CN116141384B - Industrial robot operation test engineering workbench - Google Patents
Industrial robot operation test engineering workbench Download PDFInfo
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- CN116141384B CN116141384B CN202310401009.2A CN202310401009A CN116141384B CN 116141384 B CN116141384 B CN 116141384B CN 202310401009 A CN202310401009 A CN 202310401009A CN 116141384 B CN116141384 B CN 116141384B
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- frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an industrial robot operation test engineering workbench, and relates to the technical field of balance performance test. This industrial robot operation test engineering workstation, including the workstation shell, be provided with a plurality of link joint on the workstation shell, adjacent link joint passes through the hinge and links to each other, and a plurality of link joint and hinge form a link joint area end to end jointly, the both sides subtend of link joint area is provided with the chain, still be provided with the actuating mechanism that is used for driving the link joint area on the workstation shell, one side that two chains kept away from the link joint area all is provided with high adjustment mechanism, still be provided with stop gear and the straining device that links to each other with the controller on the workstation shell, workstation shell bottom is provided with barycenter detection mechanism. The limiting mechanism and the tensioning mechanism are matched with the height adjusting mechanism and the chain to adjust the shape of the chain plate belt, and the workbench can simulate the topography with fluctuation and change and comprehensively evaluate the balance performance of the industrial robot.
Description
Technical Field
The invention relates to the technical field of balance performance test, in particular to an industrial robot operation test engineering workbench.
Background
The common industrial robots are usually fixed mechanical arms, such as a punching machine mechanical arm, a lathe mechanical arm, a stacking mechanical arm, a welding mechanical arm, an injection molding mechanical arm and the like. However, in the process of moving industrial robots from a development stage to a mature stage, industrial robots with travelling mechanisms are also becoming popular, and industrial robots with travelling mechanisms can be divided into fixed track type industrial robots and non-fixed track type industrial robots, and wheel type, crawler type and foot type industrial robots can all travel in an unfixed track, so that the robot has strong maneuverability and can be suitable for more complex industrial production.
The operation test engineering workbench is industrial robot test equipment and is used for detecting whether an industrial robot can smoothly execute an operation command so as to ensure that the industrial robot can meet the delivery requirements. Whether the industrial robot can normally execute the operation instruction often depends on the balance performance of the robot, the existing industrial robot testing equipment only detects the balance performance of the robot under the condition that the industrial robot is static or only has gesture change, a platform is difficult to detect the centroid change condition in the walking process of the industrial robot, different terrains cannot be simulated, and the balance performance of the industrial robot cannot be comprehensively evaluated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an industrial robot operation test engineering workbench, which solves the problem that the workbench is difficult to detect the balance performance of a robot when the robot walks under different terrains.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an industrial robot operation test engineering workstation, includes the workstation shell, be provided with a plurality of link joint on the workstation shell, adjacent link joint passes through the hinge and links to each other, and a plurality of link joint form a link joint area end to end with the hinge jointly, and the link joint of hinge both sides can both rotate around the axle center of hinge, the both sides subtend of link joint area is provided with the chain, still be provided with the actuating mechanism that is used for driving the link joint area on the workstation shell, two chains keep away from one side of link joint area and all are provided with high adjustment mechanism, high adjustment mechanism links to each other with the controller, still be provided with stop gear and the straining device who links to each other with the controller on the workstation shell, stop gear and straining device cooperate high adjustment mechanism and chain to adjust the form of link joint area, the workstation shell bottom is provided with barycenter detection mechanism.
Preferably, the driving mechanism comprises a first driving rod and a second driving rod which are arranged on two sides of the workbench shell in the length direction, chain wheels are fixedly connected to two sides of the first driving rod and the second driving rod, four chain wheels are meshed with two chains respectively, the driving mechanism further comprises a motor, the controller is electrically connected with the motor, the motor is fixedly connected to the side wall of the workbench shell, the output end of the motor is fixedly connected with the first driving rod, hinge shafts are in one-to-one correspondence with pin shafts on the chains, and two ends of each hinge shaft are respectively fixed with corresponding pin shafts on the chains on two sides of the chain plate belt; the height adjusting mechanism comprises a first electric push rod and a guide wheel, wherein the guide wheel is rotationally connected to one end, far away from the chain plate belt, of a sleeve of the first electric push rod, the output end of the first electric push rod is fixedly connected with a buffer assembly, a first distance sensor is fixedly connected to the sleeve of the first electric push rod, and the first electric push rod and the first distance sensor are both connected with the controller; the limiting mechanism comprises two limiting plates which are oppositely arranged, a first limiting rail is arranged on one side of each limiting plate, a second limiting rail is arranged on the other side of each limiting plate, the guide wheels can roll in the first limiting rail and the second limiting rail in a fitting mode, one side of each limiting plate protrudes downwards and extends towards the tensioning mechanism, the first limiting rail is arranged on the outer side of a first driving rod in a semi-encircling mode, the lower portion of each first limiting rail extends towards the tensioning mechanism along each limiting plate, the second limiting rail is arranged on the outer side of a second driving rod in a semi-encircling mode, the lower portion of each second limiting rail extends towards the tensioning mechanism along each limiting plate, mounting plates are fixedly connected to two inner side walls in the width direction of the workbench shell, the limiting plates, the first limiting rails and the second limiting rails are fixedly connected to the inner side walls of the workbench shell through the mounting plates, the first driving rods are rotationally connected with one ends of the upper portions of the two limiting plates, and the second driving rods are rotationally connected with the other ends of the upper portions of the two limiting plates. The tensioning mechanism comprises a second electric push rod fixedly connected between two limiting plates, the output end of the second electric push rod is fixedly connected with a first pressure sensor, the first pressure sensor and the second electric push rod are connected with a controller, one end of the first pressure sensor, which is far away from the second electric push rod, is fixedly connected with a connecting piece, both ends of the connecting piece are fixedly connected with limiting blocks, one end of the limiting block, which is close to the second electric push rod sleeve, is fixedly connected with a first movable plate, one end of the limiting plate, which extends to the tensioning mechanism, is fixedly connected with a first limiting frame, the first movable plate is slidably connected to the inner side of the first limiting frame, one end of the limiting block, which is far away from the connecting piece, is fixedly connected with an end plate, one end of the limiting block, which is far away from the second electric push rod sleeve, is provided with a third limiting rail, and the third limiting rail is fixedly connected to the end plate; the industrial robot operation test engineering workbench further comprises an in-place detection mechanism, and the in-place condition of the height adjusting mechanism above the limiting plate is detected through the in-place detection mechanism; the inside of link joint is provided with third pressure sensor, and third pressure sensor links to each other with the controller, and the controller passes through wireless signal and the mobile device that the tester hand-carried.
Preferably, the limiting mechanism further comprises a first limiting frame and a second limiting frame, the first limiting frame and the second limiting frame are fixedly connected to the mounting plates, the first limiting frame and the second limiting frame are arranged on the two mounting plates, the first limiting frame is arranged on the outer side of the first driving rod in a semi-surrounding mode, the lower portion of the first limiting frame extends towards the tensioning mechanism along the limiting plate, the first limiting track is arranged between the limiting plate and the first limiting frame, the second limiting frame is arranged on the outer side of the second driving rod in a semi-surrounding mode, the lower portion of the second limiting frame extends towards the tensioning mechanism along the limiting plate, and the second limiting track is arranged between the limiting plate and the second limiting frame; the sleeve of the first electric push rod is also fixedly connected with a buffer assembly at one end far away from the output end of the first electric push rod, and the two buffer assemblies on the first electric push rod are mutually symmetrical.
Preferably, the tensioning mechanism further comprises a third limiting frame, the third limiting rail is arranged between the limiting block and the third limiting frame, the upper end and the lower end of the third limiting frame are fixedly connected with second movable plates, the first limiting frame and the second limiting frame extend to one end of the tensioning mechanism and are fixedly connected with second limiting frames, and the two second movable plates are respectively and slidably connected to the inner sides of the two second limiting frames.
Preferably, the buffer assembly comprises a mounting frame, the both sides of mounting frame are all rotated and are connected with the adjustable shelf, the one end that the mounting frame was kept away from to the adjustable shelf is rotated and is connected with the gyro wheel, mounting frame top both sides all are provided with first spring, two the one end that the mounting frame was kept away from to first spring links to each other with the adjustable shelf.
Preferably, the two sides of the bottom of the mounting frame are respectively provided with a second spring, and one end, far away from the mounting frame, of each second spring is connected with the movable frame.
Preferably, a limiting groove is formed in the connection position of the movable frame and the mounting frame, and the limiting groove is used for limiting the rotation angle of the movable frame.
Preferably, a connecting plate is fixedly connected between the two third limiting frames, the bottoms of the two third limiting frames are rotationally connected with supporting wheels, and the supporting wheels are attached to the bottom wall of the workbench shell.
Preferably, the mass center detection mechanism comprises guide posts fixedly connected to four corners at the bottom end of the workbench shell, a sleeve is sleeved outside the guide posts, a second pressure sensor is arranged between the guide posts and the bottom wall of the sleeve, and the second pressure sensor is connected with the controller through a signal wire.
Preferably, the in-place detection mechanism comprises two first locating plates and two second locating plates, the two first locating plates are respectively and fixedly connected to one sides, opposite to the tops of the two mounting plates, of the two first locating plates, the first locating plates are close to the first limiting frame, the two second locating plates are respectively and fixedly arranged on one sides, opposite to the tops of the two mounting plates, of the two second locating plates, the second locating plates are close to the second limiting frame, the in-place detection mechanism further comprises second distance sensors in one-to-one correspondence with the hinge shafts, the second distance sensors are fixedly connected to sleeves of the first electric push rods, and the second distance sensors are oppositely arranged with the first distance sensors.
Working principle: when the balance performance test is carried out on the walking industrial robot, the driving mechanism drives the hinge shaft to move in a variable transmission path through the chain, the upper part of the chain plate belt is raised to a certain extent through the height of the hinge shaft above the workbench shell of the height adjusting mechanism, the tensioning mechanism adjusts the form of the chain plate belt along with the change of the expansion and contraction condition of the height adjusting mechanism, the lower part of the chain plate belt is further correspondingly changed in form, the chain plate belt is kept at a proper tensioning degree, the topography with the fluctuation change is simulated above the workbench shell, after the industrial robot passes through the raised part of the upper part of the chain plate belt, the raised part of the upper part of the chain plate belt is restored to a flat state, the tensioning mechanism is again adjusted to the form along with the change of the expansion and contraction condition of the adjusting mechanism, and the centroid position of the industrial robot is detected through the centroid detecting mechanism in the test process; the variable transmission path consists of a first fixed section, an open section, a second fixed section, a first distance changing section, a rotary section and a second distance changing section, wherein the first fixed section is a section where a first limit rail is positioned, the open section is a section formed between the top end of the first limit rail and the top end of the second limit rail, the second fixed section is a section where a second limit rail is positioned, the first distance changing section is a section formed between the bottom end of the second limit rail and the bottom end of a third limit rail, the rotary section is a section where a third limit rail is positioned, the second distance changing section is a section formed between the top end of the third limit rail and the bottom end of the first limit rail, after a hinge shaft enters the open section from the first fixed section, a first electric push rod of the height adjusting mechanism stretches, the hinge shaft moves upwards, a chain plate of the open section upwards bulges, under the stretching action of a plurality of height adjusting mechanisms, the chain plate belt of the open section is simulated to have the relief change, the guide wheel can be attached and rolled in the third limit track and the first limit track and the second limit track of the tensioning mechanism, the first limit track and the second limit track limit the chain plate belt, the third limit track provides tensioning force for the chain plate belt, the first pressure sensor is matched with the controller to detect the pushing force provided by the second electric push rod to the connecting piece, the limiting block, the end plate and the third limit track, thereby detecting the tensioning force provided by the third limit track for the chain plate belt, the second electric push rod gradually contracts along with the increase of the tensioning force in the stretching process of the first electric push rod, the first movable plate gradually slides into the first limit frame, the first distance-changing section and the second distance-changing section contract, when the hinge shaft approaches the second fixed section, the first electric push rod of the height adjusting mechanism contracts, and the hinge shaft is displaced downwards, the chain plate belt of the open section is restored to a flat state downwards, the second electric push rod is gradually stretched along with the reduction of the tensioning force, the first movable plate gradually slides out of the first limiting frame, and the first variable-pitch section and the second variable-pitch section are stretched; when the hinge shaft moves along a variable transmission path, the hinge shaft is positioned on the first fixed section, the open section and the second fixed section, the buffer component enables the first electric push rod to be perpendicular to the surface of the limiting plate, when the hinge shaft is positioned on the first variable-pitch section and the second variable-pitch section, the buffer component enables the first electric push rod to be perpendicular to the first movable plate and the first limiting frame, when the hinge shaft is positioned on the rotating section, the buffer component enables the first electric push rod to be perpendicular to the surface of the limiting block, in the process of overbending of the height adjusting mechanism, the movable frame and the idler wheel can correspondingly rotate in a small amplitude, so that the height adjusting mechanism can be tightly attached to the limiting plate in the first fixed section and the second fixed section, the height adjusting mechanism can be tightly attached to the limiting block in the rotating section, the first spring provides positioning and buffering for the movable frame, the second spring improves the structural stability of the buffer component, limits the rotating angle of the movable frame through the limiting groove, and the bottom end of the mounting frame is prevented from being abutted to the limiting plate when the first electric push rod stretches; the method comprises the steps that pressure is applied to a second pressure sensor in a sleeve through a guide pillar of a centroid detection mechanism, the four second pressure sensors are matched with a controller to measure the centroid of the overlapped workbench and the industrial robot, the first distance sensor is used for detecting the actual stretching condition of a first electric push rod, the second distance sensor is used for transmitting signals to the controller when detecting a first positioning plate and a second positioning plate so as to determine the position information of a height adjustment mechanism, so that the centroid of the workbench is measured, the controller is combined with the centroid of the overlapped workbench and the overlapped industrial robot measured by the centroid detection mechanism to measure the centroid of the industrial robot, the contact position of the industrial robot and a chain plate belt is determined through a third pressure sensor, the controller is used for analyzing the balance performance of the robot through the centroid measurement result and the contact position of the industrial robot, and the controller is used for transmitting the analysis result to mobile equipment carried by a tester through wireless signals.
The invention provides an industrial robot operation test engineering workbench. The beneficial effects are as follows:
1. when the balance performance test is carried out on the walking industrial robot, the driving mechanism drives the hinge shaft to move in a variable transmission path through the chain, the upper part of the chain plate belt is raised to a certain extent through the height of the hinge shaft above the workbench shell of the height adjusting mechanism, the tensioning mechanism adjusts the form of the chain plate belt along with the change of the telescopic condition of the height adjusting mechanism, and further, the lower part of the chain plate belt is correspondingly changed in form, so that the chain plate belt is kept at a proper tensioning degree, and the workbench can simulate the topography with fluctuation change through a small equipment occupation area, thereby being convenient for measuring the balance performance of the industrial robot under different terrains.
2. According to the invention, the gesture of the first electric push rod is regulated through the buffer assembly, and in the process of overbending of the height regulating mechanism, the movable frame and the idler wheels can correspondingly rotate in a small amplitude, so that the height regulating mechanism can be tightly attached to the limiting plate and the limiting block, the first spring provides positioning and buffering for the movable frame, the second spring improves the structural stability of the buffer assembly, the rotating angle of the movable frame is limited through the limiting groove, the bottom end of the mounting frame is prevented from being propped against the limiting plate when the first electric push rod stretches, and the transmission stability of the chain plate belt in the measuring process is improved.
3. According to the invention, the centroid detection mechanism is matched with the controller to measure the centroid of the overlapped workbench and the industrial robot, the first distance sensor is used for detecting the actual stretching condition of the first electric push rod, the second distance sensor is used for transmitting signals to the controller when detecting the first positioning plate and the second positioning plate so as to determine the position information of the height adjustment mechanism, so that the centroid of the workbench is measured, the controller is combined with the centroid of the overlapped workbench and the industrial robot measured by the centroid detection mechanism to calculate the centroid of the industrial robot, the contact position of the industrial robot and the chain plate belt is determined by the third pressure sensor, the controller is used for analyzing the balance performance of the robot and transmitting the analysis result to mobile equipment carried by a tester through wireless signals, and the comprehensive evaluation of the balance performance of the industrial robot is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the table housing of the present invention;
FIG. 3 is a schematic view of the structure of the link plate belt of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at A;
FIG. 5 is a schematic diagram of a limiting mechanism and a tensioning mechanism according to the present invention;
FIG. 6 is an enlarged view of FIG. 5 at B;
FIG. 7 is a schematic view showing an inner structure of the link plate of the present invention;
FIG. 8 is a schematic view of a height adjusting mechanism according to a first embodiment of the present invention;
FIG. 9 is a schematic view of a height adjustment mechanism according to a second embodiment of the present invention;
FIG. 10 is a schematic view of a cushioning assembly according to the present invention;
FIG. 11 is a schematic diagram of a centroid detection mechanism according to the present invention;
fig. 12 is a schematic structural view of a driving mechanism according to the present invention.
Wherein, 1, a workbench shell; 2. a link plate; 3. a hinge shaft; 4. a chain; 5. a driving mechanism; 501. a first driving lever; 502. a second driving lever; 503. a sprocket; 504. a motor; 6. a height adjusting mechanism; 601. a first electric push rod; 602. a guide wheel; 603. a buffer assembly; 60301. a mounting frame; 60302. a movable frame; 60303. a roller; 60304. a first spring; 60305. a second spring; 60306. a limit groove; 604. a first distance sensor; 7. a limiting mechanism; 701. a limiting plate; 702. a first limit rail; 703. the second limit rail; 704. a mounting plate; 705. a first limit frame; 706. a second limit frame; 8. a tensioning mechanism; 801. a second electric push rod; 802. a first pressure sensor; 803. a connecting piece; 804. a limiting block; 805. a first movable plate; 806. a first limiting frame; 807. an end plate; 808. the third limit rail; 809. a third limit frame; 8010. a second movable plate; 8011. the second limiting frame; 8012. a connecting plate; 8013. a support wheel; 9. a centroid detection mechanism; 901. a guide post; 902. a sleeve; 903. a second pressure sensor; 10. an in-place detection mechanism; 1001. a first positioning plate; 1002. a second positioning plate; 1003. a second distance sensor; 11. and a third pressure sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment:
referring to fig. 1-8 and 10-12, an embodiment of the invention provides an industrial robot operation test engineering workbench, which comprises a workbench housing 1, wherein a plurality of chain plates 2 are arranged on the workbench housing 1, the adjacent chain plates 2 are connected through a hinge shaft 3, the plurality of chain plates 2 and the hinge shaft 3 form a chain plate belt connected end to end, the chain plates 2 on two sides of the hinge shaft 3 can rotate around the axle center of the hinge shaft 3, chains 4 are oppositely arranged on two sides of the chain plate belt, a driving mechanism 5 for driving the chain plate belt is further arranged on the workbench housing 1, a height adjusting mechanism 6 is arranged on one side of the two chains 4 far away from the chain plate belt, the height adjusting mechanism 6 is connected with a controller, a limiting mechanism 7 and a tensioning mechanism 8 which are connected with the controller are further arranged on the workbench housing 1, the limiting mechanism 7 and the tensioning mechanism 8 cooperate with the height adjusting mechanism 6 and the driving mechanism 5 and the chain 4 to adjust the shape of the chain plate belt, the bottom of the workbench shell 1 is provided with a mass center detection mechanism 9, a plurality of chain plates 2 and hinge shafts 3 form a chain plate belt which is connected end to end, when the balance performance test is carried out on a walking industrial robot, a driving mechanism 5 drives the hinge shafts 3 to move in a variable transmission path through a chain 4, the height of the hinge shafts 3 above the workbench shell 1 is adjusted by a height adjusting mechanism 6, the upper part of the chain plate belt is raised to a certain extent, a tensioning mechanism 8 adjusts the shape of the chain plate belt along with the change of the expansion and contraction condition of the height adjusting mechanism 6, the lower part of the chain plate belt is further changed in a corresponding shape, the chain plate belt is kept to a proper tensioning degree, thus the topography with fluctuation change is simulated above the workbench shell 1, after the industrial robot passes through the raised part of the upper part of the chain plate belt, the height adjusting mechanism 6 enables the raised part on the upper part of the chain plate belt to be restored to a flat state, the tensioning mechanism 8 adjusts the shape of the chain plate belt along with the change of the telescopic condition of the height adjusting mechanism 6, the centroid position of the industrial robot is detected through the centroid detecting mechanism 9 in the test process, the industrial robot operation test engineering workbench can simulate the topography with fluctuation change with smaller equipment occupation area, and the convenience of measuring the balance performance of the industrial robot under different terrains is improved.
The driving mechanism 5 comprises a first driving rod 501 and a second driving rod 502 which are arranged on two sides of the workbench shell 1 in the length direction, chain wheels 503 are fixedly connected to two sides of the first driving rod 501 and the second driving rod 502, four chain wheels 503 are respectively meshed with two chains 4, the driving mechanism 5 further comprises a motor 504, a controller is electrically connected with the motor 504, the motor 504 is fixedly connected to the side wall of the workbench shell 1, the output end of the motor 504 is fixedly connected with the first driving rod 501, hinge shafts 3 are in one-to-one correspondence with pin shafts on the chains 4, and two ends of the hinge shafts 3 are respectively fixed with corresponding pin shafts on the chains 4 on two sides of the chain plate belt; the height adjusting mechanism 6 comprises a first electric push rod 601 and a guide wheel 602, the guide wheel 602 is rotatably connected to one end, far away from the chain plate belt, of a sleeve of the first electric push rod 601, the output end of the first electric push rod 601 is fixedly connected with a buffer component 603, a first distance sensor 604 is fixedly connected to the sleeve of the first electric push rod 601, and the first electric push rod 601 and the first distance sensor 604 are connected with a controller; the limiting mechanism 7 comprises two limiting plates 701 which are oppositely arranged, when the height adjusting mechanism 6 is positioned above the limiting plates 701, the buffer component 603 of the height adjusting mechanism 6 can keep fit with the top ends of the limiting plates 701, distance information is acquired through the first distance sensor 604, the distance from the hinge shaft 3 to the limiting plates 701 is calculated by the controller according to the distance information sent by the first distance sensor 604, the distance from the sleeve of the first electric push rod 601 to the limiting plates 701 is detected, one side of each limiting plate 701 is provided with a first limiting rail 702, the other side of each limiting plate 701 is provided with a second limiting rail 703, the guide wheels 602 can roll in fit in the first limiting rails 702 and the second limiting rails 703, one side of each limiting plate 701 protrudes downwards and extends towards the tensioning mechanism 8, the first limiting rail 702 is arranged on the outer side of the first driving rod 501 in a semi-surrounding mode, the lower portion of the first limiting rail 702 extends towards the tensioning mechanism 8 along the limiting plate 701, the second limiting rail 703 is arranged on the outer side of the second driving rod 502 in a semi-surrounding mode, the lower portion of the second limiting rail 703 extends towards the tensioning mechanism 8 along the limiting plate 701, mounting plates 704 are fixedly connected to two inner side walls of the workbench housing 1 in the width direction, the limiting plate 701, the first limiting rail 702 and the second limiting rail 703 are fixedly connected to the inner side walls of the workbench housing 1 through the mounting plates 704, the first driving rod 501 is rotationally connected with one ends of the upper portions of the two limiting plates 701, and the second driving rod 502 is rotationally connected with the other ends of the upper portions of the two limiting plates 701; the tensioning mechanism 8 comprises a second electric push rod 801 fixedly connected between two limiting plates 701, the output end of the second electric push rod 801 is fixedly connected with a first pressure sensor 802, the first pressure sensor 802 and the second electric push rod 801 are both connected with a controller, one end of the first pressure sensor 802, which is far away from the second electric push rod 801, is fixedly connected with a connecting piece 803, the shape of the connecting piece 803 is in a rod shape or a plate shape, both ends of the connecting piece 803 are fixedly connected with limiting blocks 804, one end of the limiting block 804, which is close to a sleeve of the second electric push rod 801, is fixedly connected with a first movable plate 805, the limiting plates 701 extend to one end of the tensioning mechanism 8 and are fixedly connected with a first limiting frame 806, the first movable plate 805 is slidably connected to the inner side of the first limiting frame 806, one end of the limiting block 804, which is far away from the connecting piece 803, is fixedly connected with an end plate 807, one end of the limiting block 804, which is far away from the sleeve of the second electric push rod 801, is provided with a third limiting track 808, and the third limiting track 808 is fixedly connected to the end plate 807; the industrial robot operation test engineering workbench further comprises an in-place detection mechanism 10 connected with the controller, and the in-place condition of the height adjusting mechanism 6 above the limiting plate 701 is detected through the in-place detection mechanism 10; the third pressure sensor 11 is arranged in the chain plate 2, the third pressure sensor 11 is connected with a controller, the controller is connected with mobile equipment carried by a tester through wireless signals, a variable transmission path consists of a first fixed section, an open section, a second fixed section, a first distance changing section, a rotating section and a second distance changing section, the first fixed section is a section where the first limit track 702 is located, the open section is a section formed between the top end of the first limit track 702 and the top end of the second limit track 703, the second fixed section is a section where the second limit track 703 is located, the first distance changing section is a section formed between the bottom end of the second limit track 703 and the bottom end of the third limit track 808, the rotating section is a section where the third limit track 808 is located, the second distance changing section is a section formed between the top end of the third limit track 808 and the bottom end of the first limit track 702, and after the hinge shaft 3 enters the open section from the first fixed section, the first electric push rod 601 of the height adjusting mechanism 6 stretches, the hinge shaft 3 moves upwards to enable the chain plate belt of the open section to bulge upwards, under the stretching action of the plurality of height adjusting mechanisms 6, the chain plate belt of the open section simulates the relief of fluctuation, the guide wheel 602 can roll in the third limit rail 808 of the tensioning mechanism 8 and the first limit rail 702 and the second limit rail 703 in an adhering way, the first limit rail 702 and the second limit rail 703 limit the chain plate belt, the third limit rail 808 provides tensioning force for the chain plate belt, the first pressure sensor 802 is matched with the controller to detect the pushing force provided by the second electric push rod 801 to the connecting piece 803, the limiting block 804, the end plate 807 and the third limit rail 808, so that the tensioning force provided by the third limit rail 808 to the chain plate belt is detected, and in the stretching process of the first electric push rod 601, along with the increase of the tensioning force, the second electric push rod 801 gradually contracts, the first movable plate 805 gradually slides into the first limiting frame 806, the first distance changing section and the second distance changing section contract, when the hinge shaft 3 approaches the second fixed section, the first electric push rod 601 of the height adjusting mechanism 6 contracts, the hinge shaft 3 moves downwards, the chain plate belt of the open section returns to the flat state downwards, along with the decrease of the tensioning force, the second electric push rod 801 gradually stretches, the first movable plate 805 gradually slides out of the first limiting frame 806, and the first distance changing section and the second distance changing section stretch, so that the chain plate belt can keep proper tension.
Buffer assembly 603 includes mounting bracket 60301, mounting bracket 60301's both sides all rotate and are connected with movable frame 60302, the one end that mounting bracket 60301 was kept away from to movable frame 60302 rotates and is connected with gyro wheel 60303, mounting bracket 60301 top both sides all are provided with first spring 60304, two first spring 60304 keep away from the one end of mounting bracket 60301 and link to each other with movable frame 60302, hinge 3 is in the fixed section of first fixed section, open section and second, buffer assembly 603 makes first electric putter 601 perpendicular to limiting plate 701's surface, hinge 3 is in first displacement section and second displacement section, buffer assembly 603 makes first electric putter 601 perpendicular to first movable plate 805 and first limiting frame 806, hinge 3 is in the time of the rotation section, buffer assembly 603 makes first electric putter 601 perpendicular to limiting block 804's surface, in the in-process that high adjustment mechanism 6 crosses the bending, movable frame 60302 and gyro wheel 60303 can correspondingly little range rotation to guarantee that high adjustment mechanism 6 can closely laminate in first fixed section and second fixed section and limiting plate 60302 and high adjustment mechanism can closely laminate with limiting plate 60302, high adjustment mechanism is guaranteed to closely laminating in first fixed section and limiting plate 60302.
Two sides of the bottom of the mounting frame 60301 are provided with second springs 60305, one end, away from the mounting frame 60301, of each second spring 60305 is connected with the movable frame 60302, and the second springs 60305 improve the structural stability of the buffer assembly 603.
Limiting grooves 60306 are formed in the connecting positions of the movable frame 60302 and the mounting frame 60301, the limiting grooves 60306 are used for limiting the rotation angle of the movable frame 60302, and the bottom end of the mounting frame 60301 is prevented from being propped against the limiting plate 701 when the first electric push rod 601 stretches.
Fixedly connected with connecting plate 8012 between two third spacing frame 809, two third spacing frame 809 bottom rotate and are connected with supporting wheel 8013, and supporting wheel 8013 and the diapire laminating of workstation shell 1, supporting wheel 8013 reduce the frictional force that tensioning mechanism 8 received at the flexible in-process of second electric putter 801.
The mass center detection mechanism 9 comprises guide posts 901 fixedly connected to four corners of the bottom end of the workbench shell 1, a sleeve 902 is sleeved outside the guide posts 901, a second pressure sensor 903 is arranged between the guide posts 901 and the bottom wall of the sleeve 902, and the second pressure sensor 903 is connected with the controller through a signal wire.
The in-place detection mechanism 10 comprises two first positioning plates 1001 and two second positioning plates 1002, the two first positioning plates 1001 are respectively and fixedly connected to opposite sides of the tops of the two mounting plates 704, the first positioning plates 1001 are close to the first limiting frame 705, the two second positioning plates 1002 are respectively and fixedly connected to opposite sides of the tops of the two mounting plates 704, the second positioning plates 1002 are close to the second limiting frame 706, the in-place detection mechanism 10 further comprises second distance sensors 1003 corresponding to the hinge shafts 3 one by one, the second distance sensors 1003 are fixedly connected to the sleeves of the first electric push rods 601, the second distance sensors 1003 are oppositely arranged with the first distance sensors 604, the second distance sensors 1003 are connected with the controller, pressure is applied to the second pressure sensors 903 in the sleeves 902 through the guide posts 901 of the centroid detection mechanism 9, the four second pressure sensors 903 cooperate with a controller to measure the centroid of the overlapped workbench and the industrial robot, the actual stretching condition of the first electric push rod 601 is detected through the first distance sensor 604, signals are transmitted to the controller when the second distance sensor 1003 detects the first positioning plate 1001 and the second positioning plate 1002 so as to determine the position information of the height adjusting mechanism 6, the centroid of the workbench is measured, the controller calculates the centroid of the industrial robot by combining the centroid of the workbench measured by the centroid detecting mechanism 9 and the centroid of the industrial robot after being overlapped, the contact position of the industrial robot and the chain plate belt is determined through the third pressure sensor 11, the controller analyzes the balance performance of the robot by integrating the centroid calculating result and the contact position of the industrial robot, and the controller sends the analysis result to mobile equipment carried by a tester through wireless signals.
Second embodiment:
referring to fig. 9, an embodiment of the present invention provides an industrial robot operation test engineering workbench, which is different from the first embodiment in that: the limiting mechanism 7 further comprises a first limiting frame 705 and a second limiting frame 706, the first limiting frame 705 and the second limiting frame 706 are fixedly connected to the mounting plates 704, the first limiting frame 705 and the second limiting frame 706 are arranged on the two mounting plates 704, the first limiting frame 705 is arranged on the outer side of the first driving rod 501 in a semi-surrounding mode, the lower portion of the first limiting frame 705 extends towards the tensioning mechanism 8 along the limiting plate 701, the first limiting track 702 is arranged between the limiting plate 701 and the first limiting frame 705, the second limiting frame 706 is arranged on the outer side of the second driving rod 502 in a semi-surrounding mode, the lower portion of the second limiting frame 706 extends towards the tensioning mechanism 8 along the limiting plate 701, and the second limiting track is arranged between the limiting plate 701 and the second limiting frame 706; the sleeve of the first electric putter 601 is also fixedly connected with buffer assembly 603 far away from one end of the output end of the first electric putter 601, two buffer assemblies 603 on the first electric putter 601 are symmetrical with each other, tensioning mechanism 8 further comprises a third limiting frame 809, a third limiting track 808 is arranged between the limiting block 804 and the third limiting frame 809, the upper end and the lower end of the third limiting frame 809 are both fixedly connected with second movable plates 8010, the first limiting frame 705 and the second limiting frame 706 extend to one end of the tensioning mechanism 8 and are both fixedly connected with second limiting frames 8011, the two second movable plates 8010 are respectively connected with the inner sides of the two second limiting frames 8011 in a sliding mode, the buffer assembly 603 on one side of the first electric putter 601 far away from the output end is attached to the first limiting frame 603 in a first fixed section, the buffer assembly 603 is attached to the second limiting frame 706 in a second fixed section, the buffer assembly 603 can be attached to the second limiting frames 8011 and the second movable plates 8010 in a first variable-distance section and a second variable-distance section, and the buffer assembly 603 is attached to the third movable plates 8010 in a rotary section and is further attached to the first variable-distance section and is further provided with a transmission band.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an industrial robot operation test engineering workstation, includes workstation shell (1), its characterized in that, be provided with a plurality of link joint (2) on workstation shell (1), adjacent link joint (2) link to each other through hinge (3), a plurality of link joint (2) form a link joint area of end to end with hinge (3) jointly, the both sides subtend of link joint area is provided with chain (4), still be provided with on workstation shell (1) and be used for driving link joint area's actuating mechanism (5), one side that two chains (4) kept away from the link joint area all is provided with height-adjusting mechanism (6), height-adjusting mechanism (6) link to each other with the controller, still be provided with stop gear (7) and tensioning mechanism (8) that link joint area link joint are connected with the controller on workstation shell (1), the form of limit gear (7) and tensioning mechanism (8) cooperation height-adjusting mechanism (6) and chain (4) adjustment link joint area, workstation shell (1) bottom is provided with barycenter detection mechanism (9), actuating mechanism (5) are including setting up on workstation shell (1) first length (501) and second both sides (502) drive rod (503) and second drive rod (502) both sides, the four chain wheels (503) are respectively meshed with the two chains (4), the driving mechanism (5) further comprises a motor (504), and the output end of the motor (504) is fixedly connected with the first driving rod (501); the height adjusting mechanism (6) comprises a first electric push rod (601) and a guide wheel (602), wherein the guide wheel (602) is rotatably connected to one end, far away from a chain plate belt, of a sleeve of the first electric push rod (601), the output end of the first electric push rod (601) is fixedly connected with a buffer assembly (603), and a first distance sensor (604) is fixedly connected to the sleeve of the first electric push rod (601); the limiting mechanism (7) comprises two limiting plates (701) which are oppositely arranged, a first limiting rail (702) is arranged on one side of each limiting plate (701), a second limiting rail (703) is arranged on the other side of each limiting plate (701), one side of each limiting plate (701) protrudes downwards and extends towards the tensioning mechanism (8), the lower part of each first limiting rail (702) extends towards the tensioning mechanism (8) along each limiting plate (701), the lower part of each second limiting rail (703) extends towards the tensioning mechanism (8) along each limiting plate (701), each first limiting rail (702) and each second limiting rail (703) are fixedly connected onto the inner side wall of the workbench shell (1) through a mounting plate (704), and each first driving rod (501) is rotationally connected with one end of the upper parts of the corresponding limiting plates (701) and rotationally connected with the other end of the upper parts of the corresponding limiting plates (502); the tensioning mechanism (8) comprises a second electric push rod (801) fixedly connected between two limiting plates (701), the output end of the second electric push rod (801) is fixedly connected with a first pressure sensor (802), one end, away from the second electric push rod (801), of the first pressure sensor (802) is fixedly connected with a connecting piece (803), two ends of the connecting piece (803) are fixedly connected with limiting blocks (804), one end, close to the second electric push rod (801), of each limiting block (804) is fixedly connected with a first movable plate (805), the limiting plates (701) extend to one end, close to the tensioning mechanism (8), of each limiting plate, a first limiting frame (806) is fixedly connected to the inner side of the corresponding first limiting frame (806), one end, away from the connecting piece (803), of each limiting block (804) is fixedly connected with an end plate (807), one end, away from the corresponding second electric push rod (801), of each limiting block (804) is provided with a third limiting track (808), and the third limiting track (808) is fixedly connected to the end plate (807). The industrial robot operation test engineering workbench further comprises an in-place detection mechanism (10), and a third pressure sensor (11) is arranged in the chain plate (2).
2. The industrial robot operation test engineering workbench according to claim 1, wherein the limiting mechanism (7) further comprises a first limiting frame (705) and a second limiting frame (706), the first limiting frame (705) and the second limiting frame (706) are fixedly connected to the mounting plate (704), the lower portion of the first limiting frame (705) extends towards the tensioning mechanism (8) along the limiting plate (701), the first limiting rail (702) is arranged between the limiting plate (701) and the first limiting frame (705), the lower portion of the second limiting frame (706) extends towards the tensioning mechanism (8) along the limiting plate (701), and the second limiting rail (703) is arranged between the limiting plate (701) and the second limiting frame (706); one end, far away from the output end of the first electric push rod (601), of the sleeve of the first electric push rod (601) is fixedly connected with a buffer assembly (603), and the two buffer assemblies (603) on the first electric push rod (601) are symmetrical to each other.
3. The industrial robot operation test engineering workbench according to claim 2, wherein the tensioning mechanism (8) further comprises a third limiting frame (809), the third limiting rail (808) is arranged between the limiting block (804) and the third limiting frame (809), the upper end and the lower end of the third limiting frame (809) are fixedly connected with second movable plates (8010), the first limiting frame (705) and the second limiting frame (706) extend to one end of the tensioning mechanism (8) and are fixedly connected with second limiting frames (8011), and the two second movable plates (8010) are respectively and slidably connected to the inner sides of the two second limiting frames (8011).
4. The industrial robot operation test engineering workbench according to claim 3, wherein the buffer assembly (603) comprises a mounting frame (60301), two sides of the mounting frame (60301) are rotatably connected with a movable frame (60302), one end of the movable frame (60302) away from the mounting frame (60301) is rotatably connected with a roller (60303), two sides of the top of the mounting frame (60301) are provided with first springs (60304), and two ends of the first springs (60304) away from the mounting frame (60301) are connected with the movable frame (60302).
5. The industrial robot operation test engineering workbench according to claim 4, wherein two sides of the bottom of the mounting frame (60301) are provided with second springs (60305), and one end, far away from the mounting frame (60301), of each second spring (60305) is connected with the movable frame (60302).
6. The industrial robot operation test engineering workbench according to claim 5, wherein a limit groove (60306) is formed at the connection position of the movable frame (60302) and the mounting frame (60301).
7. An industrial robot operation test engineering workbench according to claim 3, wherein a connecting plate (8012) is fixedly connected between the two third limiting frames (809), supporting wheels (8013) are rotatably connected to the bottoms of the two third limiting frames (809), and the supporting wheels (8013) are attached to the bottom wall of the workbench shell (1).
8. The industrial robot operation test engineering workbench according to claim 1, wherein the mass center detection mechanism (9) comprises guide posts (901) fixedly connected to four corners of the bottom end of the workbench shell (1), a sleeve (902) is sleeved outside the guide posts (901), and a second pressure sensor (903) is arranged between the guide posts (901) and the bottom wall of the sleeve (902).
9. The industrial robot operation test engineering workbench according to claim 1, wherein the in-place detection mechanism (10) comprises two first positioning plates (1001) and two second positioning plates (1002), the two first positioning plates (1001) are respectively and fixedly connected to opposite sides of tops of the two mounting plates (704) and the first positioning plates (1001) are close to the first limiting frame (705), the two second positioning plates (1002) are respectively and fixedly connected to opposite sides of tops of the two mounting plates (704) and the second positioning plates (1002) are close to the second limiting frame (706), the in-place detection mechanism (10) further comprises second distance sensors (1003) which are in one-to-one correspondence with the hinge shafts (3), the second distance sensors (1003) are fixedly connected to sleeves of the first electric push rods (601), and the second distance sensors (1003) are arranged opposite to the first distance sensors (604).
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| WO2004056681A1 (en) * | 2002-12-20 | 2004-07-08 | Honda Motor Co., Ltd. | Conveying system |
| KR101860000B1 (en) * | 2016-11-28 | 2018-05-21 | 주식회사 에프알티 | Moving test apparatus for wearable robot |
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|---|---|---|---|---|
| CN203889582U (en) * | 2013-11-05 | 2014-10-22 | 张佳明 | Transmission assembly of automatic comprehensive detection instrument |
| CN110186618A (en) * | 2019-06-28 | 2019-08-30 | 长春理工大学 | A kind of automobile mass center test fixture |
| CN214265592U (en) * | 2020-10-10 | 2021-09-24 | 福州国化智能技术有限公司 | Test system for slope climbing and ditch crossing width performance of special operation robot |
| CN114414147A (en) * | 2022-03-29 | 2022-04-29 | 南昌工学院 | Sports equipment balance testing device and method thereof |
| CN115077896A (en) * | 2022-08-23 | 2022-09-20 | 邢台军华机械科技有限公司 | Pin shaft pressing force detection equipment for chain detection and operation method thereof |
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