CN112917512A - Robot joint motion precision measuring device - Google Patents
Robot joint motion precision measuring device Download PDFInfo
- Publication number
- CN112917512A CN112917512A CN201911237752.9A CN201911237752A CN112917512A CN 112917512 A CN112917512 A CN 112917512A CN 201911237752 A CN201911237752 A CN 201911237752A CN 112917512 A CN112917512 A CN 112917512A
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- CN
- China
- Prior art keywords
- angle encoder
- robot joint
- sliding table
- support
- measuring device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention relates to the technical field of robot testing, in particular to a robot joint movement precision measuring device which comprises a base, a joint support, a first sliding table and a second sliding table, wherein the joint support is fixedly arranged at one end of the base, the second sliding table is movably arranged at the other end of the joint support, the first sliding table is movably arranged on the base and is arranged between the joint support and the second sliding table, a torque rotating speed sensor and an angle encoder are arranged on the first sliding table, a servo motor and a speed increaser are arranged on the second sliding table, a robot joint is arranged on the joint support, the robot joint, the angle encoder, the torque rotating speed sensor, the speed increaser and the servo motor are sequentially connected during testing, and an adjusting mechanism and a locking mechanism are arranged on one side of the first sliding table and one side of the second sliding table. The invention can directly test the robot joint and improve the accuracy and the efficiency of the measurement of the motion precision of the robot joint.
Description
Technical Field
The invention relates to the technical field of robot testing, in particular to a robot joint motion precision measuring device.
Background
The robot is a prominent representative of modern high-end intelligent equipment and high and new technology and is an important mark for measuring the manufacturing level and the core competitiveness of a country. The robot joint is a core component of the robot, the motion precision of the robot joint is an important index of the robot joint, the robot joint has important significance for evaluating the performance of the robot joint, and meanwhile, the robot joint can be used for adjusting the parameters of the whole robot and improving the motion performance of the whole robot.
The robot joint mainly comprises a servo motor and a precision reducer, and the servo motor and the precision reducer are used as two parts to be tested respectively in the traditional test. In actual engineering, the motion precision of the robot joint cannot be determined according to the motion precision of two parts under the influence of factors such as manufacturing and assembly.
Disclosure of Invention
The invention aims to provide a robot joint motion precision measuring device which can directly test a robot joint and improve the accuracy and the efficiency of the robot joint motion precision measurement.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a robot joint motion precision measuring device, includes base, joint support, first slip table and second slip table, and wherein the joint support is adorned admittedly in base one end, and the joint support other end is located to the second slip table is movably, and first slip table is movably located on the base and locate between joint support and the second slip table, be equipped with torque speed sensor and angle encoder on the first slip table, be equipped with load cell on the second slip table, the robot joint is located on the joint support, and during the test robot joint, angle encoder, torque speed sensor and load cell connect gradually, first slip table one side and second slip table one side all are equipped with guiding mechanism and locking mechanism.
Be equipped with mobilizable angle encoder support on the first slip table, angle encoder locates on the angle encoder support.
The angle encoder sliding rail is arranged on the first sliding table, an angle encoder support sliding block matched with the angle encoder sliding rail is arranged on the angle encoder support, and in addition, an angle encoder adjusting mechanism and an angle encoder locking mechanism are arranged on the angle encoder support.
One end of the torque and rotation speed sensor is supported by a bearing seat and connected with the angle encoder.
The load unit includes a servo motor and a speed increaser.
The second sliding table is provided with a speed increaser support and a servo motor support, the speed increaser is installed on the speed increaser support, the servo motor is installed on the servo motor support, and the torque and speed sensor, the speed increaser and the servo motor are sequentially connected.
The base is provided with a slide rail, and the lower sides of the first sliding table and the second sliding table are respectively provided with a slide block matched with the slide rail.
The adjusting mechanism comprises a gear, racks and a hand wheel, wherein hand wheel frames are arranged on the first sliding table and the second sliding table, the hand wheel is arranged on the corresponding hand wheel frames, the gear is arranged at the end of the corresponding hand wheel shaft, the two racks are arranged on the base respectively, and the gear is meshed with the corresponding racks respectively.
Locking mechanism includes locking bolt and clamp splice, first slip table downside and second slip table downside all are equipped with the clamp splice and detain and arrange in corresponding slide rail on, the locking bolt passes through threaded connection and installs on the clamp splice that corresponds, just the clamp splice holder is through revolving wrong the locking bolt opens or presss from both sides tightly.
And an output disc of the robot joint is connected with the angle encoder.
The invention has the advantages and positive effects that:
1. according to the invention, the first sliding table is adopted to bear the angle encoder and the torque rotating speed sensor, the second sliding table is adopted to bear the load unit, the robot joint is fixedly arranged on the joint support, the robot joint can be directly tested, the condition that the precision of the robot joint driving motor and the precision of the joint reducer are respectively tested in the traditional method is avoided, the servo motor can be used for loading, the load torque is dynamically debugged according to different positions of the robot joint, the dynamic response speed is improved by applying the related algorithm, the automation level of the device is improved, the testing efficiency of the precision measurement of the robot joint is improved, the motion performance of the robot joint can be objectively and fairly evaluated, and the accuracy and the testing efficiency of the motion precision measurement of the robot joint are improved.
2. The angle encoder is movably arranged on the first sliding table, the angle encoder can be separated from the transmission system in the assembling and debugging process, the service life of the angle encoder is prolonged, in addition, the torque and rotating speed sensor is supported by the bearing seat, the damage to the sensor in the sample installing and adjusting process or the testing process can be avoided, and the service life of the torque and rotating speed sensor is prolonged.
3. The two sliding tables of the invention adopt the same sliding rail, so that the assembly and debugging are convenient and fast, and the moving coaxiality is high.
Drawings
Figure 1 is a schematic structural view of the present invention,
FIG. 2 is a schematic diagram of the control system of the present invention.
Wherein, 1 robot joint; 2, a joint support; 3, outputting a disc; 4 an angular encoder support; 5 an angle encoder; 6-degree encoder slide rails; 7 a temperature sensor; 8, a coupler; 9, bearing seats; 10 torque speed sensor; 11 a speed increaser bracket; 12 a speed increaser; 13 a servo motor; 14 a servo motor support; 15 a first slide table; 16 a second slide table; 17 a slide rail; 18 an adjustment mechanism; 19 a base; 20 a locking mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention includes a base 19, a joint support 2, a first sliding table 15 and a second sliding table 16, wherein the joint support 2 is fixedly installed at one end of the base 19, the second sliding table 16 is movably installed at the other end of the joint support 2, the first sliding table 15 is movably installed on the base 19 and is installed between the joint support 2 and the second sliding table 16, the first sliding table 15 is provided with a fixed torque and rotation speed sensor 10 and a movable angle encoder 5, the second sliding table 16 is provided with a load unit, a robot joint 1 is installed on the joint support 2, and the robot joint 1, the angle encoder 5, the torque and rotation speed sensor 10 and the load unit are connected in sequence during testing, and one side of each of the first sliding table 15 and the second sliding table 16 is provided with an adjusting mechanism 18 and a locking mechanism 20.
As shown in fig. 1, a slide rail 17 is arranged on the base 19, and sliders are arranged on the lower sides of the first sliding table 15 and the second sliding table 16 and are matched with the slide rail 17. The first sliding table 15 and the second sliding table 16 are arranged on the same sliding rail 17, that is, each sliding rail 17 is a whole guiding rail, so as to ensure that the rotating axes of the transmission parts on the two sliding tables keep high coaxiality in the relative movement process.
As shown in fig. 1, the adjusting mechanisms 18 are respectively arranged on one side of the first sliding table 15 and one side of the second sliding table 16, in this embodiment, the adjusting mechanisms 18 include gears, racks and hand wheels, wherein hand wheel frames are respectively arranged on the first sliding table 15 and the second sliding table 16, the hand wheels are installed on the corresponding hand wheel frames, the gears are installed at the corresponding hand wheel shaft ends, the two racks are respectively installed on the base 19, the gears are respectively engaged with the corresponding racks, and an operator can drive the first sliding table 15 and the second sliding table 16 to move and adjust through rotating the corresponding hand wheels.
As shown in fig. 1, each of the first sliding table 15 and the second sliding table 16 is provided with a locking mechanism 20 on one side, in this embodiment, each of the locking mechanisms 20 includes a locking bolt and a clamping block, the clamping blocks are provided on the lower sides of the first sliding table 15 and the second sliding table 16 and are fastened on the corresponding slide rails 17, the locking bolt is installed on the corresponding clamping block through threaded connection, and the locking bolt is screwed to open or clamp the clamping opening of the clamping block, so that the first sliding table 15 and the second sliding table 16 are locked.
As shown in fig. 1, be equipped with mobilizable angle encoder support 4 on the first slip table 15, angle encoder 5 is located on the angle encoder support 4, the output dish 3 of robot joint 1 with angle encoder 5 links to each other, be equipped with the tang on the output dish 3 and be used for the interior axle of the fixed angle encoder 5 of block to guarantee angle encoder 5 and robot joint 1's rotatory axle center axiality, thereby ensure angle encoder 5's measurement accuracy, temperature sensor 7 is used for measuring robot joint 1's casing temperature, monitors robot joint 1's operating temperature.
As shown in fig. 1, be equipped with angle encoder slide rail 6 on the first slip table 15, be equipped with on the angle encoder support 4 with angle encoder slide rail 6 complex angle encoder support slider, in addition be equipped with angle encoder guiding mechanism on the angle encoder support 4 and be used for adjusting its position to it realizes that angle encoder 5's locking is fixed to be equipped with angle encoder locking mechanism. In this embodiment, the angle encoder adjusting mechanism and the adjusting mechanism 18 have the same structure, and the angle encoder locking mechanism and the locking mechanism 20 have the same structure. The invention can separate the angle encoder 5 from the transmission system in the sample installation and debugging process, avoids the impact on the sensor in the installation and debugging process, ensures the accuracy of the robot joint motion precision measurement and prolongs the service life of the testing device.
As shown in fig. 1, a bearing seat 9 is arranged on the first sliding table 15, and one end of the torque and speed sensor 10 is supported by the bearing seat 9 and connected with the angle encoder 5 through a coupler 8. The bearing seat 9 can avoid the damage to the sensor in the process of installing and adjusting the sample or in the process of testing, improve the service life of the torque and rotating speed sensor 10,
as shown in fig. 1, the load unit includes a servo motor 13 and a speed increaser 12, a speed increaser bracket 11 and a servo motor bracket 14 are arranged on the second sliding table 16, the speed increaser 12 is mounted on the speed increaser bracket 11, the servo motor 13 is mounted on the servo motor bracket 14, one end of the speed increaser 12 is connected with the torque and rotation speed sensor 10, and the other end is connected with an output shaft of the servo motor 13 through a coupling 8. The speed increaser 12 can reduce the loading torque of the servo motor 13, so that the low-torque servo motor 13 can be selected, the hardware cost can be reduced, and the space of a load unit can be reduced.
All the supports are provided with rabbets, and parts needing to be fixed by the supports are assembled through the rabbets.
The control system of the invention is schematically shown in figure 2, and comprises an industrial personal computer, a motion controller, a joint driver, a robot joint 1, a servo driver, a servo motor 13, a signal acquisition card, a torque and rotation speed sensor 10, an angle encoder 5, a temperature sensor 7 and the like, wherein upper computer software in the industrial personal computer receives test parameters of a user, the test parameters mainly comprise motion parameters of the robot joint, motion parameters of the servo motor, working condition parameters and the like, the upper computer transmits the test parameters to the motion controller, and the motion controller respectively drives the robot joint and the servo motor through a driving system so as to complete the motion control and load control of the robot joint. In addition, the control system measures the position and the torque and rotating speed information of the output end of the robot joint 1 through the angle encoder 5 and the torque and rotating speed sensor 10, so that the loading torque change of the robot joint 1 at different positions can be realized, the loading torque is quickly and accurately controlled by adopting a PID algorithm, and the motion load of the robot joint is truly simulated.
The working principle of the invention is as follows:
the base of the invention is provided with a first sliding table 15 and a second sliding table 16, wherein the first sliding table 15 is provided with a fixed torque rotating speed sensor 10 and a movable angle encoder 5, the second sliding table 16 is fixedly provided with a load unit, the load unit comprises a servo motor 13 and a speed increaser 12, the robot joint 1 is arranged on the joint support 2, the first sliding table 15 and the second sliding table 16 can adjust the position through respective adjusting mechanisms 18 according to requirements and are locked through respective locking mechanisms 20 after the position is determined, in addition, the angle encoder 5 can also adjust the position and be locked according to requirements, the robot joint 1, the angle encoder 5, the torque rotating speed sensor 10, the speed increaser 12 and the servo motor 13 are connected in sequence after the positions of all parts are determined, wherein the servo motor 13 provides loading torque for the robot joint 1, and the speed increaser 12 reduces the required loading torque, the speed increaser 12 with a proper speed ratio is selected, a servo motor with lower torque can be selected and matched, and the hardware cost of the measuring device is reduced. The servo motor 13 and the speed increaser 12 are well known in the art.
In the invention, the upper computer software in the industrial control machine in the control system receives the test parameters of a user during testing, mainly comprising the robot joint motion parameters, the servo motor motion parameters, the working condition parameters and the like, then the upper computer transmits the test parameters to the motion controller, and the motion controller respectively drives the robot joint and the servo motor through the driving system, thereby completing the robot joint motion control and the load control. The control system measures the position and the torque and rotating speed information of the output end of the robot joint 1 through the angle encoder 5 and the torque and rotating speed sensor 10, so that the loading torque change of the robot joint 1 at different positions can be realized, the loading torque is quickly and accurately controlled by adopting a PID algorithm, and the motion load of the robot joint is truly simulated. The temperature sensor 7 is used for measuring the shell temperature of the robot joint 1 and monitoring the working temperature of the robot joint 1.
In this embodiment, angle encoder 5 chooses for use the high-accuracy angle encoder of hai dehan, torque speed sensor 10 chooses for use qishile torque speed sensor, temperature sensor 7 chooses for use PT100, servo motor 13, control system and actuating system choose for use the siemens brand.
Claims (10)
1. A robot joint motion precision measuring device is characterized in that: comprises a base (19), a joint support (2), a first sliding table (15) and a second sliding table (16), wherein the joint support (2) is fixedly arranged at one end of the base (19), the second sliding table (16) is movably arranged at the other end of the joint support (2), the first sliding table (15) is movably arranged on the base (19) and is arranged between the joint support (2) and the second sliding table (16), a torque and rotating speed sensor (10) and an angle encoder (5) are arranged on the first sliding table (15), a load unit is arranged on the second sliding table (16), the robot joint (1) is arranged on the joint support (2), and the robot joint (1), the angle encoder (5), the torque and rotation speed sensor (10) and the load unit are connected in sequence during testing, and an adjusting mechanism (18) and a locking mechanism (20) are arranged on one side of the first sliding table (15) and one side of the second sliding table (16).
2. The robot joint movement accuracy measuring device according to claim 1, characterized in that: be equipped with mobilizable angle encoder support (4) on first slip table (15), angle encoder (5) are located on angle encoder support (4).
3. The robot joint movement accuracy measuring device according to claim 2, characterized in that: be equipped with angle encoder slide rail (6) on first slip table (15), be equipped with on angle encoder support (4) with angle encoder slide rail (6) complex angle encoder support slider, in addition be equipped with angle encoder guiding mechanism and angle encoder locking mechanism on angle encoder support (4).
4. The robot joint movement accuracy measuring device according to claim 2, characterized in that: one end of the torque and rotation speed sensor (10) is supported by a bearing seat (9) and is connected with the angle encoder (5).
5. The robot joint movement accuracy measuring device according to claim 1, characterized in that: the load unit comprises a servo motor (13) and a speed increaser (12).
6. The robot joint movement accuracy measuring device according to claim 5, characterized in that: be equipped with speed increaser support (11) and servo motor support (14) on second slip table (16), speed increaser (12) install in on speed increaser support (11), servo motor (13) install in on servo motor support (14), torque speed sensor (10), speed increaser (12) and servo motor (13) connect gradually.
7. The robot joint movement accuracy measuring device according to claim 1, characterized in that: be equipped with slide rail (17) on base (19), first slip table (15) and second slip table (16) downside all be equipped with the slider with slide rail (17) cooperation.
8. The robot joint movement accuracy measuring device according to claim 1, characterized in that: adjustment mechanism (18) include gear, rack and hand wheel, wherein all are equipped with the hand wheel frame on first slip table (15) and second slip table (16), and the hand wheel is installed on the hand wheel frame that corresponds, and the gear is installed in the hand wheel axle head that corresponds, and two racks are installed respectively on base (19), just the gear respectively with the rack toothing that corresponds.
9. The robot joint movement accuracy measuring device according to claim 1, characterized in that: locking mechanism (20) are including locking bolt and clamp splice, first slip table (15) downside and second slip table (16) downside all are equipped with the clamp splice and detain and arrange in corresponding slide rail (17), and the locking bolt passes through threaded connection and installs on the clamp splice that corresponds, just the clamp splice clamp opening is through revolving wrong the locking bolt opens or presss from both sides tightly.
10. The robot joint movement accuracy measuring device according to claim 1, characterized in that: and an output disc (3) of the robot joint (1) is connected with the angle encoder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911237752.9A CN112917512A (en) | 2019-12-06 | 2019-12-06 | Robot joint motion precision measuring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911237752.9A CN112917512A (en) | 2019-12-06 | 2019-12-06 | Robot joint motion precision measuring device |
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| CN112917512A true CN112917512A (en) | 2021-06-08 |
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| CN201911237752.9A Pending CN112917512A (en) | 2019-12-06 | 2019-12-06 | Robot joint motion precision measuring device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5461920A (en) * | 1990-12-20 | 1995-10-31 | Krautkramer Gmbh & Co. | Whole-body test system with a test probe mount designed especially as a rotor which is mounted on a vertically adjustable support platform and has a test-piece manipulator |
| CN102672560A (en) * | 2012-05-21 | 2012-09-19 | 上海乾丰轻工机械厂 | Upper slitter grinding machine |
| CN203375930U (en) * | 2013-05-03 | 2014-01-01 | 合肥米克光电技术有限公司 | Desktop type hand-operated three-dimensional image measuring instrument |
| CN204694577U (en) * | 2015-06-19 | 2015-10-07 | 保定来福汽车照明集团有限公司 | A kind of molybdenum rod molybdenum sheet weld strength detector |
| CN205403838U (en) * | 2016-02-19 | 2016-07-27 | 重庆华数机器人有限公司 | Multifunctional robot joint capability test system |
| KR101967216B1 (en) * | 2017-12-11 | 2019-04-09 | 한국기계연구원 | Test system for autonomous operating apparatus and Controlling method thereof |
| CN209624050U (en) * | 2019-03-08 | 2019-11-12 | 广东省东莞市质量监督检测中心 | A kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed |
-
2019
- 2019-12-06 CN CN201911237752.9A patent/CN112917512A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5461920A (en) * | 1990-12-20 | 1995-10-31 | Krautkramer Gmbh & Co. | Whole-body test system with a test probe mount designed especially as a rotor which is mounted on a vertically adjustable support platform and has a test-piece manipulator |
| CN102672560A (en) * | 2012-05-21 | 2012-09-19 | 上海乾丰轻工机械厂 | Upper slitter grinding machine |
| CN203375930U (en) * | 2013-05-03 | 2014-01-01 | 合肥米克光电技术有限公司 | Desktop type hand-operated three-dimensional image measuring instrument |
| CN204694577U (en) * | 2015-06-19 | 2015-10-07 | 保定来福汽车照明集团有限公司 | A kind of molybdenum rod molybdenum sheet weld strength detector |
| CN205403838U (en) * | 2016-02-19 | 2016-07-27 | 重庆华数机器人有限公司 | Multifunctional robot joint capability test system |
| KR101967216B1 (en) * | 2017-12-11 | 2019-04-09 | 한국기계연구원 | Test system for autonomous operating apparatus and Controlling method thereof |
| CN209624050U (en) * | 2019-03-08 | 2019-11-12 | 广东省东莞市质量监督检测中心 | A kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed |
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Application publication date: 20210608 |
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