CN213859351U - Pneumatic loading external force device for rigidity measurement of industrial robot - Google Patents
Pneumatic loading external force device for rigidity measurement of industrial robot Download PDFInfo
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- CN213859351U CN213859351U CN202022490463.4U CN202022490463U CN213859351U CN 213859351 U CN213859351 U CN 213859351U CN 202022490463 U CN202022490463 U CN 202022490463U CN 213859351 U CN213859351 U CN 213859351U
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Abstract
The utility model provides a pneumatic loading external force device of industrial robot rigidity measurement, include: the base is fixedly provided with a guide rail and a cylinder clamp; the force transfer sliding block is connected with the base and can slide along the guide rail, a supporting seat is arranged on the force transfer sliding block, a bolt is rotatably arranged on the supporting seat, and the bolt is connected with the tail end of the industrial robot through a steel cable; the air cylinder is fixedly connected with the air cylinder clamp, a connecting plate is fixedly arranged at the tail end of the air cylinder, and the connecting plate is fixedly connected with the force transmission sliding block; the cylinder drives the force transmission slide block to slide along the guide rail through the connecting plate, and the force transmission slide block applies external force to the tail end of the industrial robot through the supporting seat in the sliding process.
Description
Technical Field
The utility model belongs to the technical field of industrial robot capability test, especially, relate to a pneumatic loading external force device for industrial robot rigidity measurement.
Background
With the development of industrial technology, the industrial robot has the characteristics of multiple degrees of freedom, large processing range, high flexibility, high cost performance and the like, so that the industrial robot is more and more widely applied to the industries of transportation, spraying, welding, deburring, grinding and polishing and the like. The application of the industrial robot in the processing field is more and more seen, the application of the industrial robot in the processing field is in an explosive growth trend, but compared with the traditional processing equipment numerical control machine tool, the industrial robot is low in positioning precision and poor in rigidity characteristic due to the fact that the industrial robot adopts a series connection structure form, meanwhile, the rigidity of the industrial robot in different postures is changed greatly, machining precision and consistency are poor, and the weak rigidity characteristic of the industrial robot becomes an obstacle to popularization and application in the processing field. Therefore, the research on the rigidity characteristic of the industrial robot has important significance for improving the application of the robot in the machining field and improving the machining precision.
The loading device that adopts to industrial robot rigidity characteristic test at present is usually used to realize the change of additional load through the change of the weight quality on the pulley gear of connection on industrial robot is terminal, and its operation is complicated, and the precision is lower.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the main technical problem that an industrial robot rigidity measurement pneumatic loading external force device is provided, easy operation, the precision is high.
In order to solve the technical problem, the utility model provides an industrial robot rigidity measurement pneumatic loading external force device, its characterized in that includes:
the base is fixedly provided with a guide rail and a cylinder clamp;
the force transfer sliding block is connected with the base and can slide along the guide rail, a supporting seat is arranged on the force transfer sliding block, a bolt is rotatably arranged on the supporting seat, and the bolt is connected with the tail end of the industrial robot through a steel cable;
the air cylinder is fixedly connected with the air cylinder clamp, a connecting plate is fixedly arranged at the tail end of the air cylinder, and the connecting plate is fixedly connected with the force transmission sliding block;
the cylinder drives the force transmission slide block to slide along the guide rail through the connecting plate, and the force transmission slide block applies external force to the tail end of the industrial robot through the supporting seat in the sliding process.
In a preferred embodiment: the cylinder includes cylinder body and connecting plate, the cylinder with the connecting plate passes through threaded connection, the connecting plate pass through the bolt with pass power slider fixed connection.
In a preferred embodiment: the cylinder generates required displacement through the change of air pressure, and the size of the end stress of the industrial robot is changed.
In a preferred embodiment: the supporting seat is provided with a through hole, and the bolt is connected with the supporting seat through the through hole.
In a preferred embodiment: the cylinder clamp comprises a clamp base and a clamping device, the clamp base is fixedly connected with the clamping device, and the clamping device is used for statically fixing the cylinder.
Compared with the prior art, the technical scheme of the utility model possess following beneficial effect:
the utility model provides a pneumatic loading external force device for rigidity measurement of an industrial robot, which has reasonable design, simple structure and convenient use, adopts a pneumatic mode to load external force or eliminate external force more easily, realizes stepless regulation of force value easily by regulating air pressure, and realizes constancy of force value easily; meanwhile, when the base and the dynamometer are fixed on the workbench, a coordinate system conversion relation among the pneumatic loading external force device, the dynamometer and the industrial robot can be established, and when the tail end of the industrial robot is connected with the pneumatic loading external force device through a steel cable, the direction and the size of the stressed force of the tail end can be obtained through measurement of the dynamometer, so that external force loading in X, Y, Z three directions is realized; accurate data support can be provided for rigidity measurement of the industrial robot.
Drawings
Fig. 1 is a schematic diagram of industrial robot stiffness measurement;
FIG. 2 is a block diagram of the present invention;
FIG. 3 is an exploded view of the structure of the present invention;
fig. 4 is a flow chart of the device of the present invention.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used in a broad sense, and for example, "connected," may be fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or connected between two elements.
Referring to fig. 1-4, the utility model provides a pneumatic loading external force device of industrial robot rigidity measurement, the device includes base, passes power slider, cylinder. In the process of applying external force for rigidity measurement of the industrial robot, the adopted base is fixed on the dynamometer through bolts by the base body 1, a corresponding relation is established with a coordinate system of the dynamometer, and the cylinder clamp base 2 and the guide rail 4 are fixedly connected with the base body 1 through bolts respectively. The force transmission slide block 5 is connected with the guide rail 4, the force transmission slide block 5 can directionally slide along the installation direction of the guide rail 4, the cylinder clamp base 2 is fixedly connected with the clamping device 3 through bolts, and the cylinder body 8 is fixed statically.
The force transfer sliding block system comprises a force transfer sliding block 5, a supporting seat 6 and a bolt 7, the supporting seat 6 is fixedly connected with the force transfer sliding block 5 through the bolt, the bolt 7 is rotatably connected with a through hole in the supporting seat 6, and the other end of a steel cable connected with the tail end of the industrial robot is fixed on the bolt 7.
The cylinder includes cylinder body 8 and connecting plate 9, through 8 movable rod terminal threads of cylinder body and connecting plate 9 fixed connection, connecting plate 9 passes through the bolt and passes power slider 5 fixed connection.
Therefore, the air pressure of the air cylinder body changes, the movable rod of the air cylinder body generates displacement, the force transmission sliding block system generates the same displacement along the guide rail 4, a steel cable connected with the tail end of the industrial robot is in a tightening state, the tail end of the industrial robot is stressed, meanwhile, the stress condition of the tail end of the industrial robot is transmitted to the dynamometer through the force transmission sliding block system and the base, the stress condition of the tail end X, Y, Z of the industrial robot in three directions can be calculated through the relation between the dynamometer and the coordinate system of the industrial robot, and the rigidity measurement of the industrial robot is realized.
The above, only be the preferred embodiment of the present invention, but the design concept of the present invention is not limited to this, and any skilled person familiar with the technical field is in the technical scope disclosed in the present invention, and it is right to utilize this concept to perform insubstantial changes to the present invention, all belong to the act of infringing the protection scope of the present invention.
Claims (5)
1. Industrial robot rigidity measurement pneumatic loading external force device, its characterized in that includes:
the base is fixedly provided with a guide rail and a cylinder clamp;
the force transfer sliding block is connected with the base and can slide along the guide rail, a supporting seat is arranged on the force transfer sliding block, a bolt is rotatably arranged on the supporting seat, and the bolt is connected with the tail end of the industrial robot through a steel cable;
the air cylinder is fixedly connected with the air cylinder clamp, a connecting plate is fixedly arranged at the tail end of the air cylinder, and the connecting plate is fixedly connected with the force transmission sliding block;
the cylinder drives the force transmission slide block to slide along the guide rail through the connecting plate, and the force transmission slide block applies external force to the tail end of the industrial robot through the supporting seat in the sliding process.
2. The industrial robot rigidity measurement pneumatic loading external force device according to claim 1, characterized in that: the cylinder includes cylinder body and connecting plate, the cylinder with the connecting plate passes through threaded connection, the connecting plate pass through the bolt with pass power slider fixed connection.
3. The industrial robot rigidity measurement pneumatic loading external force device according to claim 1, characterized in that: the cylinder generates required displacement through the change of air pressure, and the size of the end stress of the industrial robot is changed.
4. The industrial robot rigidity measurement pneumatic loading external force device according to claim 1, characterized in that: the supporting seat is provided with a through hole, and the bolt is connected with the supporting seat through the through hole.
5. The industrial robot rigidity measurement pneumatic loading external force device according to claim 1, characterized in that: the cylinder clamp comprises a clamp base and a clamping device, the clamp base is fixedly connected with the clamping device, and the clamping device is used for statically fixing the cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022490463.4U CN213859351U (en) | 2020-11-02 | 2020-11-02 | Pneumatic loading external force device for rigidity measurement of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022490463.4U CN213859351U (en) | 2020-11-02 | 2020-11-02 | Pneumatic loading external force device for rigidity measurement of industrial robot |
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| CN213859351U true CN213859351U (en) | 2021-08-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318552A (en) * | 2020-11-02 | 2021-02-05 | 华侨大学 | Pneumatic loading external force device for rigidity measurement of industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318552A (en) * | 2020-11-02 | 2021-02-05 | 华侨大学 | Pneumatic loading external force device for rigidity measurement of industrial robot |
| CN112318552B (en) * | 2020-11-02 | 2024-03-12 | 华侨大学 | Pneumatic loading external force device for rigidity measurement of industrial robot |
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