CN114227753A - Height-adjustable's power generation facility - Google Patents
Height-adjustable's power generation facility Download PDFInfo
- Publication number
- CN114227753A CN114227753A CN202111463146.6A CN202111463146A CN114227753A CN 114227753 A CN114227753 A CN 114227753A CN 202111463146 A CN202111463146 A CN 202111463146A CN 114227753 A CN114227753 A CN 114227753A
- Authority
- CN
- China
- Prior art keywords
- channel
- generating device
- force generating
- lifting
- collecting
- Prior art date
- 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.)
- Pending
Links
Images
Classifications
-
- 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
Abstract
The invention relates to a height-adjustable force generating device, and belongs to the technical field of robot detection devices. Comprises a movable base, a lifting platform and a force generating device; a lifting platform is arranged on the movable base, and a force generating device is arranged on the lifting platform; the force generating device comprises a standard ball slideway, a standard ball, a drawing plate and a collecting device from top to bottom; the standard ball slideway is provided with a first channel which is provided with openings at the upper end and the lower end and has a circular cross section and is used for standard balls to pass through, and a drawing plate is arranged in the first channel; a collecting device is arranged below the opening at the lower end of the first passage. The height-adjustable force generating device for the robot power control robustness test can adjust the height position of force action and can also adjust the impact speed, can be used for the robot power control robustness test, and effectively provides required impact force; the force generating device is simple to operate and convenient to move.
Description
Technical Field
The invention relates to a height-adjustable force generating device, and belongs to the technical field of robot detection devices.
Background
Force control is currently one of the most typical, most widespread applications in cooperative robots. Most robots have excellent force control strategies, but the stability of the robots under external impact is insufficient, so that the force control robustness needs to be tested and evaluated. When evaluating the performance, a certain impact force needs to be provided from the outside.
The force generating device with the adjustable height needs to be designed for providing a certain impact force during force control testing conveniently, the height position of force action can be adjusted, the impact speed can be adjusted, the required impact force can be effectively provided in the force control testing of the robot, the operation is simple, and the movement is convenient.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide adjustable acting force in the force control robustness test of a cooperative robot.
In order to solve the problems, the technical scheme adopted by the invention is to provide a height-adjustable force generating device, which comprises a movable base, a lifting platform and a force generating device, wherein the movable base is provided with a first end and a second end; a lifting platform is arranged on the movable base, and a force generating device is arranged on the lifting platform; the force generating device comprises a standard ball slideway, a standard ball, a drawing plate and a collecting device from top to bottom; the standard ball slideway is provided with a first channel which is provided with openings at the upper end and the lower end and has a circular cross section and is used for standard balls to pass through, and a drawing plate is arranged in the first channel; and a collecting device is arranged below the opening at the lower end of the channel.
Preferably, the standard ball slideway comprises a left slideway and a right slideway, and the left slideway and the right slideway are respectively provided with a semicircular channel; the two semicircular channels are spliced to form a first channel of a standard ball slideway; openings at the upper end and the lower end of the first channel are respectively arranged as a ball inlet and a ball outlet.
Preferably, a plurality of slots for inserting the drawing plate into the first channel are formed in the side wall of the first channel.
Preferably, the standard ball slideway is L-shaped in appearance and comprises a vertical section and a horizontal section which are continuous from top to bottom; and a plurality of slots for inserting the drawing plates into the first channels are formed in the side walls of the vertical sections.
Preferably, the collecting means comprises a collecting cassette, a collecting channel port and a channel supporting column; a collecting channel port is arranged below the ball outlet and is connected with a collecting box through a collecting channel; the collecting channel is connected with the lifting platform through the channel supporting column.
Preferably, the lifting platform comprises a lifter, a lifting plate, a guide shaft support, a guide pillar, a rotating shaft and a hand wheel; a lifter is arranged below the lifting plate and is connected with a hand wheel through a rotating shaft; a downward guide shaft support is arranged around the lifting plate, and a guide pillar is arranged in the guide shaft support; the hand wheel is provided with a hand wheel locker.
Preferably, the movable base comprises a movable bottom plate, universal wheels, profiles, a lifting bottom plate and handrails; the lifter is arranged on the lifting bottom plate, the lower part of the lifting bottom plate is connected with the movable bottom plate through a profile, and the universal wheels are arranged below the movable bottom plate; the lifting bottom plate is provided with a handrail.
Preferably, the universal wheel is provided with a locking device.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a height-adjustable force generating device for testing robot force control robustness, which can adjust the height position of force action and the impact speed, can be used for testing the force control robustness of a robot, and effectively provides required impact force; the force generation device is simple to operate and convenient to move.
Drawings
Fig. 1 is a schematic view of the overall structure of a height-adjustable force generation device according to the present invention.
Fig. 2 is a schematic view of the overall structure of a height-adjustable force generation device according to the present invention.
Fig. 3 is a schematic view of the overall structure of a height-adjustable force generation device according to a third embodiment of the present invention.
Fig. 4 is a schematic structural view of a lifting platform of a height-adjustable force generation device of the present invention.
Fig. 5 is a first structural schematic diagram of a force generating mechanism of a height-adjustable force generating device of the present invention.
Fig. 6 is a schematic structural diagram of a force generating mechanism of a height-adjustable force generating device according to the present invention.
Reference numerals: 1. a universal wheel; 2. moving the base plate; 3. a section bar; 4. a lifting bottom plate; 5. a handrail; 6. an elevator; 7. a lifting plate; 8. a guide shaft support; 9. a linear bearing; 10. a guide post; 11. a rotating shaft; 12. a bearing seat; 13. a bearing; 14. a hand wheel locker; 15. a hand wheel; 16. a force-generating base plate; 17. a support pillar; 18. mounting a bottom plate; 19. a left slideway; 20. a right slideway; 21. drawing the plate; 22. a standard ball; 23. a collection box; 24. a collection channel; 25. a collection channel port; 26. and a channel support column.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:
as shown in fig. 1-6, the technical solution adopted by the present invention is to provide a height-adjustable force generating device, which comprises a movable base, a lifting platform and a force generating device; a lifting platform is arranged on the movable base, and a force generating device is arranged on the lifting platform; the force generating device comprises a standard ball slideway, a standard ball 22, a drawing plate 21 and a collecting device from top to bottom; the standard ball slideway is provided with a first channel which is provided with openings at the upper end and the lower end and has a circular cross section and is used for a standard ball 22 to pass through, and a drawing plate 21 is arranged in the first channel; a collecting device is arranged below the opening at the lower end of the first passage. The standard ball slideway comprises a left slideway 19 and a right slideway 20, and the left slideway 19 and the right slideway 20 are respectively provided with a semicircular channel; the two semicircular channels are spliced to form a first channel of a standard ball slideway; openings at the upper end and the lower end of the first channel are respectively arranged as a ball inlet and a ball outlet. The side wall of the first channel is provided with a plurality of slots for inserting the drawing plate 21 into the first channel. The standard ball slideway is L-shaped and comprises a vertical section and a horizontal section which are continuous from top to bottom; the side wall of the vertical section is provided with a plurality of slots for inserting the first drawing plate 21 into the first passage. The collecting means includes a collecting box 23, a collecting channel 24, a collecting channel port 25, and a channel supporting column 26; a collecting channel port 25 is arranged below the ball outlet, and the collecting channel port 25 is connected with the collecting box 23 through a collecting channel 24; the collection channel 24 is connected to the lifting platform by channel support posts 26. The lifting platform comprises a lifter 6, a lifting plate 7, a guide shaft support 8, a guide post 10, a rotating shaft 11 and a hand wheel 15; a lifter 6 is arranged below the lifting plate 7, and the lifter 6 is connected with a hand wheel 15 through a rotating shaft 11; the lifting plate 7 is provided with a downward guide shaft support 8 at the periphery, and a guide post 10 is arranged in the guide shaft support 8. The movable base comprises a movable bottom plate 2, universal wheels 1, sectional materials 3, a lifting bottom plate 4 and handrails 5; the lifter 6 is arranged on the lifting bottom plate 4, the lower part of the lifting bottom plate 4 is connected with the movable bottom plate 2 through the section bar 3, and the universal wheel 1 is arranged below the movable bottom plate 2; the lifting bottom plate 4 is provided with a handrail 5. The universal wheel 1 is provided with a locking device.
The invention aims to solve the technical problem of how to provide adjustable acting force for the force control robustness test of the cooperative robot. Therefore, the invention provides a height-adjustable force generating device for robot force control testing, which comprises a movable base, a lifting platform and the force generating device. Wherein: the movable base is used for installing a lifting platform, and a force generating device is carried on the lifting platform.
The movable base is composed of a movable bottom plate 2 and a lifting bottom plate 4, the movable bottom plate 2 and the lifting bottom plate 4 are connected together through a section bar 3, 4 universal wheels 1 capable of being jacked are installed below the movable bottom plate 2, and when the universal wheels 1 retract, the whole device can be driven to move in an omnidirectional manner; when the universal wheel 1 is jacked up, the static stability of the device can be ensured. The side of the lifting bottom plate 4 is provided with a handrail 5, which is convenient for pushing the whole device to move. The periphery of the movable bottom plate 2 is coated by a plastic shell, the movable bottom plate is matched with the appearance of the cooperative robot main body testing equipment, and a certain dustproof and waterproof effect is achieved;
the lifting platform is installed on the lifting bottom plate 4 and driven by a lifter 6, the lifter 6 is connected with a hand wheel 15 through a rotating shaft 11, the hand wheel locker 14 is installed on the rotating shaft 11, the rotating shaft 11 and the inner ring of the bearing 13 are installed together, and the outer ring of the bearing 13 is installed on the lifting bottom plate 4 through a bearing seat 12. The output end of the elevator 6 is provided with a lifting plate 7, 4 guide pillars 10 are arranged around the lifting platform, the guide pillars 10 are arranged in a guide shaft support 8, the guide shaft support 8 is connected with the lifting plate 7, the guide pillars 10 simultaneously penetrate through a linear bearing 9, and the linear bearing 9 is arranged on the lifting bottom plate 4. The height of the lifting plate 7 can be adjusted by shaking the hand wheel 15, the set height of the lifting plate 7 can be kept by the hand wheel locker 14, so that the height position of the impact force generated by the force generating device is ensured, and the lifting plate 7 is supported by the four guide posts 10, so that the stability of the lifting process is ensured;
the force generating device is arranged on the lifting plate 7 through a force generating bottom plate 16, 4 supporting columns 17 are arranged on the force generating bottom plate 16, the supporting columns 17 are connected with an installation bottom plate 18, a slide way is arranged on the installation bottom plate 18 and is formed by connecting a left slide way 19 and a right slide way 20, a spherical channel is arranged in the slide way, a drawing plate 21 is arranged on the upper portion of the slide way, 2kg of standard balls 22 are placed on the drawing plate 21, the standard balls 22 fall through the spherical channel, certain impact force is formed at an outlet, the impact force is used for force control robustness test of a robot, the drawing plate 21 has different slot heights and can adjust the impact speed formed by the standard balls to meet different requirements, a collecting box 23 is arranged at the lower end of the installation bottom plate 18, the collecting box 23 is connected with a collecting channel opening 25 through a collecting channel 24, the collecting channel opening 25 faces the outlet of the standard balls 22 and is used for recovering the standard balls 22, the lower end of the collection channel opening 25 is provided with a channel support post 26 which is connected with the force generation bottom plate 16 to avoid violent impact of the standard ball 22 on the collection channel.
As shown in fig. 1-6, the invention provides a height-adjustable force generating device.
As can be seen from fig. 2 and 3 in combination with fig. 1, the movable base is composed of a movable bottom plate 2 and a lifting bottom plate 4, the movable bottom plate 2 and the lifting bottom plate 4 are connected together through a section bar 3, the movable bottom plate 2 is provided with 4 universal wheels 1 capable of being lifted, and when the universal wheels 1 retract, the whole device can be driven to move in all directions; when the universal wheel 1 is jacked up, the static stability of the device can be ensured. The side of the lifting bottom plate 4 is provided with a handrail 5, which is convenient for pushing the whole device to move. The periphery of the movable bottom plate 2 is coated by a plastic shell, the movable bottom plate is matched with the appearance of the cooperative robot main body testing equipment, and a certain dustproof and waterproof effect is achieved;
as can be seen from fig. 2, 3 and 4, the lifting platform is installed on the lifting base plate 4, the lifting platform is driven by a lift 6, the lift 6 is connected with a hand wheel 15 through a rotating shaft 11, the hand wheel locker 14 is installed on the rotating shaft 11, the rotating shaft 11 is installed together with an inner ring of a bearing 13, and an outer ring of the bearing 13 is installed on the lifting base plate 4 through a bearing seat 12. The output end of the elevator 6 is provided with a lifting plate 7, 4 guide pillars 10 are arranged around the lifting platform, the guide pillars 10 are arranged on a guide shaft support 8, the guide shaft support 8 is connected with the lifting plate 7, the guide pillars 10 simultaneously penetrate through a linear bearing 9, and the linear bearing 9 is arranged on the lifting bottom plate 4. The height of the lifting plate 7 can be adjusted by shaking the hand wheel 15, the set height of the lifting plate 7 can be kept through the hand wheel locker 14, so that the height position of the acting force generated by the force generation mechanism is ensured, and the lifting plate 7 is supported by the four guide pillars 10, so that the stability of the lifting process is ensured.
As can be seen from fig. 2, 5 and 6, the force generating device is installed on the lifting plate 7 through the force generating bottom plate 16, 4 supporting columns 17 are arranged on the force generating bottom plate 16, the supporting columns 17 are connected with the installation bottom plate 18, a slide way is installed on the installation bottom plate 18 and is formed by connecting a left slide way 19 and a right slide way 20, a spherical channel is arranged in the slide way, a drawing plate 21 is installed on the upper portion of the slide way, 2kg standard balls 22 are placed on the drawing plate 21, the standard balls 22 fall through the spherical channel to form a certain impact force at an outlet, the impact force is used for the force control test of the robot, because the drawing plate 21 has different installation heights, the action force formed by the standard balls 22 can be adjusted to meet different requirements, the collecting box 23 is installed at the lower end of the installation bottom plate 18, the collecting box 23 is connected with the collecting channel port 25 through the collecting channel 24, and the collecting channel port 25 faces the outlet of the standard balls 22, for recovering the standard ball 22, a channel supporting column 26 is arranged at the lower end of the collecting channel opening 25 and connected with the force generation bottom plate 16, so that the impact force of the standard ball 22 on the collecting channel 24 is avoided.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (8)
1. A height-adjustable force generating device is characterized by comprising a movable base, a lifting platform and a force generating device; a lifting platform is arranged on the movable base, and a force generating device is arranged on the lifting platform; the force generating device comprises a standard ball slideway, a standard ball, a drawing plate and a collecting device from top to bottom; the standard ball slideway is provided with a first channel which is provided with openings at the upper end and the lower end and has a circular cross section and is used for standard balls to pass through, and a drawing plate is arranged in the first channel; and a collecting device is arranged below the opening at the lower end of the channel.
2. The height-adjustable force-generating device of claim 1, wherein the standard ball ramp comprises a left ramp and a right ramp, each of which is provided with a semicircular channel; the two semicircular channels are spliced to form a first channel of a standard ball slideway; openings at the upper end and the lower end of the first channel are respectively arranged as a ball inlet and a ball outlet.
3. A height adjustable force generating device as claimed in claim 2, wherein the first channel has a plurality of slots formed in a sidewall thereof for insertion of the drawer into the first channel.
4. A height adjustable force generating device as claimed in claim 3, wherein said standard ball ramp is configured in an L-shape comprising a vertical section and a horizontal section in series from top to bottom; and a plurality of slots for inserting the drawing plates into the first channels are formed in the side walls of the vertical sections.
5. A height adjustable force generating device as claimed in claim 4, wherein said collecting means comprises a collecting box, collecting channels, collecting channel ports and channel support posts; a collecting channel port is arranged below the ball outlet and is connected with a collecting box through a collecting channel; the collecting channel is connected with the lifting platform through the channel supporting column.
6. The height-adjustable force generating device according to claim 5, wherein the elevating platform comprises an elevator, an elevating plate, a guide shaft support, a guide post, a rotating shaft, and a hand wheel; a lifter is arranged below the lifting plate and is connected with a hand wheel through a rotating shaft; a downward guide shaft support is arranged around the lifting plate, and a guide pillar is arranged in the guide shaft support; the hand wheel is provided with a hand wheel locker.
7. A height adjustable force generating device as claimed in claim 6, wherein said motion base comprises a motion base plate, a universal wheel, a profile, a lifting base plate and a handrail; the lifter is arranged on the lifting bottom plate, the lower part of the lifting bottom plate is connected with the movable bottom plate through a profile, and the universal wheels are arranged below the movable bottom plate; the lifting bottom plate is provided with a handrail.
8. A height adjustable force generating device as claimed in claim 7, wherein the castor is provided with locking means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111463146.6A CN114227753A (en) | 2021-12-03 | 2021-12-03 | Height-adjustable's power generation facility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111463146.6A CN114227753A (en) | 2021-12-03 | 2021-12-03 | Height-adjustable's power generation facility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114227753A true CN114227753A (en) | 2022-03-25 |
Family
ID=80752850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111463146.6A Pending CN114227753A (en) | 2021-12-03 | 2021-12-03 | Height-adjustable's power generation facility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114227753A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012055080A1 (en) * | 2010-10-25 | 2012-05-03 | 大连德新机电技术工程有限公司 | Double-shaft variable pitch electric bolt fastening machine |
| CN102507124A (en) * | 2011-10-27 | 2012-06-20 | 清华大学 | Device for detecting falling sphere strength of spherical element |
| CN102901647A (en) * | 2012-09-14 | 2013-01-30 | 淮阴工学院 | Loader test platform |
| CN104406760A (en) * | 2014-12-02 | 2015-03-11 | 重庆大学 | Simulation experiment system and method for testing impact function of slumped mass on building |
| CN107825464A (en) * | 2017-11-08 | 2018-03-23 | 西安工业大学 | A kind of simulating test device of submarine mechanical arm |
| CN108340407A (en) * | 2018-02-06 | 2018-07-31 | 浙江大学 | A kind of planar robot's race jump test device of adjustable degree of freedom |
| CN109366524A (en) * | 2018-11-21 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | Soldering appliance calibration tool |
| CN110068441A (en) * | 2019-05-23 | 2019-07-30 | 福州大学 | A kind of device of detection level impact load |
| CN210833960U (en) * | 2019-11-06 | 2020-06-23 | 无锡麟达新型管道科技有限公司 | Device convenient to detect impact force |
-
2021
- 2021-12-03 CN CN202111463146.6A patent/CN114227753A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012055080A1 (en) * | 2010-10-25 | 2012-05-03 | 大连德新机电技术工程有限公司 | Double-shaft variable pitch electric bolt fastening machine |
| CN102507124A (en) * | 2011-10-27 | 2012-06-20 | 清华大学 | Device for detecting falling sphere strength of spherical element |
| CN102901647A (en) * | 2012-09-14 | 2013-01-30 | 淮阴工学院 | Loader test platform |
| CN104406760A (en) * | 2014-12-02 | 2015-03-11 | 重庆大学 | Simulation experiment system and method for testing impact function of slumped mass on building |
| CN107825464A (en) * | 2017-11-08 | 2018-03-23 | 西安工业大学 | A kind of simulating test device of submarine mechanical arm |
| CN108340407A (en) * | 2018-02-06 | 2018-07-31 | 浙江大学 | A kind of planar robot's race jump test device of adjustable degree of freedom |
| CN109366524A (en) * | 2018-11-21 | 2019-02-22 | 安徽江淮汽车集团股份有限公司 | Soldering appliance calibration tool |
| CN110068441A (en) * | 2019-05-23 | 2019-07-30 | 福州大学 | A kind of device of detection level impact load |
| CN210833960U (en) * | 2019-11-06 | 2020-06-23 | 无锡麟达新型管道科技有限公司 | Device convenient to detect impact force |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101780946B1 (en) | Assembly system for shafting system of permanent magnet direct drive wind power generator | |
| CN206114919U (en) | Platform is adjusted to multidimension | |
| JP2013146547A (en) | Composite lifting stage | |
| CN115897525B (en) | Hydraulic engineering foundation bearing capacity detection device and method | |
| CN114227753A (en) | Height-adjustable's power generation facility | |
| CN209585565U (en) | A kind of job platform of building engineering construction | |
| CN201626054U (en) | Rotatable green porcelain tape punching component | |
| JP5973216B2 (en) | Lifting cart | |
| CN215047791U (en) | Elevator is steady detection device for taking a trial run | |
| CN101817045B (en) | Rotatable raw ceramic belt punching assembly | |
| CN206096477U (en) | Ionization chamber detecting system | |
| CN213544483U (en) | Liquid sustained combustion experiment instrument | |
| CN213894830U (en) | Derrick structure of platform type elevator | |
| CN213381223U (en) | Bearing device and detection equipment | |
| CN210081107U (en) | Lifting telescopic assembling platform | |
| CN211855382U (en) | Automatic elevating platform is measured to laser tracker | |
| CN113968550A (en) | Lifting platform | |
| CN217894836U (en) | Elevator counterweight housing strutting arrangement | |
| CN219365352U (en) | Lifting scaffold | |
| CN218954536U (en) | Operation device used in fault detection of photovoltaic power station | |
| CN216235835U (en) | Movable lifting platform for electromechanical installation | |
| CN112421455B (en) | Power transformation and distribution maintenance device | |
| CN116545186B (en) | Annular sliding rail car operation vehicle for overhauling generator stator | |
| CN114684546B (en) | Rotating table device of stacker and method for detecting and coping with offset | |
| CN218202083U (en) | Higher support frame of security |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |