CN209111116U - A kind of 8 channel jitter measuring systems for industrial robot jitter analysis - Google Patents
A kind of 8 channel jitter measuring systems for industrial robot jitter analysis Download PDFInfo
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- CN209111116U CN209111116U CN201821922805.1U CN201821922805U CN209111116U CN 209111116 U CN209111116 U CN 209111116U CN 201821922805 U CN201821922805 U CN 201821922805U CN 209111116 U CN209111116 U CN 209111116U
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- mechanical arm
- fixing buckle
- dimensional acceleration
- industrial robot
- longitudinal direction
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Abstract
The utility model relates to a kind of 8 channel jitter measuring systems for industrial robot jitter analysis, the system uses eight three-dimensional acceleration transducers, flutter meter and analog-to-digital conversion module, the output end of eight three-dimensional acceleration transducers is connected with the input terminal of flutter meter respectively, and the output end of flutter meter is connected with the input terminal of analog-to-digital conversion module；Industrial robot includes pedestal, first mechanical arm and second mechanical arm, it is connected between pedestal and first mechanical arm by the first joint, first mechanical arm is connected with second mechanical arm by second joint, a three-dimensional acceleration transducer is provided on pedestal, there are three three-dimensional acceleration transducers for setting in first mechanical arm, there are three three-dimensional acceleration transducers for setting in second mechanical arm, and the end of second mechanical arm is provided with a three-dimensional acceleration transducer.By using the utility model jitter measurement system, it can be achieved that industrial robot jittering characteristic accurate measurement.
Description
Technical field
The utility model relates to Industrial Robot Technology fields, in particular to a kind of for industrial robot jitter analysis
8 channel jitter measuring systems.
Background technique
The development level of Robot industry has become the important symbol for measuring a countries and regions industrialized level, in recent years
Come, China's Robot industry is quickly grown, and has emerged in large numbers many production firms, robot, robot produced is numerous in variety, function
It can be not quite similar.
Industrial robot due to the flexible link such as speed reducer presence, in positioning easily end even whole device all
Jitter phenomenon occurs, greatly reduces the working performance of industrial robot.For that purpose it is necessary to the jittering characteristic of industrial robot into
The accurate measurement of row, the solution for eliminating shake is analyzed further according to measurement result.Currently, being set in the prior art there are no dedicated
It is ready for use on the jitter phenomenon of measurement industrial robot.
Utility model content
In order to solve the problems in the prior art, the utility model provides a kind of for industrial robot jitter analysis
8 channel jitter measuring systems, it can be achieved that industrial robot jittering characteristic accurate measurement.
The utility model embodiment provides a kind of 8 channel jitter measuring systems for industrial robot jitter analysis, institute
Stating system includes eight three-dimensional acceleration transducers, flutter meter and analog-to-digital conversion module, and eight three-dimensional acceleration pass
The output end of sensor is connected with the input terminal of the flutter meter respectively, the output end of the flutter meter and the mould
The input terminal of number conversion module is connected；
The industrial robot includes pedestal, first mechanical arm and second mechanical arm, the pedestal and first mechanical arm it
Between be connected by the first joint, the first mechanical arm is connected with second mechanical arm by second joint, on the pedestal
It is provided with the three-dimensional acceleration transducer, there are three the three-dimensional acceleration sensings for setting in the first mechanical arm
Device, there are three the three-dimensional acceleration transducers for setting in the second mechanical arm, and the end of the second mechanical arm is provided with
One three-dimensional acceleration transducer.
Optionally, three first longitudinal direction guide rails, three first longitudinal direction guide rails point are offered in the first mechanical arm
It is not distributed evenly on the circumference of the first mechanical arm, three first cross is provided between three first longitudinal direction guide rails
Direction guiding rail, three first cross slide ways are connected with three first longitudinal direction guide rails respectively, in the first mechanical arm
Three three-dimensional acceleration transducers can be moved in the first cross slide way and first longitudinal direction guide rail.
Optionally, the two sides of the first cross slide way are respectively arranged with multiple first fixing buckles, the first mechanical arm
On three-dimensional acceleration transducer the back side above and below be provided with the second fixing buckle, three in the first mechanical arm
It is additionally provided with sliding block to the back side of acceleration transducer, the three-dimensional acceleration transducer in the first mechanical arm is moved to setting
When position, the second fixing buckle of the three-dimensional acceleration transducer is corresponding with the first fixing buckle of a first cross slide way solid respectively
It is fixed.
Optionally, first fixing buckle and the second fixing buckle are corresponding thread gluing or first fixing buckle and the
Two fixing buckles are corresponding buckle or first fixing buckle and the second fixing buckle is corresponding magnet.
Optionally, three second longitudinal direction guide rails, three second longitudinal direction guide rails point are offered in the second mechanical arm
It is not distributed evenly on the circumference of the second mechanical arm, three second cross is provided between three second longitudinal direction guide rails
Direction guiding rail, three second cross slide ways are connected with three second longitudinal direction guide rails respectively, in the second mechanical arm
Three three-dimensional acceleration transducers can be moved in second cross slide way and second longitudinal direction guide rail.
Optionally, the two sides of second cross slide way are respectively arranged with multiple third fixing buckles, the second mechanical arm
On three-dimensional acceleration transducer the back side above and below be provided with the 4th fixing buckle, three in the second mechanical arm
It is additionally provided with sliding block to the back side of acceleration transducer, the three-dimensional acceleration transducer in the second mechanical arm is moved to setting
When position, the 4th fixing buckle of the three-dimensional acceleration transducer is corresponding with the third fixing buckle of one second cross slide way solid respectively
It is fixed.
Optionally, the third fixing buckle and the 4th fixing buckle are corresponding thread gluing or the third fixing buckle and the
Four fixing buckles are corresponding buckle or the third fixing buckle and the 4th fixing buckle is corresponding magnet.
Optionally, the system also includes FPGA controller, the input terminal of the FPGA controller and the analog-to-digital conversions
The output end of module is connected.
Optionally, the system also includes dsp controller, the input terminal of the dsp controller and the FPGA controllers
Output end be connected.
Optionally, the system also includes host computer, the dsp controller passes through USB connecting line and the host computer phase
Connection.
Using the 8 channel jitter measuring systems for industrial robot jitter analysis in the utility model, have such as
It is lower the utility model has the advantages that
The utility model by the way that three-dimensional acceleration transducer to be respectively placed in the different measurement positions of industrial robot to be measured,
The vibration signal of eight target points can be obtained；Eight three acceleration transducers are respectively arranged at different positions, set simultaneously
The acceleration transducer for setting on the robotic arm, which can according to need, to be moved, and the vibration signal of different location point, measurement are measured
It is more accurate and comprehensive；Vibration signal is passed to flutter meter by eight three-dimensional acceleration transducers, inside measuring instrument
Signal conditioning circuit the processing such as be filtered, amplify to vibration signal after, the mould of vibration signal is completed by analog-to-digital conversion module
Number conversion, the digital signal after conversion further can be sent into dsp controller according to certain control requirement after FPGA is acquired,
The requirement that dsp controller is set according to host computer procedure sends data to host computer through usb bus, to obtain industrial machine
The jittering characteristic of people；The 8 channel jitter measuring instrument structures of the utility model are simple, easy to use, answer suitable for large-scale promotion
With.
Detailed description of the invention
Fig. 1 is the 8 channel jitter measuring systems for industrial robot jitter analysis of an embodiment of the present invention
Schematic diagram；
Fig. 2 is in the 8 channel jitter measuring systems for industrial robot jitter analysis of an embodiment of the present invention
Distribution schematic diagram of each three-dimensional acceleration transducer on industrial robot；
Fig. 3 is the rearview of acceleration transducer in the first mechanical arm of an embodiment of the present invention；
Fig. 4 is the side view of acceleration transducer in the first mechanical arm of an embodiment of the present invention.
Appended drawing reference:
1 first mechanical arm；11 first longitudinal direction guide rails；12 first cross slide ways；
Three-dimensional acceleration transducer in 13 first mechanical arms；131 sliding blocks；132 second fixing buckles；
14 first fixing buckles；
2 pedestals；Three-dimensional acceleration transducer on 21 pedestals；
3 second mechanical arms；31 second longitudinal direction guide rails；32 second cross slide ways；
Three-dimensional acceleration transducer in 33 second mechanical arms；34 third fixing buckles；
The three-dimensional acceleration transducer of 41 second mechanical arm ends
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that this is practical new
Type will be full and complete, and the design of example embodiment is comprehensively communicated to those skilled in the art.It is identical in figure
Appended drawing reference indicate same or similar structure, thus the detailed description that them will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to the embodiments of the present invention.So
And it will be appreciated by persons skilled in the art that the technical solution of the utility model can be practiced without in the specific detail
It is one or more, or can be using other structures, component, step, method etc..In other cases, be not shown in detail or
Known features, component or operation are described to avoid the various aspects of fuzzy the utility model.
As shown in Figure 1, the utility model embodiment provides a kind of 8 channel jitters survey for industrial robot jitter analysis
Amount system, the system comprises eight three-dimensional acceleration transducers, flutter meter and analog-to-digital conversion modules (as shown in figure 1
ADC, Analog-to-Digital Converter), the output end of eight three-dimensional acceleration transducers is trembled with described respectively
The input terminal of dynamic measuring instrument is connected, and the output end of the flutter meter is connected with the input terminal of the analog-to-digital conversion module
It connects.Flutter meter can be inputted using existing flutter meter in the prior art as acceleration analysis data, it is each for exporting
Item shake index, for example, by using mixed signal oscillograph.The vibration signal of flutter meter output is analog signal, needs to pass through
Analog quantity is converted to digital quantity by analog-to-digital conversion module.Signal conditioning circuit is equipped with inside measuring instrument, it can be to acceleration analysis
Data such as are filtered and amplify at the processing.
As shown in Fig. 2 ~ 4, the distribution of the acceleration transducer of the industrial robot of an embodiment of the present invention is shown.
Wherein, Fig. 3 and Fig. 4 shows the structure of acceleration transducer 13 in first mechanical arm 1.It will be appreciated that in this embodiment,
The structure of acceleration transducer 33 is also similar with structure shown in Fig. 3 and Fig. 4 in second mechanical arm 3.In this embodiment, institute
Stating industrial robot includes pedestal 2, first mechanical arm 1 and second mechanical arm 3, is passed through between the pedestal 2 and first mechanical arm 1
Rotatable first joint is connected, and the first mechanical arm 1 is connected with second mechanical arm 3 by rotatable second joint
It connects, thus second mechanical arm 3 has multiple freedom degrees.The three-dimensional acceleration transducer 21 is provided on the pedestal 2,
Setting is there are three the three-dimensional acceleration transducer 13 in the first mechanical arm 1, in the second mechanical arm 3 there are three settings
The three-dimensional acceleration transducer 33, the end of the second mechanical arm 3 are provided with the three-dimensional acceleration transducer 41.
In this embodiment, three first longitudinal direction guide rails 11 are offered in the first mechanical arm 1, described three first vertical
Direction guiding rail 11 is distributed evenly in respectively on the circumference of the first mechanical arm 1, is set between three first longitudinal direction guide rails 11
Three first cross slide ways 12 are equipped with, three first cross slide ways 12 are connected with three first longitudinal direction guide rails 11 respectively
Logical, three three-dimensional acceleration transducers 13 in the first mechanical arm 1 can be in the first cross slide way 12 and first longitudinal direction
It is moved in guide rail 11.It is shown in FIG. 2 the distribution of a first longitudinal direction guide rail 11 and three first cross slide ways 12, every two
Spacing between first longitudinal direction guide rail 11 is fixed.Three three-dimensional acceleration transducers 13 are separately positioned on every two first and indulge
Between direction guiding rail 11.
In this embodiment, the two sides of the first cross slide way 12 are respectively arranged with multiple first fixing buckles 14, described
The second fixing buckle 132 is provided with above and below the back side of three-dimensional acceleration transducer 13 in first mechanical arm 1, it is described
The back side of three-dimensional acceleration transducer 13 in first mechanical arm 1 is additionally provided with sliding block 131, and three in the first mechanical arm 1
When being moved to setting position to acceleration transducer, the second fixing buckle 132 of the three-dimensional acceleration transducer 13 is respectively with one
First fixing buckle 14 of first cross slide way 12 is corresponding to be fixed.
In this embodiment, first fixing buckle 14 and the second fixing buckle 132 are corresponding thread gluing or described first
Fixing buckle 14 and the second fixing buckle 132 are corresponding buckle or first fixing buckle 14 and the second fixing buckle 132 is opposite
The magnet answered.When first fixing buckle 14 and the second fixing buckle 132 are corresponding thread gluing, i.e., similar to the combination of velcro, first
Fixing buckle 14 has the fiber of small, flexible, and the second fixing buckle 132 has the seta or the first fixing buckle 14 tool of harder buckle
There is the seta of harder buckle, the second fixing buckle 14 has the fiber of small, flexible.First fixing buckle 14 and the second fixing buckle
132 be corresponding buckle when, the first fixing buckle 14 have card slot, the second fixing buckle 132 have fixture block or the first fixing buckle 14
With fixture block, the second fixing buckle 132 has card slot.First fixing buckle 14 and the second fixing buckle 132 are corresponding magnet,
That is the first fixing buckle 14 and the second fixing buckle 132 are respectively magnet, and two opposite surface magnetisms are on the contrary, can be mutually attracting
Draw.Therefore, in this embodiment, it is removably to connect between the first fixing buckle 14 and the second fixing buckle 132, applies certain
Power can separate the second fixing buckle 132 with the first fixing buckle 14, and by the three-dimensional acceleration transducer 13 in first mechanical arm 1
It is moved freely in first cross slide way 12 and first longitudinal direction guide rail 11.
In this embodiment, three second longitudinal direction guide rails 31 are offered in the second mechanical arm 3, described three second vertical
Direction guiding rail 31 is distributed evenly in respectively on the circumference of the second mechanical arm 3, is set between three second longitudinal direction guide rails 31
Three the second cross slide ways 32 are equipped with, three second cross slide ways 32 are connected with three second longitudinal direction guide rails 31 respectively
Logical, three three-dimensional acceleration transducers 33 in the second mechanical arm 3 can be in second cross slide way 32 and second longitudinal direction
It is moved in guide rail 31.It is shown in FIG. 2 the distribution of a second longitudinal direction guide rail 31 and three the second cross slide ways 32, every two
Spacing between second longitudinal direction guide rail 31 is fixed.Three three-dimensional acceleration transducers 33 are separately positioned on every two second and indulge
Between direction guiding rail 31.
In this embodiment, the two sides of second cross slide way 32 are respectively arranged with multiple third fixing buckles 34, described
It is provided with the 4th fixing buckle above and below the back side of three-dimensional acceleration transducer 33 in second mechanical arm 3, described
The back side of three-dimensional acceleration transducer 33 on two mechanical arms 3 is additionally provided with sliding block, and the three-dimensional in the second mechanical arm 3 accelerates
When degree sensor is moved to setting position, the 4th fixing buckle of the three-dimensional acceleration transducer 33 is laterally led with one second respectively
The third fixing buckle 34 of rail 32 is corresponding to be fixed.
In this embodiment, the third fixing buckle 34 and the 4th fixing buckle are that corresponding thread gluing or the third are solid
Surely button 34 and the 4th fixing buckle are corresponding buckle or the third fixing buckle 34 and the 4th fixing buckle is corresponding magnetic
Iron.When third fixing buckle 34 and the 4th fixing buckle are corresponding thread gluing, when the two is separated, it is only necessary to overcome between thread gluing
Adhesion strength, can be by fixture block from card when separating the two when third fixing buckle 34 and the 4th fixing buckle are corresponding buckle
It is taken out in slot, when third fixing buckle 34 and the 4th fixing buckle are corresponding magnet, when the two is separated, application overcomes two
The external force of magnetic force between person.
In this embodiment, the system also includes FPGA(Field-Programmable Gate Array, scene can
Program gate array) controller, the input terminal of the FPGA controller is connected with the output end of the analog-to-digital conversion module.
In this embodiment, the system also includes DSP(Digital Signal Processing, at digital signal
Reason) controller, the input terminal of the dsp controller is connected with the output end of the FPGA controller.
In this embodiment, the system also includes host computer, the dsp controller by USB connecting line and it is described on
Position machine is connected.
When using the dither signal of the jitter measurement systematic survey industrial robot of the utility model, the can be first selected
The position of six three-dimensional acceleration transducers on one mechanical arm and second mechanical arm, then by first mechanical arm and second mechanical arm
On each acceleration transducer moved respectively, be moved to selected position, then start to measure.In measurement a period of time
Afterwards, it can according to need the position for adjusting one or more three-dimensional acceleration transducers, to carry out multiple position multiple angles
Measurement, more fully measure industrial robot dither signal.The utility model also respectively in the end of second mechanical arm and
Three-dimensional acceleration transducer is arranged in pedestal, can measure the Vibration Condition of industrial machine human arm end and pedestal respectively, more preferably
The working condition of industrial robot is grasped on ground, is conducive to eliminating industrial robot shake or applying better stabilization measure.
Compared with prior art, the utility model is by being respectively placed in industrial robot to be measured for three-dimensional acceleration transducer
Different measurement positions, the vibration signal of eight target points can be obtained；Eight three acceleration transducers are respectively arranged at not
Same position, while the acceleration transducer of setting on the robotic arm can according to need and be moved, and measure different location point
Vibration signal, measurement is more accurate and comprehensively；Vibration signal is passed to flutter meter by eight three-dimensional acceleration transducers,
It is complete by analog-to-digital conversion module after the processing such as being filtered, amplifying to vibration signal by the signal conditioning circuit inside measuring instrument
At the analog-to-digital conversion of vibration signal, the digital signal after conversion can be further after FPGA is acquired according to certain control requirement
It is sent into dsp controller, the requirement that dsp controller is set according to host computer procedure sends data to host computer through usb bus, from
And obtain the jittering characteristic of industrial robot；The 8 channel jitter measuring instrument structures of the utility model are simple, easy to use, are applicable in
In large-scale promotion application.
In this description, the utility model is described with reference to its specific embodiment.But it is clear that still can be with
The spirit and scope that various modification can be adapted and converts without departing from the utility model.Therefore, the description and the appended drawings should be considered as
It is illustrative and not restrictive.
Claims (10)
1. a kind of 8 channel jitter measuring systems for industrial robot jitter analysis, which is characterized in that the system comprises eight
A three-dimensional acceleration transducer, flutter meter and analog-to-digital conversion module, the output end of eight three-dimensional acceleration transducers
It is connected respectively with the input terminal of the flutter meter, the output end of the flutter meter and the analog-to-digital conversion module
Input terminal is connected；
The industrial robot includes pedestal, first mechanical arm and second mechanical arm, is led between the pedestal and first mechanical arm
It crosses the first joint to be connected, the first mechanical arm is connected with second mechanical arm by second joint, is arranged on the pedestal
There is the three-dimensional acceleration transducer, there are three the three-dimensional acceleration transducer, institutes for setting in the first mechanical arm
Stating setting in second mechanical arm, there are three the three-dimensional acceleration transducers, and the end of the second mechanical arm is provided with an institute
State three-dimensional acceleration transducer.
2. the 8 channel jitter measuring systems according to claim 1 for industrial robot jitter analysis, feature exist
In offering three first longitudinal direction guide rails in the first mechanical arm, three first longitudinal direction guide rails are evenly distributed respectively
It is described on the circumference of the first mechanical arm, being provided with three first cross slide ways between three first longitudinal direction guide rails
Three first cross slide ways are connected with three first longitudinal direction guide rails respectively, and three in the first mechanical arm three-dimensional adds
Velocity sensor can move in the first cross slide way and first longitudinal direction guide rail.
3. the 8 channel jitter measuring systems according to claim 2 for industrial robot jitter analysis, feature exist
In the two sides of the first cross slide way are respectively arranged with multiple first fixing buckles, and the three-dimensional in the first mechanical arm accelerates
It spends above and below the back side of sensor and is provided with the second fixing buckle, the three-dimensional acceleration sensing in the first mechanical arm
The back side of device is additionally provided with sliding block, described when the three-dimensional acceleration transducer in the first mechanical arm is moved to setting position
Second fixing buckle of three-dimensional acceleration transducer is corresponding with the first fixing buckle of a first cross slide way respectively to be fixed.
4. the 8 channel jitter measuring systems according to claim 3 for industrial robot jitter analysis, feature exist
In, first fixing buckle and the second fixing buckle be corresponding thread gluing or first fixing buckle and the second fixing buckle is phase
Corresponding buckle or first fixing buckle and the second fixing buckle are corresponding magnet.
5. the 8 channel jitter measuring systems according to claim 1 for industrial robot jitter analysis, feature exist
In offering three second longitudinal direction guide rails in the second mechanical arm, three second longitudinal direction guide rails are evenly distributed respectively
It is described on the circumference of the second mechanical arm, being provided with three the second cross slide ways between three second longitudinal direction guide rails
Three the second cross slide ways are connected with three second longitudinal direction guide rails respectively, and three in the second mechanical arm three-dimensional adds
Velocity sensor can move in second cross slide way and second longitudinal direction guide rail.
6. the 8 channel jitter measuring systems according to claim 5 for industrial robot jitter analysis, feature exist
In the two sides of second cross slide way are respectively arranged with multiple third fixing buckles, and the three-dimensional in the second mechanical arm accelerates
It spends above and below the back side of sensor and is provided with the 4th fixing buckle, the three-dimensional acceleration sensing in the second mechanical arm
The back side of device is additionally provided with sliding block, described when the three-dimensional acceleration transducer in the second mechanical arm is moved to setting position
4th fixing buckle of three-dimensional acceleration transducer is corresponding with the third fixing buckle of one second cross slide way respectively to be fixed.
7. the 8 channel jitter measuring systems according to claim 6 for industrial robot jitter analysis, feature exist
In, the third fixing buckle and the 4th fixing buckle be corresponding thread gluing or the third fixing buckle and the 4th fixing buckle is phase
Corresponding buckle or the third fixing buckle and the 4th fixing buckle are corresponding magnet.
8. the 8 channel jitter measuring systems according to claim 1 for industrial robot jitter analysis, feature exist
In, the system also includes FPGA controller, the output end of the input terminal of the FPGA controller and the analog-to-digital conversion module
It is connected.
9. the 8 channel jitter measuring systems according to claim 8 for industrial robot jitter analysis, feature exist
In the system also includes dsp controller, the input terminal of the dsp controller is connected with the output end of the FPGA controller
It connects.
10. the 8 channel jitter measuring systems according to claim 9 for industrial robot jitter analysis, feature exist
In the system also includes host computer, the dsp controller is connected by USB connecting line with the host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201821922805.1U CN209111116U (en) | 2018-11-21 | 2018-11-21 | A kind of 8 channel jitter measuring systems for industrial robot jitter analysis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821922805.1U CN209111116U (en) | 2018-11-21 | 2018-11-21 | A kind of 8 channel jitter measuring systems for industrial robot jitter analysis |
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| CN209111116U true CN209111116U (en) | 2019-07-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055521A (en) * | 2020-08-04 | 2022-02-18 | 北京福田康明斯发动机有限公司 | Mobile robot collision buffering method and system |
-
2018
- 2018-11-21 CN CN201821922805.1U patent/CN209111116U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055521A (en) * | 2020-08-04 | 2022-02-18 | 北京福田康明斯发动机有限公司 | Mobile robot collision buffering method and system |
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