CN207147765U - A kind of joint test platform and joint test system - Google Patents
A kind of joint test platform and joint test system Download PDFInfo
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- CN207147765U CN207147765U CN201720874628.3U CN201720874628U CN207147765U CN 207147765 U CN207147765 U CN 207147765U CN 201720874628 U CN201720874628 U CN 201720874628U CN 207147765 U CN207147765 U CN 207147765U
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- powder brake
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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
Technical field
The utility model is related to a kind of joint test platform and joint test system, be related specifically to it is a kind of can be to joint
A kind of joint test platform and joint test system that positional information, velocity information and moment properties are tested.
Background technology
Joint is the basic component units of mechanical arm, and its performance is directly connected to the combination property of mechanical arm, therefore, it is necessary to
Dependence test is carried out for each joint, so could preferably form a complete mechanical arm.
In addition in the batch production of mechanical arm, basic component units of the joint as mechanical arm, its performance need by
Strict test, the requirement of uniformity could be met.
Conventional test platform, often function is single, and link is more, is such as only capable of test position fix precision or load capacity, makes
Joint test period is long, precision is low, and cost is high.Or even if there is the test platform that can test multiple performance, but it is flat
The volume of platform is big, and measuring accuracy is poor.
Utility model content
The utility model solves the problems, such as to be to provide torque sensor built in a kind of use and the big magnetic system of output loading
Dynamic device, less volume is kept on the premise of can measuring the multiple performances in joint at the same time, and reduces the loss of output, is improved
The precision of measurement.
To solve the above problems, the utility model provides a kind of joint test platform, 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.
Further, in addition to：
Cast iron platform, the joint connected unit, load testing frock, Circular gratings, magnetic powder brake are installed on the cast iron
On platform, the cast iron platform can obstruct vibration as pedestal.
Further, in addition to：
Base anchor is adjusted, regulation base anchor is arranged at the bottom of cast iron platform, for by pedestal leveling.
Further, in addition to：
Multiple pads, T-shaped screw, the pad and T-shaped screw are placed on test platform, for adjust joint connected unit,
Load testing frock, Circular gratings, shaft coupling, the height of magnetic powder brake.
Compared with prior art, the technical solution of the utility model has advantages below：
The Circular gratings can measure speed and the position in joint to be measured, and the magnetic powder brake of built-in torque sensor can be with
Measure joint load capacity, a test platform is tested multiple performances in joint, shorten joint test period and
Testing cost.Using built-in torque sensor and the big magnetic powder brake of output loading, the more individual characteies in joint can be measured at the same time
Less volume is kept on the premise of energy, and reduces the loss of output, improves the precision of measurement.
The utility model additionally provides a kind of joint test system, including：
Above-mentioned joint test platform；
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
Connection；
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,
Circular gratings collector connects with joint control.
Further, the analysis and Control center is computer.
Compared with prior art, the technical solution of the utility model has advantages below：
The Circular gratings can measure speed and the position in joint to be measured, and the magnetic powder brake of built-in torque sensor can be with
Measure joint load capacity, a test platform is tested multiple performances in joint, shorten joint test period and
Testing cost.Using built-in torque sensor and the big magnetic powder brake of output loading, the more individual characteies in joint can be measured at the same time
Less volume is kept on the premise of energy, and reduces the loss of output, improves the precision of measurement.
Brief description of the drawings
Fig. 1 is the schematic diagram of joint test platform in the utility model first embodiment；
Fig. 2 is the schematic diagram of joint test system in the utility model second embodiment.
Embodiment
It is understandable to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of utility model is described in detail.
First embodiment
With reference to figure 1, the present embodiment provides a kind of joint test platform, including joint connected unit 1, load testing frock 2, circle
Grating 3, shaft coupling 4, the magnetic powder brake 5 of built-in torque sensor, cast iron platform 6 and regulation base anchor 7.
Wherein, the joint connected unit 1 is used to install joint 1A to be measured, and the joint 1A to be measured is installed on joint connected unit
It could be tested after on 1.Sensor is provided with the joint 1A to be measured, joint 1A to be measured speed and position can be measured
Deng.
The load testing frock 2 is installed on joint 1A to be measured, and joint 1A to be measured is forwarded to connection by load testing frock 2
Axle device 4.
The Circular gratings 3 are installed in load testing frock 2, for measuring joint 1A to be measured speed and position.It is described
The joint to be measured that Circular gratings 3 measure obtained joint 1A to be measured speed and position measures with 1A internal sensors in joint to be measured
1A speed and position are contrasted, and can reflect the precision of joint 1A internal sensors measurement to be measured.
Shaft coupling 4 connects the load testing frock 2 and magnetic powder brake 5, exports joint 1A to be measured rotation and leads to
Overload test fixture 2 is transmitted to the input of magnetic powder brake 5.Magnetic powder brake 5, which is used to provide, to be loaded and monitors in real time negative
Carry.
Torque sensor built in the magnetic powder brake 5 can be used for the output torque for detecting joint 1A to be measured, and described
Magnetic powder brake 5 has larger output loading, by adjusting the output loading of magnetic powder brake 5, can measure joint to be measured
1A load capacity.
The sensor that the joint 1A to be measured can be set by inside measures joint 1A to be measured Position And Velocity, and leads to
Cross Circular gratings 3 measurement accuracy of the sensor of its inside is measured and calibrated.The output of the joint 1A to be measured passes through magnetic
Powder brake 5 measures, and obtains joint 1A to be measured load capacity.
Moreover, torque sensor built in the magnetic powder brake 5, and there is larger output loading, without peripheral hardware power
Square sensor and gear reduction unit, compact-sized, volume reduction can make it that, and intermediate path length can be shortened, reduced
The loss of transmission, improve the precision of test.
In the present embodiment, the joint test platform also includes cast iron platform 6.The joint connected unit 1, load testing
Frock 2, Circular gratings 3, magnetic powder brake 5 are installed on the cast iron platform 6, and the cast iron platform 6 is used as pedestal, and barrier is shaken
It is dynamic.
The regulation base anchor 7 is arranged at the bottom of cast iron platform 6, for adjusting level.
In the present embodiment, the joint test platform also includes multiple pads, T-shaped screw (not shown).The pad
Be placed on cast iron platform 6, for adjust joint connected unit 1, load testing frock 2, Circular gratings 3, magnetic powder brake 5 height,
Their rotary shaft is set to be on same axis, to ensure that joint 1A to be measured output substantially loss-free can be transmitted.
The Circular gratings 3 can measure joint 1A to be measured speed and position, and magnetic powder brake 5 can measure the negative of joint
Loading capability, a test platform is tested multiple performances in joint, shorten the test period in joint, improve precision and reduction
Testing cost.
Second embodiment
With reference to a kind of joint test system of the present embodiment of figure 2 offer, including the joint test described in first embodiment is flat
Platform, brake program controller 8, torque sensor collector 9, Circular gratings collector 10, joint control 11 and analysis and Control center
12。
The brake program controller 8 is connected with the magnetic powder brake 5, and the brake program controller 8 and analysis and Control
Center 12 connects.Analysis and Control center 12 controls the output loading of the magnetic powder brake 5 to test by brake program controller 8
The load capacity of the joint 1A to be measured.
The torque sensor collector 9 is connected with the torque sensor built in the magnetic powder brake 5, and the torque
Sensor collector 9 is connected with analysis and Control center 12.Analysis and Control center 12 gathers magnetic by torque sensor collector 9
The information of torque sensor built in brake 5, to test joint 1A to be measured output torque.
The Circular gratings collector 10 is connected with the Circular gratings 3, and in the Circular gratings collector 10 and analysis and Control
The heart 12 connects.Analysis and Control center 12 gathers the information of Circular gratings 3 by Circular gratings collector 10, to obtain joint 1A's to be measured
Velocity information and positional information.
The joint control 11 is connected with joint 1A to be measured, and the joint control 11 connects with analysis and Control center 12
Connect.Analysis and Control center 12 can both control joint 1A to be measured by joint control 11, make joint 1A to be measured by specified rail
Mark is moved；Joint 1A to be measured position, electric current etc. can also be gathered by joint control 11.
Contrasted, can be obtained by the information for gathering the information that joint control 11 gathers with Circular gratings collector 10
Go out the position positioning precision of joint 1A to be measured under present load, and calibrated.
It can also be obtained by setting the output loading of magnetic powder brake 5 under specified location precision, the scope of load.If
Determine the maximum load value of specified location precision, analysis and Control center 12 controls joint 1A to be measured motion by joint control 11
Speed, test under the load, joint 1A to be measured performance graph；1A speed in joint to be measured is adjusted, is obtained under the loading condition, it is full
The maximum movement speed of sufficient dynamic aircraft pursuit course requirement.
In the present embodiment, the analysis and Control center 12 is computer.
The Circular gratings 3 can measure joint 1A to be measured speed and position, and magnetic powder brake 5 can measure joint to be measured
1A load capacity, a test system is tested multiple performances in joint, shorten the test period in joint, improve precision
With reduction testing cost.
Torque sensor built in the magnetic powder brake 5, and there is larger output loading, without peripheral hardware moment sensing
Device and gear reduction unit, compact-sized, volume reduction can make it that, and intermediate path length can be shortened, reduce transmission
Loss, improve the precision of test.
Although the utility model discloses as above, the utility model is not limited to this.Any those skilled in the art,
Do not depart from spirit and scope of the present utility model, can make various changes or modifications, therefore the scope of protection of the utility model
It should be defined by claim limited range.
Claims (6)
- 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. 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. 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. 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.
- 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. joint test system as claimed in claim 5, it is characterised in that the analysis and Control center is computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720874628.3U CN207147765U (en) | 2017-07-19 | 2017-07-19 | A kind of joint test platform and joint test system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720874628.3U CN207147765U (en) | 2017-07-19 | 2017-07-19 | A kind of joint test platform and joint test system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207147765U true CN207147765U (en) | 2018-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720874628.3U Active CN207147765U (en) | 2017-07-19 | 2017-07-19 | A kind of joint test platform and joint test system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342052A (en) * | 2018-10-31 | 2019-02-15 | 天津理工大学 | Transmission test device based on Circular gratings |
| CN110940301A (en) * | 2019-11-28 | 2020-03-31 | 杭州电子科技大学 | Real-time main dynamic moment compensation type balancing method of joint type coordinate measuring machine |
| CN113199509A (en) * | 2021-05-21 | 2021-08-03 | 乐聚(深圳)机器人技术有限公司 | Robot joint testing method, system, device, processing equipment and medium |
| CN114952945A (en) * | 2022-07-26 | 2022-08-30 | 珞石（北京）科技有限公司 | Reconfigurable modular single-shaft robot for joint test and test platform |
-
2017
- 2017-07-19 CN CN201720874628.3U patent/CN207147765U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109342052A (en) * | 2018-10-31 | 2019-02-15 | 天津理工大学 | Transmission test device based on Circular gratings |
| CN109342052B (en) * | 2018-10-31 | 2024-01-23 | 天津理工大学 | Transmission test device based on circular grating |
| CN110940301A (en) * | 2019-11-28 | 2020-03-31 | 杭州电子科技大学 | Real-time main dynamic moment compensation type balancing method of joint type coordinate measuring machine |
| CN110940301B (en) * | 2019-11-28 | 2021-06-01 | 杭州电子科技大学 | Real-time main dynamic moment compensation type balancing method of joint type coordinate measuring machine |
| CN113199509A (en) * | 2021-05-21 | 2021-08-03 | 乐聚(深圳)机器人技术有限公司 | Robot joint testing method, system, device, processing equipment and medium |
| CN114952945A (en) * | 2022-07-26 | 2022-08-30 | 珞石（北京）科技有限公司 | Reconfigurable modular single-shaft robot for joint test and test platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 202F, 2nd floor, Ding Lou, 555 Dongchuan Road, Minhang District, Shanghai Patentee after: Erzhi Robot (Zhuhai) Co., Ltd. Address before: Room 202F, 2nd floor, Ding Lou, 555 Dongchuan Road, Minhang District, Shanghai Patentee before: (Shanghai) Co., Ltd. Erzhi robot |
|
| CP01 | Change in the name or title of a patent holder |