CN114434490A - Testing arrangement of arm - Google Patents
Testing arrangement of arm Download PDFInfo
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- CN114434490A CN114434490A CN202011210500.XA CN202011210500A CN114434490A CN 114434490 A CN114434490 A CN 114434490A CN 202011210500 A CN202011210500 A CN 202011210500A CN 114434490 A CN114434490 A CN 114434490A
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- 238000012360 testing method Methods 0.000 title claims abstract description 169
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000005316 response function Methods 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 9
- 230000001939 inductive effect Effects 0.000 claims description 6
- 238000012827 research and development Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004904 shortening Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Classifications
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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
Abstract
The application discloses testing arrangement of arm. The testing device comprises a testing platform, a driving mechanism and a control mechanism, wherein the testing platform is used for placing the mechanical arm; the driving mechanism is connected with the test platform and used for driving the test platform to move; the control mechanism is connected with the mechanical arm and the driving mechanism and used for controlling the mechanical arm and the driving mechanism to move so as to test the response function of the mechanical arm. The testing device is simple in structure and convenient to assemble, can effectively replace a mobile platform to perform joint debugging testing with the mechanical arm in advance, and is beneficial to shortening the research and development period.
Description
Technical Field
The application relates to the technical field of robot testing, in particular to a testing device for a mechanical arm.
Background
Products in which robotic arms are used in conjunction with mobile platforms find application in a number of contexts. At present, the common practice is that in the early development stage, the mechanical arm and the mobile platform are separately developed and finally assembled together for joint debugging test. Or in the early stage of research and development, the more basic manual handling/turning of the base is adopted, and the action state response function of the mechanical arm is partially tested.
At present, the mechanical arm and the mobile platform are separately researched and developed, and finally, the mode of joint debugging is assembled, so that the functional problems of the product are easily found in the later stage, and the research and development progress is influenced. In addition, the manual method of moving/turning the base wastes labor cost in the testing process and the displacement cannot be quantized and controlled.
Disclosure of Invention
The main technical problem who solves of this application provides a testing arrangement of arm, and the testing arrangement of this application simple structure is reliable, and the equipment is rapid, can effectively replace moving platform to unite the accent test with the arm in advance, helps shortening research and development cycle.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a test apparatus for a robot arm, the test apparatus including: the test platform is used for placing the mechanical arm; the driving mechanism is connected with the test platform and used for driving the test platform to move; and the control mechanism is connected with the mechanical arm and the driving mechanism and used for controlling the mechanical arm and the driving mechanism to move so as to test the response function of the mechanical arm.
Wherein, actuating mechanism includes 2 drive unit at least, and 2 at least drive unit intervals set up, and drive unit rotates with test platform and is connected.
The testing device comprises a first bearing, and the first bearing is respectively connected with the testing platform and the driving unit.
The output end of the driving unit is sleeved on the outer ring of the first bearing, and the test platform is connected with the inner ring of the first bearing through the connecting shaft.
The testing device further comprises a bottom plate and a second bearing, and the second bearing is connected with the bottom plate and the driving unit respectively.
Wherein, testing arrangement still includes the fastener, sets up on the bottom plate for fixed second bearing.
Wherein, actuating mechanism includes 3 drive unit, and 3 drive unit are the triangle-shaped and distribute.
The testing device further comprises an induction sensor, wherein the induction sensor is located on the testing platform and used for detecting pose data of the testing platform.
The induction sensor is connected with the control mechanism, and the control mechanism is used for receiving pose data from the induction sensor and controlling the mechanical arm to respond according to the pose data.
The control mechanism is used for controlling the driving mechanism to move according to preset parameters and simultaneously controlling the mechanical arm to move according to preset plans, so that the mechanical arm and the test platform are linked to complete preset actions.
The beneficial effect of this application is: be different from prior art's condition, the testing arrangement of this application includes test platform, actuating mechanism and control mechanism, and wherein, test platform is used for placing the arm, and actuating mechanism connects test platform for drive test platform removes, so that test platform simulates the state of arm base under each application scene. The control mechanism is connected with the mechanical arm and the driving mechanism and used for controlling the mechanical arm and the driving mechanism to move so as to test the response function of the mechanical arm. The testing device is simple and reliable in structure and rapid in assembly, can effectively replace a mobile platform to perform joint debugging testing with the mechanical arm in advance, helps to shorten the research and development period, and has strong practicability.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:
FIG. 1 is a schematic structural diagram of an embodiment of a testing apparatus provided in the present application;
FIG. 2 is a schematic view of the testing apparatus of FIG. 1 from another perspective;
FIG. 3 is a schematic view of a latch of the testing apparatus of FIG. 1;
FIG. 4 is a schematic structural diagram of an embodiment of a control mechanism of the testing device in FIG. 1.
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. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
Technical solutions between various embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
The test device provided by the application can be used for testing the response characteristic of the mechanical arm. Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of an embodiment of a testing apparatus provided in the present application, and fig. 2 is a schematic structural diagram of another view angle of the testing apparatus in fig. 1, specifically, the testing apparatus includes a testing platform 1, a driving mechanism 2, and a control mechanism 3.
The test platform 1 is used for placing the robot arm 4, i.e. the robot arm 4 may be fixed to the test platform 1 by a base when performing a test. The driving mechanism 2 is connected with the testing platform 1 and used for driving the testing platform 1 to move, wherein the mechanical arm 4 can move along with the testing platform 1. Specifically, the driving mechanism 2 can drive the testing platform 1 to move in a plane, and can also drive the testing platform 1 to deflect (rotate), so that the testing platform 1 can simulate a moving platform and drive the mechanical arm 4 to move.
The control mechanism 3 is connected with the mechanical arm 4 and the driving mechanism 2 respectively. The control mechanism 3 is used for controlling the movement of the mechanical arm 4 and the driving mechanism 2. Specifically, the control mechanism 3 can control the state of the test platform 1 by controlling the movement of the driving mechanism 2, and the control mechanism 3 can also control the mechanical arm 4 to enable the mechanical arm 4 to complete a preset action. That is, in the present application, the control mechanism 3 controls the state of the test platform 1 and controls the movement of the robot arm 4 to simulate each application scenario of the robot arm 4, thereby testing the response characteristics of the robot arm 4.
The application of the testing device is simple and reliable in structure and rapid in assembly, can effectively replace a mobile platform to perform joint debugging testing with the mechanical arm 4 in advance, helps to shorten the research and development period, and has strong practicability.
Optionally, as shown in fig. 1, the driving mechanism 2 includes at least 2 driving units, the at least 2 driving units are arranged at intervals, and an output end of the driving unit is rotatably connected with the testing platform 1. The movement and deflection of the test platform 1 are realized by controlling the motion parameters of the different drive units.
For example, the driving mechanism 2 may include a first driving unit 21 and a second driving unit 22, and the output end of the first driving unit 21 is controlled to drive the testing platform 1 to move up by 5cm, and the output end of the second driving unit 22 is controlled to drive the testing platform 1 to move up by 2cm, in this way, the testing platform 1 can be deflected towards the side where the second driving unit 22 is located. Since the output of the drive unit is rotatably connected to the test platform 1, the test platform 1 can be easily deflected without jamming. The embodiment can realize the deflection of the test platform 1 by controlling the displacement difference of the driving unit, and the control method is simple and feasible and has higher reliability.
Preferably, the driving mechanism 2 comprises 3 driving units, and the 3 driving units are arranged at intervals in sequence and distributed in a triangular shape. As shown in fig. 2, the three driving units may be, in turn: the three-degree-of-freedom test platform 1 can simulate the state of the base of the mechanical arm 4 when the mobile platform moves in various application scenes. The testing device of the embodiment has the advantages of simple structure, easiness in assembly and convenience in testing the response performance of the mechanical arm 4.
In other embodiments, the test driving mechanism 2 may further include four or six driving units to implement a multi-degree-of-freedom design of the testing apparatus, so as to increase the applicability of the testing apparatus.
Further, the testing device comprises a first bearing 11, and the first bearing 11 is respectively connected with the testing platform 1 and the driving mechanism 2. Specifically, the output end of the driving mechanism 2 can be sleeved on the outer ring of the first bearing 11, the testing platform 1 can be fixed on the inner ring of the first bearing 11 through the connecting shaft, so that the driving mechanism 2 is connected with the testing platform 1 in a rotating manner, the testing platform 1 can be prevented from being blocked when rotating through the first bearing 11, and the testing platform 1 can obtain a rotational degree of freedom. In other embodiments, the rotational fitting of the drive mechanism 2 to the test platform 1 may also be achieved in other ways.
Further, the testing device further comprises a bottom plate 5, and the driving mechanism 2 is positioned on the bottom plate 5. The fixing and moving of the testing device can be facilitated by arranging the bottom plate 5 to fix the driving mechanism 2.
Alternatively, the base plate 5 and the driving mechanism 2 may also be rotatably engaged to increase the rotation angle of the test platform 1. Specifically, the testing device further includes a second bearing 51, and the second bearing 51 is connected to the base plate 5 and the driving mechanism 2, respectively. The base plate 5 and the drive mechanism 2 are connected in rotation by a second bearing 51. In other embodiments, the bottom plate 5 and the driving mechanism 2 may be rotatably engaged in other ways.
Specifically, referring to fig. 3, fig. 3 is a schematic structural view of an embodiment of a grip of the testing device of fig. 1. The base plate 5 is provided with a stopper 52, and the second bearing 51 can be fixed to the base plate 5 by the stopper 52. Specifically, the locking piece 52 is provided with a locking groove (not shown), and the second bearing 51 is located in the locking groove, so as to realize the fixed connection between the bottom plate 5 and the second bearing 51. The drive mechanism 2 is fixed to an inner race of the second bearing 51 via a support shaft 53. The second bearing 51 is arranged, so that the driving mechanism 2 can be matched with the bottom plate 5 in a rotating mode conveniently, and the rotating angle of the testing platform 1 is increased.
In a specific embodiment, two engaging members 52 are spaced apart from each other to fix the two second bearings 51 to the base plate 5, and a support shaft 53 is disposed between the two second bearings 51, and both ends of the support shaft 53 are fixed to inner rings of the two second bearings 51. The driving mechanism 2 is fixed on the supporting shaft 53, and by the mode, the stability of fixing the driving mechanism 2 can be improved, and the reliability of the testing device is further improved.
In a specific embodiment, the driving mechanism 2 may include a servo motor and an electric cylinder, the electric cylinder includes a lead screw and a nut, and the driving mechanism 2 may be driven by the servo motor and the lead screw and the nut are driven to convert the rotary motion of the servo motor into the linear motion of the lead screw. The output end of the screw rod is connected with the test platform 1 so as to drive the test platform 1 to move through the linear motion of the screw rod. Alternatively, the electric cylinder may employ various transmission devices such as a ball screw/a trapezoidal screw.
In other embodiments, the driving mechanism 2 may also be an air cylinder, and the output end of the air cylinder is connected to the testing platform 1 to drive the testing platform 1 to move.
The testing platform 1 is used for placing the mechanical arm 4, and the mechanical arm 4 is fixed on one side, far away from the driving mechanism 2, of the testing platform 1 through the base. When the testing device is provided with 3 driving units, the testing platform 1 can be triangular, the output ends of the 3 driving units are respectively supported at three corners of the testing platform 1, and the mechanical arm 4 is positioned in the middle of the testing platform 1, so that the driving mechanism 2 is more uniformly stressed.
The testing device further comprises an induction sensor 31, and the induction sensor 31 is located on the testing platform 1 and used for detecting the pose data of the testing platform 1. The inductive sensor 31 is connected with the control mechanism 3 and sends the pose data of the test platform 1 to the control mechanism 3. Alternatively, the inductive sensor 31 may be an inertial navigation unit, the inertial navigation unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object, the inertial navigation unit has a small volume and a low cost, and the inertial navigation unit detects the pose data of the test platform 1 and sends the pose data of the test platform 1 to the control mechanism 3.
As shown in fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the control mechanism 3 in fig. 1, and the control mechanism 3 includes: a robot arm control unit 32, a test platform control unit 33, and an induction sensor control unit 34. The mechanical arm control unit 32 is connected with the test platform control unit 33, the mechanical arm control unit 32 is connected with the induction sensor control unit 34, and the test platform control unit 33 is connected with the induction sensor control unit 34.
The response performance of the mechanical arm 4 can be tested through the testing device. In a test mode, the test platform 1 can be floated by the test device, and the mechanical arm 4 passively detects the position and the posture of the base so as to perform action response.
Specifically, the simulation test platform 1 cannot predict road conditions and generates a bumping action during the traveling process. At this time, the robot arm 4 carried by the test platform 1 still needs to fulfill the function of completing the designated action (including being static).
In this test mode, the drive mechanism 2 is controlled to move by the test stage control unit 33, so that the up-and-down movement or rotation or movement plus rotation of the test stage 1 can be controlled. Specifically, when the moving direction and the moving speed of the output ends of the plurality of driving units are the same, the test platform 1 may move up and down; when the output ends of the plurality of driving units generate displacement difference, the test platform 1 rotates.
The induction sensor 31 fixed on the test platform 1 can detect the pose data (including the rotation angle and the translation displacement) of the test platform 1 and feed back the detected pose data to the induction sensor control unit 34 of the control mechanism 3.
The control mechanism 3 transmits the position and orientation data detected by the induction sensor 31 to the robot arm control unit 32, and the robot arm control unit 32 performs a passive action response based on the position and orientation data. The motion response mode of the robot arm 4 may include that the end effector of the robot arm 4 remains stationary while the test platform 1 is arbitrarily moved (moved or rotated). The action response mode of the mechanical arm 4 can also be that when the test platform 1 acts randomly, the mechanical arm 4 can complete the designated action according to the predefinition. The specific definition can be made according to the usage scenario.
In another test mode, the test platform 1 can communicate with the robot arm 4 to perform linkage, so that the end effector of the robot arm 4 can achieve the function of specifying the position and the posture. The test mode is used for simulating the function of linkage path planning of the mechanical arm 4 in combination with the action of the test platform 1 in advance, and can be suitable for testing under the condition that the mechanical arm 4 cannot reach a specific position posture when moving alone.
In the test mode, the control mechanism 3 is used for controlling the driving mechanism 2 to move according to preset parameters and simultaneously controlling the mechanical arm 4 to move according to a preset plan, so that the mechanical arm 4 and the test platform 1 are linked to complete preset actions. Specifically, the mechanical arm control unit 32 in the control mechanism 3 obtains motion parameters (such as a rotation angle and a rotation speed of each motor) of each driving unit of the test platform 1 through calculation, the test platform control unit 33 controls the driving mechanism 2 to execute corresponding actions according to the motion parameters, and the mechanical arm 4 simultaneously performs actions according to a preset plan. The mechanical arm 4 and the test platform 1 are linked to complete the designated action.
During the movement of the testing platform 1, the inductive sensor 31 can detect the pose data of the testing platform 1 and send the pose data to the control mechanism 3, and the control mechanism 3 compares the pose data with the control instruction of the testing platform 1, so as to detect the action accuracy of the testing platform 1 and correspondingly adjust the movement instruction of the testing platform 1 according to the detection result, thereby improving the control accuracy of the control mechanism 3 on the testing platform 1.
The testing device is simple and reliable in structure and rapid in assembly, can effectively replace a mobile platform to perform joint debugging testing with the mechanical arm 4 in advance, helps to shorten the research and development period, and has strong practicability.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A test apparatus for a robot arm, the test apparatus comprising:
the test platform is used for placing the mechanical arm;
the driving mechanism is connected with the test platform and used for driving the test platform to move;
and the control mechanism is connected with the mechanical arm and the driving mechanism and used for controlling the mechanical arm and the driving mechanism to move so as to test the response function of the mechanical arm.
2. The testing device of claim 1, wherein the driving mechanism comprises at least 2 driving units, at least 2 of the driving units are arranged at intervals, and the driving units are rotatably connected with the testing platform.
3. The testing device of claim 2, wherein the testing device comprises a first bearing connecting the test platform and the drive unit, respectively.
4. The testing device of claim 3, wherein the output end of the driving unit is sleeved on the outer ring of the first bearing, and the testing platform is connected with the inner ring of the first bearing through a connecting shaft.
5. The testing device of claim 2, further comprising a base plate and a second bearing, the second bearing connecting the base plate and the drive unit, respectively.
6. The testing device of claim 5, further comprising a catch disposed on the base plate for securing the second bearing.
7. The testing device of claim 2, wherein the drive mechanism comprises 3 drive units, wherein the 3 drive units are distributed in a triangular shape.
8. The testing device of claim 1, further comprising an inductive sensor on the test platform for detecting pose data of the test platform.
9. The testing device of claim 8, wherein the inductive sensor is coupled to the control mechanism, and the control mechanism is configured to receive the pose data from the inductive sensor and control the robotic arm to perform the motion response based on the pose data.
10. The testing device as claimed in claim 1, wherein the control mechanism is configured to control the driving mechanism to move according to preset parameters, and simultaneously control the mechanical arm to move according to a preset plan, so that the mechanical arm and the testing platform are linked to complete a preset action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011210500.XA CN114434490A (en) | 2020-11-03 | 2020-11-03 | Testing arrangement of arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011210500.XA CN114434490A (en) | 2020-11-03 | 2020-11-03 | Testing arrangement of arm |
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| CN114434490A true CN114434490A (en) | 2022-05-06 |
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2020
- 2020-11-03 CN CN202011210500.XA patent/CN114434490A/en active Pending
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| CN101246062A (en) * | 2008-03-15 | 2008-08-20 | 燕山大学 | 3-SPR parallel decoupling structure six-dimension force-measuring platform |
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| CN108098731A (en) * | 2017-08-30 | 2018-06-01 | 安徽工程大学 | Intelligent mobile equipment and driving method with executing agency |
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