CN115635508A - Robot static compliance testing device and testing method - Google Patents
Robot static compliance testing device and testing method Download PDFInfo
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- CN115635508A CN115635508A CN202211168740.7A CN202211168740A CN115635508A CN 115635508 A CN115635508 A CN 115635508A CN 202211168740 A CN202211168740 A CN 202211168740A CN 115635508 A CN115635508 A CN 115635508A
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Abstract
The invention discloses a testing device and a testing method for the static compliance of a robot, wherein the testing method is to use the testing device to test the static compliance of the robot, the testing device comprises a hook, a switching mechanism, a push-pull meter and a linear displacement platform, the hook is connected with the push-pull meter through the switching mechanism, the push-pull meter is carried on the linear displacement platform, the switching mechanism comprises a plurality of pulley units, and different pulley units respectively correspond to different testing directions. The linear displacement platform can apply load to the tail end of the robot to be tested through the hook, and the size of the load applied to the robot can be monitored through the push-pull meter so as to control the linear displacement platform to move. The acting force direction loaded on the tested robot can be switched through the arranged switching mechanism so as to meet the test requirements in different test directions. The static compliance of the robot can be determined only by measuring the moving distance of the linear displacement platform in each testing direction, and the structure and the method of the testing device are simplified.
Description
Technical Field
The invention relates to the technical field of static or dynamic balance testing of machines or structural components, in particular to a device and a method for testing the static compliance of a robot.
Background
In recent years, with the rising of labor cost, the traditional manufacturing industry is gradually transformed to intellectualization, and industrial robots are applied to various fields due to the advantages of low cost, high efficiency and the like, so that the development situation is strong. At present, an industrial robot is generally an articulated robot, and each joint of the robot is driven to operate independently by a motor and is controlled by a controller.
According to GB/T12642-2013 'Industrial robot performance specification and test method', the industrial robot detects 14 parameters which need to test the industrial robot altogether, wherein the static flexibility is an important item in the industrial robot complete machine performance test. The static flexibility of the industrial robot refers to the maximum displacement of the tail end of the industrial robot measured by a mechanical interface at the tail end of the robot under the action of unit load, essentially reflects the static rigidity performance of the industrial robot, and is very important for improving the performance and reliability of a robot product.
According to national standards, when an industrial robot carries out static compliance measurement, auxiliary loading acting force is applied in six directions of three axes parallel to the coordinate axis of a machine base, each time one direction is measured, the loading force is gradually increased to 100% of rated load by 10% of rated load, and corresponding displacement is measured in the direction. However, in the actual testing process, the static compliance test of the industrial robot has a problem that is difficult to implement. The key to the problem is the lack of a suitable force loading device. This problem leads to the fact that the measurement of the parameter is generally abandoned during the testing process, and the performance of the industrial robot cannot be correctly reflected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a device and a method for testing the static flexibility of a robot, which are suitable for testing the static flexibility of an industrial robot.
The technical scheme is as follows:
the utility model provides a static compliance testing arrangement of robot which the key lies in: the hook is connected with the push-pull meter through the switching mechanism, the push-pull meter is carried on the linear displacement platform, the switching mechanism comprises a plurality of pulley units, and different pulley units correspond to different testing directions respectively.
Further, the switching mechanism further comprises a lifting platform, and all the pulley units are respectively arranged at corresponding positions of the lifting platform.
Further, the device also comprises a position adjusting platform, wherein the position adjusting platform is carried on the linear displacement platform, and the push-pull meter is carried on the position adjusting platform.
Furthermore, the position adjusting platform comprises a transverse displacement platform and a vertical displacement platform, the push-pull meter is carried on the vertical displacement platform, the vertical displacement platform is carried on the transverse displacement platform, and the transverse displacement platform is carried on the screw rod driving module and the sliding seats of the two linear sliding rails.
Furthermore, the vertical displacement platform comprises a square frame, a driving motor and a ball screw, the square frame is carried on the horizontal displacement platform, the driving motor is arranged at the top of the square frame, one end of a screw shaft of the ball screw penetrates through the top of the square frame to be connected with the driving motor, the other end of the screw shaft of the ball screw is arranged at the bottom of the square frame through a bearing seat, and a sliding base of the ball screw is fixed with the push-pull meter.
Furthermore, the vertical displacement platform further comprises a plurality of linear guide rails and a plurality of guide sleeves, all the linear guide rails and the guide sleeves are vertically arranged on two sides of the sliding base respectively, and the sliding base is connected with all the linear guide rails and the guide sleeves in a sliding mode respectively.
Further, still include optical ranging system, this optical ranging system includes:
the first optical sensor, the second optical sensor and the third optical sensor are respectively fixed on the linear displacement platform, the transverse displacement platform and the vertical displacement platform;
the laser transmitter transmits the laser signals to the first light sensor, the second light sensor and the third light sensor through the light transmission assembly;
and the distance measuring terminal is in signal connection with the first optical sensor, the second optical sensor and the third optical sensor respectively, is configured to acquire the transmitting time of the laser signal transmitted by the laser transmitter and the receiving time of the laser signal received by the first optical sensor, the second optical sensor and the third optical sensor, and calculates the moving distances of the linear displacement platform, the transverse displacement platform and the vertical displacement platform according to the transmitting time and the receiving time.
Further, the light propagation component includes:
the incidence path of the reflector is superposed with the laser transmission path of the laser transmitter;
the first spectroscope is positioned on a reflection path of the reflector, the first spectroscope is fixed on the linear displacement platform, and one of the light splitting paths passes through the first optical sensor;
and the second spectroscope is fixed on the transverse displacement platform and positioned on the other light splitting path of the first spectroscope, and the two light splitting paths respectively pass through the second optical sensor and the third optical sensor.
And the control terminal is in communication connection with the ranging terminal and is configured to control the linear displacement platform, the transverse displacement platform and the vertical displacement platform to move according to the movement distance calculated by the ranging terminal based on the set test direction.
The key point of the method for testing the static flexibility of the robot is that the device for testing the static flexibility of the robot is adopted for testing.
Has the beneficial effects that: by adopting the device and the method for testing the static flexibility of the robot, the hook can be driven to move by the arranged linear displacement platform, the load is applied to the tail end of the tested robot by the hook, and the load applied to the robot by the hook can be monitored by the push-pull meter so as to control the linear displacement platform to move. The acting force direction of the hook loaded on the tested robot can be switched through the arranged switching mechanism, so that the test requirements in different test directions are met. Therefore, the static compliance of the robot can be determined only by measuring the moving distance of the linear displacement platform in each test direction, and the structure and the method of the test device are simplified.
Drawings
Fig. 1 is a schematic structural diagram of a robot static compliance testing device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a test direction of a robot static compliance test;
FIG. 3 is a schematic diagram of the connection between the robot end and the push-pull meter of the robot static compliance testing device shown in FIG. 1;
FIG. 4 is a schematic diagram of an optical transmission path of an optical ranging system of the robot static compliance testing device shown in FIG. 1;
fig. 5 is a schematic structural diagram of a robot static compliance testing device according to another embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the connection between the robot end and the push-pull meter when the robot static compliance testing device shown in FIG. 5 performs the X + and X-testing direction tests;
in the figure, 1-hook; 2-a switching mechanism; 3, push-pull metering; 4-linear displacement platform; 5-a position adjustment platform; 6-a pulley mounting platform; 7-a transverse displacement platform; 8-a vertical displacement platform; 9-square frame; 10-a drive motor; 11-ball screw; 12-a linear slide rail; 13-guide sleeve; 14-a slide base; 15-a first light sensor; 16-a second light sensor; 17-a third light sensor; 18-a laser emitter; 19-a first beam splitter; 20-a second beam splitter; 21-a mirror; 22-first push-pull gauge; 23-a second push-pull meter; 24-flat end pushing head.
Detailed Description
The invention is further illustrated by the following examples and figures.
Example one
As shown in fig. 1, the device for testing the static compliance of the robot comprises a hook 1, a switching mechanism 2, a push-pull meter 3 and a linear displacement platform 4, wherein the hook 1 is connected with the push-pull meter 3 through the switching mechanism 2, the push-pull meter 3 is carried on the linear displacement platform 4, the switching mechanism 2 comprises a plurality of pulley units, and different pulley units correspond to different testing directions respectively.
The hook 1 is pulled through the linear displacement platform 4 arranged, the load is applied to the tail end of the robot to be tested through the hook 1, and the size of the load applied to the robot can be monitored through the push-pull meter 3 so as to control the linear displacement platform 4 to move. The acting force direction loaded on the tested robot can be switched by switching the pulley units wound by the hook pull ropes so as to meet the test requirements in different test directions. Therefore, the static compliance of the robot can be determined only by measuring the moving distance of the linear displacement platform 4 in each test direction, and the structure and the test method of the test device are simplified.
It should be understood that the push-pull meter is provided with a data transmission interface, and can be in communication connection with an upper computer through the data transmission interface, and load data obtained through detection is sent to the upper computer to be displayed.
The switching mechanism 2 will be described in detail below with reference to fig. 3.
As shown in fig. 2 and 3, the switching mechanism 2 is composed of a pulley mounting platform 6 and pulleys R1 to R6, and the pulleys R1 to R6 are fixed at corresponding positions of the pulley mounting platform 6. Among them, the pulley R1 and the pulley R3 may be a pulley unit corresponding to the robot X + test direction. The pulley R2 and the pulley R3 may be as a pulley unit corresponding to the X-test direction of the robot. The pulley R3 may serve as a pulley unit corresponding to the robot Y + test direction. Pulley R4 and pulley R3 may act as pulley units corresponding to the robot Y-test direction. The pulley R5 may be a pulley unit corresponding to the robot Z + test direction. The pulley R6 may act as a pulley unit corresponding to the Z-test direction of the robot.
When the robot X + tests the tension and displacement in the direction, the hook pull rope can be connected with the tail end pull ring of the robot sequentially through the pulley R3 and the pulley R1. When the robot is tested for tension and displacement in the X-test direction, the hook pull rope can be switched to be connected with the tail end pull ring of the robot sequentially through the pulley R3 and the pulley R2. When the robot is tested for tension and displacement in the Y + test direction, the hook pull rope can be switched to be connected with the tail end pull ring of the robot through the pulley R3. When the robot is tested for tension and displacement in the Y-testing direction, the hook pull rope can be switched to be connected with the tail end pull ring of the robot sequentially through the pulley R3 and the pulley R4; when the robot is tested in the Z + test direction of tension and displacement, the hook pull rope can be switched to be connected with the tail end pull ring of the robot through the pulley R5. When the robot is tested in tension and displacement in the Z-test direction, the hook pull rope can be switched to be connected with the tail end pull ring of the robot through the pulley R6. After the hook pull rope is switched to other pulley units, the hook pull rope is always kept horizontally tangent with a pulley close to a tail end pull ring of the robot, so that the loading direction of acting force on the robot is ensured.
Because the terminal height of different industrial robots is different, so in order to satisfy the static compliance test of different industrial robots, the pulley mounting platform 6 of switching mechanism 2 can be the elevating platform, and all pulley units can set up respectively in pulley mounting platform 6's relevant position department. The heights of all the pulley units can be adjusted through the pulley mounting platform 6 so as to adapt to the tests of different industrial robots.
In the present embodiment, it is preferable that the linear displacement device further includes a position adjustment platform 5, the position adjustment platform 5 is mounted on the linear displacement platform 4, and the push-pull gauge 3 is mounted on the position adjustment platform 5.
Specifically, the linear displacement stage 4 may be provided with a position adjustment stage 5, and the push-pull gauge 3 may be fixed to the position adjustment stage 5. The vertical position and the left-right position of the push-pull meter 3 can be adjusted through the position adjusting platform 5 so as to adapt to the loading directions of different acting forces and the tests of industrial robots with different sizes.
The position adjustment stage 5 will be described in detail with reference to fig. 1.
In this embodiment, the position adjustment platform 5 includes a transverse displacement platform 7 and a vertical displacement platform 8, the push-pull meter 3 is mounted on the vertical displacement platform 8, the vertical displacement platform 8 is mounted on the transverse displacement platform 7, and the transverse displacement platform 7 is mounted on the linear displacement platform 4.
Wherein, the linear displacement platform 4 and the transverse displacement platform 7 can be linear driving modules. The base of the lateral displacement platform 7 can be fixed on the slide of the linear displacement platform 4. The vertical displacement platform 8 comprises a square frame 9, a driving motor 10 and a ball screw 11, the square frame 9 can be fixed on the sliding seat of the horizontal displacement platform 7, and the driving motor 10 is arranged at the top of the square frame 9.
One end of a screw shaft of the ball screw 11 penetrates through the top of the square frame 9 to be connected with the driving motor 10, the other end of the screw shaft is arranged at the bottom of the square frame 9 through a bearing seat, and a sliding base 14 of the ball screw 11 is fixed with the push-pull gauge 3. Thus, the whole square frame 9 can be driven to move left and right by driving the sliding seat of the transverse displacement platform 7 to move left and right, so that the left and right positions of the push-pull meter 3 are adjusted. The drive motor 10 drives the screw shaft of the ball screw 11 to rotate, so that the slide base 14 can be moved up and down, and the up-and-down position of the push-pull gauge 3 can be adjusted.
A plurality of linear slide rails 12 and guide sleeves 13 are vertically arranged between the frames at the two sides of the square frame 9. All the linear slide rails 12 are respectively arranged on the inner walls of the frames on the two sides of the ball screw 11, and all the guide sleeves 13 are respectively arranged between the two sides of the ball screw 11 and the frames on the two sides of the square frame 9. The sliding base 14 of the ball screw 11 can be slidably connected with all the linear guide rails and the guide sleeve 13 respectively.
Because the push-pull meter 3 is fixed on the vertical displacement platform 8, the vertical displacement platform 8 can directly bear larger reaction force during testing, the limiting effect can be achieved on the sliding base 14 through the linear sliding rail 12 and the guide sleeve 13, and the integral rigidity of the device is improved.
In this embodiment, it is preferable that an optical distance measuring system is further included, and the optical distance measuring system is used for measuring the displacement of the linear displacement platform 4, the lateral displacement platform 7 and the vertical displacement platform 8. To determine the displacement of the robot tip under load and the left and right positions and up and down positions of the push-pull gauge 3.
The optical ranging system will be described in detail with reference to fig. 1 and 4.
In this embodiment, the optical ranging system includes: a first light sensor 15, a second light sensor 16, a third light sensor 17, a laser emitter 18 and a ranging terminal. The first optical sensor 15, the second optical sensor 16 and the third optical sensor 17 are respectively fixed at the bottoms of the sliding seat of the linear displacement platform 4, the sliding seat of the transverse displacement platform 7 and the square frame 9 of the vertical displacement platform 8 through bases.
The laser emitter 18 is arranged opposite to the loading device, and a light propagation assembly is arranged between the laser emitter 18 and the loading device, and a laser signal emitted by the laser emitter 18 can be transmitted to the first light sensor 15, the second light sensor 16 and the third light sensor 17 through the light propagation assembly.
The light propagation assembly may be composed of a reflecting mirror 21, a first beam splitter 19 and a second beam splitter 20. The first beam splitter 19 and the second beam splitter 20 may be polarization beam splitters, the reflector 21, the first beam splitter 19 and the second beam splitter 20 may be disposed on a straight line, and the reflector 21 and the first beam splitter 19 may be fixed on a slide of the linear displacement platform. The second beam splitter 20 may be fixed to the slide of the lateral displacement stage.
The reflector 21 faces the laser emitter 18, the laser emitted from the laser emitter 18 is transmitted to the reflecting surface of the reflector 21 along the incident path of the reflector 21, reflected by the reflecting surface, transmitted to the first beam splitter 19 along the reflecting path forming an included angle of 90 degrees with the incident path, and divided into two vertical laser beams after passing through the first beam splitter 19, wherein one beam is emitted vertically downwards to the first optical sensor 15 and received by the first sensor. The other laser beam is emitted to the second beam splitter 20, and is split into two laser beams again after passing through the second beam splitter 20, and the two laser beams are emitted to the second optical sensor 16 and the third optical sensor 17 respectively and are received by the second optical sensor 16 and the third optical sensor 17.
The first light sensor 15, the second light sensor 16, the third light sensor 17 and the laser emitter 18 are all in signal connection with the ranging terminal. When the laser emitter 18 emits laser, a signal is emitted to the ranging terminal, and the ranging terminal immediately records the emitting time of the laser emitted by the laser emitter 18 after receiving the corresponding signal.
After the first light sensor 15, the second light sensor 16 and the third light sensor 17 receive the laser signals, the first light sensor 15, the second light sensor 16 and the third light sensor 17 immediately send trigger signals to the ranging terminal, and the ranging terminal immediately records the time when receiving the trigger signals after receiving the trigger signals, so that the receiving time when the first light sensor 15, the second light sensor 16 and the third light sensor 17 receive the laser signals is determined.
The distance measuring terminal can calculate the transmission time of the laser from the laser emitter 18 to the first optical sensor 15 by the emitting time and the receiving time corresponding to the first optical sensor 15, and can calculate the distance between the first optical sensor 15 and the laser emitter 18, that is, the distance between the slide of the linear displacement platform 4 and the laser emitter 18, by combining the light propagation speed. The distance S of the linear displacement platform 4 can be measured by calculating the distance between the slide seat of the linear displacement platform 4 and the laser emitter 18 after the laser emitter 18 emits laser for the first time and the second time 1 . The specific calculation formula is as follows:
S 1 ＝(T 1 -T 0 -T 1 ′)*V c ；
wherein, T 1 Is the reception time, T, of the first light sensor 15 0 Is the firing time, T, of the laser transmitter 18 1 ' is a transfer time required for the first beam splitter 19 to transfer to the first photo sensor.
The distance measuring terminal can calculate the transmission time of the laser light transmitted from the first spectroscope 19 to the second spectroscope through the corresponding receiving time of the first optical sensor 15 and the second optical sensor 16, and can calculate the distance between the first spectroscope 19 and the second spectroscope by combining the light transmission speed. Since the second spectroscope moves left and right along with the square frame 9 when the transverse displacement platform 7 moves left and right by driving the square frame 9, the moving distance S of the transverse displacement platform 7 can be calculated by calculating the distance between the first spectroscope 19 and the second spectroscope after the laser emitter 18 emits laser light twice before and after the laser emitter emits laser light 2 . The specific calculation formula is as follows:
S 2 ＝(T 2 -T 1 +T 1 ′-T 2 ′)*V c ；
wherein, T 2 Is the reception time, T, of the second light sensor 16 2 ' is the transfer time required for the second beam splitter 20 to transfer to the second light sensor.
In this embodiment, the transmission time T required for the first beam splitter 19 to transmit to the first photo sensor can be calculated according to the propagation speed of light and the set distance between the first beam splitter 19 and the first photo sensor and the distance between the second beam splitter 20 and the second photo sensor 1 ', and a transfer time T required for the second beam splitter 20 to transfer to the second light sensor 2 ′。
Similarly, the distance measuring terminal can calculate the transmission time of the laser light transmitted from the second beam splitter 20 to the third optical sensor 17 through the receiving time corresponding to the second optical sensor 16 and the third optical sensor 17, and can calculate the distance between the second beam splitter 20 and the third optical sensor 17 by combining the propagation speed of the light. The third optical sensor 17 moves up and down along with the vertical displacement platform 8, so the distance between the second spectroscope 20 and the third optical sensor 17 calculated after the laser emitter 18 emits laser twice can be used for calculating the moving distance S of the vertical displacement platform 8 3 . The specific calculation formula is as follows:
S 3 ＝(T 3 -T 2 +T 2 ′)*V c ；
wherein, T 3 Is the reception time of the third light sensor 17.
The control terminals of the vertical displacement platform 8 and the horizontal displacement platform 7 can determine the position of the push-pull meter 3 according to the moving distances of the horizontal displacement platform 7 and the vertical displacement platform 8 calculated by the ranging terminal, so that the horizontal displacement platform 7 and the vertical displacement platform 8 are controlled to adjust the push-pull meter 3 to the corresponding position after the pulley units are switched.
Specifically, the initial position of the push-pull gauge 3 with respect to each pulley unit may be set in advance at the control terminal before the test. In the testing process, the control terminal can determine the final position of the push-pull meter 3 relative to each pulley unit after the test in each testing direction is finished through the moving distances of the linear displacement platform 4, the vertical displacement platform 8 and the transverse displacement platform 7, and the control terminal controls the linear displacement platform 4, the vertical displacement platform 8 and the transverse displacement platform 7 to adjust the position of the push-pull meter 3 according to the initial position and the final position of the push-pull meter 3 relative to the pulley unit in the next testing direction, so that the push-pull meter 3 is adjusted to the initial position of the pulley unit corresponding to the next testing direction.
Example two
As shown in fig. 5 and 6, the second embodiment is substantially the same as the first embodiment, and the main differences are as follows: a first push-pull meter 22 and a second push-pull meter 23, whose measuring directions are perpendicular, are used instead of the switching mechanism 2. Wherein the first push-pull meter 22 is arranged along the Y +, Y-test direction of the measuring robot. When the Y + and Y-testing directions of the robot are measured, the linear displacement platform 4 moves along the Y + and Y-testing directions of the robot, and loads are applied to the tail end of the tested robot. A flat-ended pusher 24 may be provided at the end of the robot, and the tip of the first push-pull gauge 22 may abut the flat-ended pusher 24. It is also possible to provide a pull ring at the end of the robot, which is connected to the pull ring of the first push-pull gauge 22 using a hook pull cord. The load applied by the hook 1 to the robot can be monitored by the first push-pull gauge 22 to control the movement of the linear displacement platform 4. The moving distance of the linear displacement platform 4 is measured through an optical ranging system, and therefore the static flexibility of the robot in the Y + and Y-testing directions is obtained.
When measuring the X + and X-testing directions of the robot, the transverse displacement platform 7 moves along the X + and X-testing directions of the robot, and loads are applied to the tail end of the tested robot. A flat-end pusher 24 may be provided at the end of the robot, and the tip of the second push-pull gauge 23 may abut against the flat-end pusher 24. It is also possible to provide a pull ring at the end of the robot, which is connected to the pull ring of the second push-pull gauge 23 using a hook pull cord. The magnitude of the load applied to the robot is detected by the second push-pull gauge 23 to control the movement of the lateral displacement platform 7. And measuring the moving distance of the transverse displacement platform 7 by using an optical ranging system, thereby obtaining the static flexibility of the robot in the X + and X-testing directions.
The second push-pull meter 23 can be fixed on the sliding base 14 through a rotating platform, when measuring the Z + and Z-testing directions of the robot, the second push-pull meter 23 rotates 90 ° through the rotating platform, and uses a bolt to fix the current position of the rotating platform, and moves along the Z + and Z-testing directions of the robot through the arranged vertical displacement platform 8, so as to apply load to the tail end of the robot to be tested. A flat-end pusher 24 may be provided at the end of the robot, and the tip of the second push-pull gauge 23 may abut against the flat-end pusher 24. It is also possible to provide a pull ring at the end of the robot, which is connected to the pull ring of the second push-pull gauge 23 using a hook pull cord. The magnitude of the load applied to the robot can be monitored by the second push-pull gauge 23 to control the movement of the vertical displacement platform 8. And measuring the moving distance of the transverse displacement platform 7 by using an optical ranging system, thereby obtaining the static flexibility of the robot in the Z + and Z-testing directions.
A method for testing the static flexibility of a robot is characterized in that the device for testing the static flexibility of the robot is adopted for testing.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a static compliance testing arrangement of robot which characterized in that: the hook is connected with the push-pull meter through the switching mechanism, the push-pull meter is carried on the linear displacement platform, the switching mechanism comprises a plurality of pulley units, and different pulley units correspond to different testing directions respectively.
2. The robot static compliance testing device of claim 1, wherein: the switching mechanism further comprises a lifting platform, and all the pulley units are arranged at corresponding positions of the lifting platform respectively.
3. A robot static compliance testing device, according to claim 1 or 2, wherein: the device also comprises a position adjusting platform, wherein the position adjusting platform is carried on the linear displacement platform, and the push-pull meter is carried on the position adjusting platform.
4. The device for testing static compliance of a robot as claimed in claim 3, wherein: the position adjusting platform comprises a transverse displacement platform and a vertical displacement platform, the push-pull meter is carried on the vertical displacement platform, the vertical displacement platform is carried on the transverse displacement platform, and the transverse displacement platform is carried on the linear displacement platform.
5. The robot static compliance testing device of claim 4, wherein: the vertical displacement platform comprises a square frame, a driving motor and a ball screw, the square frame is carried on the horizontal displacement platform, the driving motor is arranged at the top of the square frame, one end of a screw shaft of the ball screw penetrates through the top of the square frame to be connected with the driving motor, the other end of the screw shaft of the ball screw is arranged at the bottom of the square frame through a bearing seat, and a sliding base of the ball screw is fixed with the push-pull meter.
6. The robot static compliance testing device of claim 5, wherein: the vertical displacement platform further comprises a plurality of linear guide rails and a plurality of guide sleeves, all the linear guide rails and the guide sleeves are vertically arranged on two sides of the sliding base respectively, and the sliding base is connected with the linear guide rails and the guide sleeves in a sliding mode respectively.
7. The device for testing static compliance of a robot as claimed in claim 4, wherein: still include optical ranging system, this optical ranging system includes:
the first optical sensor, the second optical sensor and the third optical sensor are respectively fixed on the linear displacement platform, the transverse displacement platform and the vertical displacement platform;
the laser transmitter transmits the laser signals to the first light sensor, the second light sensor and the third light sensor through the light transmission assembly;
and the distance measuring terminal is in signal connection with the first optical sensor, the second optical sensor and the third optical sensor respectively, is configured to acquire the transmitting time of the laser signal transmitted by the laser transmitter and the receiving time of the laser signal received by the first optical sensor, the second optical sensor and the third optical sensor, and calculates the moving distances of the linear displacement platform, the transverse displacement platform and the vertical displacement platform according to the transmitting time and the receiving time.
8. The robot static compliance testing device of claim 7, wherein: the light propagation assembly includes:
the incidence path of the reflector is superposed with the laser transmission path of the laser transmitter;
the first spectroscope is positioned on a reflection path of the reflector, the first spectroscope is fixed on the linear displacement platform, and one of the light splitting paths passes through the first optical sensor;
and the second spectroscope is fixed on the transverse displacement platform and positioned on the other light splitting path of the first spectroscope, and the two light splitting paths respectively pass through the second optical sensor and the third optical sensor.
9. The device for testing static compliance of a robot of claim 7, wherein: the distance measuring device is characterized by further comprising a control terminal, wherein the control terminal is in communication connection with the distance measuring terminal and configured to control the linear displacement platform, the transverse displacement platform and the vertical displacement platform to move according to the movement distance calculated by the distance measuring terminal based on a set test direction.
10. A method for testing the static compliance of a robot, which is characterized by using the device for testing the static compliance of the robot as claimed in claim 8.
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| CN117697827A (en) * | 2024-02-05 | 2024-03-15 | 武汉工程大学 | Terminal vision testing arrangement of robot |
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