CN115635511A - Magnetic type modularized robot driving mechanism comprehensive detection system - Google Patents
Magnetic type modularized robot driving mechanism comprehensive detection system Download PDFInfo
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- CN115635511A CN115635511A CN202211523700.XA CN202211523700A CN115635511A CN 115635511 A CN115635511 A CN 115635511A CN 202211523700 A CN202211523700 A CN 202211523700A CN 115635511 A CN115635511 A CN 115635511A
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Abstract
The invention discloses a magnetic type comprehensive detection system for a modularized robot driving mechanism, which belongs to the field of robot production and comprises a working platform, a clamping tool, a plurality of detection mechanisms and a controller, wherein a plurality of electromagnet assemblies are installed in the working platform, each electromagnet assembly at least comprises an electromagnet, a permanent magnet is installed at the bottom of each detection mechanism, the clamping tool comprises a clamping base, an inverted V-shaped clamping block, a clamping block driver and a clamping rack, the clamping base and the clamping rack are respectively installed on the working platform, the inverted V-shaped clamping block is installed on the clamping rack through the clamping block driver and is positioned right above the clamping base, and each detection mechanism, the electromagnet and the clamping block driver are respectively and correspondingly connected with the controller. The invention simplifies the detection steps, saves the detection time, improves the detection efficiency, reduces the detection cost, realizes the quick assembly and disassembly of all detection mechanisms, can be compatible with robot driving mechanisms with different sizes and is convenient to expand.
Description
Technical Field
The invention relates to robot driving mechanism detection equipment, in particular to a magnetic type modularized robot driving mechanism comprehensive detection system, and belongs to the field of robot production.
Background
With the rapid development of economy, more and more enterprises begin to use robots to replace workers to reduce cost, and the cooperative robots are popular in the market due to the advantages of low price, safety, easiness in maintenance, high precision and the like. The main component of the cooperative robot is a driving mechanism, which bears the transmission and load of the cooperative robot, so the quality of the driving mechanism can affect the load, vibration, repeated positioning precision and the like of the cooperative robot.
As shown in fig. 1, the robot driving mechanism 1 includes a housing 12, and a frameless motor (not visible in the figure), a speed reducing mechanism (not visible in the figure), and a band-type brake (not visible in the figure) installed in the housing 12, the robot driving mechanism 1 includes three end portions, which are respectively a power output end 11 for outputting rotary power, an electrical connection end 14 for connecting a power supply and inputting and outputting signals, and an installation end 13 for installing on other components of the robot, wherein the power output end 11 and the electrical connection end 14 are planar ends, the electrical connection end 14 is a beveled end, and the end is provided with a socket 15 for quick electrical connection.
With more and more application scenes of the robot, different performance requirements and different model sizes of the robot driving mechanism 1 are more and more, for example, after the assembly is completed, the robot driving mechanism needs to be qualified after relevant detection such as temperature rise, noise, load, rotating speed, torque and the like.
The traditional detection mode of the robot driving mechanism is to finish detection work on different clamping tools and detection mechanisms aiming at different detection items, and the robot driving mechanism is connected with the corresponding clamping tools and detection mechanisms by adopting a screw connection mode, so that the traditional detection mode has the following defects:
each item of detection needs to be carried out on different detection mechanisms, and the detection mechanisms are independent, so that the whole detection steps are multiple, time and labor are wasted, the efficiency is low, the detection mechanisms are difficult to be compatible and expanded, once the detection items are increased, new detection mechanisms need to be added, the repeated purchase of common equipment (such as a motor, a coupling and the like) is caused, the detection cost is improved, and the burden of an enterprise is increased; the adoption of the screw connection mode leads to the fact that the robot driving mechanism and the detection mechanism with different sizes are very complicated to assemble and disassemble, reduces the installation and detection efficiency and increases the labor and time cost.
In addition, the metal block is adopted to simulate the load in the traditional load detection of the robot driving mechanism, the rotating speed is high during the test, the rapid acceleration and the rapid deceleration are needed, the bolt for fixing the load has the vibration slipping condition under the working condition, the load is easy to separate from and fly out, the potential safety hazard exists, and different loads need to be replaced in the load detection of different weights, so that the operation is complicated.
Disclosure of Invention
The present invention is directed to solving the above problems, and an object of the present invention is to provide a magnetic-type modular robot driving mechanism integrated inspection system, which is installed by electromagnetic attraction and has a plurality of inspection mechanisms collectively installed on a single work platform, thereby improving inspection efficiency and reducing inspection cost.
The invention achieves the above purpose through the following technical scheme:
the utility model provides a formula modularization robot actuating mechanism comprehensive testing system is inhaled to magnetism, robot actuating mechanism include the shell with install in frameless motor, reduction gears, band-type brake in the shell, be equipped with the power take off end that is used for exporting rotary power on the shell, be used for connecting power and input/output signal's electrical connection end and be used for installing the installation end on other parts of robot, formula modularization robot actuating mechanism comprehensive testing system is inhaled to magnetism includes work platform, centre gripping frock, a plurality of detection mechanism and controller, install a plurality of electromagnet assembly in the work platform, every electromagnet assembly includes an electro-magnet at least, the upper end of electro-magnet is one of them electromagnetism pole, every the permanent magnet is all installed to detection mechanism's bottom, every detection mechanism all arranges in work platform is last and be located one of them electromagnet assembly's top, centre gripping frock includes centre gripping base, the shape of "V" shape centre gripping piece, centre gripping piece driver and centre gripping frame, the centre gripping base with the centre gripping frame install respectively in on the work platform, the centre gripping piece driver install in the centre gripping frame, the centre gripping piece driver is installed on the vertical "V" shape centre gripping piece that moves the control mechanism is connected with every electromagnet control mechanism the control input end respectively.
Preferably, in order to facilitate non-screw connection rapid clamping of the robot driving mechanisms of different sizes and connection of power output ends and electrical connection ends of the robot driving mechanisms with the detection mechanism and the controller, the clamping tool further comprises an electrical connection plug, a plug mounting bracket, a first plug driving cylinder and a second plug driving cylinder, the clamping frame comprises a stand column and a cross rod, a clamping block driver is a clamping block driving cylinder, the lower end of the stand column is arranged on the working platform, the cross rod is connected with the upper portion of the stand column, the vertical clamping block driving cylinder is arranged on the cross rod, the lower end of a piston rod of the clamping block driving cylinder is connected with the upper end of the inverted V-shaped clamping block, the horizontal first plug driving cylinder is arranged on the cross rod, the piston rod of the first plug driving cylinder is connected with the horizontal second plug driving cylinder, the piston rod of the second plug driving cylinder is perpendicular to the piston rod of the first plug driving cylinder, the piston rod of the second plug driving cylinder is connected with the plug mounting bracket, the electrical connection plug is arranged on the plug mounting bracket and located above the clamping base, and the control plug input end of the clamping block is connected with the control plug driving cylinder, and the control plug output end of the control plug is connected with the control plug.
Preferably, in order to meet the requirement of connecting two sockets of the robot driving mechanism, the plug mounting bracket is an inverted "Y" shaped bracket and the two electrical connection plugs are respectively mounted at the lower parts of the two inclined rods of the inverted "Y" shaped bracket.
Preferably, in order to increase the stability of the clamping frame and facilitate the installation of the air cylinder, the radial cross sections of the upright posts and the cross bars are rectangular.
Preferably, in order to facilitate direct detection of the weight of the robot driving mechanism while the robot driving mechanism is installed, a gravity sensor is installed in the clamping base, and a signal output end of the gravity sensor is correspondingly connected with a signal input end of the controller.
Preferably, in order to facilitate quick assembly and disassembly of the clamping tool, the permanent magnets are mounted at the bottoms of the stand columns and the clamping base respectively and correspondingly, and the stand columns and the clamping base are respectively located above the electromagnet assemblies correspondingly.
Preferably, in order to improve the surface finish degree of the working platform and facilitate magnetic attraction of the two poles of the earth more stably and reliably, the working platform is a marble platform, a plurality of installation inner cavities are arranged on the working platform, one electromagnet assembly is arranged in each installation inner cavity, each electromagnet assembly comprises two electromagnets, epoxy resin is filled in each installation inner cavity, the top surface of the epoxy resin is flush with the upper surface of the working platform, the two electromagnets of the same electromagnet assembly are mutually independent and fixed through the epoxy resin, and two permanent magnetic poles of the permanent magnet at the bottom of the detection mechanism are located on the same transverse plane.
Preferably, in order to realize temperature rise, noise, load, rotation speed and torque detection of the robot driving mechanism, the detection mechanism comprises a load servo motor, a torque sensor, a photoelectric encoder, a temperature sensor and a noise sensor, the electromagnetic coupler is arranged on a straight line, one end of the electromagnetic coupler is close to the clamping base and the inverted V-shaped clamping block, the other end of the electromagnetic coupler is connected with one end of the torque sensor, the other end of the torque sensor is connected with one end of the connecting shaft, the connecting shaft penetrates through the photoelectric encoder and is connected with a grating disc of the photoelectric encoder, the other end of the connecting shaft is connected with a rotating shaft of the load servo motor, the temperature sensor and the noise sensor are both installed on a temperature noise detection support to form a temperature noise detection mechanism, the temperature noise detection mechanism is close to the clamping base, a signal output end of the torque sensor, a signal output end of the photoelectric encoder, a signal output end of the temperature sensor and a signal output end of the noise sensor are respectively connected with a signal input end of the controller, and a control input end of the load servo motor is connected with a control output end of the controller.
The invention has the beneficial effects that:
according to the invention, the clamping tool and the plurality of detection mechanisms are arranged on the working platform in a centralized manner, so that the corresponding detection mechanisms can be installed in a linkage manner, common equipment can be shared, the detection steps are simplified, the detection time is saved, the detection efficiency is improved, and the detection cost is reduced; through installing electromagnet assembly in work platform, install the permanent magnet in each detection mechanism's bottom, can utilize its magnetic force of electromagnet control to have or not, thereby control each detection structure and work platform between fixed with remove fixedly, realize installing and removing fast of each detection mechanism, simultaneously through centre gripping base and the cooperation of "V" shape grip block can quick centre gripping fixed not unidimensional robot drive mechanism, show the detection efficiency who has improved a plurality of detection items and compatible not unidimensional robot drive mechanism, and be convenient for expand more detection items. In addition, through adopting load servo motor as the equipment that the load detected, replace traditional metal block, can simulate different loads through adjusting input signal, need not worry during the rapid acceleration rapid deceleration that the fixing bolt pine takes off the condition that leads to the metal block departure, efficiency is higher and safer.
Drawings
FIG. 1 is a perspective view of a robot drive mechanism;
FIG. 2 is a perspective view of the magnetic type modular robot driving mechanism comprehensive detection system;
FIG. 3 is a perspective view of a working platform of the magnetic attraction type modular robot driving mechanism comprehensive detection system;
FIG. 4 is a perspective view of an electromagnet in a work platform of the integrated detection system for the driving mechanism of the magnetic modular robot according to the present invention;
FIG. 5 is a perspective view of the magnetic type modular robot driving mechanism comprehensive detection system of the present invention with the clamping base removed;
fig. 6 is a perspective view of the magnetic attraction type modular robot driving mechanism comprehensive detection system in application.
In the figure, 1-robot driving mechanism, 11-power output end, 12-shell, 13-mounting end, 14-electric connecting end, 15-socket, 2-working platform, 21-electromagnet assembly, 22-electromagnet, 23-magnetic core, 24-electromagnetic coil, 25-mounting inner cavity, 31-load servo motor, 32-connecting shaft, 33-photoelectric encoder, 34-torque sensor, 35-electromagnetic coupler, 36-temperature noise detection mechanism, 41-clamping driving cylinder, 42-inverted V-shaped clamping block, 43-upright post, 44-cross bar, 45-first plug driving cylinder, 46-second plug driving cylinder, 47-plug mounting bracket, 48-electric connecting plug, 49-clamping base and 5-controller.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the structure of the robot driving mechanism 1 of the present invention is the same as the description of the background art, that is: the robot driving mechanism 1 comprises three end parts, namely a power output end 11 for outputting rotary power, an electrical connecting end 14 for connecting a power supply and inputting and outputting signals and a mounting end 13 for mounting on other parts of the robot, wherein the electrical connecting end 14 is an inclined plane end and is provided with a socket 15 for quick electrical connection; as shown in fig. 1-6, the comprehensive detection system for the driving mechanism of the magnetic-type modular robot comprises a working platform 2, a clamping tool, a plurality of detection mechanisms and a controller 5, wherein the working platform 2 is internally provided with a plurality of electromagnet assemblies 21, each electromagnet assembly 21 at least comprises one electromagnet 22, the upper end of each electromagnet 22 is provided with one of the electromagnet poles, namely, the axial direction of the magnetic core 23 of the electromagnet 22 is vertical, the bottom of each detection mechanism is provided with a permanent magnet (invisible in the drawing), each detection mechanism is arranged on the working platform 2 and positioned above one of the electromagnet assemblies 21, the clamping tool comprises a clamping base 49, an inverted V-shaped clamping block 42, a clamping block driver and a clamping frame, the clamping base 49 and the clamping frame are respectively arranged on the working platform 2, the clamping block driver is arranged on the clamping frame, the inverted V-shaped clamping block 42 is arranged on the clamping block driver and can vertically move, the inverted V-shaped clamping block 42 is positioned right above the clamping base 49, the clamping base 49 is provided with an installation groove 13 for installing the driving mechanism 1 of the robot, each clamping base is respectively connected with the corresponding control mechanism, and the control input end of each electromagnet assembly 5 is connected with the control device and the control mechanism 22.
As shown in fig. 1 to 6, the present invention further discloses a plurality of following more optimized specific structures, and the above structures and one or more of the following structures may be combined in an overlapping manner to form a more optimized technical solution according to actual needs.
In order to facilitate non-screw-connection rapid clamping of the robot driving mechanisms 1 of different sizes and facilitate connection of the power output end 11 and the electrical connection end 14 of the robot driving mechanisms with the detection mechanism and the controller 5, the clamping tool further comprises an electrical connection plug 48, a plug mounting bracket 47, a first plug driving cylinder 45 and a second plug driving cylinder 46, the clamping frame comprises a vertical column 43 and a cross rod 44, the clamping block driver is a clamping block driving cylinder 41, the lower end of the vertical column 43 is arranged on the working platform 2, the cross rod 44 is connected with the upper portion of the vertical column 43, the vertical clamping block driving cylinder 41 is arranged on the cross rod 44, the lower end of a piston rod of the clamping block driving cylinder 41 is connected with the upper end of an inverted V-shaped clamping block 42, the transverse first plug driving cylinder 45 is arranged on the cross rod 44, a piston rod of the first plug driving cylinder 45 is connected with the transverse second plug driving cylinder 46, a piston rod of the second plug driving cylinder 46 is perpendicular to a piston rod of the first plug driving cylinder 45, a piston rod of the second plug driving cylinder 46 is connected with the plug mounting bracket 47, the electrical connection plug mounting bracket 48 is arranged on the plug mounting bracket 47 and is arranged on the plug mounting bracket, and the control input end of the control cylinder 5, and the control input end of the control plug connection control cylinder 45 is connected with the control plug 5.
In order to meet the connection requirement of the two sockets 15 of the robot driving mechanism 1, the plug mounting bracket 47 is an inverted "Y" shaped bracket and two electrical connection plugs 48 are respectively mounted at the lower parts of the two diagonal rods of the inverted "Y" shaped bracket.
In order to increase the stability of the clamping frame and facilitate the installation of the air cylinder, the radial sections of the upright column 43 and the cross rod 44 are rectangular, and aluminum alloy pieces with non-solid structures are more preferable, so that the clamping frame has the advantages of high strength and light weight.
In order to facilitate direct detection of the weight of the robot driving mechanism 1 while mounting it, a gravity sensor (not visible in the figure) is mounted in the clamping base 49, and a signal output end of the gravity sensor is correspondingly connected with a signal input end of the controller 5.
In order to facilitate the rapid assembly and disassembly of the clamping tool, the permanent magnets are correspondingly arranged at the bottom of the upright column 43 and the bottom of the clamping base 49 respectively, and the upright column 43 and the clamping base 49 are respectively positioned above the corresponding electromagnet assemblies 21.
In order to improve the surface finish of work platform 2 and do benefit to and inhale installation each part more reliably and more steadily through two poles of earth magnetic force, work platform 2 is the marble platform, be equipped with a plurality of installation inner chambers 25 on work platform 2, install an electromagnet assembly 21 in every installation inner chamber 25, every electromagnet assembly 21 includes two electro-magnet 22, the installation inner chamber 25 intussuseption is filled with epoxy (not shown in the figure, but easily understood) and this epoxy's top surface flushes with work platform 2's upper surface, mutually independent and pass through between two electro-magnet 22 of same electromagnet assembly 21 epoxy is fixed, every two permanent magnetism utmost point of the permanent magnet of detection mechanism bottom all are located same horizontal plane.
In order to realize temperature rise, noise, load, rotational speed and torque detection of robot driving mechanism 1, detection mechanism includes load servo motor 31, torque sensor 34, photoelectric encoder 33, temperature sensor and noise sensor, electromagnetic coupling 35, torque sensor 34, photoelectric encoder 33 and load servo motor 31 arrange on a straight line, electromagnetic coupling 35's one end is close to centre gripping base 49 and "V" shape grip block 42, electromagnetic coupling 35's the other end is connected with torque sensor 34's one end, torque sensor 34's the other end is connected with the one end of connecting axle 32, connecting axle 32 passes photoelectric encoder 33 and is connected with its grating disk, the other end of connecting axle 32 is connected with load servo motor 31's pivot, temperature sensor with noise sensor all install constitute temperature noise detection mechanism 36 on the temperature noise detection support and this temperature noise detection mechanism 36 is close to centre gripping base 49, torque sensor 34's signal output, photoelectric encoder 33's signal output, temperature sensor's signal output with noise sensor's signal output part corresponds the signal input part of controller 5 respectively and is connected, load servo motor 31's control input part corresponds the control output of controller.
Description of the drawings: for the sake of clarity and simplicity of illustration, the wiring connecting the controller 5 to all other components is not shown.
As shown in fig. 1-6, when the device is applied, all the detection mechanisms and the clamping tools are installed above the corresponding electromagnet assemblies 21 on the working platform 2, the controller 5 turns on the power supplies of the electromagnetic coils 24 of the two electromagnets 22 of the corresponding electromagnet assemblies 21, and controls the corresponding current directions, so that the electromagnetic poles at the upper ends of the two electromagnets 22 of the same electromagnet assembly 21 are opposite, the electromagnetic poles at the upper ends of the two electromagnets 22 are respectively attracted to the two permanent magnetic poles of the permanent magnet at the bottom of the corresponding part above, so that the corresponding part is firmly attracted to the working platform 2, and if the placement positions are not accurate enough, the corresponding part above can automatically change the position to be located at a predetermined position under the corresponding action of the electromagnetic poles of the two electromagnets 22 of the same electromagnet assembly 21 and the two permanent magnetic poles of the permanent magnet at the bottom of the corresponding part above.
Then, the mounting end 13 of the robot driving mechanism 1 to be detected is mounted on the clamping base 49, then the clamping block is controlled by the controller 5 to drive the air cylinder 41 to act, the piston rod of the clamping block drives the inverted V-shaped clamping block 42 to move downwards until the outer wall of the upper cylinder of the robot driving mechanism 1 is clamped by the inverted V-shaped clamping surface at the lower end of the inverted V-shaped clamping block 42, and the movement is stopped, so that the robot driving mechanism 1 is fixedly clamped; in order to adapt to clamping of robot driving mechanisms 1 with different sizes, the mounting groove of the clamping base 49 is a mounting groove with a larger size, for a robot driving mechanism 1 with a smaller size, the mounting end 13 of the mounting groove is only required to be positioned in the middle of the mounting groove of the clamping base 49, the inverted V-shaped clamping surface at the lower end of the inverted V-shaped clamping block 42 can also have a self-adaptive clamping and pressing function on the outer wall of the upper part of the robot driving mechanism 1 in the downward moving process, and a rubber elastic strip can be further mounted on the inverted V-shaped clamping surface at the lower end of the inverted V-shaped clamping block 42, so that the adaptability to the robot driving mechanisms 1 with different sizes is further enhanced, and the outer wall of the robot driving mechanism 1 is better protected.
Then, the first plug driving cylinder 46 is controlled to move, the piston rod of the first plug driving cylinder drives the second plug driving cylinder 47, the plug mounting bracket 47 and the electrical connection plug 48 to synchronously move to a position corresponding to the socket 15 of the electrical connection end 14 of the robot driving mechanism 1, then the movement is stopped, the height of the electrical connection plug 48 can automatically align with the socket 15 due to the self-adaptive change effect of the reversed V-shaped clamping block 42 on the robot driving mechanisms 1 with different sizes, then the second plug driving cylinder 47 is controlled to move, the piston rod of the second plug driving cylinder drives the plug mounting bracket 47 and the electrical connection plug 48 to move towards the direction close to the electrical connection end 14 of the robot driving mechanism 1 until the electrical connection plug 48 is inserted into the corresponding socket 15, the movement is stopped, and at the moment, a plurality of contact pins in the two electrical connection plugs 48 are respectively inserted into a plurality of contact holes in the two sockets 15, so that the mechanical installation and the electrical connection of the robot driving mechanism 1 are completed.
And finally, the detection mechanisms are correspondingly connected, one end of the electromagnetic coupling 35 is correspondingly connected with the power output end 11 of the robot driving mechanism 1, and the electromagnetic coupling 35 is connected by magnetism, so that a certain fault tolerance exists between the connecting end and the power output end 11, the fault tolerance can adapt to the robot driving mechanisms 1 with different sizes on one hand, and can adapt to the mounting accuracy of the detection mechanisms which is not very high on the mounting position on the other hand, and thus, the normal operation of each component is not influenced on the basis of realizing the smooth mounting and connection of all the components.
Then, the controller 5 supplies power to the frameless motor of the robot driving mechanism 1, the frameless motor starts to operate, the electromagnetic coupling 35 drives the rotating shaft of the torque sensor 34 and the connecting shaft 32 to rotate, the torque sensor 34 realizes torque detection and transmits a signal thereof to the controller 5, the photoelectric encoder 33 realizes rotation speed detection and transmits a signal thereof to the controller 5, the temperature sensor on the temperature noise detection mechanism 36 detects the temperature rise of the robot driving mechanism 1 and transmits a signal thereof to the controller 5, the noise sensor on the temperature noise detection mechanism 36 detects the noise generated when the robot driving mechanism 1 operates and transmits a signal thereof to the controller 5, so that the temperature rise, noise, rotation speed and torque detection of the robot driving mechanism 1 is synchronously completed, and in the process, the load servo motor 31 does not work, and the normal rotation of the connecting shaft 32 is not influenced.
Then, the controller 5 controls the load servo motor 31 to start, the rotating shaft of the load servo motor 31 starts to have a tendency of driving the connecting shaft 32 to rotate reversely, and the resistance applied by the load servo motor 31 to the connecting shaft 32 can be obtained through conventional calculation, which is equivalent to the resistance generated by the gravity of a traditional metal block to the rotating power of the robot driving mechanism 1, so that the load detection function of the robot driving mechanism 1 is realized.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, and should be considered to fall within the protection scope of the patent claims of the present invention.
Claims (8)
1. The utility model provides a formula modularization robot actuating mechanism comprehensive testing system is inhaled to magnetism, robot actuating mechanism include the shell with install in frameless motor, reduction gears, band-type brake in the shell, robot actuating mechanism includes three tip and respectively for the power take off end that is used for exporting rotary power, the electrical connection end that is used for connecting power and input/output signal and be used for installing the installation end on other parts of robot, its characterized in that: magnetic type modularization robot actuating mechanism comprehensive testing system includes work platform, centre gripping frock, a plurality of detection mechanism and controller, install a plurality of electromagnet assembly in the work platform, every electromagnet assembly includes an electro-magnet at least, the upper end of electro-magnet is one of them electromagnetism pole, every the permanent magnet is all installed to detection mechanism's bottom, every detection mechanism all arranges in work platform is last and is located one of them electromagnet assembly's top, the centre gripping frock includes centre gripping base, the "V" shape grip block that falls, grip block driver and centre gripping frame, the centre gripping base with the centre gripping frame install respectively in work platform is last, the grip block driver install in the centre gripping frame, the "V" shape grip block that falls install in can vertical removal on the grip block driver, the "V" shape grip block that falls is located directly over the centre gripping base, be equipped with on the centre gripping base and be used for installing the mounting groove of robot actuating mechanism's installation end, every detection mechanism respectively with the controller corresponds the connection, every solenoid of electro-magnet with the control input of grip block driver respectively with the control output of controller connects.
2. The magnetic type integrated detection system for the driving mechanism of the modular robot as claimed in claim 1, wherein: the centre gripping frock still includes electrical connection plug, plug installing support, first plug drive actuating cylinder and second plug drive actuating cylinder, the centre gripping frame includes stand and horizontal pole, the grip block driver drives actuating cylinder for the grip block, the lower extreme of stand is arranged in work platform is last, the horizontal pole with the upper portion of stand is connected, and is vertical the grip block drives actuating cylinder and installs on the horizontal pole, the lower extreme of grip block drive actuating cylinder's piston rod with the upper end of "V" clamp block is connected, and is horizontal first plug drives actuating cylinder and installs on the horizontal pole, first plug drives actuating cylinder's piston rod with horizontal second plug drives actuating cylinder and is connected, second plug drive actuating cylinder's piston rod with first plug drives actuating cylinder's piston rod mutually perpendicular, second plug drive actuating cylinder's piston rod with the plug installing support is connected, electrical connection plug installs on the plug installing support and be located the oblique top of centre gripping base, the control input of grip block drive actuating cylinder, the control input of first plug drive actuating cylinder and the control input of second plug drive actuating cylinder respectively with the output of controller corresponds the electrical connection plug.
3. The magnetic type integrated detection system for the driving mechanism of the modular robot as claimed in claim 2, wherein: the plug mounting bracket is an inverted Y-shaped bracket, and the two electrical connection plugs are respectively mounted at the lower parts of the two inclined rods of the inverted Y-shaped bracket.
4. The magnetic type integrated detection system for the driving mechanism of the modular robot as claimed in claim 2, wherein: the radial cross sections of the upright posts and the cross rods are rectangular.
5. The magnetic type integrated detection system for the driving mechanism of the modular robot as claimed in claim 2, wherein: and a gravity sensor is installed in the clamping base, and the signal output end of the gravity sensor is correspondingly connected with the signal input end of the controller.
6. The integrated detection system for the magnetic type modular robot driving mechanism according to any one of claims 2 to 5, characterized in that: the bottom of stand with the bottom of centre gripping base is installed respectively and is corresponded the permanent magnet, the stand with the centre gripping base is located respectively the correspondence the top of electromagnet assembly.
7. The integrated detection system for the magnetic type modular robot driving mechanism according to any one of claims 1 to 5, characterized in that: work platform is the marble platform, work platform is last to be equipped with a plurality of installation inner chambers, every install one in the installation inner chamber electromagnet assembly, every electromagnet assembly includes two electromagnet, the installation inner chamber intussuseption is filled with epoxy and this epoxy's top surface with work platform's upper surface flushes, and is same electromagnet assembly's two mutually independent and pass through between the electromagnet epoxy is fixed, every two permanent magnetism utmost points of the permanent magnet of detection mechanism bottom all are located same transverse plane.
8. The integrated detection system for driving mechanism of magnetic-type modular robot as claimed in any one of claims 1 to 5, wherein: the detection mechanism comprises a load servo motor, a torque sensor, a photoelectric encoder, a temperature sensor and a noise sensor, wherein an electromagnetic coupler is arranged on the torque sensor, the photoelectric encoder and the load servo motor are arranged on the same straight line, one end of the electromagnetic coupler is close to a clamping base and an inverted V-shaped clamping block, the other end of the electromagnetic coupler is connected with one end of the torque sensor, the other end of the torque sensor is connected with one end of a connecting shaft, the connecting shaft penetrates through the photoelectric encoder and is connected with a grating disc of the photoelectric encoder, the other end of the connecting shaft is connected with a rotating shaft of the load servo motor, the temperature sensor and the noise sensor are both installed on a temperature noise detection support to form a temperature noise detection mechanism, the temperature noise detection mechanism is close to the clamping base, the signal output end of the torque sensor, the signal output end of the photoelectric encoder, the signal output end of the temperature sensor and the signal output end of the noise sensor are respectively connected with the signal input end of a controller in a corresponding mode, and the control input end of the load servo motor is connected with the control output end of the controller in a corresponding mode.
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Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202805208U (en) * | 2012-02-21 | 2013-03-20 | 张伟 | Mechanical arm for plugging joint |
| CN102998550A (en) * | 2012-08-20 | 2013-03-27 | 昆山洺九机电有限公司 | Plugging detection machine for network connector plugs |
| CN203016422U (en) * | 2012-11-12 | 2013-06-26 | 戴鹏辉 | Exhibition device capable of automatically returning |
| CN104716503A (en) * | 2015-02-13 | 2015-06-17 | 奇瑞汽车股份有限公司 | Follow fixture electrical fast connecting device |
| CN105720452A (en) * | 2016-04-15 | 2016-06-29 | 苏州鸿普精密模具有限公司 | Switch base manipulator of power strip assembling machine |
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| CN109752202A (en) * | 2019-03-15 | 2019-05-14 | 西南交通大学 | A kind of train disc caliper brake tester with rigidity adjustable structure |
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| CN211588966U (en) * | 2019-12-30 | 2020-09-29 | 无锡昆仑富士仪表有限公司 | Laser cutting fixture for metal thin film |
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| CN113695864A (en) * | 2021-09-03 | 2021-11-26 | 深圳市阿尓法智慧科技有限公司 | Novel full-automatic intelligent equipment of aviation plug |
| CN113733158A (en) * | 2021-09-18 | 2021-12-03 | 山东建筑大学 | Mechanical arm reducer performance testing method and system |
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Application publication date: 20230124 |