of the service robot as claimed in claim 1, wherein the output spindle is provided with evenly distributed angle encoder mounting positioning holes and bearing seat mounting positioning grooves, the bearing seat is provided with end pressing plates at two ends and a support nut at one side.
5. The comprehensive performance testing machine for the small joints of the service robot as claimed in claim 1, wherein the testing machine is of a horizontal structure, and the input and output assemblies are arranged horizontally.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911342848.1A CN110926801A (en) | 2019-12-23 | 2019-12-23 | Small-size joint comprehensive properties test machine of service robot |
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| CN201911342848.1A CN110926801A (en) | 2019-12-23 | 2019-12-23 | Small-size joint comprehensive properties test machine of service robot |
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| CN201911342848.1A Pending CN110926801A (en) | 2019-12-23 | 2019-12-23 | Small-size joint comprehensive properties test machine of service robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112254965A (en) * | 2020-10-22 | 2021-01-22 | 哈尔滨工业大学 | Flexible bearing noise test platform based on harmonic vibration |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
| CN113218654A (en) * | 2021-05-06 | 2021-08-06 | 北京工业大学 | Robot joint return difference static test system |
| CN113984258A (en) * | 2021-10-26 | 2022-01-28 | 吉林大学 | Automatic switching active and passive knee joint prosthesis torque measuring platform |
| CN114705984A (en) * | 2022-03-25 | 2022-07-05 | 浙江工业大学 | Comprehensive experimental system for performance test of small outer rotor motor |
| CN114888847A (en) * | 2022-04-21 | 2022-08-12 | 北京工业大学 | Robot joint transmission error online test method based on cloud architecture |
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| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN205940975U (en) * | 2016-06-27 | 2017-02-08 | 江苏兰菱机电科技有限公司 | Robot joint reduction gear transmission capability test device with remove slip table |
| CN106855462A (en) * | 2016-12-19 | 2017-06-16 | 北京航空航天大学 | A kind of Combined Loading device for robot joint speed reducer performance test |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN205940975U (en) * | 2016-06-27 | 2017-02-08 | 江苏兰菱机电科技有限公司 | Robot joint reduction gear transmission capability test device with remove slip table |
| CN106855462A (en) * | 2016-12-19 | 2017-06-16 | 北京航空航天大学 | A kind of Combined Loading device for robot joint speed reducer performance test |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112254965A (en) * | 2020-10-22 | 2021-01-22 | 哈尔滨工业大学 | Flexible bearing noise test platform based on harmonic vibration |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
| CN113218654A (en) * | 2021-05-06 | 2021-08-06 | 北京工业大学 | Robot joint return difference static test system |
| CN113984258A (en) * | 2021-10-26 | 2022-01-28 | 吉林大学 | Automatic switching active and passive knee joint prosthesis torque measuring platform |
| CN113984258B (en) * | 2021-10-26 | 2024-04-19 | 吉林大学 | Automatic-switching active and passive knee joint artificial limb torque measurement platform |
| CN114705984A (en) * | 2022-03-25 | 2022-07-05 | 浙江工业大学 | Comprehensive experimental system for performance test of small outer rotor motor |
| CN114888847A (en) * | 2022-04-21 | 2022-08-12 | 北京工业大学 | Robot joint transmission error online test method based on cloud architecture |
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Application publication date: 20200327 |