CN114434490B - Testing device of mechanical arm - Google Patents
Testing device of mechanical arm Download PDFInfo
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- CN114434490B CN114434490B CN202011210500.XA CN202011210500A CN114434490B CN 114434490 B CN114434490 B CN 114434490B CN 202011210500 A CN202011210500 A CN 202011210500A CN 114434490 B CN114434490 B CN 114434490B
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- 238000012360 testing method Methods 0.000 title claims abstract description 170
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000005316 response function Methods 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 238000012827 research and development Methods 0.000 abstract description 6
- 238000004904 shortening Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 19
- 230000001276 controlling effect Effects 0.000 description 13
- 230000004044 response Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission 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
- 230000001939 inductive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a test device of a mechanical arm. The test device comprises a test platform, a driving mechanism and a control mechanism, wherein 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; the control mechanism is connected with the mechanical arm and the driving mechanism and is 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 provided by the application has a simple structure, is convenient to assemble, can effectively replace the advanced test of the mobile platform and the joint debugging test of the mechanical arm, 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 of a mechanical arm.
Background
The products used by robotic arms in conjunction with mobile platforms are used in many contexts. At present, the common practice is that in early development, 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 base is manually moved/turned by adopting a relatively basic person, and the dynamic response function of the mechanical arm is partially tested.
At present, the mechanical arm and the mobile platform are separated to develop a mode of final assembly joint debugging, so that the functional problem of a product is easily found in the later stage, and the development progress is influenced. And the method of manually moving/turning the base wastes labor cost in the test process and the displacement is not quantitatively controllable.
Disclosure of Invention
The application mainly solves the technical problem of providing the test device for the mechanical arm, which has the advantages of simple and reliable structure and rapid assembly, can effectively replace the test of the moving platform and the joint debugging of the mechanical arm in advance, and is beneficial to shortening the research and development period.
In order to solve the technical problems, the application adopts a technical scheme that: there is provided a test apparatus of 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.
The driving mechanism at least comprises 2 driving units, at least 2 driving units are arranged at intervals, and the driving units are rotationally connected with the testing platform.
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 testing platform is connected with the inner ring of the first bearing through a connecting shaft.
The testing device further comprises a bottom plate and a second bearing, and the second bearing is respectively connected with the bottom plate and the driving unit.
The testing device further comprises a clamping piece which is arranged on the bottom plate and used for fixing the second bearing.
The driving mechanism comprises 3 driving units, and the 3 driving units are distributed in a triangular shape.
The testing device further comprises an induction sensor, wherein the induction sensor is positioned 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 a preset plan so as to enable the mechanical arm and the test platform to complete preset actions in a linkage mode.
The beneficial effects of the application are as follows: different from the prior art, 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, and the driving mechanism is connected with the testing platform and used for driving the testing platform to move so that the testing platform simulates the state of the mechanical arm base under various application scenes. The control mechanism is connected with the mechanical arm and the driving mechanism and is used for controlling the mechanical arm and the driving mechanism to move so as to perform response function test on the mechanical arm. The testing device provided by the application has the advantages of simple and reliable structure and rapid assembly, can effectively replace the advanced test of the mobile platform and the joint debugging of the mechanical arm, is beneficial to shortening the research and development period, and has stronger practicability.
Drawings
For a clearer description of embodiments of the application or of solutions in the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the application, from which, without the inventive effort, other drawings can be obtained for a person skilled in the art, in which:
FIG. 1 is a schematic diagram of a testing device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a structure of the testing device of FIG. 1 from another perspective;
FIG. 3 is a schematic view of a structure of a locking member in the testing apparatus of FIG. 1;
FIG. 4 is a schematic diagram of an embodiment of a control mechanism of the test apparatus of FIG. 1.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
The technical solutions between the embodiments may be combined with each other, but it is necessary to base the implementation on the basis of those skilled in the art that when the combination of technical solutions contradicts or cannot be implemented, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.
The testing device provided by the application can be used for testing the response characteristic of the mechanical arm. Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a testing device according to the present application, and fig. 2 is a schematic structural diagram of another view angle of the testing device in fig. 1, specifically, the testing device includes a testing platform 1, a driving mechanism 2 and a control mechanism 3.
The test platform 1 is used for placing the mechanical arm 4, i.e. the mechanical arm 4 may be fixed to the test platform 1 by means of a base when performing a test. The driving mechanism 2 is connected with the test platform 1 and is used for driving the test platform 1 to move, wherein the mechanical arm 4 can move along with the test platform 1. Specifically, the driving mechanism 2 may drive the test platform 1 to move in a plane, or may drive the test platform 1 to deflect (rotate) so that the test platform 1 can simulate a moving platform and drive the mechanical arm 4 to move.
The control mechanism 3 is respectively connected with the mechanical arm 4 and the driving mechanism 2. The control mechanism 3 is used for controlling the mechanical arm 4 and the driving mechanism 2 to move. Specifically, the control mechanism 3 may control the state of the test platform 1 by controlling the movement of the driving mechanism 2, and the control mechanism 3 may also control the mechanical arm 4, so that the mechanical arm 4 completes a preset action. Namely, the application simulates each application scene of the mechanical arm 4 by controlling the state of the test platform 1 and controlling the movement of the mechanical arm 4 through the control mechanism 3, thereby testing the response characteristic of the mechanical arm 4.
The testing device provided by the application has the advantages of simple and reliable structure and rapid assembly, can effectively replace the advanced test of the mobile platform and the joint debugging of the mechanical arm 4, is beneficial to shortening the research and development period, and has stronger practicability.
Alternatively, as shown in fig. 1, the driving mechanism 2 includes at least 2 driving units, where the at least 2 driving units are disposed at intervals, and an output end of the driving unit is rotatably connected with the test platform 1. The movement and deflection of the test platform 1 are realized by controlling the motion parameters of different driving 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 test platform 1 to move up by 5cm, and the output end of the second driving unit 22 is controlled to drive the test platform 1 to move up by 2cm, so that the test platform 1 can be deflected toward 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, deflection can easily occur in the test platform 1 without jamming. The deflection of the test platform 1 can be realized 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 sequentially arranged at intervals and distributed in a triangular shape. As shown in fig. 2, the three driving units may be in sequence: the output ends of the first driving unit 21, the second driving unit 22 and the third driving unit 23 are respectively connected with the test platform 1, so that the test device can control deflection of the test platform 1 from three positions, and 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, easy assembly and convenience in testing the response performance of the mechanical arm 4.
In other embodiments, the driving mechanism 2 may further include four or six driving units, so as to implement a multiple degree of freedom design of the testing device, and increase the applicability of the testing device.
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, and 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 rotationally connected with the testing platform 1, and the testing platform 1 can be prevented from being blocked when rotating through the first bearing 11, so that the testing platform 1 obtains the degree of freedom of rotation. In other embodiments, the rotational engagement of the drive mechanism 2 with the test platform 1 may also be achieved in other ways.
Further, the testing device further comprises a base plate 5, and the driving mechanism 2 is located on the base plate 5. By arranging the bottom plate 5 to fix the driving mechanism 2, the fixing and the moving of the testing device can be facilitated.
Optionally, the base plate 5 and the driving mechanism 2 may also be rotationally fitted to increase the rotation angle of the test platform 1. Specifically, the test 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 rotatably connected by means of a second bearing 51. In other embodiments, the base plate 5 and the drive mechanism 2 may also be in a rotational fit by other means.
Specifically, referring to fig. 3 again, fig. 3 is a schematic structural view of an embodiment of a locking member of the testing device in fig. 1. The bottom plate 5 is provided with a locking piece 52, and the second bearing 51 can be fixed to the bottom plate 5 by the locking piece 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 a fixed connection between the bottom plate 5 and the second bearing 51. The drive mechanism 2 is fixed to the inner race of the second bearing 51 via a support shaft 53. The second bearing 51 can more conveniently realize the running fit of the driving mechanism 2 and the bottom plate 5, and the rotation angle of the test platform 1 is increased.
In a specific embodiment, two locking members 52 are disposed at intervals to fix two second bearings 51 to the base plate 5, a support shaft 53 is disposed between the two second bearings 51, and two ends of the support shaft 53 are fixed to inner rings of the two second bearings 51, respectively. The driving mechanism 2 is fixed on the support shaft 53, and in this way, the stability of fixing the driving mechanism 2 can be improved, and the reliability of the testing device can be further improved.
In a specific embodiment, the driving mechanism 2 may include a servo motor and an electric cylinder, where the electric cylinder includes a screw and a nut, and the driving mechanism 2 may use a manner of driving the servo motor and driving the screw and the nut to convert a rotational motion of the servo motor into a linear motion of the 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 types of transmission devices such as ball screws/trapezoidal screws.
In other embodiments, the driving mechanism 2 may also be an air cylinder, etc., where an output end of the air cylinder is connected to the test platform 1 to drive the test platform 1 to move.
The test platform 1 is used for placing the mechanical arm 4, and the mechanical arm 4 is fixed on one side of the test platform 1 far away from the driving mechanism 2 through a base. When the testing device is provided with 3 driving units, the shape of 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 at the middle position of the testing platform 1, so that the stress of the driving mechanism 2 is more uniform.
The testing device further comprises an induction sensor 31, wherein the induction sensor 31 is positioned on the testing platform 1 and is used for detecting pose data of the testing platform 1. The induction sensor 31 is connected with the control mechanism 3 and transmits the pose data of the test platform 1 to the control mechanism 3. Alternatively, the sensor 31 may be an inertial navigation unit, which is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object, and which is small in size and low in cost, and detects the pose data of the test platform 1 and transmits 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, where the control mechanism 3 includes: a robotic arm control unit 32, a test platform control unit 33, and an inductive 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 by the testing device. In one test mode, the test platform 1 can be floated by the test device, and the mechanical arm 4 passively detects the position and posture of the base to perform an action response.
Specifically, the simulation test platform 1 cannot predict road conditions in the running process and generates jolt motions by itself. The mechanical arm 4 mounted on the test platform 1 still needs to fulfill the function of completing the specified action (including rest).
In this test mode, the drive mechanism 2 is controlled to move by the test platform control unit 33, so that the up-and-down movement or rotation or movement plus rotation of the test platform 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 can move up and down; when the output ends of the plurality of driving units generate displacement differences, the test platform 1 rotates.
The induction sensor 31 fixed on the test platform 1 can detect pose data (including rotation angle and translational 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 pose data detected by the sensor 31 to the robot arm control unit 32, and the robot arm control unit 32 performs passive motion response according to the pose data. The motion response mode of the mechanical arm 4 may include that the end effector of the mechanical arm 4 is kept still when the test platform 1 moves (moves or rotates) arbitrarily. The motion response mode of the mechanical arm 4 may be that the mechanical arm 4 can finish the specified motion according to the predefined when the test platform 1 moves arbitrarily. In particular, it can be defined according to the usage scenario.
In another test mode, the test platform 1 can communicate with the mechanical arm 4 so as to perform linkage, and the end effector of the mechanical arm 4 can reach the function of the designated position and posture. The test mode is used for simulating the function of carrying out linkage path planning by combining the action of the test platform 1 in advance by the test mechanical arm 4, and can be suitable for the test under the condition that the mechanical arm 4 alone moves and cannot reach the specific position and posture.
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 the motion parameters (such as the rotation angle and the rotation speed of each motor) of each driving unit of the test platform 1 through operation, and the test platform control unit 33 controls the driving mechanism 2 to execute corresponding actions according to the motion parameters, and meanwhile, the mechanical arm 4 simultaneously acts according to a preset plan. The mechanical arm 4 and the test platform 1 are linked to complete the appointed action.
In the process of moving the test platform 1, the sensing sensor 31 can detect pose data of the test platform 1 and send the pose data to the control mechanism 3, and the control mechanism 3 compares the pose data with a control instruction of the test platform 1, so that the motion accuracy of the test platform 1 can be detected, the motion instruction of the test platform 1 can be correspondingly adjusted according to the detection result, and the control accuracy of the control mechanism 3 on the test platform 1 is improved.
The testing device provided by the application has the advantages of simple and reliable structure and rapid assembly, can effectively replace the advanced test of the mobile platform and the joint debugging of the mechanical arm 4, is beneficial to shortening the research and development period, and has stronger practicability.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
Claims (6)
1. A test device for a robotic arm, the test device comprising:
The test platform is used for placing the mechanical arm, and is used for simulating a moving platform, and the mechanical arm passively detects the position and the posture of the test platform so as to respond to actions;
The driving mechanism is connected with the test platform and used for driving the test platform to move, wherein the driving mechanism comprises 3 driving units, the three driving units are distributed in a triangular shape, and deflection of the test platform is realized by controlling displacement difference of the driving units;
The induction sensor is positioned on the test platform and used for detecting pose data of the test platform;
The control mechanism is connected with the mechanical arm, the driving mechanism and the induction sensor and is used for controlling the mechanical arm and the driving mechanism to move so as to test the response function of the mechanical arm;
The control mechanism comprises a mechanical arm control unit, a test platform control unit and an induction sensor control unit; the mechanical arm control unit is communicated with the mechanical arm, the test platform control unit is communicated with the driving mechanism, and the induction sensor control unit is communicated with the induction sensor; the induction sensor control unit is communicated with the mechanical arm control unit so as to transmit the pose data received from the induction sensor to the mechanical arm control unit, and the mechanical arm control unit controls the mechanical arm to respond according to the pose data.
2. The test device of claim 1, comprising a first bearing connecting the test platform and the drive unit, respectively.
3. The testing device according to claim 2, 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.
4. The test device of claim 1, further comprising a base plate and a second bearing, the second bearing connecting the base plate and the drive unit, respectively.
5. The test device of claim 4, further comprising a detent disposed on the base plate for securing the second bearing.
6. The test device of claim 1, wherein the control mechanism is configured to control the driving mechanism to move according to a preset parameter, and simultaneously control the mechanical arm to move according to a preset plan, so that the mechanical arm and the test platform are linked to complete a preset action.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011210500.XA CN114434490B (en) | 2020-11-03 | 2020-11-03 | Testing device of mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011210500.XA CN114434490B (en) | 2020-11-03 | 2020-11-03 | Testing device of mechanical arm |
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| CN114434490A CN114434490A (en) | 2022-05-06 |
| CN114434490B true CN114434490B (en) | 2024-06-07 |
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