CN205665024U

CN205665024U - Manipulator test platform

Info

Publication number: CN205665024U
Application number: CN201620580377.3U
Authority: CN
Inventors: 薛鹏; 陈新
Original assignee: Wuhu Runzhong Robot Technology Co Ltd
Current assignee: Wuhu Runzhong Robot Technology Co Ltd
Priority date: 2016-06-16
Filing date: 2016-06-16
Publication date: 2016-10-26
Anticipated expiration: 2026-06-16

Abstract

The utility model provides a be applied to the manipulator test platform in robotic device field, manipulator test platform's this somatic part of test (3) of test machinery hand (1) go up movable mounting test arm (4), test arm (4) comprises multisection arm joint (5), tests arm (4) and is connected with main control system (6), sets up scale plate (7) on test platform (2), sets up X axial scale (8) and Y axial scale (9) on scale plate (7), still installs tongue (10) on test platform (2), the utility model discloses a manipulator test platform, simple structure, the processing convenience, the spatial displacement that can swiftly accurately read mechanical hand changes numerical value, and convenient and target location numerical value contrast improves the manipulator precision, has finally improved the quality of manipulator converted products.

Description

Mechanical hand test platform

Technical field

This utility model belongs to robotic device field, more specifically, relates to a kind of mechanical hand test platform.

Background technology

Mechanical hand is when assembly and adjustment or work, after the displacement between each arm joint of test arm occurs, and para-position Move rear space coordinate data and measure difficulty, thus affect the accurate work of mechanical hand.Meanwhile, mechanical hand of the prior art Arm joint spatial variations operation inconvenience, affect mechanical hand overall performance.

Utility model content

Technical problem to be solved in the utility model is: for technical deficiency present in prior art, it is provided that a kind of Simple in construction, easy to process, it is possible to be effectively improved each arm joint change in location operation of mechanical hand and control, improving machinery The spatial variations performance of hands, can fast be accurately read the space displacement change numerical value of mechanical hand, convenient and target position simultaneously Setting value contrasts, it is ensured that the mechanical hand test platform of Manipulator Accuracy.

Techniques discussed above problem to be solved, the technical scheme that this utility model is taked is:

This utility model is a kind of mechanical hand test platform, and described mechanical hand test platform includes test handler, survey Examination platform, described test handler includes test bodies portion, movable in test bodies portion installs test arm, test arm by The arm joint composition that Multi-section active connects, the control that test arm and the multiple arm joints that can control test arm move Main frame connects, and test platform arranges graduated tile, graduated tile arranges X axis scale and Y-axis scale, test platform is also pacified Equipped with height gauge.

Described test arm also include install axle, install axle one end be movably arranged in test bodies portion, install axle with Can control install axle rotate mair motor connect, mair motor is positioned at inside test bodies portion, mair motor with can control main electricity The control main frame of machine start and stop connects, and installs the axle other end and an arm joint one end is flexibly connected.

Described test platform include the platform body of frame structure, described platform body include four vertically arranged Propping up spike, each support foot bottom is respectively screwed the regulation foot of an inverted T-shape, and regulation foot is screwedly mounted on support by adjusting rod activity In the screwed hole of foot bottom.

Multiple arm joints of described test arm are respectively arm joint I, arm joint II, arm joint III, peace Setting centrally-mounted driving I on dress axle, arm joint I one end is fixing with the motor shaft driving motor I to be connected, arm joint I other end If centrally-mounted driving II, arm joint II one end is fixing with driving motor II motor shaft to be connected, and arm joint II other end is arranged Driving motor III, arm joint III one end is fixing with driving motor III motor shaft to be connected, and arm joint III other end arranges work Parts, drive motor I, drive motor II, driving motor III to be connected with control main frame respectively.

Described graduated tile is the structure that steel plate materials is made, and graduated tile is rectangle structure, the length of described graduated tile Degree direction arranges X axis scale, and the length direction of graduated tile arranges Y-axis scale.

Described platform body includes that body upper surface, graduated tile are arranged on body upper surface.

The scale that point is graduated tile 0 point that described X axis scale and Y-axis scale intersect, described test arm The axial line installing axle is set to the structure perpendicular through scale 0.

Use the technical solution of the utility model, can obtain following beneficial effect:

Mechanical hand test platform described in the utility model, is flexibly connected between multiple arm joints, moving of arm joint Make by controlling host computer control, so, when controlling host activity, just can drive multiple test arm each arm joint it Between position change, thus realize the change of mechanical hand locus so that mechanical hand can conveniently realize dependent part The operation (processing or mobile) of part, improves work efficiency.And owing to being provided with X axis scale, Y-axis scale and height gauge, when When between each arm joint of the test arm of mechanical hand, position changes, it is possible to according to X axis scale, Y-axis scale The respective numerical value with on height gauge, it is possible to be fast accurately read the space displacement change numerical value of mechanical hand, thus facilitate and mesh Cursor position numerical value contrasts, and improves Manipulator Accuracy.Mechanical hand test platform described in the utility model, simple in construction, processing side Just, it is possible to be effectively improved each arm joint change in location operation of mechanical hand and control, improving the spatial variability of mechanical hand Can, can fast be accurately read the space displacement change numerical value of mechanical hand, convenient and target location numerical value contrast simultaneously, improve Manipulator Accuracy, finally improves the quality of mechanical hand converted products.

Accompanying drawing explanation

Content expressed by accompanying drawing each to this specification and the labelling in figure make brief description below:

Fig. 1 is the main TV structure schematic diagram of mechanical hand test platform described in the utility model；

Fig. 2 is the detonation configuration schematic diagram of mechanical hand test platform described in the utility model；

Accompanying drawing acceptance of the bid note is respectively as follows: 1, test handler；2, test platform；3, test bodies portion；4, test arm；5, hands Shoulder joint；6, main frame is controlled；7, graduated tile；8, X axis scale；9, Y-axis scale；10, height gauge；11, axle is installed；12, main Motor；13, platform body；14, spike is propped up；15, regulation foot；16, adjusting rod；17, arm joint I；18, arm joint II；19、 Arm joint III；20, motor I is driven；21, motor II is driven；22, motor III is driven；23, workpiece；24, table on body Face.

Detailed description of the invention

Below against accompanying drawing, by the description to embodiment, to detailed description of the invention of the present utility model as involved Mutual alignment between the shape of each component, structure, each several part and annexation, the effect of each several part and operation principle etc. make into The detailed description of one step:

As shown in accompanying drawing 1, accompanying drawing 2, this utility model is a kind of mechanical hand test platform, described mechanical hand test platform Including test handler 1, test platform 2, described test handler 1 includes test bodies portion 3, movable in test bodies portion 3 Install test arm 4, the arm joint 5 that test arm 4 is connected by Multi-section active forms, test arm 4 with can control test The control main frame 6 of multiple arm joints 5 motion of arm connects, and test platform 2 arranges graduated tile 7, graduated tile 7 arranges X Axially scale 8 and Y-axis scale 9, test platform 2 is also equipped with height gauge 10.Said structure arrange, multiple arm joints it Between be flexibly connected, the action of arm joint, by controlling host computer control, so, when controlling host activity, just can drive multiple Between each arm joint of test arm, position changes, thus realizes the change of mechanical hand locus so that machinery Hands can conveniently realize the operation to associated components (processing or mobile), improves work efficiency.And carve owing to being provided with X axis Degree 8, Y-axis scale 9 and height gauge 10, when between each arm joint of the test arm of mechanical hand, position changes, Can be according to respective numerical value on X axis scale 8, Y-axis scale 9 and height gauge 10, it is possible to be fast accurately read mechanical hand Space displacement change numerical value, thus convenient with the contrast of target location numerical value, it is ensured that Manipulator Accuracy is in claimed range value. When mechanical hand test platform described in the utility model needs reading, after each joint displacements stops, reading X-axis and Y with ruler Axle correspondence numerical value, then measures mechanical hand end Z axis height value with height gauge, and X-axis, Y-axis, the numerical value of Z axis are mechanical hand Displacement actual numerical value.Mechanical hand test platform described in the utility model, simple in construction, easy to process, at mechanical hand because surveying After between each arm joint of test arm, action causes the operating position of mechanical hand to be subjected to displacement change, it is possible to the most exactly Read the space displacement change numerical value of mechanical hand, thus conveniently contrast with target location numerical value, it is ensured that Manipulator Accuracy, finally carry The high quality of mechanical hand converted products.

Described test arm 4 also includes installing axle 11, installs axle 11 one end and is movably arranged in test bodies portion 3, peace Dress axle 11 is connected with the mair motor 12 that can control to install axle 11 rotation, and it is internal that mair motor 12 is positioned at test bodies portion 3, mair motor 12 are connected with the control main frame 6 that can control mair motor 12 start and stop, install axle 11 other end and arm joint 5 one end is movable Connect.Such structure, is connected with mair motor by installing axle, when controlling the rotation of host computer control mair motor, just can drive installation Axle rotates, and installs axle and can drive and install the test arm rotation that axle is connected such that it is able to realizes testing mobile phone arbitrarily angled Rotation, meet to mechanical hand demand of change in location in the range of certain space, improve the work scope of application of mechanical hand.

Described test platform 2 includes that the platform body 13 of frame structure, described platform body 13 include four vertically The spike 14 arranged, is respectively screwed the regulation foot 15 of an inverted T-shape bottom each spike 14, regulation foot 15 passes through adjusting rod 16 activities are screwedly mounted in the screwed hole bottom a spike 14.Connection between regulation foot and a spike, it is possible to adjust test platform Height, meet different demands to test platform height.

Multiple arm joints 5 of described test arm 4 are respectively arm joint I 17, arm joint II 18, arm joint III 19, to install and on axle 11, set centrally-mounted driving I 20, arm joint I 17 one end is fixing with the motor shaft driving motor I 20 to be connected, Arm joint I 17 other end sets centrally-mounted driving II 21, and arm joint II 18 one end is fixed even with driving motor II 21 motor shaft Connecing, arm joint II 18 other end sets centrally-mounted driving III 22, and arm joint III 19 one end is solid with driving motor III 22 motor shaft Fixed connection, arm joint III 19 other end arranges workpiece 23, drives motor I 20, drives motor II 21, driving motor III 22 It is connected with control main frame 6 respectively.Such structure is arranged, and is flexibly connected between each arm joint with another arm joint, Each arm joint is rotated relative to another arm joint by a driving motor, thus realizes adjusting and test hands The workpiece (workpiece can realize the operation to associated components, such as processing or mobile) that arm connects, moving of mechanical arm The action made and install axle coordinates, it becomes possible to the workpiece realizing mechanical hand realizes optional position in a range of space With the change of angle, meet the work requirements of mechanical hand.

The structure that described graduated tile 7 is made for steel plate materials, graduated tile 7 is rectangle structure, described graduated tile 7 Length direction arranges X axis scale 8, and the length direction of graduated tile 7 arranges Y-axis scale 9.So, by X axis scale 8, Y Axial scale 9 coordinates with height gauge 10, it is possible to work the mobile shift value changing to any locus to mechanical hand Carry out confirming and reading, improve Manipulator Accuracy.

Described platform body 13 includes that body upper surface 24, graduated tile 7 are arranged on body upper surface 24.Such knot Structure is arranged, and graduated tile is configured to remove, from platform upper surface, the structure changed.

The scale that point is graduated tile 70 point that described X axis scale 8 and Y-axis scale 9 intersect, described test arm The axial line installing axle 11 of 4 is set to the structure perpendicular through scale 0.

Above in conjunction with accompanying drawing, this utility model is carried out exemplary description, it is clear that this utility model concrete implementation is also Do not limited by aforesaid way, as long as have employed the various improvement that method of the present utility model design is carried out with technical scheme, or The most improved design of the present utility model and technical scheme are directly applied to other occasions, all in protection of the present utility model In the range of.

Claims

1. a mechanical hand test platform, described mechanical hand test platform includes test handler (1), test platform (2), its Being characterised by: described test handler (1) includes test bodies portion (3), test arm is installed in test bodies portion (3) upper activity (4), the arm joint (5) that test arm (4) is connected by Multi-section active forms, test arm (4) with can control test arm (4) the control main frame (6) that multiple arm joints (5) move connects, and test platform (2) arranges graduated tile (7), graduated tile (7) X axis scale (8) and Y-axis scale (9) are set on, test platform (2) is also equipped with height gauge (10).

Mechanical hand test platform the most according to claim 1, it is characterised in that: described test arm (4) also includes peace Dress axle (11), installs axle (11) one end and is movably arranged in test bodies portion (3), installs axle (11) and can control to install axle (11) mair motor (12) that rotates connects, and it is internal that mair motor (12) is positioned at test bodies portion (3), mair motor (12) with can control The control main frame (6) of mair motor (12) start and stop connects, and installs axle (11) other end and arm joint (5) one end activity connects Connect.

Mechanical hand test platform the most according to claim 1, it is characterised in that: described test platform (2) includes framework The platform body (13) of structure, described platform body (13) includes four vertically arranged spike (14), each spike (14) bottom is respectively screwed the regulation foot (15) of an inverted T-shape, and regulation foot (15) is screwedly mounted on support by adjusting rod (16) activity In the screwed hole of foot (14) bottom.

Mechanical hand test platform the most according to claim 2, it is characterised in that: multiple handss of described test arm (4) Shoulder joint (5) is respectively arm joint I (17), arm joint II (18), arm joint III (19), installs the upper setting of axle (11) and drives Galvanic electricity machine I (20), arm joint I (17) one end is fixing with the motor shaft driving motor I (20) to be connected, and arm joint I (17) is another One end sets centrally-mounted driving II (21), and arm joint II (18) one end is fixing with driving motor II (21) motor shaft to be connected, arm Joint II (18) other end sets centrally-mounted driving III (22), and arm joint III (19) one end is solid with driving motor III (22) motor shaft Fixed connection, arm joint III (19) other end arranges workpiece (23), drives motor I (20), drives motor II (21), driving Motor III (22) is connected with control main frame (6) respectively.

Mechanical hand test platform the most according to claim 1, it is characterised in that: described graduated tile (7) is steel plate materials The structure made, graduated tile (7) is rectangle structure, and the length direction of described graduated tile (7) arranges X axis scale (8), carves The length direction of degree plate (7) arranges Y-axis scale (9).

Mechanical hand test platform the most according to claim 3, it is characterised in that: described platform body (13) includes body Upper surface (24), graduated tile (7) is arranged on body upper surface (24).

Mechanical hand test platform the most according to claim 1, it is characterised in that: described X axis scale (8) and Y-axis The point that scale (9) intersects is scale 0 point of graduated tile (7), and the axial line of the installation axle (11) of described test arm (4) is arranged For the structure perpendicular through scale 0.