CN113237652A - Joint test experiment platform - Google Patents
Joint test experiment platform Download PDFInfo
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- CN113237652A CN113237652A CN202110544054.4A CN202110544054A CN113237652A CN 113237652 A CN113237652 A CN 113237652A CN 202110544054 A CN202110544054 A CN 202110544054A CN 113237652 A CN113237652 A CN 113237652A
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- 238000012360 testing method Methods 0.000 title claims abstract description 68
- 238000002474 experimental method Methods 0.000 title claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 65
- 239000006247 magnetic powder Substances 0.000 claims abstract description 44
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000000737 periodic effect Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 239000006249 magnetic particle Substances 0.000 description 8
- 238000004088 simulation Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
Abstract
The invention discloses a joint test experimental platform, which comprises: control box, support frame, DC brushless motor, harmonic speed reducer machine, increment encoder, torque sensor, shaft coupling and magnetic powder brake. The direct current brushless motor is fixed on the support frame and is electrically connected with the control box. The harmonic speed reducer is fixed on the support frame, and the one end of harmonic speed reducer is connected with DC brushless motor, and harmonic speed reducer and control box electric connection. The increment encoder is fixed on the supporting frame, one end of the increment encoder is connected with the other end of the harmonic speed reducer, and the increment encoder is electrically connected with the control box. Torque sensor is fixed in on the support frame, and torque sensor's one end is connected with the other end of increment encoder, and torque sensor and control box electric connection. Therefore, the joint test experiment platform is simple to assemble and easy to disassemble, can test multiple performances of the joint, and improves the test precision of the output characteristics of the joint.
Description
Technical Field
The invention relates to the technical field of joint test experimental equipment, in particular to a joint test experimental platform.
Background
The research of robotics is one of the fields with active technological development, and the performance of the robot is directly influenced by the quality of the performance of the robot as the joint of the robot is a key component of the robot. The detection of the performance of the joint is therefore becoming increasingly important.
Accurate comprehensive performance evaluation can be provided for the joint through accurate test of the output characteristics of the robot joint, so that the designed joint performance is accurately positioned, and reliable basis is provided for the joint to better meet the required design requirements.
The method adopted by the prior analog load is to connect a connecting rod at the tail end of a test platform to realize variable load. Currently, there is no magnetic particle brake specifically designed for the test platform, which is often used in industrial applications to select magnetic particle brakes with torque control accuracy and magnetic particle brake response speed.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a joint test experiment platform which is simple to assemble and easy to disassemble, can test a plurality of performances of a joint and improves the test precision of joint output characteristics.
In order to achieve the above object, the present invention provides a joint testing experimental platform, comprising: control box, support frame, DC brushless motor, harmonic speed reducer machine, increment encoder, torque sensor, shaft coupling and magnetic powder brake. The direct current brushless motor is fixed on the support frame and is electrically connected with the control box. The harmonic speed reducer is fixed on the support frame, and the one end of harmonic speed reducer is connected with DC brushless motor, and harmonic speed reducer and control box electric connection. The increment encoder is fixed on the supporting frame, one end of the increment encoder is connected with the other end of the harmonic speed reducer, and the increment encoder is electrically connected with the control box. Torque sensor is fixed in on the support frame, and torque sensor's one end is connected with the other end of increment encoder, and torque sensor and control box electric connection. One end of the coupler is connected with the other end of the torque sensor, and the coupler is electrically connected with the control box. On the magnetic powder brake was fixed in the support frame, the one end of magnetic powder brake was connected with the other end of shaft coupling, and magnetic powder brake and control box electric connection. The direct current brushless motor is used for increasing torque after speed reduction. Wherein, harmonic speed reducer machine is used for adjusting test platform's velocity of movement and increase working torque and improve the load. The incremental encoder is used for obtaining the joint rotating speed, converting displacement into a periodic electric signal, converting the electric signal into counting pulses, and marking the size of the displacement by the number of the pulses.
In one embodiment of the present invention, the torque sensor is used to obtain the joint torque and convert the physical change of the torque into an accurate electrical signal.
In one embodiment of the invention, the magnetic powder brake is used for testing dynamometer loading, starting control and braking control of a platform, so that the simulation load is realized.
In an embodiment of the present invention, the joint testing experimental platform further includes a base fixed below the supporting frame by a plurality of supporting columns.
In an embodiment of the invention, the joint testing experimental platform further includes a server electrically connected to the control box, and the server is configured to implement analysis and electrical control of the testing platform through the control box.
In one embodiment of the invention, the joint test experimental platform further comprises a DC brushless motor bracket and a harmonic reducer bracket, increment encoder support, torque sensor support and magnetic powder brake support, the bottom of DC brushless motor support is fixed in on the support frame, DC brushless motor is fixed in on one side at DC brushless motor support top, the bottom of harmonic speed reducer support is fixed in on the support frame, the harmonic speed reducer is fixed in on one side at harmonic speed reducer support top, the bottom of increment encoder support is fixed in on the support frame, the increment encoder is fixed in on one side at increment encoder support top, the bottom of torque sensor support is fixed in on the support frame, torque sensor is fixed in on one side at torque sensor support top, the bottom of magnetic powder brake support is fixed in on the support frame, and magnetic powder brake is fixed in on one side at magnetic powder brake support top.
In one embodiment of the present invention, the dc brushless motor is connected to one end of the harmonic reducer through the first sleeve and the sleeve connector.
In one embodiment of the present invention, the other end of the harmonic reducer is connected to one end of the incremental encoder through a second sleeve.
Compared with the prior art, the joint test experiment platform provided by the invention can test the output characteristics of the robot joint, including torque and rotating speed, and the magnetic powder brake is used for realizing the simulation load, so that the test precision of the output characteristics of the joint is improved by more than 10%.
Drawings
FIG. 1 is a schematic front view of a joint testing experimental platform according to an embodiment of the present invention;
fig. 2 is a schematic top view of a part of a joint testing experimental platform according to an embodiment of the invention.
Description of the main reference numerals:
the device comprises a control box 1, a 2-direct current brushless motor, a 3-harmonic speed reducer, a 4-incremental encoder, a 5-torque sensor, a 6-magnetic powder brake, a 7-coupler, an 8-direct current brushless motor support, a 9-harmonic speed reducer support, a 10-incremental encoder support, a 11-first sleeve, a 12-sleeve connecting piece, a 13-second sleeve, a 14-direct current brushless motor bottom plate, a 15-harmonic speed reducer bottom plate, a 16-incremental encoder bottom plate, a 17-torque sensor bottom plate, a 18-magnetic powder brake bottom plate, a 19-supporting frame, a 20-torque sensor support and a 21-magnetic powder brake support.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a schematic front view of a joint testing experimental platform according to an embodiment of the invention. Fig. 2 is a schematic top view of a part of a joint testing experimental platform according to an embodiment of the invention.
As shown in fig. 1 to 2, a joint testing experimental platform according to a preferred embodiment of the present invention includes: the device comprises a control box 1, a support frame 19, a direct current brushless motor 2, a harmonic speed reducer 3, an increment encoder 4, a torque sensor 5, a coupler 7 and a magnetic powder brake 6. The dc brushless motor 2 is fixed on the support frame 19, and the dc brushless motor 2 is electrically connected to the control box 1. The harmonic speed reducer 3 is fixed on the support frame 19, one end of the harmonic speed reducer 3 is connected with the direct current brushless motor 2, and the harmonic speed reducer 3 is electrically connected with the control box 1. The incremental encoder 4 is fixed on the support frame 19, one end of the incremental encoder 4 is connected with the other end of the harmonic speed reducer 3, and the incremental encoder 4 is electrically connected with the control box 1. The torque sensor 5 is fixed on the support frame 19, one end of the torque sensor 5 is connected with the other end of the incremental encoder 4, and the torque sensor 5 is electrically connected with the control box 1. One end of the coupler 7 is connected with the other end of the torque sensor 5, and the coupler 7 is electrically connected with the control box 1. Magnetic powder brake 6 is fixed in on the support frame 19, and the one end of magnetic powder brake 6 is connected with the other end of shaft coupling 7, and magnetic powder brake 6 and control box 1 electric connection. The dc brushless motor 2 is used to reduce the speed and increase the torque. Wherein, harmonic speed reducer machine 3 is used for adjusting test platform's velocity of movement and increase working torque and improve the load. The incremental encoder 4 is used for obtaining the joint rotation speed, converting the displacement into a periodic electric signal, converting the electric signal into counting pulses, and marking the size of the displacement by the number of the pulses.
In one embodiment of the present invention, the torque sensor 5 is used to obtain the joint torque and convert the physical change of the torque into an accurate electrical signal. The magnetic powder brake 6 is used for testing the dynamometer loading, starting control and braking control of the platform, so that the simulation load is realized.
In an embodiment of the present invention, the joint testing platform further includes a base fixed below the supporting frame 19 by a plurality of supporting columns. The joint test experiment platform further comprises a server which is electrically connected with the control box 1, and the server is used for realizing analysis and electrical control of the test platform through the control box 1.
In one embodiment of the present invention, the joint testing experimental platform further comprises a dc brushless motor support 8, a harmonic reducer support 9, an incremental encoder support 10, a torque sensor support 20, and a magnetic powder brake support 21, wherein the bottom of the dc brushless motor support 8 is fixed on a support frame 19, the dc brushless motor 2 is fixed on one side of the top of the dc brushless motor support 8, the bottom of the harmonic reducer support 9 is fixed on the support frame 19, the harmonic reducer 3 is fixed on one side of the top of the harmonic reducer support 9, the bottom of the incremental encoder support 10 is fixed on the support frame 19, the incremental encoder 4 is fixed on one side of the top of the incremental encoder support 10, the bottom of the torque sensor support 20 is fixed on the support frame 19, the torque sensor 5 is fixed on one side of the top of the torque sensor support 20, and the bottom of the magnetic powder brake support 21 is fixed on the support frame 19, and the magnetic powder brake 6 is fixed on one side of the top of the magnetic powder brake bracket 21.
In one embodiment of the present invention, the dc brushless motor 2 is connected to one end of the harmonic reducer 3 through the first sleeve 11 and the sleeve joint 12. The other end of the harmonic reducer 3 is connected with one end of the incremental encoder 4 through a second sleeve 13.
In practical application, the joint test experiment platform mainly comprises a control box 1, a direct current brushless motor 2, a harmonic speed reducer 3, an incremental encoder 4, a torque sensor 5 and a magnetic powder brake 6. The direct current brushless motor 2 is connected with the harmonic speed reducer 3 through the first sleeve 11 and the sleeve connecting piece 12, and is used for increasing torque after speed reduction. The DC brushless motor 2 is erected away from the desktop through a DC brushless motor support 8, the DC brushless motor support 8 is fixed on a DC brushless motor bottom plate 14 through a fastener, and the DC brushless motor bottom plate 14 is fixed on a support frame 19. The direct current brushless motor 2 is electrically connected with the control cabinet and used for braking the system, realizing motion and loading detection of the joint test platform and controlling internal signals of the motor. The harmonic reducer 3 is connected to the incremental encoder 4 via a second sleeve 13. The harmonic reducer 3 is supported from the table top through a harmonic reducer support 9, the harmonic reducer support 9 is fixed on a harmonic reducer bottom plate 15 through a fastener, and the harmonic reducer bottom plate 15 is fixed on a support frame 19. The output mode of the harmonic speed reducer 3 is flange output, and the harmonic speed reducer 3 is connected with the direct current brushless motor 2 and used for adjusting the movement speed of the joint test platform, increasing the working torque, improving the load and the like. The incremental encoder 4 is directly connected to the torque sensor 5, and the incremental encoder 4 is mounted off the table by an incremental encoder mount 10, the incremental encoder mount 10 being fixed to an incremental encoder base plate 16 by fasteners, and the incremental encoder base plate 16 being fixed to a support bracket 19. The increment encoder 4 is connected with the output end of the harmonic speed reducer 3 and the input end of the torque sensor 5, and is used for obtaining the joint rotating speed, converting displacement into a periodic electric signal, converting the electric signal into counting pulses, and expressing the displacement by the number of the pulses. The torque sensor 5 is connected with the magnetic powder brake 6 through a coupler 7. The torque sensor 5 is supported off the table by a torque sensor support 20, the torque sensor support 20 is fixed on the torque sensor base plate 17 by a fastener, and the torque sensor base plate 17 is fixed on the support frame 19. The torque sensor 5 is connected with the incremental encoder 4 and the magnetic powder brake 6 and is used for obtaining joint torque and converting physical changes of the torque into accurate electric signals. The magnetic powder brake 6 is supported off the table by a magnetic powder brake support 21, the magnetic powder brake support 21 is fixed on the magnetic powder brake base plate 18 by a fastener, and the magnetic powder brake base plate 18 is fixed on the support frame 19. And the magnetic powder brake 6 is connected with the output end of the torque sensor 5 and is used for dynamometer loading, starting control and braking control of the joint test experiment platform to realize simulation load.
In one embodiment, the first sleeve 11 is connected to an output shaft of the dc brushless motor 2, the dc brushless motor bracket 8 is perpendicular to the output shaft of the dc brushless motor 2, and the dc brushless motor base plate 14 is perpendicular to the dc brushless motor bracket 8 and connected to each other by a fastening member.
In one embodiment, the sleeve connector 12 is connected with the input end of the harmonic reducer 3, the second sleeve 13 is connected with the output end of the harmonic reducer 3, the harmonic reducer support 9 is perpendicular to the input end of the harmonic reducer 3, and the harmonic reducer base plate 15 is perpendicular to the harmonic reducer support 9 and connected with the harmonic reducer through a fastener;
in one embodiment, the incremental encoder 4 is connected with the output end of the harmonic reducer 3 through a second sleeve 13, the incremental encoder support 10 is perpendicular to the incremental encoder 4, and the incremental encoder base plate 16 is perpendicular to the incremental encoder support 10 and connected with the incremental encoder support 10 through a fastener.
In one embodiment, the torque sensor 5 and the magnetic particle brake 6 are connected through a coupling 7, the torque sensor bracket 20 is perpendicular to the torque sensor 5, and the torque sensor base plate 17 is perpendicular to the torque sensor bracket 20 and connected to each other through a fastener.
In one embodiment, the magnetic particle brake bracket 21 is perpendicular to the magnetic particle brake 6, and the magnetic particle brake base plate 18 is perpendicular to the magnetic particle brake bracket 21 and attached to each other by fasteners. All mounted on the support bracket 19 by fasteners.
In order to test the output characteristics of the robot joint, the internal signals, voltage and current of the motor are detected and controlled by the direct current brushless motor. The joint torque is obtained by a torque sensor 5, the joint rotating speed can be obtained by an encoder or the torque sensor 5, and the simulation load is realized by a magnetic powder brake 6.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Examples prior to testing, mechanical attachment was performed according to the mechanism shown in fig. 1. The main working components comprise a control box 1, a direct current brushless motor 2, a harmonic speed reducer 3, an increment encoder 4, a torque sensor 5, a coupler 7 and a magnetic powder brake 6.
During the example test, the joint test experiment platform further comprises a server which is electrically connected with the control box 1, and the server is used for realizing the analysis and the electrical control of the test platform through the control box. Meanwhile, the joint output signal is acquired by an external signal acquisition device.
During the test of the embodiment, the direct current brushless motor 2 and the harmonic reducer 3 form the joint to be tested, and the joint to be tested is electrically connected with the control box 1, so that the analysis and the electrical control of the test platform are realized.
During example testing, the direct current brushless motor 2 and the harmonic reducer 3 form a joint to be tested, the joint to be tested is connected with the incremental encoder 4 and used for obtaining the rotating speed of the joint, displacement is converted into periodic electric signals, the electric signals are converted into counting pulses, and the number of the pulses is used for marking the size of the displacement.
During the example test, the incremental encoder 4 obtains the rotating speed of the joint to be tested and then is connected with the torque sensor 5 to obtain the joint torque, and the physical change of the torque is converted into an accurate electric signal.
During the test of the embodiment, the simulation load of the test platform can be realized through the magnetic powder brake.
And finally, acquiring output signals of the incremental encoder 4 and the torque sensor 5 through an external signal acquisition device, and feeding back the output signals to the server to analyze joint output characteristics.
In the embodiment, one test platform can test a plurality of performances of the joint, so that the test period of the joint is shortened, the precision is improved, and the test cost is reduced.
In a word, the joint test experiment platform is simple to assemble and easy to disassemble, can test the output characteristics of the robot joint, including torque and rotating speed, realizes the simulation load by using the magnetic powder brake, and improves the test precision of the output characteristics of the joint by more than 10%.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (8)
1. A joint testing experiment platform, comprising:
a control box;
a support frame;
the direct current brushless motor is fixed on the support frame and is electrically connected with the control box;
the harmonic speed reducer is fixed on the support frame, one end of the harmonic speed reducer is connected with the direct-current brushless motor, and the harmonic speed reducer is electrically connected with the control box;
the increment encoder is fixed on the supporting frame, one end of the increment encoder is connected with the other end of the harmonic speed reducer, and the increment encoder is electrically connected with the control box;
the torque sensor is fixed on the support frame, one end of the torque sensor is connected with the other end of the incremental encoder, and the torque sensor is electrically connected with the control box;
one end of the coupler is connected with the other end of the torque sensor, and the coupler is electrically connected with the control box; and
the magnetic powder brake is fixed on the support frame, one end of the magnetic powder brake is connected with the other end of the coupler, and the magnetic powder brake is electrically connected with the control box;
the direct current brushless motor is used for increasing torque after speed reduction;
the harmonic speed reducer is used for adjusting the movement speed of the test platform and increasing the working torque to improve the load;
the incremental encoder is used for obtaining the joint rotating speed, converting displacement into a periodic electric signal, converting the electric signal into counting pulses, and marking the size of the displacement by the number of the pulses.
2. The joint testing experimental platform of claim 1, wherein the torque sensor is used for obtaining joint torque and converting physical changes of the torque into accurate electric signals.
3. The joint testing experimental platform of claim 1, wherein the magnetic powder brake is used for dynamometer loading, start control and brake control of the testing platform, so as to realize analog loading.
4. The joint testing experimental platform of claim 1, further comprising a base fixed below the supporting frame by a plurality of supporting columns.
5. The joint testing experimental platform of claim 1, further comprising a server electrically connected to the control box, wherein the server is configured to perform analysis and electrical control of the testing platform through the control box.
6. The joint testing experimental platform of claim 1, further comprising a DC brushless motor bracket, a harmonic reducer bracket, an incremental encoder bracket, a torque sensor bracket and a magnetic powder brake bracket, wherein the bottom of the DC brushless motor bracket is fixed on the supporting bracket, the DC brushless motor is fixed on one side of the top of the DC brushless motor bracket, the bottom of the harmonic reducer bracket is fixed on the supporting bracket, the harmonic reducer is fixed on one side of the top of the harmonic reducer bracket, the bottom of the incremental encoder bracket is fixed on the supporting bracket, the incremental encoder is fixed on one side of the top of the incremental encoder bracket, the bottom of the torque sensor bracket is fixed on the supporting bracket, and the torque sensor is fixed on one side of the top of the torque sensor bracket, the bottom of the magnetic powder brake support is fixed on the support frame, and the magnetic powder brake is fixed on one side of the top of the magnetic powder brake support.
7. The joint testing experimental platform of claim 1, wherein the dc brushless motor is connected to one end of the harmonic reducer through a first sleeve and a sleeve connector.
8. The joint testing experimental platform of claim 1, wherein the other end of the harmonic reducer is connected with one end of the incremental encoder through a second sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110544054.4A CN113237652A (en) | 2021-05-19 | 2021-05-19 | Joint test experiment platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110544054.4A CN113237652A (en) | 2021-05-19 | 2021-05-19 | Joint test experiment platform |
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| CN113237652A true CN113237652A (en) | 2021-08-10 |
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| CN202110544054.4A Pending CN113237652A (en) | 2021-05-19 | 2021-05-19 | Joint test experiment platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
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2021
- 2021-05-19 CN CN202110544054.4A patent/CN113237652A/en active Pending
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Application publication date: 20210810 |