CN206609625U - Industrial robot dynamical property test system - Google Patents
Industrial robot dynamical property test system Download PDFInfo
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- CN206609625U CN206609625U CN201720021954.XU CN201720021954U CN206609625U CN 206609625 U CN206609625 U CN 206609625U CN 201720021954 U CN201720021954 U CN 201720021954U CN 206609625 U CN206609625 U CN 206609625U
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- robot
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- lifting arm
- motor
- computer
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Abstract
The utility model is related to robot testing's system, open industrial robot dynamical property test system, including test box and computer, computer is connected with test box, robot is installed in test box, the position sensor of detection robot movement locus is installed on test chamber interior wall, the movement locus signal of position sensor detection robot is sent to computer, robot includes turntable, fixed arm is fixed with turntable, cursor is installed on the side wall of fixed arm, the lateral wall of cursor is provided with rail groove, lifting arm is provided with rail groove, lifting arm is slided up and down in rail groove, the leading section of lifting arm is provided with manipulator.This test system can constantly be monitored to the movement locus of robot, the track of robot motion is fed back on computer simultaneously, the signal that computer can be detected according to position sensor depicts the dynamic characteristic figure of robot, facilitate research staff to understand the kinetic characteristic of robot, judge that the robot can be moved under specific operation.
Description
Technical field
The utility model is related to robot performance's test, more particularly to industrial robot dynamical property test system.
Background technology
With the development and progress of science and technology, labour to robot gradually from manually changing, and robot replaces manually being engaged in
The work of some high intensity and excessive risk, when robot will complete related work as manually, the movable joint of robot will
Compare flexibly, so robot is required for testing its dynamic characteristic when dispatching from the factory.
The content of the invention
The utility model is for the shortcoming of the system of Robotic Dynamic characteristic test, there is provided industry in the prior art
Robotic Dynamic characteristic test system.
In order to solve the above-mentioned technical problem, the utility model is addressed by following technical proposals：
Industrial robot dynamical property test system, including test box and computer, computer is connected with test box, in test box
The position sensor that detection robot movement locus is provided with robot, test chamber interior wall is installed, position sensor is red
Outer opposite type sensor, the movement locus signal of position sensor detection robot is sent to computer, and position sensor is uniformly arranged
On the week side of boss wall of test box four and bottom surface, robot includes being fixed with fixed arm, the side wall of fixed arm on turntable, turntable
Cursor is installed, the lateral wall of cursor, which is provided with rail groove, rail groove, is provided with lifting arm, and lifting arm is slided up and down in track
In groove, the leading section of lifting arm is provided with manipulator.
Preferably, the first motor is fixed with fixed arm opposite side wall, the first motor-driven rotation arm swing.
Preferably, the rearward end of lifting arm is provided with the second motor, the second motor drive lifting arm in rail groove on
Lower lifting.
Preferably, the leading section of lifting arm is additionally provided with the 3rd motor, the 3rd motor drive machinery hand folding.
Preferably, lifting arm leading section is provided with neck, manipulator includes fixed plate, and fixed plate is provided with to be engaged with neck
Fixture block, be vertically and fixedly provided with fixed block in fixed plate, dead plate upper end face two ends are separately installed with first gear and second gear,
Screw rod is provided between first gear and second gear, screw rod is passed through to be fixed with fixed block and the 3rd motor connection, first gear
The second drive rod is fixed with first drive rod, second gear, the first driving boom end is hinged with the first claw, the second drive rod
End is hinged with the second claw, and the first claw middle is hinged with first connecting rod, and the other end and the fixed plate of first connecting rod are hinged,
Second claw middle is hinged with second connecting rod, and the other end and the fixed plate of second connecting rod are hinged.
The utility model is as a result of above technical scheme, with significant technique effect：The utility model can be right
The movement locus of robot is constantly monitored, and simultaneously feeds back to the track of robot motion on computer, and computer can basis
The signal that position sensor in test box is detected depicts the dynamic characteristic figure of robot, facilitates research staff to understand
The kinetic characteristic of robot, judges that the robot can be moved under specific operation.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of robot in the utility model.
Fig. 3 is the structural representation of manipulator in the utility model.
The toponym that each number designation is referred in the figures above is as follows：Wherein, 10-test box, 11-computer,
12-robot, 13-position sensor, 121-turntable, 122-fixed arm, 123-cursor, 124-lifting arm,
125-manipulator, the 126-the first motor, the 127-the second motor, the 128-the three motor, the lateral wall of 1231-cursor,
1232-rail groove, 1241-neck, 1251-fixed plate, 1252-fixture block, 1253-fixed block, 1254-first gear,
1255-second gear, 1256-screw rod, the 1257-the first drive rod, the 1258-the second drive rod, the 1259-the first claw,
12510-the second claw, 12511-first connecting rod, 12512-second connecting rod.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
Industrial robot dynamical property test system, as Figure 1-3, including test box 10 and computer 11, computer 11 with
Test box 10 is connected, and robot 12 is provided with test box 10, and computer 11 can depict the kinetic characteristic curve figure of robot 12,
It is convenient for people to understand to be provided with the position of detection robot 12 movement locus on the exercise performance of robot 12, the inwall of test box 10
Sensor 13, position sensor 13 is infrared emission sensor, and position sensor 13 can detect robot 12 in test box 10
Interior position, robot 12 often moves to move a step can all be captured and feed back to computer 11, position sensor by position sensor 13
The movement locus signal of 13 detection robots 12 is sent to computer 11, and position sensor 13 is uniformly arranged in the week side of boss of test box 10 4
On wall and bottom surface, robot 12 includes turntable 121, and turntable 121 is driven by motor, and fixed arm is fixed with turntable 121
122, cursor 123 is installed, the lateral wall 1231 of cursor 123 is provided with rail groove 1232, track on the side wall of fixed arm 122
Lifting arm 124 is provided with groove 1232, lifting arm 124 is slided up and down in rail groove 1232, and the leading section of lifting arm 124 is provided with
Manipulator 125, turntable 121, which is rotated, allows robot 12 to carry out turning before and after pick-and-place, cursor 123 to the article of its surrounding
The dynamic place that can make it that robot 12 is reached farther out carries out pick-and-place article, the oscilaltion on cursor 123 of lifting arm 124,
So that robot 12 can capture all items that article position is not higher than the height of cursor 123.
Pendulum before and after the first motor 126, the first motor 126 driving cursor 123 is fixed with the opposite side wall of fixed arm 122
Dynamic, the first motor 126 enables cursor 123 to be swung on fixed arm 122, the amplitude of fluctuation of the present embodiment cursor 123
For 0 °~180 °.
The rearward end of lifting arm 124 is provided with the second motor 127, and the second motor 127 drives lifting arm 124 in rail groove
Oscilaltion in 1232, lifting arm 124 is moved along rail groove 1232, and rail groove 1232 causes lifting arm 124 to lift more
It is stable.
The leading section of lifting arm 124 is additionally provided with the 3rd motor 128, the driving folding of manipulator 125 of the 3rd motor 128.
The leading section of lifting arm 124 is provided with neck 1241, and manipulator 125 includes fixed plate 1251, and fixed plate 1251 is provided with
The fixture block 1252 engaged with neck 1241, manipulator 125 and lifting arm 124 are easy to connect, are vertically and fixedly provided with fixed plate 1251
Fixed block 1253, the upper surface two ends of fixed plate 1251 are separately installed with first gear 1254 and second gear 1255, first gear
Screw rod 1256 is provided between 1254 and second gear 1255, screw rod 1256 is connected through fixed block 1253 with the 3rd motor 128, the
It is fixed with one gear 1254 in first drive rod 1257, second gear 1255 and is fixed with the second drive rod 1258, the first driving
The end of bar 1257 is hinged with the first claw 1259, and the end of the second drive rod 1258 is hinged with the second claw 12510, the first claw
1259 middles are hinged with first connecting rod 12511, and the other end and the fixed plate 1251 of first connecting rod 12511 are hinged, the second claw
12510 middles are hinged with second connecting rod 12512, and the other end and the fixed plate 1251 of second connecting rod 12512 are hinged, the 3rd motor
128 drive screws 1256 are rotated, and the driving first gear 1254 of screw rod 1256 and second gear 1255 are rotated, so that the first pawl
Son 1259 and the folding of the second claw 12510, realize the pick-and-place article of manipulator 125, and the grasp of manipulator 125 is strong, and robot 12 exists
When crawl article is moved, article will not drop from the hand of robot 12.
In a word, preferred embodiment of the present utility model is the foregoing is only, it is all according to present utility model application the scope of the claims institute
The equivalent changes and modifications of work, should all belong to the covering scope of the utility model patent.
Claims (5)
1. industrial robot dynamical property test system, it is characterised in that：Including test box (10) and computer (11), computer (11)
It is connected with test box (10), is provided with test box (10) on robot (12), test box (10) inwall and detection machine is installed
The position sensor (13) of people (12) movement locus, position sensor (13) is infrared emission sensor, position sensor (13)
The movement locus signal of detection robot (12) is sent to computer (11), and position sensor (13) is uniformly arranged in test box (10)
On four the week side of boss walls and bottom surface, robot (12) includes being fixed with fixed arm (122) on turntable (121), turntable (121), Gu
Cursor (123) is installed, the lateral wall (1231) of cursor (123) is provided with rail groove (1232) on the side wall for determining arm (122),
Lifting arm (124) is provided with rail groove (1232), lifting arm (124) is slided up and down in rail groove (1232), lifting arm (124)
Leading section manipulator (125) is installed.
2. industrial robot dynamical property test system according to claim 1, it is characterised in that：Fixed arm (122) is another
The first motor (126), the first motor (126) driving cursor (123) swing are fixed with the wall of side.
3. industrial robot dynamical property test system according to claim 1, it is characterised in that：Lifting arm (124)
Rearward end is provided with the second motor (127), and the second motor (127) driving lifting arm (124) rises up and down in rail groove (1232)
Drop.
4. industrial robot dynamical property test system according to claim 1, it is characterised in that：Lifting arm (124)
Leading section is additionally provided with the 3rd motor (128), driving manipulator (125) folding of the 3rd motor (128).
5. industrial robot dynamical property test system according to claim 1, it is characterised in that：Before lifting arm (124)
End is provided with neck (1241), and manipulator (125) includes fixed plate (1251), and fixed plate (1251) is provided with and neck (1241)
Fixed block (1253), fixed plate (1251) upper surface two ends are vertically and fixedly provided with the fixture block (1252) of engaging, fixed plate (1251)
First gear (1254) and second gear (1255) are separately installed with, is set between first gear (1254) and second gear (1255)
There is screw rod (1256), screw rod (1256) is connected through fixed block (1253) with the 3rd motor (128), it is solid in first gear (1254)
Surely have and the second drive rod (1258), the first drive rod (1257) are fixed with the first drive rod (1257), second gear (1255)
End is hinged with the first claw (1259), and the second drive rod (1258) end is hinged with the second claw (12510), the first claw
(1259) middle is hinged with first connecting rod (12511), and the other end and the fixed plate (1251) of first connecting rod (12511) are hinged,
Second claw (12510) middle is hinged with second connecting rod (12512), the other end and fixed plate of second connecting rod (12512)
(1251) it is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720021954.XU CN206609625U (en) | 2017-01-09 | 2017-01-09 | Industrial robot dynamical property test system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720021954.XU CN206609625U (en) | 2017-01-09 | 2017-01-09 | Industrial robot dynamical property test system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206609625U true CN206609625U (en) | 2017-11-03 |
Family
ID=60172446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720021954.XU Expired - Fee Related CN206609625U (en) | 2017-01-09 | 2017-01-09 | Industrial robot dynamical property test system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206609625U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262753A (en) * | 2018-03-24 | 2018-07-10 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot and monitoring method |
| CN108402882A (en) * | 2018-03-09 | 2018-08-17 | 昆山聚贝机械设计有限公司 | Multifunction health-preserving pot |
| WO2021212389A1 (en) * | 2020-04-22 | 2021-10-28 | 南京阿凡达机器人科技有限公司 | Testing system and method for mechanical finger component, and storage medium |
| WO2021237951A1 (en) * | 2020-05-29 | 2021-12-02 | 南京朗禾智能控制研究院有限公司 | Magnetic field interference testing mechanism |
| CN113916571A (en) * | 2021-09-27 | 2022-01-11 | 重庆华数机器人有限公司 | Industrial robot dynamic characteristic test system |
-
2017
- 2017-01-09 CN CN201720021954.XU patent/CN206609625U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108402882A (en) * | 2018-03-09 | 2018-08-17 | 昆山聚贝机械设计有限公司 | Multifunction health-preserving pot |
| CN108262753A (en) * | 2018-03-24 | 2018-07-10 | 福建（泉州）哈工大工程技术研究院 | For the double rail type in detention house and prison from movable monitoring robot and monitoring method |
| CN108262753B (en) * | 2018-03-24 | 2023-12-19 | 福建（泉州）哈工大工程技术研究院 | Double-rail self-moving monitoring robot and monitoring method for guardhouses and prisons |
| WO2021212389A1 (en) * | 2020-04-22 | 2021-10-28 | 南京阿凡达机器人科技有限公司 | Testing system and method for mechanical finger component, and storage medium |
| WO2021237951A1 (en) * | 2020-05-29 | 2021-12-02 | 南京朗禾智能控制研究院有限公司 | Magnetic field interference testing mechanism |
| CN113916571A (en) * | 2021-09-27 | 2022-01-11 | 重庆华数机器人有限公司 | Industrial robot dynamic characteristic test system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20220109 |