CN214520299U

CN214520299U - Static compliance testing arrangement of robot

Info

Publication number: CN214520299U
Application number: CN202022944468.XU
Authority: CN
Inventors: 王重彬; 刘主福; 叶伟智
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2021-10-29
Anticipated expiration: 2030-12-11

Abstract

The utility model discloses a static compliance testing arrangement of robot, static compliance testing arrangement of robot includes the mount, be equipped with the mount pad on the mount pad, but be equipped with rectilinear movement's slider on the mount pad and be located the first micrometer head of slider one end, the measuring staff orientation of first micrometer head the slider sets up, install the push-and-pull dynamometer on the slider, the dynamometry direction of push-and-pull dynamometer with the moving direction of slider is unanimous. The utility model discloses a static compliance testing arrangement of robot is small and light in weight, when the static compliance of test robot, need not mobile robot, remove this testing arrangement can, the test is convenient, labour saving and time saving can reduce the cost of labor.

Description

Static compliance testing arrangement of robot

Technical Field

The utility model relates to the technical field of robots, in particular to static compliance testing arrangement of robot.

Background

In recent years, with the rising of labor cost, the traditional manufacturing industry is gradually turning to intelligent transformation, and industrial robots are applied to various fields due to the advantages of low cost, high efficiency and the like, so that a strong development situation is presented.

At present, an industrial robot is generally an articulated robot, and each joint of the robot is driven to operate independently by a motor and is controlled by a controller. The static compliance of the industrial robot is used as a key technical index, the maximum displacement of a mechanical interface at the tail end of the robot under the action of unit load is indicated, the static and dynamic stiffness performance of the industrial robot is reflected, and the method is very important for improving the performance and reliability of a robot product.

Current static compliance test equipment mainly designs to medium-sized robot, and its complete machine volume and weight are great relatively, and the mounted position is fixed, so when testing, need remove the robot to specific position and test, and the test is inconvenient, and is consuming time hard, and the cost of labor is high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a static compliance testing arrangement of robot aims at solving the technical problem that the static compliance of present robot tests inconvenient, hard consuming time and the cost of labor is high.

In order to realize the above object, the utility model provides a static compliance testing arrangement of robot, this static compliance testing arrangement of robot includes the mount, be equipped with the mount pad on the mount pad, but be equipped with rectilinear movement's slider on the mount pad and be located the first micrometer head of slider one end, the measuring staff orientation of first micrometer head the slider sets up, install the push-and-pull dynamometer on the slider, the dynamometry direction of push-and-pull dynamometer with the moving direction of slider is unanimous.

Preferably, the mounting seat is further provided with a second micrometer head which is arranged at the other end of the sliding block and opposite to the first micrometer head.

Preferably, the mounting seat includes a substrate and two limiting plates disposed on the substrate at an interval, the two limiting plates and the substrate are configured into a linear sliding chute, and the slider is located in the linear sliding chute and is in sliding fit with the linear sliding chute.

Preferably, the opposite surfaces of the two limit plates are inclined surfaces, the linear sliding groove is a dovetail groove, and the sliding block is a wedge-shaped block matched with the dovetail groove.

Preferably, the mounting base further comprises two mounting blocks which are oppositely arranged on the substrate and used for respectively mounting the first micrometer head and the second micrometer head, wherein the mounting blocks are provided with threaded holes, and measuring rods of the first micrometer head and the second micrometer head are arranged in the threaded holes in a penetrating manner to be in threaded connection with the mounting blocks.

Preferably, the fixing frame is further provided with a mounting plate and a rotating shaft located on the mounting plate, and the mounting seat is fixedly connected with the rotating shaft.

Preferably, the mounting plate is provided with a plurality of first positioning holes arranged around the rotating shaft, the mounting base is provided with a second positioning hole matched with the first positioning holes, and the second positioning hole is connected with one of the first positioning holes through a positioning rod.

Preferably, the fixing frame comprises a bottom plate, a plurality of guide rods vertically arranged on the bottom plate in parallel, and a sliding seat sleeved on the guide rods, the mounting plate is fixedly connected with the sliding seat, and fasteners abutted against the guide rods penetrate through the sliding seat.

Preferably, the bottom plate is provided with a plurality of waist-shaped holes and bolts which are arranged in the waist-shaped holes in a penetrating mode and used for fixing the fixing frame.

Preferably, a fixing plate is arranged on the sliding block, and the push-pull dynamometer is detachably arranged on the fixing plate.

Compared with the prior art, the embodiment of the utility model provides a technical scheme's beneficial effect lies in:

the robot static compliance testing device is used for testing the static compliance of a robot, and specifically comprises the steps of moving the testing device to the position of the robot, adjusting the testing position, enabling a force measuring end of a push-pull force meter to abut against the central position of the tail end of the robot, enabling the force of the tail end of the robot to be zero at the moment, operating a first micrometer head to enable a measuring rod of the first micrometer head to push a sliding block to move, driving the push-pull force meter to move to apply an acting force to the tail end of the robot, recording a change value (namely the moving distance) of the first micrometer head until a value displayed by the push-pull force meter reaches a required force value, and then carrying out corresponding calculation to obtain the displacement of the robot, so that the static compliance testing of the robot is realized; the static compliance testing arrangement of this robot is small and light in weight, when the static compliance of test robot, need not to remove the robot, remove this testing arrangement can, the test is convenient, labour saving and time saving, can reduce the cost of labor.

Drawings

Fig. 1 is a schematic structural diagram of a static compliance testing device of a robot according to an embodiment of the present invention;

fig. 2 is an exploded view of the static compliance testing device of the robot in fig. 1.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a static compliance testing arrangement of robot, refer to fig. 1 and fig. 2, this static compliance testing arrangement of robot includes mount 100, be equipped with mount pad 200 on the mount pad 100, but be equipped with linear movement's slider 300 on the mount pad 200 and be located the first micrometer head 1 of slider 300 one end, the measuring staff of first micrometer head 1 sets up towards slider 300, install push-pull dynamometer 400 on the slider 300, the dynamometry direction of push-pull dynamometer 400 is unanimous with slider 300's direction of movement.

The static compliance testing device of robot that this embodiment relates to is used for carrying out the static compliance test of robot, specifically, this static compliance testing device of robot mainly comprises mount 100, mount pad 200, slider 300, push-pull dynamometer 400 and first micrometer head 1, wherein: the fixing frame 100 is a frame structure, and the mounting seat 200 is disposed on the fixing frame 100 to mount the slider 300 and the first micrometer head 1. The sliding block 300 is slidably engaged with the mounting base 200 to be linearly slidable on the mounting base 200, and the arrangement form thereof may be various, such as a sliding groove or a guide rail arranged on the mounting base 200 to mount the sliding block 300. In addition, the first micrometer head 1 is located at one end of the slider 300, and the micrometer head generally consists of a micrometer knob and a micrometer rod, which are provided with scales, and the micrometer rod and the micrometer knob are respectively located at both ends thereof, and the micrometer rod is moved by rotating the micrometer knob. The measuring rod is arranged towards the slider 300, so that the measuring rod can push the slider 300 to move by rotating the fine tuning knob of the first micrometer head 1. The push-pull force gauge 400 is fixed on the slider 300, and can move along with the slider 300, and the force measuring direction of the push-pull force gauge is consistent with the moving direction of the slider 300, so that when the slider 300 moves, the push-pull force gauge 400 can be driven to move and apply acting force to the object to be measured. Preferably, the push-pull dynamometer 400 has two force measuring ends at opposite ends. In order to facilitate disassembly and assembly, the connection arrangement between the above structures can adopt screws.

By the device for testing the static compliance of the robot, the static compliance of the robot in three directions of an X axis, a Y axis and a Z axis can be tested, for example, when the positive direction of the Z axis is tested, the testing device is moved to the position of the robot and the testing position is adjusted, the force measuring end of the push-pull dynamometer 400 is propped against the central position of the tail end of the robot from bottom to top, the force of the tail end of the robot is zero at the moment, then the first micrometer head 1 is operated to enable the measuring rod to push the sliding block 300 to move upwards, so that the push-pull dynamometer 400 is driven to move upwards to apply acting force to the tail end of the robot, when the push-pull dynamometer 400 displays the value to reach the required force value, the change value (namely the moving distance) of the first micrometer head 1 is recorded, then corresponding calculation is carried out, specifically, according to the hooke's law F ═ k × X, the deformation (namely X) of the push-pull dynamometer 400 is calculated by displaying the value of the push-pull dynamometer 400 and the elastic coefficient of the push-pull dynamometer 400, and subtracting the deformation of the push-pull dynamometer 400 from the change value of the first micrometer head 1 to obtain the displacement of the robot, thereby measuring the static flexibility of the robot in the positive direction of the Z axis.

It is easily understood that, when measuring the negative Z-axis direction, the test position of the test apparatus may be adjusted so that the push-pull dynamometer 400 is pushed against the end of the robot from top to bottom, and the first micrometer head 1 may push the push-pull dynamometer 400 to move downward to apply a force to the end of the robot.

And when measuring the directions of the X axis and the Y axis, the test position of the test device can be correspondingly adjusted, so that the push-pull dynamometer 400 horizontally props against the tail end of the robot along the direction of the X axis or the Y axis, and the first micrometer head 1 can push the push-pull dynamometer 400 to move reversely along the X axis or the Y axis to apply acting force to the tail end of the robot.

The static compliance testing arrangement of this robot is small and light in weight, when the static compliance of test robot, need not to remove the robot, remove this testing arrangement can, the test is convenient, labour saving and time saving, can reduce the cost of labor.

In a preferred embodiment, with reference to fig. 1 and 2, the mounting 200 is further provided with a second micrometer head 2, located at the other end of the slider 300, opposite the first micrometer head 1. Correspondingly, the spindle of the second micrometer head 2 is disposed toward the slider 300, and the structure and the operation principle of the second micrometer head 2 are the same as those of the first micrometer head 1 of the above-described embodiment, and reference may be made to the first micrometer head 1, which will not be repeated here. It can be understood that when the static flexibility of the robot in the positive and negative directions of a certain shaft is tested, the testing device is not required to be structurally adjusted to change the testing position, the tail end of the robot is only required to be adjusted, and the first micrometer head 1 or the second micrometer head 2 is correspondingly operated, so that the static flexibility of the robot in the positive and negative directions of the shaft can be tested, the operation is simple, the time and the labor are saved, and the detection efficiency can be improved.

In a preferred embodiment, referring to fig. 2, the mounting base 200 includes a substrate 210 and two position-limiting plates 220 disposed on the substrate 210 at intervals, the two position-limiting plates 220 and the substrate 210 are configured as a linear sliding slot, and the sliding block 300 is located in the linear sliding slot and slidably engaged with the linear sliding slot. Specifically, the substrate 210 and the two limiting plates 220 are both plate-shaped bodies, the limiting plates 220 are fixed on the substrate 210 through bolts, the slider 300 is located in the linear sliding groove between the two limiting plates 220 and can linearly move along the linear sliding groove, and the structure is simple and convenient to mount.

Further, referring to fig. 2, the opposite surfaces of the two limit plates 220 are inclined surfaces, the constructed linear sliding groove is a dovetail groove, and the sliding block 300 is a wedge-shaped block adapted to the dovetail groove. That is, the opposite surfaces of the two limiting plates 220 are designed as inclined surfaces, so that the constructed sliding groove is in a dovetail groove structure, correspondingly, the sliding block 300 is a wedge-shaped block matched with the sliding groove, and thus the sliding block 300 can be limited to avoid being separated from the mounting base 200 in the moving process, the compactness of the structure is improved, and the sliding block 300 is guaranteed to move stably.

In a preferred embodiment, referring to fig. 2, the mounting base 200 further includes two mounting blocks 230 oppositely disposed on the substrate 210 for respectively mounting the first micrometer head 1 and the second micrometer head 2, the mounting blocks 230 are provided with threaded holes, and the measuring rods of the first micrometer head 1 and the second micrometer head 2 are inserted into the threaded holes to be in threaded connection with the mounting blocks 230. Specifically, first micrometer head 1 and second micrometer head 2 are preassembled on installation piece 230, and installation piece 230 is fixed with base plate 210 locking through a plurality of bolts again, and first micrometer head 1 and second micrometer head 2 can rotate on installation piece 230 and advance through wearing to establish in the screw hole of installation piece 230, simple structure, make things convenient for the dismouting.

In a preferred embodiment, referring to fig. 2, the fixing frame 100 further has a mounting plate 500 and a rotating shaft 600 located on the mounting plate 500, and the mounting seat 200 is fixedly connected to the rotating shaft 600. Specifically, the rotating shaft 600 is horizontally disposed on the mounting seat 200 and is mounted through a bearing, which is rotatable about its axis. The mounting base 200 is located at one end of the rotating shaft 600 and fixed by bolts, and the mounting base 200 and components arranged on the mounting base 200 can rotate along with the rotating shaft 600. When the testing direction needs to be changed, the mounting seat 200 is rotated, and the operation is simple and convenient. For example, after the Z-axis direction is tested, the mount 200 is rotated by 90 ° to change the vertical arrangement of the push-pull dynamometer 400 to the horizontal arrangement, and the X-axis direction is adjusted for testing, and after the X-axis direction is tested, the mount 100 is rotated by 90 ° to be adjusted to the Y-axis direction for testing.

Further, referring to fig. 2, a plurality of first positioning holes 10 are formed in the mounting plate 500 and arranged around the rotating shaft 600, a second positioning hole 20 adapted to the first positioning hole 10 is formed in the mounting base 200, and the second positioning hole 20 is connected to one of the first positioning holes 10 through a positioning rod. Specifically, when the test direction is changed to rotate the mounting base 200 to a certain angle, the second positioning hole 20 is opposite to one of the first positioning holes 10 on the mounting plate 500, and the positioning rod is inserted between the second positioning hole 20 and the first positioning hole 10, so that the mounting base 200 is not rotated any more, and the position of the mounting base 200 is fixed. The number and the arrangement positions of the first positioning holes 10 and the second positioning holes 20 are determined according to actual conditions.

In a preferred embodiment, referring to fig. 2, the fixing frame 100 includes a bottom plate 110, a plurality of guide rods 120 vertically juxtaposed on the bottom plate 110, and a sliding seat 130 sleeved on the guide rods 120, the mounting plate 500 is fixedly connected with the sliding seat 130, and the sliding seat 130 is provided with a fastening member 140 penetrating and abutting against the guide rods 120. Specifically, the mounting plate 500 is movable up and down along the guide rods 120 by the slide 130 to adjust the position of the push-pull force gauge 400 to the end of the robot. And after the position of the push-pull force gauge 400 is determined, the slide 130 is fixed by the fastening member 140 abutting against the guide rod 120. Preferably, the fastening piece 140 is a fastening screw, so that the operation is simple and convenient; the guide rods 120 are two in number, so that structural stability and position accuracy can be guaranteed. Referring to fig. 2, preferably, the upper ends of the guide rods 120 are further provided with a connection plate 140, the connection plate 140 is provided with connection holes adapted to the respective guide rods 120, the guide rods 120 are correspondingly inserted into the connection holes of the connection plate 140 and are locked and fixed by bolts, the connection plate 140 is further provided to connect the respective guide rods 120, so that the structural stability of the fixing frame 100 can be improved,

in a preferred embodiment, referring to fig. 2, the bottom plate 110 is provided with a plurality of kidney-shaped holes 30 and bolts inserted into the kidney-shaped holes 30 for fixing the fixing frame 100. Specifically, the fixing frame 100 is fixed by inserting bolts into the waist-shaped holes 30 on the bottom plate 110 to connect with other structures, and the mounting and dismounting are convenient. And a waist-shaped hole 30 is provided to adjust the fixing position and fixing direction of the fixing frame 100 by loosening the bolt.

In a preferred embodiment, referring to fig. 2, the slider 300 is provided with a fixing plate 700, and the push-pull dynamometer 400 is detachably disposed on the fixing plate 700. Specifically, the fixing plate 700 is matched with the push-pull dynamometer 400 in size and can be a square plate, the fixing plate 700 is locked and fixed with the slider 300 through a plurality of bolts, and further, the push-pull dynamometer 400 is installed on the fixing plate 700 through a plurality of bolts, so that the push-pull dynamometer is simple to assemble and disassemble and convenient to maintain.

What just go up be the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic thought down, utilize the equivalent structure transform that the contents of the description and the drawing do, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.

Claims

1. The device for testing the static flexibility of the robot is characterized by comprising a fixing frame, wherein a mounting seat is arranged on the fixing frame, a sliding block capable of moving linearly and a first micrometer head located at one end of the sliding block are arranged on the mounting seat, a measuring rod of the first micrometer head faces the sliding block, a push-pull force meter is arranged on the sliding block, and the force measuring direction of the push-pull force meter is consistent with the moving direction of the sliding block.

2. The device for testing the static compliance of a robot as claimed in claim 1, wherein a second micrometer head is further disposed on the mounting base at the other end of the slider opposite to the first micrometer head.

3. The robot static compliance testing device of claim 2, wherein the mounting base comprises a base plate and two limiting plates disposed on the base plate at intervals, the two limiting plates and the base plate are configured as a linear sliding chute, and the slider is located in the linear sliding chute and is in sliding fit with the linear sliding chute.

4. The robot static compliance testing device of claim 3, wherein the opposing surfaces of the two limiting plates are inclined surfaces, the linear sliding groove is a dovetail groove, and the sliding block is a wedge-shaped block matched with the dovetail groove.

5. The device for testing the static compliance of a robot of claim 3, wherein the mounting base further comprises two mounting blocks oppositely disposed on the substrate for respectively mounting the first micrometer head and the second micrometer head, the mounting blocks are provided with threaded holes, and the measuring rods of the first micrometer head and the second micrometer head are inserted into the threaded holes to be in threaded connection with the mounting blocks.

6. The robot static compliance testing device, as claimed in claim 1, wherein the fixing frame further comprises a mounting plate and a rotating shaft located on the mounting plate, and the mounting seat is fixedly connected to the rotating shaft.

7. The device for testing the static compliance of a robot as claimed in claim 6, wherein said mounting plate has a plurality of first positioning holes disposed around said rotation axis, said mounting base has a second positioning hole matching with said first positioning holes, and said second positioning hole is connected to one of said plurality of first positioning holes by a positioning rod.

8. The device for testing the static compliance of the robot of claim 6, wherein the fixing frame comprises a bottom plate, a plurality of guide rods vertically arranged on the bottom plate side by side, and a sliding seat sleeved on the guide rods, the mounting plate is fixedly connected with the sliding seat, and fastening members abutted against the guide rods are arranged on the sliding seat in a penetrating manner.

9. The device for testing the static compliance of the robot as claimed in claim 8, wherein the bottom plate is provided with a plurality of kidney-shaped holes and bolts inserted into the kidney-shaped holes for fixing the fixing frame.

10. The device for testing the static compliance of a robot as claimed in claim 1, wherein a fixed plate is provided on the slide block, and the push-pull force gauge is detachably disposed on the fixed plate.