CN111684256A - Static compliance test system and method - Google Patents
Static compliance test system and method Download PDFInfo
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- CN111684256A CN111684256A CN201880087279.8A CN201880087279A CN111684256A CN 111684256 A CN111684256 A CN 111684256A CN 201880087279 A CN201880087279 A CN 201880087279A CN 111684256 A CN111684256 A CN 111684256A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
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Abstract
A static compliance test system (100) and method, the static compliance test system (100) comprising: a mounting platform (10); a force application device (20) for applying force to the tested force bearing end; a first reversing device (30) for adjusting the first force application direction; a second reversing device (40) for adjusting the second force application direction; a third reversing device (50) for adjusting a third force application direction; and the measuring device (60) is used for measuring the displacement variation quantity in the first, second and third force application directions when the tested force bearing end bears the external force, so as to obtain the static flexibility of the test object. By the mode, the test in the X/Y/Z positive and negative directions is completed by one system, the force application direction of the test system is ensured, and meanwhile, the operation is simple and convenient, and the efficiency is high.
Description
The invention relates to the field of automation control, in particular to a static compliance testing system and a method.
With the continuous increase of the demand of the industrial robot, the relevant test standards and test methods of the robot are more and more sound, the static flexibility of the robot refers to the maximum displacement under the action of unit load, and mainly represents the problem of the rigidity of the robot, namely, under the static state, the robot can resist the load and maintain the non-deformation capability of the structure of the robot, and in order to test the static flexibility of the whole machine, the X/Y/Z directions of the space of the robot need to be respectively tested.
The most common testing method at present is to measure by combining a force sensor and a displacement sensor, wherein the force sensor and the displacement sensor are usually installed at a position point to be tested, then force is continuously applied by manually increasing the force, and the variation of the displacement is continuously collected, so that the relationship between the displacement and the moment is obtained, and the corresponding static flexibility is obtained according to the slope of the relationship. However, in actual measurement, it is difficult to ensure that the force is applied strictly perpendicular to the positive and negative directions of X/Y/Z, so that the measured deformation data cannot be changed along the X/Y/Z direction, which affects the accuracy of the final result.
[ summary of the invention ]
The invention mainly solves the technical problem of providing a static compliance testing system and a method, which are used for completing all tests in the positive and negative directions of a space X/Y/Z by adopting a set of system in the static compliance testing, ensuring the force application direction and having simple and convenient operation and high efficiency.
In order to solve the technical problems, the invention adopts a technical scheme that:
providing a static compliance testing system comprising:
mounting a platform;
the force application device is used for applying force to a tested force bearing end of a test object;
the first reversing device is arranged on the mounting platform and used for adjusting a first force application direction of the force application device;
the second reversing device is connected with or integrated with the first reversing device and is used for adjusting a second force application direction of the force application device;
the third reversing device is connected with the second reversing device and the force application device and is used for adjusting a third force application direction of the force application device;
and the measuring device is used for measuring the displacement variation of the tested stress end in the first force application direction, the second force application direction and the third force application direction when bearing external force so as to obtain the static flexibility of the test object.
In order to solve the technical problem, the invention adopts another technical scheme that:
the static compliance test method based on the static compliance test system comprises the following steps:
connecting a force application device of the system with a tested force bearing end of a tested object;
moving a first reversing device of the system, and fixing the first reversing device on an installation platform of the system so as to adjust a first force application direction of the force application device;
moving the position of a third reversing device of the system on a second reversing device of the system, and fixing the third reversing device on the second reversing device so as to adjust two force application directions of the force application device;
moving the position of the force application device on the third reversing device, and fixing the force application device on the third reversing device to adjust a third force application direction of the force application device;
through the measuring device of system measures when being surveyed the atress end bears external force, the displacement variation of measuring point on being surveyed the atress end is respectively in first application of force direction, second application of force direction and third application of force direction, in order to obtain the static compliance of measurand.
The invention has the beneficial effects that: different from the prior art, the static compliance testing system is provided with a first reversing device, a second reversing device, a third reversing device, a force application device and a measuring device, wherein the force application device is used for applying force to a tested force receiving end of a tested object, the first reversing device is used for adjusting a first force application direction of the force application device, the second reversing device is used for adjusting a second force application direction of the force application device, the third reversing device is used for adjusting a third force application direction of the force application device, and the measuring device is used for measuring displacement variation of the tested force receiving end in the first force application direction, the second force application direction and the third force application direction when bearing external force, so as to obtain the static compliance of the tested object, so that a set of system is adopted to complete all tests in the positive and negative directions of space X/Y/Z in the static compliance test, the force application direction of the test system is ensured, and meanwhile, the operation is simple and convenient, and the efficiency is high.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of a static compliance testing system according to the present invention;
FIG. 2 is a schematic structural view of the mounting platform and test object of the present invention;
FIG. 3 is a schematic view of a connection structure of a first reversing device and a second reversing device according to the present invention;
FIG. 4 is a schematic view of a first embodiment of a connection structure of a second direction changing device and a third direction changing device according to the present invention;
FIG. 5 is a schematic view of a second embodiment of a connection structure of a second direction changing device and a third direction changing device according to the present invention;
FIG. 6 is a schematic view of a first embodiment of a third diverting assembly and a test object connecting structure according to the present invention;
FIG. 7 is a schematic view of a second embodiment of a third diverting assembly and test object connecting structure according to the present invention;
FIG. 8 is a schematic structural diagram of a static compliance testing system of the present invention;
FIG. 9 is a schematic structural diagram of a testing apparatus in the static compliance testing system of the present invention;
FIG. 10 is a flow chart illustrating a method for static compliance testing in accordance with the present invention.
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Non-conflicting ones of the following embodiments may be combined with each other. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic block diagram of a static compliance testing system according to the present invention. The static compliance test system 100 includes:
a mounting platform 10;
a force application device 20 for applying force to the tested force receiving end of the test object 200;
the first reversing device 30 is arranged on the mounting platform 10 and used for adjusting a first force application direction of the force application device 20;
a second reversing device 40 connected to or integrated with the first reversing device 30 for adjusting a second force application direction of the force application device 20;
the third reversing device 50 is connected with the second reversing device 40 and the force application device 20 and is used for adjusting a third force application direction of the force application device 20;
and the measuring device 60 is configured to measure displacement variation amounts in the first force application direction, the second force application direction and the third force application direction when the tested force-bearing end bears an external force, so as to obtain the static compliance of the test object 200.
Please refer to fig. 2, which is a schematic diagram of a connection structure between a mounting platform and a test object according to the present invention. The test object 200 is a robot, and the robot is fixed on the mounting platform 10. For convenience of describing the directions of X/Y/Z, as shown in fig. 2, the robot base is defined as a center O, the front side of the tested force bearing end 210 on the robot is the positive direction of the X axis, the vertical upward direction of the base of the robot is the positive direction of the Z axis, and the positive direction of the Y axis can be obtained according to the right-hand rule.
Please refer to fig. 3, which is a schematic diagram of a connection structure of a first reversing device and a second reversing device according to the present invention. The first commutation device 30 comprises: a first reversing plate 31 and a first adjusting device 32, wherein the first reversing plate 31 is connected with or integrated with the second reversing device 40.
The first direction changing plate 31 is provided with at least one first hole 33 along the first force application direction, the first adjusting device 32 is used for installing the first direction changing plate 31 on the installation platform 10, and the first adjusting device 32 slides in the first hole 33 to change the position of the second direction changing device 40.
The first holes 33 are arranged in parallel along the first force application direction.
With reference to fig. 4, the second reversing device 40 includes: a second direction changing plate 41 and a second adjusting device 42, wherein the second direction changing plate 41 is connected with or integrated with the first direction changing device 30.
The second direction changing plate 41 is provided with at least one second hole groove 43 along the second force application direction;
the second adjusting device 42 is used for mounting a third direction changing device 50 on the second direction changing plate 41, and the second adjusting device 42 slides in the second hole 43 to change the position of the third direction changing device 50.
Wherein the second reversing plate 41 is connected or integrated with the first reversing plate 31; the second holes 43 are arranged in parallel along the second force application direction.
In this embodiment, the first direction changing plate 31 is an L-shaped plate, one end of the L-shaped plate is provided with four first hole slots 33 along the first force application direction, the first adjusting device 32 fixes the L-shaped plate on the mounting platform 10 through the first hole slots 33, and the first adjusting device 32 slides in the first hole slots 33 to change the position of the second direction changing device 40 and adjust the first force application direction.
The other end of L type board with the one end of second switching-over board 41 is connected, the other end of second switching-over board 41 is the free end, be provided with on the second switching-over board 41 and follow a plurality of second hole grooves 43 of second application of force direction, second adjusting device 42 passes through second hole grooves 43 will third switching-over board 51 is fixed on the second switching-over board 41, second adjusting device 42 is in it changes to slide in second hole grooves 43 third switching-over device 50's position adjusts the second application of force direction.
Please refer to fig. 4, which is a schematic diagram of a first embodiment of a connection structure of a second direction-changing device and a third direction-changing device according to the present invention. The third reversing device 50 includes: a third direction changing plate 51 and a third adjusting device 52, wherein the third direction changing plate 51 is provided with at least one third hole groove 53 along the third force application direction.
The third holes 53 are arranged in parallel along the third force application direction.
In this embodiment, two third reversing devices 50 are fixed to one second reversing device 40.
Specifically, the two third direction changing devices 50 include two third direction changing plates 51, the second adjusting device 42 fixes the two third direction changing plates 51 on the same second direction changing plate 41 through the second hole 43, so that the two third direction changing devices 50 are fixed on one second direction changing device 40, and the two third direction changing plates 51 are located on two sides of the tested force bearing end of the test object, respectively, thereby adjusting the first force application direction, the second force application direction, and the third force application direction by controlling the first direction changing device 30, the second direction changing device 40, and the third direction changing device 50.
Fig. 5 is a schematic diagram of a second embodiment of a connection structure of a second direction-changing device and a third direction-changing device according to the present invention. The difference from fig. 4 is that in the present embodiment, two third reversing devices 50 are respectively fixed to two second reversing devices 40.
Specifically, there are two third reversing devices 50, two second reversing devices 40, and one or two first reversing devices may be provided. The specific connection relationship and the testing method are described in relation to fig. 4 and fig. 4, and are not described herein again.
With reference to fig. 2, the first force application direction is a positive direction and a negative direction along the Y axis, the second force application direction is a positive direction and a negative direction along the Z axis, and the third force application direction is a positive direction and a negative direction along the X axis.
Fig. 6 is a schematic diagram of a third exemplary embodiment of a connection structure between a third direction changing device and a test object according to the present invention. The third reversing device 50 is connected with the test object 200 through the force application device 20, the third reversing device 50 is connected with the second reversing device 40, and the second reversing device 40 is connected with the first reversing device 30, so that the first force application direction, the second force application direction and the third force application direction of the test object 200 by the force application device 20 can be adjusted through the first reversing device 30, the second reversing device 40 and the third reversing device 50.
Specifically, the third adjustment device 52 is connected to the force application device 20, the force application device 20 is mounted on the third direction changing plate 51, the third adjustment device 52 slides in the third hole 53 to change the position of the force application device 20, the second adjustment device 42 slides in the second hole 43 to change the position of the third direction changing device 40, and the first adjustment device 32 slides in the first hole 33 to change the position of the second direction changing device 40, so that the force application device 20 applies the external force in the third force application direction to the test object 200.
When an external force in the third force application direction is applied to the test object 200, the third direction changing device 50 is parallel to the axis of the force-receiving end 210 to be tested on the test object 200, and when the third direction changing plate 51 of the third direction changing device 50 includes more than one row of the third hole grooves 53, the third direction changing plate 51 is parallel to the axis, and the axis is located right below the center line in the row direction of the less than one row of the third hole grooves 53.
The force application device 20 includes a force application interface 21 and a traction unit 22, one end of the force application interface 21 is used for being connected to the tested force bearing end 210 on the test object 200, the other end of the force application interface 21 is used for being connected to the traction unit 22, the traction unit 22 is used for applying an external force to the tested force bearing end 210 through the force application interface 21, and the traction unit 22 is further connected to the third reversing device 50.
The traction unit 22 includes a hanging wheel 221, a weight 222 and a connection line 223, one end of the connection line 223 is connected to the force application interface 21, the other end is connected to the weight 222 through the hanging wheel 221, and the hanging wheel 221 is connected to the third reversing device 50.
Specifically, the third adjusting device 52 fixes the hanging wheel 221 on the third direction changing plate 51 through the third hole slot 53, so as to connect the hanging wheel 221 with the third direction changing device 50. The third adjustment device 52 slides within the third slot 53 to change the position of the hanging wheel 221. A connecting wire 223 is wound on the hanging wheel 221, one end of the connecting wire 223 is connected to the tested force-bearing end 210 of the test object 200, and the other end of the connecting wire 223 is connected to a weight 222, so that the tested force-bearing end 210 receives an external force.
In this embodiment, the force application interface 21 is spherical and rotates around a central point, and the central point is a connection point between the force application interface 21 and the measured force bearing end 210.
One end of the connection line 223 of the traction unit 22 is connected to the force application interface 21, and the other end is connected to the weight 222 through the hanging wheel 221, so as to control the first reversing device 30, the second reversing device 40, and the third reversing device 50, so that the traction unit 22 applies external forces in the first force application direction, the second force application direction, and the third force application direction to the tested force application end 210 through the force application interface 21, and the weight of the weight 222 is controlled to control the magnitude of the external forces.
Referring to fig. 7, the difference from fig. 6 is that the force application interface 21 is a cube, and each side surface (except the connection surface with the measured force bearing end 210) of the cube is provided with a connection end. The cube is simultaneously connected with the traction unit 22 through the connecting end of the side face of the third reversing device 50 and the connecting ends of the left side face and the right side face, so as to apply an external force in a third force application direction to the tested force bearing end 210; or the connecting ends of the left and right sides of the cube are connected with the traction unit 22 in a time-sharing manner so as to apply an external force in a first force application direction to the tested force bearing end 210; or the connection ends of the upper and lower sides of the cube are connected to the traction unit 22 in several times to apply an external force in a second force application direction to the force receiving end 210 to be measured.
Specifically, connecting ends are arranged on five side faces A-E of the cube. The cube is connected with one end of a connecting line 223 penetrating through the hanging wheel 222 through a connecting end of a side surface (surface a) facing the third reversing device 50, the other end of the connecting line 223 is connected with the weight 222, and is simultaneously connected with one end of the connecting line 223 penetrating through the hanging wheel 222 on each of the two third reversing devices 50 through connecting ends of left and right side surfaces (surfaces B and C) of the cube, the other end of the connecting line 223 is connected with the weight 222, so that the tested stress end 210 receives external force along the third force application direction, and the magnitude of the external force is the weight of the weight 222. The surface a is connected first, so that the tested force-bearing end 210 receives external force along the third force-applying positive direction, and then the surfaces B and C are connected respectively, so that the tested force-bearing end 210 receives external force along the third force-applying negative direction (or the surfaces B and C are connected first and then the surface a is connected). The connecting ends of the left and right sides (surfaces B and C) of the cube are connected with one end of a connecting line 223 penetrating through the hanging wheel 222 in a graded manner, and the other end of the connecting line 223 is connected with the weight 222, so that the tested force bearing end 210 receives an external force along the first force application direction, wherein the external force is the weight of the weight 222. The surface B is connected first, so that the tested force-bearing end 210 receives external force along the first force-applying negative direction, and then the surface C is connected, so that the tested force-bearing end 210 receives external force along the first force-applying positive direction (or the surface C is connected first and then the surface B is connected). The connecting ends of the upper and lower side surfaces (D, E surfaces) of the cube are connected to one end of a connecting line 223 passing through the hanging wheel 221 in a graded manner, and the other end of the connecting line 223 is connected to the weight 222, so that the force receiving end 210 receives an external force along the second force application direction, where the external force is the weight of the weight 222. The surface D is connected first, so that the tested force-bearing end 210 receives the external force along the second force-applying positive direction, and then the surface E is connected, so that the tested force-bearing end 210 receives the external force along the second force-applying negative direction (or the surface E is connected first and then the surface D is connected).
In the above embodiment, the first adjusting device 32 in the first reversing device 30 may be provided on the second reversing device 40, the second adjusting device 42 may be provided on the second reversing device 40 at the same time, the third adjusting device 52 may be provided on the third reversing device 50 at the same time, or the biasing device 20 at the same time, and the adjustment of the first biasing direction, the second biasing direction, and the third biasing direction may be satisfied without being particularly limited thereto.
Fig. 8 is a schematic structural diagram of a static compliance testing system according to the present invention. The static compliance testing system 100 comprises a mounting platform 10, a force application device 20, a first reversing device 30, a second reversing device 40, a third reversing device 50 and a measuring device 60. The test object 200 is fixed on the mounting platform 10, the first reversing device 30 is fixed on the mounting platform 10, the second reversing device 40 is connected with the first reversing device 30, the second reversing device 40 is connected with the third reversing device 50, and the third reversing device 50 is connected with the test object 200 through the force application device 20, so that the first force application direction, the second force application direction and the third force application direction of the test object 200 by the force application device 20 can be adjusted through the first reversing device 30, the second reversing device 40 and the third reversing device 50.
With reference to fig. 9, the measuring device 60 includes a tracking device 61 and a processing device 62 connected to the tracking device 61, the tracking device 61 obtains position coordinates of a measuring point of the measured force-bearing end 210 in a first force application direction, a second force application direction and a third force application direction, and provides the position coordinates to the processing device 62, so that the processing device 62 calculates displacement variation of the measured force-bearing end 210 under different external forces according to the position coordinates, and obtains the static compliance of the measured object 200 according to the displacement variation.
The measurement point is a certain point on the contact position of the force application device 20 and the tested force receiving end 210 of the test object 200.
The static compliance testing system 100 of the present invention employs the first reversing device 30, the second reversing device 40, and the third reversing device 50 to adjust the force applied to the measurement point on the tested force-bearing end 210 of the test object 200 in the X/Y/Z axis direction, and the following description will take the force applied direction as the X axis positive and negative directions as an example, with reference to fig. 7.
The force application direction is the positive direction of the X axis:
the force application interface 21 on the measured force bearing end 210 of the robot is mounted on the measured force bearing end 210 of the robot in a cubic form. The connecting end of the side (face a) facing the third conversion device 50 through the cube is connected to one end of a connecting line 223 passing through the hanging wheel 221 mounted on the third direction changing plate 51, and the other end of the connecting line is connected to the weight 222. The Y-axis direction is adjusted by the first adjusting device 32 of the first reversing device 30 moving in the first hole 33, the Z-axis direction is adjusted by the second adjusting device 42 of the second reversing device 40 moving in the second hole 43, and the X-axis direction is adjusted by the third adjusting device 52 of the third reversing device 50 moving in the third hole 53, so that the hanging wheel 221 on the third reversing plate 51 is positioned right in front of the cube, i.e., the X-axis positive direction, and the gravity of the weight 222 is transmitted to the cube by the connecting line 223 passing through the hanging wheel 221 to apply a force F1 to the cube, wherein the magnitude of the F1 is the weight of the weight 222, and the direction is the X-axis positive direction.
The force application adjustment mode of the force application interface 21 of the force receiving end 210 to be tested of the robot in the Y/Z axis direction is similar to the adjustment mode in which the force application direction is the positive direction of the X axis, and is not described in detail herein.
The force application direction is the X-axis negative direction:
the force application interface 21 on the measured force bearing end 210 of the robot is installed on the measured force bearing end 210 of the robot in a cube form, the connecting ends of the left and right side surfaces (surfaces B and C) of the cube are respectively connected with one end of a connecting wire 223 which penetrates through the hanging wheel 221 on the two third reversing devices 50, and the other end of the connecting wire 223 is connected with the weight 222. The Y-axis direction is adjusted by the first adjusting device 32 of the first reversing device 30 moving in the first hole 33, the Z-axis direction is adjusted by the second adjusting device 42 of the second reversing device 40 moving in the second hole 43, the X-axis direction is adjusted by the third adjusting device 52 of the third reversing device 50 moving in the third hole 53, so that the hanging wheels 221 of the two third reversing devices 50 are respectively located obliquely behind the cube, the two hanging wheels 221 are symmetrical with respect to the cube, the gravity of the weights 222 is transmitted to the cube by a connecting line 223 passing through the hanging wheels 221, so as to apply a force F2 to the cube, the magnitude of the F2 is the resultant force of the X-axis negative direction components of the gravity of the two weights 222, and the Y-direction forces cancel each other, and the direction is the X-axis negative direction.
The force application adjustment mode in which the force application direction is the positive direction of the X axis may be similar to the force application adjustment mode in which the force application direction is the negative direction of the X axis. The force application interface 21 of the tested force receiving end 210 of the robot, namely, the connecting ends of the left and right sides of the cube are respectively connected with two ends of the third reversing device 50 which pass through the connecting line 223 of the hanging wheel 221, the other end of the connecting line 223 is connected with the weight 222, the first adjusting device 32, the second adjusting device 42 and the third adjusting device 52 are adjusted to enable the hanging wheels 222 on the two third reversing plates 51 to be respectively positioned at the oblique front of the cube, the hanging wheels 221 are symmetrical relative to the position of the cube, the gravity of the weight 222 is transmitted to the cube by utilizing the connecting line 223 which passes through the hanging wheels 221, so as to apply force F3 to the cube, the size of the F3 is two, the resultant force of the positive X-axis component of the gravity of the weight 222 is balanced, the force in the Y-direction is balanced, and the direction is the positive X-axis.
According to the invention, the positions of the first adjusting device 32, the second adjusting device 42 and the third adjusting device 52 on the first reversing device 30, the second reversing device 40 and the third reversing device 50 are controlled and adjusted, so that the force application direction of the tested force-bearing end 210 on the test object 200, namely the robot, is actually measured in the positive and negative directions strictly according to the X/Y/Z axis, and the measurement result is more accurate.
In this embodiment, the measuring device 60 is a laser tracker, and the measuring point of the measured force receiving end 210 is a target ball to receive the irradiation of the light beam emitted by the laser tracker.
Wherein the displacement variation amount
Wherein, the position coordinates (X1, Y1, Z1) and the position coordinates (X2, Y2, Z3) are the position coordinates of the tested force-bearing end 210 of the test object 200 when receiving different external forces.
Specifically, the laser tracker measures a position P1(X1, Y1, Z1) of the robot in an unstressed state according to the target ball, then applies a certain force F to a measurement point of the measured stressed end 210 of the robot by adjusting the first reversing device 30, the second reversing device 40, the third reversing device 50 and the force application device 20, so as to generate a displacement S, the measured position is P2(X2, Y2, Z2), and the processing device 62 calculates the displacements S generated under different external forces according to the position coordinates:
discretizing the force and the displacement to obtain a series of force Fi and displacement Si so as to obtain a corresponding rigidity curve, and completing the test of the static flexibility of the robot.
The three-dimensional data (X, Y and Z) are acquired by the laser tracker in the static compliance testing system, so that the one-to-one correspondence between force and displacement is ensured, and the accuracy of the data is ensured. Meanwhile, the positive and negative direction data acquisition of the X/Y/Z axis can be finished as long as the laser tracker is fixed once, and the whole measuring process is simple and easy to operate.
Fig. 10 is a schematic flow chart illustrating a static compliance testing method according to the present invention. The static compliance testing system described in conjunction with fig. 1-9, the method includes:
step S1: and connecting a force application device of the system with a tested force bearing end of a tested object.
The tested object 200 is installed on the installation platform 10, and the force application interface 21 is arranged at the measuring point of the tested force bearing end 210 of the tested object 200 so as to enable the measuring point of the tested force bearing end 210 to bear the external force.
In this embodiment, the test object 200 is a robot, the robot is fixed on the mounting platform 10, and the posture of the robot is adjusted so that the measurement point of the tested force-bearing end 210 of the robot is located at the center point of the test cube specified by the national standard.
When testing the robot, it is ensured that the measurement is carried out with the servo system energized and the brake disengaged.
Step S2: and moving a first reversing device of the system, and fixing the first reversing device on an installation platform of the system so as to adjust the first force application direction of the force application device.
The first commutation device 30 comprises:
a first reversing plate 31 and a first adjusting device 32, wherein the first reversing plate 31 is connected with or integrated with the second reversing device 40.
The first direction changing plate 31 is provided with at least one first hole groove 33 along the first force application direction, the first adjusting device 32 mounts the first direction changing plate 31 on the mounting platform 10, and the first adjusting device 32 slides in the first hole groove 33 to change the position of the second direction changing device 40 and adjust the first force application direction of the force application device 20.
The first holes 33 are arranged in parallel along the first force application direction.
Step S3: and moving the position of a third reversing device of the system on a second reversing device of the system, and fixing the third reversing device on the second reversing device so as to adjust the two force application directions of the force application device.
The second reversing device 40 includes:
a second direction changing plate 41 and a second adjusting device 42, wherein the second direction changing plate 41 is connected with or integrated with the first direction changing device 30.
The second direction changing plate 41 is provided with at least one second hole groove 43 along the second force application direction;
the second adjusting device 42 mounts a third direction changing device 50 on the second direction changing plate 41, and the second adjusting device 42 slides in the second hole 43 to change the position of the third direction changing device 50, so as to adjust the two force applying directions of the force applying device 20.
Wherein the second reversing plate 41 is connected or integrated with the first reversing plate 31; the second holes 43 are arranged in parallel along the second force application direction.
Step S4: and moving the position of the force application device on the third reversing device, and fixing the force application device on the third reversing device so as to adjust the third force application direction of the force application device.
The third reversing device 50 includes:
a third reverser plate 51 and a third adjusting device 52. The third reversing plate 51 is provided with at least one third hole groove 53 along the third force application direction;
the third adjusting device 52 is connected to the force applying device 20, the force applying device 20 is mounted on the third direction changing plate 51, and the third adjusting device 52 slides in the third hole groove 53 of the third direction changing plate 51 to change the position of the force applying device 20, so as to adjust the third force applying direction of the force applying device 20.
The third holes 53 are arranged in parallel along the third force application direction.
When an external force in the third force application direction is applied to the test object 200, the third direction changing device 50 is parallel to the axis of the force-receiving end 210 to be tested on the test object 200, and when the third direction changing plate 51 of the third direction changing device 50 includes more than one row of the third hole grooves 53, the third direction changing plate 51 is parallel to the axis, and the axis is located right below the center line in the row direction of the less than one row of the third hole grooves 53.
In this embodiment, the number of the at least one third hole 53 is four, and two third hole are arranged in parallel along the third force application direction. The first force application direction is controlled by sliding the first adjusting device 32 in the first hole groove 33, the second force application direction is controlled by sliding the second adjusting device 42 in the second hole groove 43, and the third force application direction is controlled by sliding the third adjusting device 52 in the third hole groove 53, so that the accuracy of the force application direction of the X, Y, Z shaft is ensured.
Step S5: through the measuring device of system measures when being surveyed the atress end bears external force, the displacement variation of measuring point on being surveyed the atress end is respectively in first application of force direction, second application of force direction and third application of force direction, in order to obtain the static compliance of measurand.
The measuring device 60 comprises a tracking device 61 and a processing device 62 connected to the tracking device 61, wherein the tracking device 61 obtains position coordinates of the first force application direction, the second force application direction and the third force application direction from a measuring point on the tested force receiving end 21 of the test object 200, and provides the position coordinates to the processing device 62, so that the processing device 62 calculates displacement variation under different external forces according to the position coordinates to obtain the static compliance of the tested force receiving end 21 of the test object 200.
Wherein the measuring device 60 is a laser tracker and is placed around the test object 200 so that the emitted light beam irradiates the measuring point of the measured force-bearing end 210, and the measuring point of the measured force-bearing end 210 is a target ball so as to receive the irradiation of the light beam emitted by the laser tracker.
The measurement point is a certain point on the contact position of the force application device 20 and the tested force receiving end 210 of the test object 200.
Specifically, will laser tracker fixes the left place ahead of robot guarantees the light beam that laser tracker launched can shine the target ball position to can obtain the position data that the target ball corresponds constantly changes hanging wheel 221 end weight 222's weight, through tracking means 61 gathers position data and obtains corresponding displacement change, exports the data that obtain, obtains through processing apparatus 62 the static compliance of robot.
The invention arranges a first reversing device, a second reversing device, a third reversing device, a force application device and a detection device in a static compliance test system, wherein the first reversing device comprises a first reversing plate and a first adjusting device, the second reversing device comprises a second reversing plate and a second adjusting device, the third reversing device comprises a third reversing plate and a third adjusting device, the first adjusting device slides in a first hole groove on the first reversing plate to adjust a first force application direction, the second adjusting device slides in a second hole groove on the second reversing plate to adjust a second force application direction, the third adjusting device slides in a third hole groove on the third reversing plate to adjust a third force application direction, the force application device comprises a force application interface and a traction unit, one end of the force application interface is connected with a tested force application end, the other end is connected with the connecting wire that passes the hanging wheel in pulling the unit connection, the weight is connected to the connecting wire other end, the weight passes through the application of force interface to being surveyed the stress end and applying external force, controlling three switching-over device in order to adjust three application of force direction, rethread measuring device measures the measuring point of test object being surveyed the stress end bears the displacement variation of external force time at first application of force direction, second application of force direction and third application of force direction, thereby obtains test object's static compliance to adopt one set of system to accomplish all tests on the positive and negative direction of space X Y Z in the test of the static compliance of robot, guarantee application of force direction simultaneous operation simple and convenient, efficient.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (18)
- A static compliance testing system, comprising:mounting a platform;the force application device is used for applying force to a tested force bearing end of a test object;the first reversing device is arranged on the mounting platform and used for adjusting a first force application direction of the force application device;the second reversing device is connected with or integrated with the first reversing device and is used for adjusting a second force application direction of the force application device;the third reversing device is connected with the second reversing device and the force application device and is used for adjusting a third force application direction of the force application device;and the measuring device is used for measuring the displacement variation of the tested stress end in the first force application direction, the second force application direction and the third force application direction when bearing external force so as to obtain the static flexibility of the test object.
- The static compliance test system according to claim 1, wherein the force application device comprises a force application interface and a traction unit, one end of the force application interface is used for connecting with the tested force bearing end, the other end of the force application interface is used for connecting with the traction unit, the traction unit is used for applying an external force to the tested force bearing end through the force application interface, and the traction unit is further connected with the third reversing device.
- The static compliance test system according to claim 2, wherein the traction unit comprises a hanging wheel, a weight and a connecting wire, one end of the connecting wire is connected with the force application interface, the other end of the connecting wire is connected with the weight through the hanging wheel, and the hanging wheel is connected with the third reversing device.
- The static compliance test system according to claim 2 or 3, wherein the force application interface is spherical and rotates around a central point, the central point being a connection point of the force application interface and the force receiving end under test.
- The static compliance test system according to claim 2 or 3, wherein the force application interface is a cube, and the cube is connected with the traction unit through the connecting end facing the side face of the third reversing device and the connecting ends on the left side face and the right side face simultaneously so as to apply a force in a third force application direction to the tested force bearing end; or the connecting ends of the left and right sides of the cube are connected with the traction unit in a grading manner so as to apply force in a first force application direction to the tested force bearing end; or the connecting ends of the upper side surface and the lower side surface of the cube are connected with the traction unit in a grading manner so as to apply force in a second force application direction to the tested force bearing end.
- The static compliance testing system, of claim 1,the first reversing device comprises a first reversing plate and a first adjusting device, and the first reversing plate is connected with or integrated with the second reversing device;the first reversing plate is provided with at least one first hole groove along the first force application direction, the first adjusting device is used for installing the first reversing plate on the installation platform, and the first adjusting device slides in the first hole groove to change the position of the second reversing device.
- The static compliance testing system, as claimed in claim 6, wherein the first hole slots are plural and arranged in parallel in two along the first force application direction.
- The static compliance testing system, of claim 1,the second reversing device comprises a second reversing plate and a second adjusting device, and the second reversing plate is connected with or integrated with the first reversing device;the second reversing plate is provided with at least one second hole groove along the second force application direction;the second adjusting device is used for installing a third reversing device on the second reversing plate, and the second adjusting device slides in the second hole groove to change the position of the third reversing device.
- The static compliance testing system according to claim 8, wherein the first reversing device comprises a first reversing plate and a first adjusting device, and the second reversing plate is connected to or integrated with the first reversing plate; the second hole grooves are arranged in parallel along the second force application direction.
- The static compliance testing system according to claim 1, wherein the third reversing device comprises a third reversing plate and a third adjusting device;the third reversing plate is provided with at least one third hole groove along the third force application direction;the third adjusting device is connected with the force applying device, the force applying device is installed on the third reversing plate, and the third adjusting device slides in the third hole groove of the third reversing plate to change the position of the force applying device.
- The static compliance testing system, as claimed in claim 9 or 10, wherein the third hole slots are plural and arranged in parallel in two along the third force application direction.
- The static compliance testing system, according to claim 1, wherein there are two third reversing devices.
- The static compliance testing system according to claim 3, wherein the third reversing device comprises a third reversing plate and a third adjusting device;the third reversing plate is provided with at least one third hole groove along the third force application direction;the third adjusting device is connected with the hanging wheel to fix the hanging wheel on the third reversing plate, and the third adjusting device slides in the third empty groove of the third reversing plate to change the position of the hanging wheel.
- The static compliance testing system, according to claim 8, wherein the third direction changing device is parallel to the axis of the force-bearing end under test.
- The system according to claim 1, wherein the first force application direction is positive and negative along the Y-axis, the second force application direction is positive and negative along the Z-axis, and the third force application direction is positive and negative along the X-axis.
- The system according to claim 1, wherein the measuring device comprises a tracking device and a processing device connected to the tracking device, the tracking device obtains position coordinates of the measuring point of the force-bearing end under test in the first force application direction, the second force application direction and the third force application direction, and provides the position coordinates to the processing device so that the processing device can calculate displacement variation of the force-bearing end under different external forces according to the position coordinates, and obtain the static compliance of the object under test according to the displacement variation.
- The system according to claim 1, wherein the measuring device is a laser tracker, and the measuring point of the force-receiving end is a target ball to receive the irradiation of the beam emitted from the laser tracker.
- A static compliance test method based on the static compliance test system of claims 1-17, comprising:connecting a force application device of the system with a tested force bearing end of a tested object;moving a first reversing device of the system, and fixing the first reversing device on an installation platform of the system so as to adjust a first force application direction of the force application device;moving the position of a third reversing device of the system on a second reversing device of the system, and fixing the third reversing device on the second reversing device so as to adjust two force application directions of the force application device;moving the position of the force application device on the third reversing device, and fixing the force application device on the third reversing device to adjust a third force application direction of the force application device;through the measuring device of system measures when being surveyed the atress end bears external force, the displacement variation of measuring point on being surveyed the atress end is respectively in first application of force direction, second application of force direction and third application of force direction, in order to obtain the static compliance of measurand.
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| PCT/CN2018/121866 WO2020124395A1 (en) | 2018-12-18 | 2018-12-18 | Static compliance test system and method |
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| CN113561223A (en) * | 2021-05-14 | 2021-10-29 | 配天机器人技术有限公司 | Static compliance test system and test method |
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| CN108908408B (en) * | 2018-08-22 | 2023-12-12 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Robot testing device and testing method |
| CN112549080A (en) * | 2020-12-11 | 2021-03-26 | 深圳市越疆科技有限公司 | Static compliance testing arrangement of robot |
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| CN111684256B (en) | 2022-10-11 |
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