CN209878351U - Robot tail end multi-dimensional force loading mechanism - Google Patents
Robot tail end multi-dimensional force loading mechanism Download PDFInfo
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- CN209878351U CN209878351U CN201921148864.2U CN201921148864U CN209878351U CN 209878351 U CN209878351 U CN 209878351U CN 201921148864 U CN201921148864 U CN 201921148864U CN 209878351 U CN209878351 U CN 209878351U
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Abstract
The utility model provides a robot tail end multi-dimensional force loading mechanism, which comprises a base, wherein a first force loading component, a second force loading component and a third force loading component are arranged on the base; the first force loading assembly comprises a first adjusting support, a first base plate is arranged on the first adjusting support, a first acting force generating mechanism is fixed on the first base plate, the second force loading assembly comprises a second adjusting support, a second base plate is arranged on the second adjusting support, a second acting force generating mechanism is fixed on the second base plate, the third force loading assembly comprises a support column, a third base plate is arranged on the side wall of the support column in a sliding mode, and a third acting force generating mechanism is fixed on the third base plate; the utility model is simple in operation, power size and direction are adjustable.
Description
Technical Field
The utility model relates to a special equipment technical field, especially a terminal multidimension power loading mechanism of robot.
Background
The performance test of the whole industrial robot needs to relate to a force loading test. According to the test standard, the force applied should be applied in three directions parallel to the coordinate axes of the machine base, both positive and negative, and the force should be applied in steps of 10% of the nominal load to 100% of the nominal load, one direction at a time. For each force and direction, the corresponding displacement is measured.
Therefore, a multidirectional force loading mechanism which is convenient to carry, simple to operate, adjustable in force magnitude and direction, high in loading force precision, good in stability and capable of adapting to the shapes of tail end interfaces of robots of different models needs to be designed, the requirement of performance testing is met, and the blank that no force loading mechanism exists in the current domestic test is filled.
Disclosure of Invention
In order to overcome the problems, the utility model aims to provide a terminal multidimensional power loading mechanism of robot, the power size and the direction of this mechanism are adjustable, and stability is good.
The utility model discloses a following scheme realizes: a robot tail end multi-dimensional force loading mechanism comprises a base, wherein a first force loading assembly, a second force loading assembly and a third force loading assembly are arranged on the base; the first force loading assembly is positioned in an x-axis direction taking the center of the base as an origin of a coordinate axis, the second force loading assembly is positioned in a y-axis direction taking the center of the base as the origin of the coordinate axis, the third force loading assembly is positioned in a z-axis direction taking the center of the base as the origin of the coordinate axis, the first force loading assembly comprises a first adjusting support, a first base plate is arranged on the first adjusting support, a first acting force generating mechanism is fixed on the first base plate, the first adjusting support can drive the first acting force generating mechanism to lift up and down, the first acting force generating mechanism comprises a motor with a reducer, a lead screw is connected with a rotating shaft of the motor, an ejector pin is fixed at the end part of the lead screw, the second force loading assembly comprises a second adjusting support, and a second base plate is arranged on the second adjusting support, a second acting force generating mechanism is fixed on the second substrate, and the second adjusting support piece can drive the second acting force generating mechanism to lift up and down; the third force loading assembly comprises a supporting column, a third substrate is slidably arranged on the side wall of the supporting column, and a third acting force generating mechanism is fixed on the third substrate; the second acting force generating mechanism and the third acting force generating mechanism are the same as the first acting force generating mechanism in structure.
Further, first regulation support piece and second regulation support piece's structure is the same, first regulation support piece includes a bottom plate, be fixed with a sleeve on the bottom plate, the sleeve endotheca is equipped with the bracing piece, the sleeve side is from last to having seted up a plurality of first through-holes down, from last to having seted up a plurality of second through-holes down on the bracing piece, the bolt passes first through-hole and second through-hole and fixes the bracing piece in the sleeve.
Further, the channel has been seted up to the support column lateral wall, a plurality of third through-holes have been seted up to extremely down from last to the channel, the fourth through-hole has been seted up on the third base plate, the third base plate can slide on the channel, and the bolt passes third through-hole and fourth through-hole and is fixed in the third base plate on the support column lateral wall.
Furthermore, the base surface has transversely seted up the spout, the bottom plate of first regulation support piece and the support column bottom of third power loading subassembly can slide on the spout of base, and bottom plate and support column bottom fix on the base through fastening bolt.
The beneficial effects of the utility model reside in that: the utility model discloses convenient to carry, easy operation, power size and direction are adjustable, loading force precision is high, stability is good, can adapt to the multi-direction power loading mechanism of the terminal interface shape of different model robots, satisfy performance test's needs.
Drawings
Fig. 1 is a schematic side view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1 to 2, a robot end multi-dimensional force loading mechanism of the present invention includes a base 1, wherein the base 1 is provided with a first force loading assembly 2, a second force loading assembly 3, and a third force loading assembly 4; the first force loading component 2 is positioned in the direction of an x axis with the center of the base 1 as the origin of coordinate axes, the second force loading component 3 is positioned in the direction of the y axis with the center of the base 1 as the origin of the coordinate axes, the third force loading component 4 is positioned in the direction of the z axis with the center of the base 1 as the origin of the coordinate axes, thus, the first force loading assembly 2, the second force loading assembly 3 and the third force loading assembly 4 can load acting force on the robot end mechanical interface 5 along the x axis, the y axis and the z axis, the first force loading assembly 2 comprises a first adjustment support 21, on which first adjustment support 21 a first base plate 22 is arranged, a first acting force generating mechanism 23 is fixed on the first base plate 22, the first adjusting support 21 can drive the first acting force generating mechanism 23 to move up and down, thus, the position of the first force loading assembly 2 can be correspondingly adjusted according to different models of the robot; the first acting force generating mechanism 23 includes a motor 231 with a speed reducer, a lead screw 232 is connected to a rotating shaft of the motor, a slider 233 is spirally arranged on the lead screw, a thimble 234 is fixed at an end of the slider, the motor speed reducer drives the lead screw to rotate, the rotary motion of the lead screw is converted into the linear motion of the slider spirally arranged on the lead screw, and the thimble 234 fixed on the slider acts on a mechanical interface position at the tail end of the robot to generate pulling force or pressure, so that the tail end of the robot is displaced. The second force loading assembly 3 comprises a second adjusting support 31, a second base plate 32 is arranged on the second adjusting support 31, a second acting force generating mechanism 33 is fixed on the second base plate 32, and the second adjusting support 31 can drive the second acting force generating mechanism 33 to lift up and down; the third force loading assembly 4 comprises a supporting column 41, a third substrate 42 is slidably disposed on a side wall of the supporting column 41, and a third acting force generating mechanism 43 is fixed on the third substrate 42; the second acting force generating mechanism 33 and the third acting force generating mechanism 43 are both the same in structure as the first acting force generating mechanism 23.
The utility model discloses in, first regulation support piece 21 is the same with the structure that support piece 31 was adjusted to the second, first regulation support piece 21 includes a bottom plate 211, be fixed with a sleeve 212 on the bottom plate 211, the sleeve endotheca is equipped with bracing piece 213, the sleeve side is from last to having seted up a plurality of first through-holes down, from last to having seted up a plurality of second through-holes down on the bracing piece, the bolt passes first through-hole and second through-hole and fixes the bracing piece in the sleeve. Therefore, the supporting rod can be adjusted and moved up and down in the sleeve by the aid of different positions of the bolts.
In addition, the support post side wall is provided with a channel (not shown), the channel is provided with a plurality of third through holes (not shown) from top to bottom, the third substrate is provided with a fourth through hole, the third substrate 42 can slide on the channel, and a bolt passes through the third through hole and the fourth through hole to fix the third substrate 42 on the support post 41 side wall. So that the third base plate 42 can be adjusted in position up and down on the groove.
The surface of the base 1 is transversely provided with a sliding groove 11, the bottom plate 211 of the first adjusting support and the bottom of the supporting column 41 of the third force loading assembly 4 can slide on the sliding groove 11 of the base, and the bottom plate and the bottom of the supporting column are fixed on the base through fastening bolts (not shown). Thus, the first force loading assembly 2 and the third force loading assembly 4 can move left and right on the x axis of the base 1, so that the robot with different models can be loaded with acting force.
The utility model discloses a theory of operation does: the first force loading assembly 2 generates a force in the X +/-direction; the second force loading assembly generates a force in a Y +/-direction; the third force loading assembly generates a force in the Z +/-direction. The force adjusting of the first force loading assembly, the second force loading assembly and the third force loading assembly is realized by controlling the torque of the motor. According to the different types of the robots, the positions of the first force loading assembly 2 and the third force loading assembly on the sliding groove of the base in the X-axis direction are adjusted; and adjusting the positions of the first adjusting support rod, the second adjusting support rod and the support column 41 in the Z direction. The motors of the first force loading assembly, the second force loading assembly and the third force loading assembly drive the screw rod to rotate, the rotary motion of the screw rod is converted into the linear motion of the upper sliding block of the screw rod, the ejector pin fixed on the sliding block acts on the mechanical interface position of the tail end of the robot to generate tension/pressure, and the purpose that the tail end of the robot is enabled to displace on the x axis, the y axis and the z axis respectively is achieved.
In a word, the utility model discloses convenient to carry, easy operation, power size and direction are adjustable, the multi-direction power loading mechanism of loading force precision height, stability good, can adapt to different model robot end interface shapes satisfy performance test's needs.
The above is only the preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (4)
1. The utility model provides a terminal multidimension power loading mechanism of robot which characterized in that: the device comprises a base, wherein a first force loading assembly, a second force loading assembly and a third force loading assembly are arranged on the base; the first force loading assembly is positioned in an x-axis direction taking the center of the base as an origin of a coordinate axis, the second force loading assembly is positioned in a y-axis direction taking the center of the base as the origin of the coordinate axis, the third force loading assembly is positioned in a z-axis direction taking the center of the base as the origin of the coordinate axis, the first force loading assembly comprises a first adjusting support, a first base plate is arranged on the first adjusting support, a first acting force generating mechanism is fixed on the first base plate, the first adjusting support can drive the first acting force generating mechanism to lift up and down, the first acting force generating mechanism comprises a motor with a reducer, a lead screw is connected with a rotating shaft of the motor, an ejector pin is fixed at the end part of the lead screw, the second force loading assembly comprises a second adjusting support, and a second base plate is arranged on the second adjusting support, a second acting force generating mechanism is fixed on the second substrate, and the second adjusting support piece can drive the second acting force generating mechanism to lift up and down; the third force loading assembly comprises a supporting column, a third substrate is slidably arranged on the side wall of the supporting column, and a third acting force generating mechanism is fixed on the third substrate; the second acting force generating mechanism and the third acting force generating mechanism are the same as the first acting force generating mechanism in structure.
2. The robot end multi-dimensional force loading mechanism of claim 1, wherein: first regulation support piece and second regulation support piece's structure is the same, first regulation support piece includes a bottom plate, be fixed with a sleeve on the bottom plate, the sleeve endotheca is equipped with the bracing piece, the sleeve side is from last to having seted up a plurality of first through-holes down, from last to having seted up a plurality of second through-holes down on the bracing piece, the bolt passes first through-hole and second through-hole and fixes the bracing piece in the sleeve.
3. The robot end multi-dimensional force loading mechanism of claim 1, wherein: the channel has been seted up to the support column lateral wall, a plurality of third through-holes have been seted up to extremely down from last to the channel, the fourth through-hole has been seted up on the third base plate, the third base plate can slide on the channel, and the bolt passes third through-hole and fourth through-hole and is fixed in the third base plate on the support column lateral wall.
4. The robot end multi-dimensional force loading mechanism of claim 2, wherein: the base surface has transversely seted up the spout, the bottom plate of first regulation support piece and the support column bottom of third power loading subassembly can slide on the spout of base, and the bottom plate is fixed on the base through fastening bolt with the support column bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921148864.2U CN209878351U (en) | 2019-07-22 | 2019-07-22 | Robot tail end multi-dimensional force loading mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921148864.2U CN209878351U (en) | 2019-07-22 | 2019-07-22 | Robot tail end multi-dimensional force loading mechanism |
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| Publication Number | Publication Date |
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| CN209878351U true CN209878351U (en) | 2019-12-31 |
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| CN201921148864.2U Active CN209878351U (en) | 2019-07-22 | 2019-07-22 | Robot tail end multi-dimensional force loading mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274783A (en) * | 2019-07-22 | 2019-09-24 | 福建省特种设备检验研究院 | A kind of robot end's multidimensional power load maintainer and its to overall performance test method |
-
2019
- 2019-07-22 CN CN201921148864.2U patent/CN209878351U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274783A (en) * | 2019-07-22 | 2019-09-24 | 福建省特种设备检验研究院 | A kind of robot end's multidimensional power load maintainer and its to overall performance test method |
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