CN111844136B - Comprehensive test board - Google Patents
Comprehensive test board Download PDFInfo
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- CN111844136B CN111844136B CN202010742738.0A CN202010742738A CN111844136B CN 111844136 B CN111844136 B CN 111844136B CN 202010742738 A CN202010742738 A CN 202010742738A CN 111844136 B CN111844136 B CN 111844136B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The embodiment of the application provides a comprehensive test bench, which relates to the technical field of robot test and comprises a base, a driving part, a part to be tested and a loading part; the driving part is connected with the base in a sliding mode and is used for being coaxially connected with the part to be tested so as to provide driving torque; the loading part is connected with the base in a sliding mode, is coaxially connected with the part to be tested and is used for providing a loading moment to carry out loading test on the part to be tested; the part of awaiting measuring includes that the first subassembly and the second subassembly that awaits measuring, the first subassembly and the second subassembly and the base sliding connection that await measuring of awaiting measuring, and slip direction and drive division, the slip direction of loading portion is perpendicular, in order to realize the switching test to the first subassembly and the second subassembly that awaits measuring of awaiting measuring, can realize the comprehensive properties test of speed reducer and robot joint module, and have higher axiality and detection precision, the cost is saved, solve current testboard and can only carry out the detection of single product, lead to the higher problem of cost.
Description
Technical Field
The application relates to the technical field of robot testing, in particular to a comprehensive test bench.
Background
With the continuous development of the robot industry, the performance and parameters of main parts of the robot play a crucial role in the robot, and therefore performance detection of the core parts of the robot is required. In the current testboard structure, the support frame is more and mostly welding stent, leads to the error great, is difficult to guarantee the requirement of axiality, and can only realize the detection of single product, needs to purchase many test benches and detects different types of product, leads to the test cost to drop into highly.
Disclosure of Invention
An object of the embodiment of the application is to provide a combined test platform, can realize the comprehensive properties test of speed reducer and robot joint module, and have higher axiality and detection precision, practiced thrift the cost, solve current testboard and can only carry out the detection of single product, lead to the higher problem of cost.
The embodiment of the application provides a combined test platform, includes:
the device comprises a base, and a driving part, a part to be measured and a loading part which are sequentially arranged on the base;
the driving part is connected with the base in a sliding mode and is used for being coaxially connected with one end of the part to be measured so as to provide driving torque;
the loading part is connected with the base in a sliding mode, is coaxially connected with the other end of the part to be tested, and is used for providing a load moment to carry out loading test on the part to be tested;
the portion of awaiting measuring includes that first awaits measuring the subassembly and the second awaits measuring the subassembly, first await measuring the subassembly with the second awaits measuring the subassembly with base sliding connection, and the slip direction with the drive division the slip direction of loading portion is perpendicular, in order to realize right first await measuring the subassembly with the switching test of the subassembly is awaited measuring to the second.
In the implementation process, the driving part and the loading part are respectively arranged at two sides of the part to be tested, and the driving part and the loading part can be moved to be connected with or separated from the part to be tested according to the test requirement; the part that awaits measuring includes first subassembly and the second subassembly that awaits measuring, is used for the comprehensive properties test of speed reducer and robot joint module respectively, can remove first subassembly or the second subassembly that awaits measuring and switch over the test, and the part that awaits measuring is switching over to the first subassembly or the second subassembly that awaits measuring of awaiting measuring after, throw away and have higher axiality, reduce the testing error, improve the detection precision, and the cost is saved, solve current testboard and can only carry out the detection of single product, lead to the higher problem of cost.
Further, the driving part includes:
the drive supporting seat that integrated into one piece set up, the drive supporting seat is including first curb plate, bottom plate and the second curb plate that is U type structure, be provided with the driving motor installation department on the first curb plate, be provided with the stopper installation department on the second curb plate, be provided with the torque sensor installation department on the bottom plate to make driving motor, torque sensor and the coaxial setting of stopper.
In the implementation process, the driving supporting seat is of a U-shaped structure and is integrally formed, so that error accumulation in the assembly process is reduced, the coaxiality of connection among the driving motor, the brake and the torque sensor is guaranteed, and the stability and accuracy of detection data are improved.
Further, the driving motor mounting part comprises a motor mounting hole, the brake mounting part comprises a brake mounting hole, and the centers of the motor mounting hole and the brake mounting hole are overlapped so that the driving motor and the brake are coaxially arranged;
the torque sensor mounting part comprises a torque sensor mounting surface, is arranged on the bottom plate and is used for adjusting the height of the torque sensor, so that the torque sensor and the driving motor are coaxially arranged.
In the implementation process, the centers of the motor mounting hole and the brake mounting hole are overlapped and integrally formed, so that after the driving motor and the brake are mounted in the corresponding motor mounting hole and the corresponding brake mounting hole, the centers of the driving motor and the brake are also overlapped, namely, the driving motor and the brake are coaxially arranged; and then the torque sensor is accurately positioned and installed through the torque sensor installation surface, so that the coaxiality of the torque sensor, the torque sensor and the torque sensor is ensured.
Further, a first guide rail is arranged on the base, a driving bottom plate is arranged at the bottom of the driving supporting seat, and the driving bottom plate is connected with the first guide rail in a sliding mode through a first sliding block.
At above-mentioned realization in-process, the drive supporting seat slides through first guide rail, and first guide rail is linear guide, has fine guide effect to guarantee after removing, the drive division throws away and awaits measuring coaxial setting of portion.
Furthermore, a driving lead screw is arranged in the base, the first sliding block is connected with the driving lead screw in a rotating mode, and a driving hand wheel is arranged at the end portion of the driving lead screw to drive the driving lead screw to rotate.
In the implementation process, the lead screw is used as a transmission device, the driving hand wheel is driven to rotate, the rotation of the driving hand wheel is converted into linear movement of the first sliding block through the lead screw, and the driving supporting seat is moved.
Furthermore, a movable leaning surface is arranged on the base, and the extending direction of the movable leaning surface is vertical to the moving direction of the driving part;
the first subassembly that awaits measuring with the bottom of the second subassembly that awaits measuring all blocks and establishes in remove the leaning on the face and with remove and lean on face sliding connection to through sliding the first subassembly that awaits measuring with the second subassembly that awaits measuring switches over the test.
In the implementation process, the moving leaning surface provides a channel for the first component to be tested and the second component to be tested to realize the test switching between the first component to be tested and the second component to be tested, if the first component to be tested is tested, the first component to be tested is moved to an idle position along the direction away from the second component to be tested, and then the second component to be tested is moved to a position coaxial with the driving part and the loading part so as to test the second component to be tested.
Further, a side pressing block and a positioning pin are arranged on the movable leaning surface, the side pressing block is used for fixing a first component to be tested and a second component to be tested, a slope surface with a wide upper part and a narrow lower part is arranged on one side of the movable leaning surface close to the loading part, the side pressing block is a wedge-shaped block matched with the slope surface, and a screw is arranged on the side pressing block and used for fixing the side pressing block;
the positioning pin is used for positioning a first component to be tested or a second component to be tested to obtain the coaxial position of the previous test.
In the implementation process, the first to-be-tested component and the second to-be-tested component which are being tested or are idle are fixed through the side pressing block, so that the second to-be-tested component which is being tested is prevented from moving axially, and the idle first to-be-tested component is prevented from moving to generate interference on the second to-be-tested component which is being tested; the side pressing block is a wedge-shaped block matched with the slope, and when the side pressing block is pressed by a screw, the side pressing block moves towards one side of the second component to be tested and presses the second component to be tested, so that the fixing degree of the second component to be tested is enhanced; the effect of locating pin is the location, and when the second piece that awaits measuring gets back to the position that awaits measuring once more and tests, can look for its last coaxial position through the locating pin, has not only guaranteed the axiality of carrying out the test once more, is favorable to quick location moreover.
Further, the first component to be tested comprises a first mounting seat and a robot joint module arranged on the first mounting seat;
the second subassembly that awaits measuring includes speed reducer and second mount pad, first mount pad with the second mount pad with remove and lean on face sliding connection.
In the implementation process, the test bench can be used for testing the comprehensive performance of the robot joint module and the speed reducer, and has multiple purposes, so that the input detection cost is reduced.
Further, a sliding groove is further formed in the base and is parallel to the first guide rail, a driving positioning block is connected in the sliding groove in a sliding mode and is connected with the driving bottom plate, and a matched bolt is arranged on the driving positioning block and is used for fixing the driving bottom plate.
In the implementation process, when the driving bottom plate moves, the driving positioning block moves along with the driving bottom plate, the driving positioning block is fixed by using bolts, the driving bottom plate is fixed, and the driving bottom plate is prevented from moving axially in the testing process.
Further, be provided with the second guide rail on the base, loading portion with second guide rail sliding connection, loading portion includes coaxial sensor subassembly and the loading subassembly that sets up, sensor subassembly pass through the second guide rail move to with the portion that awaits measuring links to each other.
In the implementation process, the loading part moves through the second guide rail, and when the part to be tested performs loading test, the loading part is moved and connected with the part to be tested.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an integrated test stand according to an embodiment of the present application;
fig. 2 is a schematic structural view of a driving support seat according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a movable backrest provided in the embodiments of the present application;
FIG. 4 is a schematic structural diagram of a side pressure block provided in an embodiment of the present application;
fig. 5 is a schematic structural view of a loading support seat according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram illustrating a test performed on a robot speed reducer according to an embodiment of the present application;
fig. 7 is a schematic structural diagram illustrating a test performed on a robot joint module according to an embodiment of the present disclosure.
Icon:
1-driving a motor; 2-a first torque sensor; 3-a first coupling; 4-a brake; 5-a robot joint module; 6-an angle encoder; 7-a second coupling; 8-a second torque sensor; 9-motor mounting seat; 10-loading a speed reducer; 11-loading a screw rod; 12-a second guide rail; 13-motor base positioning block; 14-a base; 15-ground feet; 16-loading the supporting seat; 161-encoder mounting holes; 162-torque sensor orientation surface; 17-loading a positioning block; 18-load end baseplate; 19-robot reducer; 20-a drive chassis; 21-driving the supporting seat; 211-motor mounting holes; 212-torque sensor mounting face; 213-brake mounting hole; 22-driving a positioning block; 23-loading a hand wheel; 24-driving the hand wheel; 25-side briquetting; 26-a third coupling; 27-moving the leaning surface; 28-positioning pin.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
As shown in fig. 1, for the structural schematic diagram of the comprehensive test bench provided in the embodiment of the present application, the test bench realizes the comprehensive performance test of the robot joint module 5 and the robot speed reducer 19, and mainly includes a base 14, and a driving portion, a portion to be tested, and a loading portion coaxially disposed on the base 14.
Wherein, the drive portion includes drive supporting seat 21 that integrated into one piece set up, as shown in fig. 2, for the structural schematic diagram of drive supporting seat 21, drive supporting seat 21 is provided with the 1 installation department of driving motor including first curb plate, bottom plate and the second curb plate that is U type structure on the first curb plate, be provided with the 4 installation departments of stopper on the second curb plate, is provided with the 2 installation departments of first torque sensor on the bottom plate to make driving motor 1, first torque sensor 2 and the coaxial setting of stopper 4.
Illustratively, the driving motor 1 mounting part comprises a motor mounting hole 211, the brake mounting part comprises a brake mounting hole 213, and the centers of the motor mounting hole 211 and the brake mounting hole 213 are overlapped to coaxially arrange the driving motor 1 and the brake 4, when mounting, because the centers of the motor mounting hole 211 and the brake mounting hole 213 are overlapped and integrally arranged, after the driving motor 1 and the brake 4 are mounted to the corresponding motor mounting hole 211 and the brake mounting hole 213, the centers of the two are also overlapped, thus ensuring the coaxiality of the driving motor 1 and the brake 4.
The torque sensor mounting part comprises a torque sensor mounting surface 212 which is arranged on the bottom plate and used for adjusting the height of the first torque sensor 2, so that the first torque sensor 2 and the driving motor 1 are coaxially arranged, error accumulation is reduced, and the stability and accuracy of detection data are guaranteed.
When the installation, the output shaft of the driving motor 1 is connected with the first torque sensor 2, for example, the first torque sensor 2 can adopt a 10n.m torque sensor, the first torque sensor 2 is connected with the brake 4 through the first coupler 3, and the installation of the driving motor 1, the first torque sensor 2 and the brake 4 is realized through the integrally formed driving support seat 21, so that the installation process is relatively simplified, and the assembly process of checking precision for multiple times is reduced.
A first guide rail is arranged on the base 14, a driving bottom plate 20 is arranged at the bottom of the driving supporting seat 21, and the driving bottom plate 20 is connected with the first guide rail in a sliding manner through a first sliding block; a driving screw is arranged in the base 14, the first sliding block is rotatably connected with the driving screw, a driving hand wheel 24 is arranged at the end part of the driving screw, and the driving screw is driven to rotate by the driving hand wheel 24 so as to realize the left-right movement of the driving bottom plate 20.
Still be provided with first spout on base 14, first spout and first guide rail parallel arrangement, sliding connection has drive locating piece 22 in the first spout, drive locating piece 22 is connected with drive bottom plate 20, be provided with supporting bolt on the drive locating piece 22, be used for fixing drive bottom plate 20, when the test, it is close to the portion of awaiting measuring to move drive supporting seat 21 through rotating drive hand wheel 24, at this in-process, drive locating piece 22 removes along with drive bottom plate 20, after removing to the stopper 4 links to each other with the portion of awaiting measuring of portion of awaiting measuring, can drive locating piece 22 through the bolt fastening, thereby realize the fixed to drive bottom plate 20, prevent drive bottom plate 20 axial displacement in the testing process.
The part that awaits measuring includes the first subassembly and the second subassembly that awaits measuring, the first subassembly and the second subassembly that awaits measuring with base 14 sliding connection, and the slip direction is perpendicular with the slip direction of drive division, loading portion to the realization is to the first subassembly that awaits measuring and the second subassembly that awaits measuring switching test.
Illustratively, the base 14 is provided with a moving leaning surface 27, as shown in fig. 3, which is a structural schematic diagram of the moving leaning surface 27, and an extending direction (front and back) of the moving leaning surface 27 is perpendicular to a moving direction (left and right) of the driving part;
the bottoms of the first component to be tested and the second component to be tested are clamped in the moving leaning surface 27 and are in sliding connection with the moving leaning surface 27, so that the first component to be tested and the second component to be tested are subjected to switching test through sliding.
Illustratively, the first component to be tested comprises a first mounting seat and a robot joint module 5 arranged on the first mounting seat, the second component to be tested comprises a second mounting seat and a robot speed reducer 19 arranged on the second mounting seat, and the first mounting seat and the second mounting seat are slidably connected with the movable leaning surface 27.
The movable leaning surface 27 is provided with a side pressing block 25 and a positioning pin 28 for fixing the first mounting seat and the second mounting seat, for example, when the robot reducer 19 needs to be tested, the first mounting seat is moved backwards to a non-interference position, and is pressed and fixed by the side pressing block 25, so as to prevent the first mounting seat from moving and interfering with the test of the robot reducer 19, the second mounting seat is moved to the robot reducer 19 and is coaxially arranged with the brake 4, the side pressing block 25 is used for clamping and fixing one side (right side) of the second mounting seat close to the loading part, as shown in fig. 4, the structure diagram of the side pressing block 25 is shown, the right side of the movable leaning surface 27 is a slope surface with a wide top and a narrow bottom, the side pressing block 25 is a wedge-shaped block matched with the slope surface, the side pressing block 25 is provided with a screw for fixing the side pressing block 25, when the screw is pressed downwards, the side pressing block 25 moves leftwards to press the second mounting seat; in the process that the second mounting seat moves to the testing position, the positioning pin 28 is used for positioning the testing position of the second mounting seat, namely the positioning pin 28 can find the coaxial position of the robot speed reducer 19 in the previous testing process, the coaxiality between the robot speed reducer and the driving part in the second testing process is ensured, the robot speed reducer is favorable for quick positioning, the side, away from the first component to be tested, of the second mounting seat is fixed through the positioning pin 28, the second mounting seat is fastened through the side pressing block 25 and the positioning pin 28, and axial movement in the testing process is prevented; through the removal of first mount pad and second mount pad, realize robot joint module 5 and robot reducer 19's switching test, a tractor serves several purposes reduces the input of detection cost.
The loading portion comprises a sensor assembly and a loading assembly which are coaxially arranged, the sensor assembly comprises an angle encoder 6, a second coupler 7 and a second torque sensor 8 which are sequentially connected, the sensor assembly is arranged on the loading supporting seat 16, and the loading supporting seat 16 is integrally formed, as shown in fig. 5, the sensor assembly is a structural schematic diagram of the loading supporting seat 16 and comprises an encoder mounting hole 161 and a torque sensor positioning surface 162 and is respectively used for mounting the angle encoder 6 and the second torque sensor 8.
The base 14 is provided with a second guide rail 12, the bottom of the loading support base 16 is provided with a loading end bottom plate 18, the loading end bottom plate 18 is connected with the second guide rail 12 in a sliding mode through a second sliding block, the base 14 is further provided with a loading lead screw 11, and the second sliding block is connected with the loading lead screw 11 in a sliding mode.
The loading assembly comprises a loading motor and a loading speed reducer 10, the loading motor and the loading speed reducer are arranged on the motor mounting seat 9, and the motor mounting seat 9 is rotatably connected with the loading screw rod 11 through a third sliding block. A T-shaped groove extends out of the right side of the loading end base plate 18, a motor base positioning block 13 is connected to the right side of the loading end base plate in a sliding mode, the motor base positioning block 13 is connected with the motor installation base 9, a bolt is arranged on the motor base positioning block 13, the motor installation base 9 is fixed through the matching use of the motor base positioning block 13 and the bolt, and the motor installation base 9 is prevented from moving in the testing process.
Still be provided with the second spout on base 14, second spout and second guide rail 12 parallel arrangement, sliding connection has loading locating piece 17 in the second spout, loading locating piece 17 is connected with loading end bottom plate 18, be provided with supporting bolt on the loading locating piece 17, be used for fixing loading end bottom plate 18, when testing, through rotating loading hand wheel 23 and moving loading supporting seat 16 and be close to the portion that awaits measuring, at this in-process, loading locating piece 17 removes along with loading end bottom plate 18, after removing to the piece that awaits measuring that angle encoder 6 and portion that awaits measuring link to each other, can fix loading locating piece 17 through the bolt, thereby realize the fixing to loading end bottom plate 18, prevent loading end bottom plate 18 axial displacement in the test procedure.
The comprehensive performance test of the robot speed reducer 19 comprises a no-load test, a loading test, an overload test, an idling friction torque test, a starting torque test, a reverse starting torque test, a transmission efficiency test, a torque rigidity and return difference test and a transmission error test. When the robot speed reducer 19 is tested, as shown in fig. 6, for a structural schematic diagram of testing the robot speed reducer 19, a driving portion, a portion to be tested, and a loading portion need to be used simultaneously, a loading hand wheel 23 and a driving hand wheel 24 need to be rotated, so that the brake 4 of the driving portion is moved to be connected with an input shaft of the robot speed reducer 19 to be tested, an output shaft of the robot speed reducer 19 is connected with a center shaft of an angle encoder 6, a second torque sensor 8 in the loading portion is connected with a speed reducer output flange of the loading speed reducer 10 through a third coupling 26, and after the installation is completed, the robot speed reducer 19 can be tested.
The comprehensive performance test of the robot joint module 5 comprises the following steps: the method comprises the following steps of no-load test, loading running-in test, positioning accuracy and repeated positioning accuracy test, transmission efficiency test, overload test and rotating speed-torque characteristic test, wherein when the robot joint module 5 is tested, as shown in fig. 7, for a structural schematic diagram for testing the robot joint module 5, only two parts of a part to be tested and a loading part need to be used, the robot joint module 5 and a first mounting seat where the robot joint module 5 is located are moved to an output flange of the robot joint module 5 along a moving leaning surface 27 and are connected with a central shaft of an angle encoder 6, and the operation of the loading part is not repeated herein.
Through this combined test platform, realized the comprehensive properties test of robot speed reducer 19 and robot joint module 5, a tractor serves several purposes, save the cost, in addition, drive division and loading portion adopt integral casting structure, and the precision of mounting hole has been guaranteed in the integral type processing, has avoided loaded down with trivial details precision accommodation process, has guaranteed the axiality, has solved many parts assembly, machining error is big, assembly error stack leads to the poor problem of whole axiality.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A comprehensive test bench, comprising:
the device comprises a base, and a driving part, a part to be measured and a loading part which are sequentially arranged on the base;
the driving part is connected with the base in a sliding mode and is used for being coaxially connected with one end of the part to be measured so as to provide driving torque;
the loading part is connected with the base in a sliding mode, is coaxially connected with the other end of the part to be tested, and is used for providing a load moment to carry out loading test on the part to be tested;
the portion of awaiting measuring includes first subassembly and the second subassembly that awaits measuring, first subassembly with the second subassembly that awaits measuring with base sliding connection is in order to realize right first subassembly with the switching test of the second subassembly that awaits measuring:
a movable leaning surface is arranged on the base, and the extending direction of the movable leaning surface is vertical to the moving direction of the driving part;
the first subassembly that awaits measuring with the bottom of the second subassembly that awaits measuring all blocks and establishes in remove the leaning on the face and with remove and lean on face sliding connection to through sliding the first subassembly that awaits measuring with the second subassembly that awaits measuring switches over the test.
2. The integrated test stand of claim 1, wherein said drive portion comprises:
the drive supporting seat that integrated into one piece set up, the drive supporting seat is including first curb plate, bottom plate and the second curb plate that is U type structure, be provided with the driving motor installation department on the first curb plate, be provided with the stopper installation department on the second curb plate, be provided with the torque sensor installation department on the bottom plate to make driving motor, torque sensor and the coaxial setting of stopper.
3. The integrated test stand of claim 2, wherein:
the driving motor mounting part comprises a motor mounting hole, the brake mounting part comprises a brake mounting hole, and the centers of the motor mounting hole and the brake mounting hole are overlapped so that the driving motor and the brake are coaxially arranged;
the torque sensor mounting part comprises a torque sensor mounting surface, is arranged on the bottom plate and is used for adjusting the height of the torque sensor, so that the torque sensor and the driving motor are coaxially arranged.
4. The integrated test stand of claim 2, wherein:
the base is provided with a first guide rail, the bottom of the driving supporting seat is provided with a driving bottom plate, and the driving bottom plate is connected with the first guide rail in a sliding mode through a first sliding block.
5. The integrated test stand of claim 4, wherein:
the base is internally provided with a driving screw rod, the first sliding block is rotationally connected with the driving screw rod, and the end part of the driving screw rod is provided with a driving hand wheel to drive the driving screw rod to rotate.
6. The integrated test stand of claim 1, wherein:
the side pressing block is used for fixing a first component to be tested and a second component to be tested, one side of the movable leaning surface, close to the loading part, is a slope with a wide upper part and a narrow lower part, the side pressing block is a wedge-shaped block matched with the slope, and the side pressing block is provided with a screw for fixing the side pressing block;
the positioning pin is used for positioning a first component to be tested or a second component to be tested to obtain the coaxial position of the previous test.
7. The integrated test stand of claim 6, wherein:
the first component to be tested comprises a first mounting seat and a robot joint module arranged on the first mounting seat;
the second subassembly that awaits measuring includes the second mount pad and sets up speed reducer on the second mount pad, first mount pad with the second mount pad with remove by face sliding connection.
8. The integrated test stand of claim 4, wherein:
the base is further provided with a sliding groove, the sliding groove is parallel to the first guide rail, a driving positioning block is connected in the sliding groove in a sliding mode, the driving positioning block is connected with the driving bottom plate, and a matched bolt is arranged on the driving positioning block and used for fixing the driving bottom plate.
9. The integrated test stand of claim 1, wherein:
the loading part comprises a sensor assembly and a loading assembly which are coaxially arranged, and the sensor assembly moves to be connected with the part to be measured through the second guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010742738.0A CN111844136B (en) | 2020-07-28 | 2020-07-28 | Comprehensive test board |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010742738.0A CN111844136B (en) | 2020-07-28 | 2020-07-28 | Comprehensive test board |
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| CN111844136A CN111844136A (en) | 2020-10-30 |
| CN111844136B true CN111844136B (en) | 2021-11-02 |
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| CN202010742738.0A Active CN111844136B (en) | 2020-07-28 | 2020-07-28 | Comprehensive test board |
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| CN112549076A (en) * | 2020-11-26 | 2021-03-26 | 北京工业大学 | Test bed for testing comprehensive performance of robot joint |
| CN112936343B (en) * | 2021-02-04 | 2024-01-09 | 重庆匠丰自动化设备有限公司 | Industrial robot rotates flexibility ratio check out test set |
| CN113021413A (en) * | 2021-02-23 | 2021-06-25 | 埃夫特智能装备股份有限公司 | Harmonic reducer rigidity consistency measuring device for industrial robot |
| CN113618783A (en) * | 2021-08-25 | 2021-11-09 | 四川志方科技有限公司 | Three-in-one comprehensive performance test board of humanoid robot |
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