CN207147765U - A kind of joint test platform and joint test system - Google Patents

Abstract

The utility model provides a kind of joint test platform and joint test system, wherein, joint test platform, including：Joint connected unit, joint connected unit are used to install joint to be measured；Load testing frock, load testing frock are installed on joint to be measured；Circular gratings, Circular gratings are installed on load adaptor, for measuring speed and the position in joint to be measured；The magnetic powder brake of built-in torque sensor, magnetic powder brake, loaded for providing to load and monitor in real time；Shaft coupling is used to connect load adaptor and magnetic powder brake.Circular gratings can measure speed and the position in joint to be measured, and the magnetic powder brake of built-in torque sensor can measure the load capacity in joint, a test platform is tested multiple performances in joint；Using built-in torque sensor and the big magnetic powder brake of output loading, less volume is kept on the premise of the multiple performances in joint can be measured at the same time, reduces the loss of output, improves the precision of measurement.

Description

A joint testing platform and joint testing system

technical field

The utility model relates to a joint testing platform and a joint testing system, in particular to a joint testing platform and a joint testing system capable of testing the position information, speed information and moment performance of a joint.

Background technique

The joint is the basic unit of the robotic arm, and its performance is directly related to the overall performance of the robotic arm. Therefore, it is necessary to carry out related tests for each joint, so as to better form a complete robotic arm.

In addition, in the mass production of robotic arms, joints are the basic components of robotic arms, and their performance needs to be strictly tested to meet the consistency requirements.

In the past, the test platform often had a single function and many links. For example, it could only test the positioning accuracy or load capacity, which made the test cycle of the joints long, low in accuracy, and high in cost. Or even if there is a test platform that can test various properties, the platform is bulky and the test accuracy is poor.

Utility model content

The problem solved by the utility model is to provide a magnetic powder brake with a built-in torque sensor and a large output load, which can maintain a small volume under the premise of simultaneously measuring multiple performances of joints, reduce output loss, and improve measurement performance. accuracy.

In order to solve the above problems, the utility model provides a joint test platform, including:

A joint connection platform, the joint connection platform is used to install the joint to be measured;

Load test tooling, the load test tooling is installed on the joint to be tested;

A circular grating, the circular grating is mounted on the load adapter for measuring the speed and position of the joint to be measured;

A magnetic powder brake with a built-in torque sensor, the magnetic powder brake is used to provide load and monitor the load in real time;

The shaft coupling is used for connecting the load adapter and the magnetic powder brake.

Further, it also includes:

The cast iron platform, the joint connection table, the load test tooling, the circular grating, and the magnetic powder brake are installed on the cast iron platform, and the cast iron platform is used as a base to block vibration.

Further, it also includes:

The adjustable foot plate is arranged on the bottom of the cast iron platform and is used for leveling the base.

Further, it also includes:

A plurality of gaskets and T-shaped screws, the gaskets and T-shaped screws are placed on the test platform for adjusting the height of the joint connection table, load test tooling, circular grating, shaft coupling, and magnetic powder brake.

Compared with the prior art, the technical solution of the utility model has the following advantages:

The circular grating can measure the speed and position of the joint to be tested, and the magnetic powder brake with the built-in torque sensor can measure the load capacity of the joint, so that one test platform can test multiple performances of the joint, shortening the test cycle and test cost of the joint. The magnetic powder brake with a built-in torque sensor and a large output load can maintain a small volume under the premise of measuring multiple performances of the joint at the same time, reduce the loss of the output, and improve the measurement accuracy.

The utility model also provides a joint testing system, comprising:

The above-mentioned joint test platform;

A magnetic powder brake program controller, the magnetic powder brake program controller is connected to the magnetic powder brake;

a torque sensor collector, the torque sensor collector is connected to the built-in torque sensor of the magnetic powder brake;

A circular grating collector, the circular grating collector is connected to the circular grating;

a joint controller, the joint controller is connected to the joint to be measured;

An analysis control center, the analysis control center is connected with the magnetic powder brake programmer, torque sensor collector, circular grating collector and joint controller.

Further, the analysis control center is a computer.

Compared with the prior art, the technical solution of the utility model has the following advantages:

The circular grating can measure the speed and position of the joint to be tested, and the magnetic powder brake with the built-in torque sensor can measure the load capacity of the joint, so that one test platform can test multiple performances of the joint, shortening the test cycle and test cost of the joint. The magnetic powder brake with a built-in torque sensor and a large output load can maintain a small volume under the premise of measuring multiple performances of the joint at the same time, reduce the loss of the output, and improve the measurement accuracy.

Description of drawings

Fig. 1 is the schematic diagram of the joint test platform in the first embodiment of the utility model;

Fig. 2 is a schematic diagram of the joint testing system in the second embodiment of the present invention.

Detailed ways

In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, specific embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings.

first embodiment

Referring to Fig. 1, this embodiment provides a joint test platform, including a joint connection table 1, a load test tool 2, a circular grating 3, a shaft coupling 4, a magnetic powder brake 5 with a built-in torque sensor, a cast iron platform 6 and an adjustable foot plate 7 .

Wherein, the joint connection table 1 is used for installing the joint to be tested 1A, and the test can only be performed after the joint to be tested 1A is installed on the joint connection table 1 . The joint to be tested 1A is provided with a sensor, which can measure the speed and position of the joint to be tested 1A.

The load test tool 2 is installed on the joint to be tested 1A, and the joint to be tested 1A is transferred to the coupling 4 through the load test tool 2 .

The circular grating 3 is installed on the load testing fixture 2 for measuring the speed and position of the joint 1A to be tested. The speed and position of the joint to be tested 1A measured by the circular grating 3 are compared with the speed and position of the joint to be tested 1A measured by the internal sensor of the joint to be tested 1A, which can reflect the measurement accuracy of the internal sensor of the joint to be tested 1A.

The coupling 4 connects the load test tool 2 and the magnetic powder brake 5 , so that the rotational output of the joint 1A to be tested is transmitted to the input end of the magnetic powder brake 5 through the load test tool 2 . The magnetic powder brake 5 is used to provide load and monitor the load in real time.

The built-in torque sensor of the magnetic powder brake 5 can be used to detect the output torque of the joint 1A to be tested, and the magnetic powder brake 5 has a relatively large output load. By adjusting the output load of the magnetic powder brake 5, the load of the joint 1A to be tested can be measured ability.

The joint to be tested 1A can measure the position and speed of the joint to be tested 1A through the internal sensor, and measure and calibrate the measurement accuracy of the internal sensor through the circular grating 3 . The output of the joint to be tested 1A is measured by the magnetic powder brake 5 to obtain the load capacity of the joint to be tested 1A.

Moreover, the magnetic powder brake 5 has a built-in torque sensor and has a relatively large output load without the need for external torque sensors and gear reducers, which can make the structure compact and reduce the volume, and can shorten the length of the intermediate path and reduce the loss of transmission , to improve the accuracy of the test.

In this embodiment, the joint testing platform further includes a cast iron platform 6 . The joint connection table 1, the load test tooling 2, the circular grating 3, and the magnetic powder brake 5 are installed on the cast iron platform 6, and the cast iron platform 6 is used as a base to block vibration.

The adjustable foot plate 7 is arranged on the bottom of the cast iron platform 6 for adjusting the level.

In this embodiment, the joint testing platform further includes a plurality of spacers and T-shaped screws (not shown). The spacer is placed on the cast iron platform 6, and is used to adjust the height of the joint connection table 1, the load test tooling 2, the circular grating 3, and the magnetic powder brake 5, so that their rotation axes are on the same axis, so as to ensure that the joint 1A to be tested The output can be transmitted substantially without loss.

The circular grating 3 can measure the speed and position of the joint 1A to be tested, and the magnetic powder brake 5 can measure the load capacity of the joint, so that one test platform can test multiple properties of the joint, shorten the test cycle of the joint, improve the accuracy and reduce the test cost .

second embodiment

Referring to Fig. 2, this embodiment provides a joint test system, including the joint test platform described in the first embodiment, the brake programmer 8, the torque sensor collector 9, the circular grating collector 10, the joint controller 11 and the analysis control Center 12.

The brake programmer 8 is connected to the magnetic powder brake 5 , and the brake programmer 8 is connected to the analysis control center 12 . The analysis control center 12 controls the output load of the magnetic powder brake 5 through the brake programmer 8 to test the load capacity of the joint 1A to be tested.

The torque sensor collector 9 is connected to the built-in torque sensor of the magnetic powder brake 5 , and the torque sensor collector 9 is connected to the analysis control center 12 . The analysis control center 12 collects the information of the torque sensor built in the magnetic powder brake 5 through the torque sensor collector 9 to test the output torque of the joint 1A to be tested.

The circular grating collector 10 is connected to the circular grating 3 , and the circular grating collector 10 is connected to an analysis control center 12 . The analysis control center 12 collects the information of the circular grating 3 through the circular grating collector 10 to obtain the speed information and position information of the joint 1A to be tested.

The joint controller 11 is connected to the joint to be tested 1A, and the joint controller 11 is connected to the analysis control center 12 . The analysis control center 12 can control the joint 1A to be tested through the joint controller 11 so that the joint 1A to be tested moves according to a specified trajectory; it can also collect the position and current of the joint 1A to be tested through the joint controller 11 .

By comparing the information collected by the joint controller 11 with the information collected by the circular grating collector 10, the positional accuracy of the joint 1A to be tested under the current load can be obtained and calibrated.

It is also possible to obtain the load range under the specified position accuracy by setting the output load of the magnetic powder brake 5 . Set the maximum load value of the specified position accuracy, the analysis control center 12 controls the motion speed of the joint 1A to be tested through the joint controller 11, and tests the dynamic curve of the joint 1A to be tested under this load; adjust the speed of the joint 1A to be tested to obtain the Under load conditions, the maximum movement speed that meets the requirements of the dynamic tracking curve.

In this embodiment, the analysis control center 12 is a computer.

The circular grating 3 can measure the speed and position of the joint 1A to be tested, and the magnetic powder brake 5 can measure the load capacity of the joint 1A to be tested, so that one test system can test multiple properties of the joint, shorten the test period of the joint, improve the accuracy and Reduce the cost of testing.

The magnetic powder brake 5 has a built-in torque sensor and has a relatively large output load without the need for an external torque sensor and gear reducer, which can make the structure compact, reduce the volume, shorten the length of the intermediate path, reduce the loss of transmission, and improve the accuracy of the test.

Although the utility model is disclosed as above, the utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model, so the protection scope of the present utility model should be based on the scope defined in the claims.

Claims (6)

1. A kind of 1. joint test platform, it is characterised in that including：

   Joint connected unit, the joint connected unit are used to install joint to be measured；

   Load testing frock, the load testing frock are installed on joint to be measured；

   Circular gratings, the Circular gratings are installed on load adaptor, for measuring speed and the position in joint to be measured；

   The magnetic powder brake of built-in torque sensor, the magnetic powder brake, loaded for providing to load and monitor in real time；

   Shaft coupling, the shaft coupling, for connecting load adaptor and magnetic powder brake.
2. 2. joint test platform as claimed in claim 1, it is characterised in that also include：

   Cast iron platform, the joint connected unit, load testing frock, Circular gratings, magnetic powder brake are installed on the cast iron platform On, the cast iron platform can obstruct vibration as pedestal.
3. 3. joint test platform as claimed in claim 2, it is characterised in that also include：

   Base anchor is adjusted, regulation base anchor is arranged at the bottom of cast iron platform, for by pedestal leveling.
4. 4. joint test platform as claimed in claim 3, it is characterised in that also include：

   Multiple pads, T-shaped screw, the pad and T-shaped screw are placed on test platform, for adjusting joint connected unit, load Test fixture, Circular gratings, shaft coupling, the height of magnetic powder brake.
5. A kind of 5. joint test system, it is characterised in that including：

   Any described joint test platforms of claim 1-4；

   Magnetic powder brake program controller, the magnetic powder brake program controller are connected with the magnetic powder brake；

   Torque sensor collector, the built-in torque sensor of the torque sensor collector and the magnetic powder brake connect Connect；

   Circular gratings collector, the Circular gratings collector are connected with the Circular gratings；

   Joint control, the joint control are connected with joint to be measured；

   Analysis and Control center, the analysis and Control center and the magnetic powder brake program controller, torque sensor collector, circle light Grid collector connects with joint control.
6. 6. joint test system as claimed in claim 5, it is characterised in that the analysis and Control center is computer.