CN212399669U - Test board - Google Patents
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- CN212399669U CN212399669U CN202021203185.3U CN202021203185U CN212399669U CN 212399669 U CN212399669 U CN 212399669U CN 202021203185 U CN202021203185 U CN 202021203185U CN 212399669 U CN212399669 U CN 212399669U
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Abstract
The embodiment of the application provides a test bench, which relates to the technical field of performance test of a robot joint module, and comprises a base, and a component to be tested, a sensor mounting component and a loading component which are coaxially arranged on the base in sequence; the sensor mounting assembly is connected with the base in a sliding manner, is used for moving and is connected with the piece to be detected; the loading assembly is connected with the base in a sliding mode and used for moving and is connected with the sensor mounting assembly to provide load moment to carry out loading test on the piece to be tested, so that the performance test of the robot joint module is realized, and the problems of poor stability and large measurement error of the existing simple rack are solved.
Description
Technical Field
The application relates to the technical field of robot joint module performance testing, particularly relates to a test bench.
Background
With the continuous development of the robot industry, the performance and parameters of main parts of the robot play a crucial role in the robot, and therefore the comprehensive performance of the core parts needs to be detected. At present, a universal robot joint module test bench is not available, most of the universal robot joint module test benches are simple racks built temporarily, and the universal robot joint module test bench is poor in stability and large in measurement error.
SUMMERY OF THE UTILITY MODEL
An object of this application embodiment provides a testboard realizes the capability test to robot joint module, solves current simple and easy rack, poor stability, the great problem of measuring error.
The embodiment of the application provides a test bench, include:
the device comprises a base, and a component to be tested, a sensor mounting component and a loading component which are coaxially arranged on the base in sequence;
the sensor mounting assembly is connected with the base in a sliding manner, is used for moving and is connected with a to-be-detected piece on the to-be-detected assembly;
the loading assembly is connected with the base in a sliding mode and used for moving and is connected with the sensor mounting assembly so as to provide load moment to carry out loading test on the piece to be tested.
In the above-mentioned realization process, with the coaxial setting of subassembly, sensor installation component and the loading subassembly that awaits measuring, guarantee that the testboard has higher axiality, reduce the error accumulation, guaranteed data detection's stability and accuracy, solved current simple and easy rack, poor stability, the great problem of measuring error.
Further, the sensor mounting assembly includes:
the mounting support seat is integrally formed and provided with a fixing part and an adjusting part, the fixing part is used for fixing an angle encoder, and the adjusting part is used for adjusting a torque sensor so that the angle encoder and the torque sensor are coaxially arranged.
In the implementation process, the fixed part is used for fixing the angle encoder, and the adjusting part is used for adjusting the height of the torque sensor, so that the coaxiality of the torque sensor and the angle encoder can be kept even after the range is replaced by the torque sensor, and the detection precision is guaranteed while the various ranges of the torque sensor are replaced.
Further, the installation supporting seat comprises:
the encoder mounting hole and the sensor positioning surface are integrally formed;
the encoder mounting hole is used for fixing the angle encoder, and one end of the angle encoder is arranged on the outer side of the encoder mounting hole and is used for being connected with the piece to be detected;
the sensor locating surface is used for arranging a torque sensor, the first end of the torque sensor is connected with the angle encoder through a first coupler, and the second end of the torque sensor is connected with the loading assembly.
In the implementation process, the mounting support seat is of an integrally cast post-processing forming structure, and the encoder mounting hole and the sensor positioning surface are processed and formed at one time, so that higher position precision is ensured; fix angle encoder through the encoder mounting hole, prevent that angle encoder from removing in the test procedure, the sensor locating surface is used for fixing a position torque sensor, has guaranteed the axiality with angle encoder.
Further, the adjusting portion includes:
and the positioning cushion block is arranged below the torque sensor and detachably connected with the sensor positioning surface, and is used for adjusting the height of the torque sensor according to the measuring range of the torque sensor so as to enable the torque sensor and the angle encoder to be coaxially arranged.
In the implementation process, because the measuring ranges of the torque sensor are different, the corresponding heights are different, different positioning cushion blocks need to be arranged for ensuring the coaxiality of the torque sensor and the angle encoder, the height of the torque sensor is adjusted, and the torque sensor can also ensure higher coaxiality even if the measuring ranges are changed.
Further, a guide rail is arranged on the base, a mounting bottom plate is arranged at the lower end of the mounting support seat, and the mounting bottom plate is connected with the guide rail in a sliding mode through a first sliding block.
In the implementation process, the guide rail has high straightness, and the mounting base plate slides on the guide rail, so that the coaxiality of the sensor mounting assembly is guaranteed in the moving process.
Further, the loading assembly comprises:
the driving motor and the speed reducer are fixed on the motor support, the motor support is in sliding connection with the guide rail through the second sliding block, and the speed reducer is connected with the torque sensor through the second coupler.
In the implementation process, the speed reducer and the driving motor are in sliding connection with the guide rail through the second sliding block, so that the loading assembly slides on the guide rail, and the torque sensor is connected with and separated from the loading assembly.
Further, a lead screw is arranged in the base, the first sliding block and the second sliding block are rotatably connected with the lead screw, and a hand wheel is arranged at the end of the lead screw to drive the lead screw to rotate.
In the implementation process, the lead screw is driven to rotate through the hand wheel, so that the rotation of the lead screw is converted into the linear motion of the first sliding block and the second sliding block.
Further, the apparatus further comprises:
the first end of the positioning block is arranged on the mounting base plate and is in sliding connection with the mounting base plate, the second end of the positioning block is fixedly connected with the motor support, and the first end of the positioning block is fixed on the mounting base plate through a detachable fixing piece and is used for fixing the motor support.
In the implementation process, the positioning block slides on the installation bottom plate along with the movement of the motor support, and when the positioning block is moved to a proper position, the positioning block can be fixed on the installation bottom plate through the detachable positioning piece, so that the motor support is fixed.
Furthermore, a sliding groove is formed in the mounting bottom plate along the moving direction of the motor support, and the positioning block is connected with the sliding groove in a sliding manner;
the positioning block is provided with a through nut, and the positioning block is fixed on the mounting bottom plate through the nut.
In the implementation process, the positioning block slides in the sliding groove, and the nut on the positioning block can be abutted to the sliding groove after being screwed down, so that the positioning block is locked, and the motor support is fixed.
Further, the piece to be measured is a robot joint module or a measured motor.
In the implementation process, the device can be applied to the test of the robot joint module and the test of the motor, so that the application range is expanded.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a test station provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an installation support seat according to an embodiment of the present application;
fig. 3 is a side view of the torque sensor provided in the embodiment of the present application, fixed to the mounting support via the positioning pad;
fig. 4 is a schematic structural diagram of a positioning block according to an embodiment of the present application.
Icon:
1-a piece to be tested; 2-an angle encoder; 3-encoder middle shaft; 4-a first coupling; 5-a torque sensor; 6, positioning a cushion block; 7-a second coupling; 8-an output flange; 9-a speed reducer; 10-a drive motor; 11-a motor support; 12-a hand wheel; 13-a lead screw; 14-mounting a bottom plate; 15-mounting a supporting seat; 16-a guide rail; 17-a base; 18-a fixed support; 19-fixing the support seat; 20-encoder mounting holes; 21-sensor positioning surface; 22-a positioning block; 23-T type chute.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
Fig. 1 is a schematic structural diagram of the test station. The device can be applied to the test of robot joint module, also can be applied to the test of motor. Illustratively, for the test of the robot joint module, the device specifically comprises:
the device comprises a base 17, and a component to be tested, a sensor mounting component and a loading component which are coaxially arranged on the base 17 in sequence;
in this embodiment, the to-be-tested object 1 is a robot joint module, the robot joint module is disposed on the fixing support 19, the fixing support 19 is fixed on the fixing support 18, and the bottom end of the fixing support 18 is disposed on the base 17.
The sensor mounting assembly is connected with the base 17 in a sliding manner, is used for moving and is connected with the piece to be detected 1;
illustratively, the sensor mounting assembly includes:
Illustratively, the mount bearing 15 includes:
the encoder mounting hole 20 and the sensor positioning surface 21 are integrally formed, as shown in fig. 2, the structural schematic diagram of the mounting support seat 15 is shown, the loading end support seat is of an integral casting structure, and the encoder mounting hole 20 and the sensor positioning surface 21 are formed in one-step machining, so that higher position precision is ensured, the problem of poor coaxiality of the whole machine due to assembly and machining errors of multiple parts and superposition of the assembly errors is solved, and complicated processes such as adjustment precision in an assembly process are avoided;
the encoder mounting hole 20 is used for fixing the angle encoder 2, and one end of the angle encoder 2 is arranged outside the encoder mounting hole 20 and is used for being connected with the robot joint module;
the sensor locating surface 21 is used for arranging a torque sensor 5, the first end of the torque sensor 5 is connected with an encoder middle shaft 3 of the angle encoder 2 through a first coupler 4, and the second end of the torque sensor is connected with the loading assembly.
Illustratively, the adjustment portion includes:
and the positioning cushion block 6 is arranged below the torque sensor 5 and detachably connected with the sensor positioning surface 21, and is used for adjusting the height of the torque sensor 5 according to the measuring range of the torque sensor 5 so as to enable the torque sensor 5 and the angle encoder 2 to be coaxially arranged.
In an example, the heights of the torque sensors 5 with different ranges are different, and the conventional common torque sensor 5 is not positioned in the left-right direction, so that the positioning cushion blocks 6 with different heights are fixed below the torque sensor 5 with each range, the position accuracy of the torque sensor 5 and the positioning cushion blocks 6 in the left-right direction is adjusted during assembly, and the positioning cushion blocks 6 are locked on the sensor positioning surface 21 through screws.
As shown in fig. 3, the side view of the torque sensor 5 fixed to the mounting support 15 by the positioning block 6 is shown. When testing, select the torque sensor 5 of different ranges according to the test needs, utilize the height of 6 regulation torque sensor 5 of locating pad simultaneously for torque sensor 5 all the time with the 2 coaxial settings of angle encoder, guarantee that the testboard has higher axiality, reduce the error accumulation, guaranteed the stability and the accuracy of detection data.
Exemplarily, the selectable ranges of the torque sensor 5 are 100N.m, 300N.m and 1000N.m, so that the detection and the replacement of three ranges are realized, the positioning precision is ensured while the disassembly is convenient, the detection cost is saved compared with a single-range test bench, the coaxiality after the replacement can be ensured even if the range is replaced, the coverage range of a piece to be detected is expanded, and the detection cost is reduced.
When the measuring range is replaced, the first coupler 4, the torque sensor 5 corresponding to the change measuring range and the second coupler 7 are connected and integrally fixed on the sensor positioning surface 21 through the positioning cushion block 6, so that the torque sensor 5 and the angle encoder 2 are coaxially arranged, the assembly process is relatively simplified, and the complex assembly procedures caused by multiple times of precision checking are reduced.
And the loading assembly is connected with the base 17 in a sliding manner, is used for moving, is connected with the sensor mounting assembly, and is used for providing different load moments for the piece to be tested 1 and carrying out loading test on the piece to be tested 1.
Be provided with guide rail 16 on the base 17, the lower extreme of erection bracing seat 15 is provided with mounting plate 14, and mounting plate 14 is through first slider and 16 sliding connection of guide rail, and for guaranteeing stably, the quantity of first slider is 4, is fixed in on 4 first sliders mounting plate 14, moves about along with first slider.
Illustratively, the loading component includes:
the driving motor 10 and the speed reducer 9 are fixed on the motor support 11, the motor support 11 is in sliding connection with the guide rail 16 through a second sliding block, and an output flange 8 of the speed reducer 9 is connected with the torque sensor 5 through a second coupling 7.
Illustratively, the number of the second sliding blocks is 2, and the motor bracket 11 is fixed on the 2 second sliding blocks to move left and right.
Be provided with lead screw 13 in the base 17, first slider and second slider rotate with lead screw 13 and are connected, and the tip of lead screw 13 is provided with hand wheel 12 to drive lead screw 13 and rotate, the linear motion of first slider and second slider is transformed into to the rotary power of lead screw 13, thereby the sensor installation component and the loading component on drive first slider and the second slider remove about.
As shown in fig. 4, which is a schematic view of a connection structure of the positioning block 22, a first end of the positioning block 22 is disposed on the mounting base plate 14 and is slidably connected to the mounting base plate 14, a second end of the positioning block 22 is fixedly connected to the motor bracket 11, and a first end of the positioning block 22 is fixed to the mounting base plate 14 through a fixing member for fixing the motor bracket 11.
Illustratively, the front end and the rear end of the mounting base plate 14, which are close to one side (shown as the right side) of the loading assembly, extend rightward to form a slide rail, a T-shaped sliding groove 23 is formed on the slide rail, the bottom of the positioning block 22 is connected with a third sliding block, and the positioning block 22 is slidably connected with the T-shaped sliding groove 23 through the third sliding block; the detachable fixing piece can adopt a square nut, the square nut penetrates through the positioning block 22 corresponding to the T-shaped sliding groove 23, and when the square nut is screwed down, the positioning block 22 can be locked to any position of the T-shaped sliding groove 23, so that the purpose of fixing the motor support 11 is achieved.
The comprehensive performance test of robot joint module includes: the test platform comprises a no-load test, a loading running-in test, a positioning precision and repeated positioning precision test, a transmission efficiency test, an overload test and a rotating speed-torque characteristic test, and the comprehensive performance test of the robot joint module can be realized by utilizing the test platform.
In an idle test, the motor bracket 11 is moved to the right, and the hand wheel 12 is rotated, so that the lead screw 13 drives the mounting base plate 14 to move towards the robot joint module until the angle encoder 2 is connected with the robot joint module; when loading is needed, the motor support 11 is moved to the left, so that the output flange 8 of the speed reducer 9 is connected with the second coupler 7, and the motor support 11 is fixed on the second slide block of the guide rail 16, the mounting base plate 14 is fixed on the other 4 first slide blocks of the guide rail 16, and the guide rail 16 has high linearity, so that after the range is changed, the motor support 11 has good coaxiality with the second coupler 7 before and after moving; the motor support 11 is locked by the positioning block 22, the hand wheel 12 is rotated, and the lead screw 13 drives the mounting bottom plate 14 to move towards the module to be tested until the angle encoder 2 is connected with the robot joint module to be tested.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A test stand, comprising:
the device comprises a base, and a component to be tested, a sensor mounting component and a loading component which are coaxially arranged on the base in sequence;
the sensor mounting assembly is connected with the base in a sliding manner, is used for moving and is connected with a to-be-detected piece on the to-be-detected assembly;
the loading assembly is connected with the base in a sliding mode and used for moving and is connected with the sensor mounting assembly so as to provide load moment to carry out loading test on the piece to be tested.
2. The test bench of claim 1, wherein said sensor mounting assembly comprises:
the mounting support seat is integrally formed and provided with a fixing part and an adjusting part, the fixing part is used for fixing an angle encoder, and the adjusting part is used for adjusting a torque sensor so that the angle encoder and the torque sensor are coaxially arranged.
3. The test bench of claim 2, wherein said mount-support comprises:
the encoder mounting hole and the sensor positioning surface are integrally formed;
the encoder mounting hole is used for fixing the angle encoder, and one end of the angle encoder is arranged on the outer side of the encoder mounting hole and is used for being connected with the piece to be detected;
the sensor locating surface is used for arranging a torque sensor, the first end of the torque sensor is connected with the angle encoder through a first coupler, and the second end of the torque sensor is connected with the loading assembly.
4. A test bench according to claim 3, characterized in that: the adjusting portion includes:
and the positioning cushion block is arranged below the torque sensor and detachably connected with the sensor positioning surface, and is used for adjusting the height of the torque sensor according to the measuring range of the torque sensor so as to enable the torque sensor and the angle encoder to be coaxially arranged.
5. The test bench of claim 2, wherein:
the base is provided with a guide rail, the lower end of the installation supporting seat is provided with an installation bottom plate, and the installation bottom plate is connected with the guide rail in a sliding mode through a first sliding block.
6. The test bench of claim 5, wherein said loading assembly comprises:
the driving motor and the speed reducer are fixed on the motor support, the motor support is in sliding connection with the guide rail through the second sliding block, and the speed reducer is connected with the torque sensor through the second coupler.
7. The test bench of claim 6, wherein:
the base is internally provided with a lead screw, the first sliding block and the second sliding block are rotationally connected with the lead screw, and the end part of the lead screw is provided with a hand wheel to drive the lead screw to rotate.
8. The test bench of claim 6, further comprising:
the first end of the positioning block is arranged on the mounting base plate and is in sliding connection with the mounting base plate, the second end of the positioning block is fixedly connected with the motor support, and the first end of the positioning block is fixed on the mounting base plate through a detachable fixing piece and is used for fixing the motor support.
9. The test bench of claim 8, wherein:
a sliding groove is formed in the mounting bottom plate along the moving direction of the motor support, and the positioning block is connected with the sliding groove in a sliding mode;
the positioning block is provided with a through nut, and the positioning block is fixed on the mounting bottom plate through the nut.
10. The test bench of claim 9, wherein:
the piece to be tested is a robot joint module or a tested motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021203185.3U CN212399669U (en) | 2020-06-23 | 2020-06-23 | Test board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021203185.3U CN212399669U (en) | 2020-06-23 | 2020-06-23 | Test board |
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| Publication Number | Publication Date |
|---|---|
| CN212399669U true CN212399669U (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021203185.3U Active CN212399669U (en) | 2020-06-23 | 2020-06-23 | Test board |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146680A (en) * | 2021-05-06 | 2021-07-23 | 北京工业大学 | Small-size joint return difference static test platform of robot |
| CN113618783A (en) * | 2021-08-25 | 2021-11-09 | 四川志方科技有限公司 | Three-in-one comprehensive performance test board of humanoid robot |
-
2020
- 2020-06-23 CN CN202021203185.3U patent/CN212399669U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146680A (en) * | 2021-05-06 | 2021-07-23 | 北京工业大学 | Small-size joint return difference static test platform of robot |
| CN113618783A (en) * | 2021-08-25 | 2021-11-09 | 四川志方科技有限公司 | Three-in-one comprehensive performance test board of humanoid robot |
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