CN208333826U - A kind of static submissive system safety testing device of industrial robot - Google Patents
A kind of static submissive system safety testing device of industrial robot Download PDFInfo
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- CN208333826U CN208333826U CN201820766286.8U CN201820766286U CN208333826U CN 208333826 U CN208333826 U CN 208333826U CN 201820766286 U CN201820766286 U CN 201820766286U CN 208333826 U CN208333826 U CN 208333826U
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- workbench
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- rope
- fixed pulley
- industrial robot
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Abstract
The utility model discloses a kind of static submissive system safety testing devices of industrial robot, it is related to industrial robot static rigidity performance detection apparatus technical field, including pedestal, pedestal is in " ten " font, bracket is cased on four endpoints of pedestal and its center, frame upper is equipped with the first workbench, four ends on first workbench are equipped with fixed pulley, first table core position is placed with ring flange, flange disc side is equipped with through-hole, rope is equipped in through-hole, rope is suspended on the first workbench side by fixed pulley, rope one end is equipped with hook, hook is equipped with counterweight, first workbench top is equipped with the second workbench；The utility model installation is simple, easy to operate；Ambient stable is tested, stringency of test is high；This experimental rig can satisfy the static flexibility test of different industrial robots, versatile；Load in test can need to increase or decrease according to test.
Description
Technical field
The utility model relates to industrial robot static rigidity performance detection apparatus technical fields, more particularly to a kind of work
The static submissive system safety testing device of industry robot.
Background technique
Static flexibility refers to the maximum displacement for acting on the load of robot body mechanical interface per unit, usually passes through
The test of the static flexibility of robot embodies robot static rigidity performance.In order to improve positioning accuracy and tracking accuracy,
Increase the flexibility of mechanical system design, reduces overshoot when positioning and stablize the time, reduce the requirement to control system and be
System cost, must be requested that robot body static and dynamic stiffness performance with higher.The performance detection of industrial robot is come
It says, when GB/T 12642 has specific regulation, measures static flexibility, power should be specified with 10% for the measurement of static flexibility
Load is stepped up to 100% nominal load, and power used should be parallel to tri- directions pedestal target X, Y, Z.But in X, Y
Direction force is relatively difficult, it is necessary to it is independent, stable to exert a force at mechanical interface, when manual operation, when force the direction of power and
Size has large error, is affected to test result.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides a kind of industrial robot static state flexibility
Test device.
The utility model achieves the above object through the following technical schemes:
A kind of static submissive system safety testing device of industrial robot, including pedestal, the pedestal are in " ten " font, and the four of pedestal
Bracket is cased on a endpoint and its center, frame upper is equipped with the first workbench, and four ends on the first workbench are equal
Equipped with fixed pulley, the first table core position is placed with ring flange, and flange disc side is equipped with through-hole, is equipped with rope in through-hole,
Rope is suspended on the first workbench side by fixed pulley, and rope one end is equipped with hook, and hook is equipped with counterweight, the first workbench
Top is equipped with the second workbench；Second workbench is equipped with fixed pulley, and there are two fixed pulleys and is located at the both ends of the second workbench,
Ring flange top is equipped with through-hole, is equipped with rope in through-hole, rope is suspended on second by two fixed pulleys on the second workbench
Workbench side, rope one end are equipped with hook, and hook is equipped with counterweight.
Preferably, the bracket is equipped with the adjusting bolt slided up and down for adjusting bracket.
Preferably, there are four and in 90 ° of angle distributions for the through-hole of the flange disc side.
Preferably, the fixed pulley axis on first workbench is parallel with the first workbench, on the second workbench
Fixed pulley axis is parallel with the second workbench.
Preferably, the ring flange top is equipped with threaded hole.
The utility model has the beneficial effects that: the installation of this experimental rig is simple, it is easy to operate；Test ambient stable, examination
It is high to test result precision；This experimental rig can satisfy the static flexibility test of different industrial robots, versatile；In test
Load can according to test need increase or decrease.
Detailed description of the invention
Fig. 1 is the overall structure stereogram of the utility model.
Wherein: 1, fixed pulley；2, it links up with；3, the first workbench；4, ring flange；5, threaded hole；6, bracket；7, pedestal；8,
Second workbench.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, the utility model includes pedestal 7, pedestal 7 is in " ten " font.Four endpoints of pedestal 7 and its center
Bracket 6 is cased on position, 6 top of bracket is equipped with the first workbench 3, and bracket 6 is equipped with the tune slided up and down for adjusting bracket
Save bolt, bracket 6 can flexible raising and lowering, for adjust and the ring flange position that is connected to each other of robotic interface.
Four ends on first workbench 3 are equipped with fixed pulley 1, and 3 center of the first workbench is placed with ring flange 4.Ring flange 4
With the mechanical interface abutting joint of robot.4 side of ring flange is equipped with through-hole, and there are four and in 90 ° for the through-hole of 4 side of ring flange
Angle distribution.Rope is equipped in through-hole, rope is suspended on the side of the first workbench 3 by fixed pulley 1, and rope one end, which is equipped with, to hang
Hook 2, hook 2 are equipped with counterweight.Counterweight has a variety of different quality, for loading different size of pulling force.First workbench 3
Top is equipped with the second workbench 8, and the second workbench 8 is equipped with fixed pulley 1, and there are two fixed pulleys 1 and is located at the second workbench 8
Both ends.Second workbench 8 is mainly used for measuring the flexibility in Z axis direction straight up.4 top of ring flange is equipped with through-hole, through-hole
Interior to be equipped with rope, rope is suspended on 8 side of the second workbench by two fixed pulleys 1 on the second workbench 8, and rope one end is set
There is hook 2, hook 2 is equipped with counterweight.4 top of ring flange is equipped with threaded hole 5, has plurality of specifications threaded hole 5 on ring flange 4,
Docking for different type mechanical interface.The axis and the first work of the fixed pulley 1 on the first workbench 3 in the utility model
Make that platform 3 is parallel, the axis of the fixed pulley 1 on the second workbench 6 is parallel with the second workbench 8, improves the steady of whole device
It is qualitative.
When work, counterweight is directly hung on mechanical ports by the flexibility of robot measurement mechanical interface end Z-direction first
Vertical direction, ring flange 4 is then mounted on mechanical interface end, while the first workbench 3 is moved to suitable position
It sets, by 5 cable tractions to respective fixed pulley 1 on ring flange, bracket 6 is adjusted according to the height of ring flange 4 at this time
Height and position calibrates the levelness of every rope with level meter, should ensure that rope is parallel with two workbench after being straightened, protects simultaneously
Force direction when card measures every time is all parallel with the robot base mark direction system XYZ, completes measuring device height and rope
After the adjustment of levelness, into official testing process.The static specific test process of flexibility is: (1) first surveying Z axis straight down
The power in direction records the offset of mechanical interface；(2) after measuring device being adjusted good position again, start successively to apply X-axis, Y-axis
The power in direction records the offset of mechanical interface；(3) finally apply the power of Z axis straight up, record the offset of mechanical interface
Amount.
The above is only the preferred embodiments of the utility model, and therefore it does not limit the scope of the patent of the utility model.Ability
The those of ordinary skill in domain is appreciated that in the case where not departing from the principles of the present invention and objective can be to these implementations
Mode carries out a variety of variations, modification, replacement and deformation.The scope of the utility model is defined by the claims and their equivalents.
Claims (5)
1. a kind of static submissive system safety testing device of industrial robot, including pedestal, it is characterised in that: the pedestal is in " ten " word
Shape, is cased with bracket on four endpoints of pedestal and its center, and frame upper is equipped with the first workbench, on the first workbench
Four ends are equipped with fixed pulley, and the first table core position is placed with ring flange, and flange disc side is equipped with through-hole, in through-hole
Equipped with rope, rope is suspended on the first workbench side by fixed pulley, and rope one end is equipped with hook, and hook is equipped with counterweight,
First workbench top is equipped with the second workbench；Second workbench is equipped with fixed pulley, and there are two and positioned at the second works for fixed pulley
Make the both ends of platform, ring flange top is equipped with through-hole, rope is equipped in through-hole, and rope passes through two fixed pulleys on the second workbench
It is suspended on the second workbench side, rope one end is equipped with hook, and hook is equipped with counterweight.
2. the static submissive system safety testing device of a kind of industrial robot according to claim 1, it is characterised in that: the bracket
It is equipped with the adjusting bolt slided up and down for adjusting bracket.
3. the static submissive system safety testing device of a kind of industrial robot according to claim 1, it is characterised in that: the flange
There are four and in 90 ° of angle distributions for the through-hole of disc side.
4. the static submissive system safety testing device of a kind of industrial robot according to claim 1, it is characterised in that: described first
Fixed pulley axis on workbench is parallel with the first workbench, the fixed pulley axis on the second workbench and the second workbench phase
In parallel.
5. the static submissive system safety testing device of a kind of industrial robot according to claim 1, it is characterised in that: the flange
Disk top is equipped with threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820766286.8U CN208333826U (en) | 2018-05-22 | 2018-05-22 | A kind of static submissive system safety testing device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820766286.8U CN208333826U (en) | 2018-05-22 | 2018-05-22 | A kind of static submissive system safety testing device of industrial robot |
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| CN208333826U true CN208333826U (en) | 2019-01-04 |
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| CN201820766286.8U Active CN208333826U (en) | 2018-05-22 | 2018-05-22 | A kind of static submissive system safety testing device of industrial robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794964A (en) * | 2019-03-08 | 2019-05-24 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | The submissive performance testing device of static state applied to industrial robot |
| CN111965025A (en) * | 2020-08-10 | 2020-11-20 | 泰安科鼎特工贸有限公司 | Method for testing safety performance of rope |
| CN114235457A (en) * | 2021-12-20 | 2022-03-25 | 浙江谱麦科技有限公司 | Force loading system for detecting robot mechanical performance and system adjusting method |
-
2018
- 2018-05-22 CN CN201820766286.8U patent/CN208333826U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794964A (en) * | 2019-03-08 | 2019-05-24 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | The submissive performance testing device of static state applied to industrial robot |
| US11247331B2 (en) * | 2019-03-08 | 2022-02-15 | China Electronic Product Reliability And Environmental Testing Research Institute((The Fifth Electronic Institute Of Miit) (China Ceprei Laboratory)) | Static compliance performance testing device applied to industrial robot |
| CN111965025A (en) * | 2020-08-10 | 2020-11-20 | 泰安科鼎特工贸有限公司 | Method for testing safety performance of rope |
| CN114235457A (en) * | 2021-12-20 | 2022-03-25 | 浙江谱麦科技有限公司 | Force loading system for detecting robot mechanical performance and system adjusting method |
| CN114235457B (en) * | 2021-12-20 | 2024-03-15 | 浙江谱麦科技有限公司 | Force loading system for detecting robot mechanical performance and system adjustment method |
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