CN217434375U

CN217434375U - Static compliance test system of robot

Info

Publication number: CN217434375U
Application number: CN202220723856.1U
Authority: CN
Inventors: 廖伟传
Original assignee: Guangdong Topstar Technology Co Ltd
Current assignee: Guangdong Topstar Technology Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-09-16
Anticipated expiration: 2032-03-30

Abstract

The utility model discloses a static compliance test system of robot, it includes test platform and test instrument, test platform includes the plummer and supplies the butt joint piece of the output installation of robot, multiunit draw gear is connected to the butt joint piece, the direction that multiunit draw gear acts on the butt joint piece is including the three direction of XYZ that is on a parallel with basic coordinate, the plummer can be followed upper and lower direction and carried out position adjustment, test instrument locates one side of test platform, test instrument's output supports on the butt joint piece, test instrument is used for measuring the produced displacement of butt joint piece in the test procedure. The utility model discloses a static compliance test system of robot has the advantage that the commonality is high.

Description

Static compliance test system of robot

Technical Field

The utility model relates to a robot test field especially relates to a static compliance test system of robot.

Background

Static compliance refers to the maximum displacement per unit load of a mechanical interface acting on a robot body, and static rigidity performance of the robot is usually represented by testing the static compliance of the robot. In order to improve the positioning accuracy and the tracking accuracy, increase the flexibility of the design of a mechanical system, reduce the overshoot stabilization time of the positioning time, and reduce the requirements on a control system and the system cost, the robot body is required to have higher static and dynamic rigidity performance.

For performance testing of industrial robots, the measurement of static compliance is well defined in GB/T12642, where the static compliance is measured by stepping from 10% nominal load to 100% nominal load, with the forces applied parallel to X, Y, Z directions of the base coordinate. At present, the existing testing device can carry out static compliance testing on the robot, but the testing device has low universality and cannot be matched with some types of robots. In addition, it is difficult to obtain test data quickly and accurately during testing, and the test data is easily affected by the testing environment.

Therefore, a highly versatile static compliance testing system for robots is needed to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a static compliance test system of robot that commonality is high.

For realizing above-mentioned purpose, the utility model discloses a static compliance test system of robot includes test platform and test instrument, test platform includes the plummer and supplies the butt joint piece of the output installation of robot, multiunit draw gear is connected to the butt joint piece, the direction that multiunit draw gear acted on the butt joint piece is including the three direction of XYZ that is on a parallel with the base coordinate, the plummer can be followed upper and lower direction and carried out position adjustment, test instrument locates test platform's one side, test instrument's output supports on the butt joint piece, test instrument is used for measuring the produced displacement of butt joint piece in the test procedure.

Preferably, the traction device comprises a traction rope and a weight, wherein the first end of the traction rope is arranged at the butt joint part, and the weight is arranged at the second end of the traction rope.

Preferably, the weights are hooked with each other and arranged in a natural suspension manner.

Preferably, the plummer is installed first wheelset, second wheelset and third wheelset, and first wheelset arranges along the X direction of basic coordinate, and the second wheelset arranges along the Y direction of basic coordinate, and the third wheelset is installed in the top of first wheelset, and the third wheelset arranges along the X direction of basic coordinate, and the haulage rope is corresponding to set up on first wheelset, second wheelset or the third wheelset.

Preferably, the plummer has been seted up movable through-hole, and the butt joint piece is located movable through-hole directly over, and the mounting bracket is installed at the top of plummer, and the third wheel group is installed in the mounting bracket.

Preferably, the test platform further comprises a support frame, the bearing table is mounted on the support frame, and the position of the bearing table on the support frame can be adjusted in the vertical direction.

Preferably, the support frame has the stand that can vertically slide, and the plummer is installed in the stand, and height adjustment drive arrangement is installed to the support frame, and the stand is connected in height adjustment drive arrangement's output, and height adjustment drive arrangement orders about the stand and slides from top to bottom.

Preferably, one of the upright post and the support frame is provided with a slide rail extending vertically, the other of the upright post and the support frame is provided with a slide block, and the slide block is in transmission connection with the slide rail.

Preferably, the height adjusting and driving device comprises a driving hand wheel, a synchronous belt transmission wheel set, a driving nut and a driving screw, the synchronous belt transmission wheel set is installed on the support frame, the driving hand wheel is installed at the input end of the synchronous belt transmission wheel set, the driving nut is installed at the output end of the synchronous belt transmission wheel set, the driving screw is vertically placed, the driving nut is in transmission connection with the driving screw, and the upright post is installed at the output end of the driving screw.

Preferably, the utility model discloses a static compliance test system of robot still includes the instrument mounting bracket, and the side of support frame is located to the instrument mounting bracket, and the instrument mounting bracket is height-adjustable and arranges.

Compared with the prior art, the utility model discloses a static compliance test system of robot includes test platform and test instrument. The test platform comprises a bearing platform and a butt joint piece for installing the output end of the robot. The docking piece is connected with a plurality of groups of traction devices, the direction of the force applied to the docking piece by the plurality of groups of traction devices comprises the direction of XYZ parallel to a base coordinate, the bearing platform can be adjusted in position along the up-down direction, the test instrument is arranged on one side of the test platform, the output end of the test instrument is supported on the docking piece, and the test instrument is used for measuring the displacement of the docking piece generated in the test process. Because the plummer can carry out position control along upper and lower direction, so the plummer can adapt to the robot of different arm exhibition, has improved test system's commonality.

Drawings

Fig. 1 is a perspective view of a robot when a static compliance testing system of the robot tests the robot.

Fig. 2 is a perspective view of a robotic static compliance testing system.

Fig. 3 is a perspective view of the robot static compliance testing system shown in fig. 2 after hiding the support bracket, the upright post, the height adjustment driving device and the meter mounting bracket.

Fig. 4 is a perspective view of the robotic static compliance testing system of fig. 2 with the docking piece, traction device, test meter, and meter mount hidden.

Detailed Description

In order to explain the technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

As shown in fig. 1 to 4, the present invention provides a robot static compliance testing system 100, which includes a testing platform 10 and a testing instrument 20. The test platform 10 includes a carrier stage 11 and a docking member 12 for mounting an output end of the robot 200. The docking piece 12 is connected with a plurality of groups of traction devices 13, the direction of the force applied to the docking piece 12 by the plurality of groups of traction devices 13 comprises the direction of XYZ parallel to the base coordinate, the plummer 11 can be adjusted in position along the up-down direction, the test instrument 20 is arranged on one side of the test platform 10, the output end of the test instrument 20 is abutted against the docking piece 12, and the test instrument 20 is used for measuring the displacement of the docking piece 12 generated in the test process.

During testing, the output end of robot 200 is mounted to docking member 12, a set of traction devices 13 is selected at X, Y or Z to apply traction to docking member 12, and the load is increased in steps to perform the test in that direction. After each load is loaded, the test meter 20 measures the displacement data of the docking member 12 in the current direction.

After the test, test data in XYZ directions are obtained, and the static compliance test result of the robot 200 can be evaluated after the data are processed. The data processing is not within the scope of this patent discussion, and the data processing is prior art and therefore not described in detail herein. Because the position of the bearing platform 11 can be adjusted along the up-down direction, the bearing platform 11 can be adapted to robots 200 with different arm spreads, and the universality of the test system 100 is improved.

Preferably, the test meter 20 is a digital dial gauge, but is not limited thereto. The test instrument 20 can be electrically connected to a computer, and data obtained by the test can be immediately sent to the computer after each test. The docking member 12 is a flange structure, but is not limited thereto. The flange structure is provided with 5 lifting ring nuts 14, wherein 2 lifting ring nuts 14 are respectively arranged on two sides of the flange structure along the X direction, the other 2 lifting ring nuts 14 are respectively arranged on two sides of the flange structure along the Y direction, and finally 1 lifting ring nut 14 is arranged at the bottom of the flange structure along the Z direction. 5 traction devices 13 are correspondingly mounted on the eyenuts 14, the output end of the robot 200 is mounted on the top of the flange structure, and the remaining 1 traction device 13 is mounted on one eyenut 14 in the X direction, that is, two sets of traction devices 13 are mounted on 1 eyenut 14 in the X direction. After the output end of the robot 200 is mounted on the flange structure, the test in 6 directions (including positive and negative directions of XYZ) can be performed, the test process can be kept relatively static, excessive adjustment is not needed, and the operation is simple and efficient.

As shown in fig. 1 to 4, the traction device 13 includes a traction rope 131 and a weight 132. A first end of the traction rope 131 is mounted to the interface 12 and a weight 132 is mounted to a second end of the traction rope 131. For example, when the test in the X direction is performed, 1 weight 132 is loaded in the positive direction of the X direction each time, the digital display dial indicator records the displacement data after the weight 132 is loaded each time, and so on until the rated load is loaded. Preferably, the weight of each weight 132 is 10% of the rated load, but is not limited thereto. Subsequently, the dial indicator is held still, the weight 132 loaded just before is removed 1 at a time, the removed weight 132 is loaded in the direction opposite to the X direction, and so on until the rated load is loaded. Therefore, the testing of the positive and negative directions in the X direction is completed, and the testing in the YZ direction adopts the same method, which is not described herein again. Specifically, the weights 132 are hooked to each other and arranged in a natural suspension. The hook mode is adopted, so that the loading and the dismounting of the weight 132 are facilitated, and the stress of the weight 132 is not influenced by the environment.

As shown in fig. 1 to 4, a first wheel set 15, a second wheel set 16 and a third wheel set 17 are mounted on the carrier 11. The first wheel set 15 is arranged along the X direction of the base coordinate, the second wheel set 16 is arranged along the Y direction of the base coordinate, the third wheel set 17 is installed above the first wheel set 15, and the third wheel set 17 is arranged along the X direction of the base coordinate. The hauling rope 131 is correspondingly arranged on the first wheel set 15, the second wheel set 16 or the third wheel set 17. The hauling rope 131 is positioned by the corresponding first wheel set 15, the second wheel set 16 or the third wheel set 17, so that the shifting and the shaking reduction are avoided, the friction is small during the movement of the hauling rope 131, the movement is smoother, and the response speed is faster.

It should be noted that the weight 132 is also applied to the positive direction in the Z direction to generate a load, so the third wheel set 17 needs to be offset, that is, the third wheel set 17 needs to be disposed above the first wheel set 15, and during the test, the traction devices 13 in the positive directions of the Z direction and the X direction use the same set of weight 132, but the invention is not limited thereto. To facilitate the installation of the third wheelset 17, a mounting bracket 112 is installed on the top of the bearing platform 11, and the third wheelset 17 is installed on the mounting bracket 112. The weight 132 applied in the opposite direction of the Z direction is naturally suspended, and the wheel set is naturally not required to be arranged in the opposite direction of the Z direction. Preferably, the bearing platform 11 is provided with a movable through hole 111, and the abutting piece 12 is located right above the movable through hole 111. The movable through hole 111 is provided to facilitate the penetration of the traction device 13 in the opposite direction of the Z direction, and no movement interference occurs between the docking piece 12 and the bearing platform 11 during the test.

As shown in fig. 1 to 4, the testing platform 10 further includes a supporting frame 18, the carrier 11 is mounted on the supporting frame 18, and the position of the carrier 11 on the supporting frame 18 can be adjusted in the up-down direction. The support frame 18 can stably bear the bearing platform 11, and the stability of the test is ensured. In particular, the support frame 18 has a vertically slidable upright 181. The plummer 11 is installed in the stand 181, and height adjustment drive arrangement 19 is installed to support frame 18, and the stand 181 is installed in height adjustment drive arrangement 19's output, and height adjustment drive arrangement 19 orders about the stand 181 and slides from top to bottom to order about the plummer 11 conveniently fast and carry out position adjustment along the upper and lower direction. In order to facilitate the sliding of the upright column 181, in the embodiment provided by the present invention, the upright column 181 is installed with a slide rail 182 extending vertically, the supporting frame 18 is installed with a slide block 183, and the slide block 183 is in transmission connection with the slide rail 182. The vertical column 181 can slide up and down on the supporting frame 18 conveniently by means of the arranged slide rail 182 and the slide block 183. Of course, according to actual needs, the sliding rail 182 can be installed on the supporting frame 18, and correspondingly, the sliding block 183 is installed on the upright column 181, so that the effect of convenient sliding can be achieved.

As shown in fig. 1 to 4, the height adjustment driving means 19 may use a linear driving device (electric type) which is commonly used at present. Of course, the following structure may be adopted as the actual requirement. Specifically, the height adjustment driving device 19 includes a driving handwheel 191, a synchronous belt transmission wheel set 192, a driving nut 193, and a driving screw 194. Synchronous belt drive wheelset 192 is installed in support frame 18, and drive hand wheel 191 is installed in the input of synchronous belt drive wheelset 192, and drive nut 193 is installed in the output of synchronous belt drive wheelset 192, and drive screw 194 is vertical the placing, and drive nut 193 is connected with drive screw 194 transmission, and the output in drive screw 194 is installed to stand 181. The hand wheel 191 is manually rotated to drive the synchronous belt transmission wheel group 192 to move, so that the driving screw rod 194 is driven to move up and down, the upright column 181 is driven to adjust the position in the vertical direction, and the position of the bearing platform 11 is adjusted in the vertical direction.

As shown in fig. 1 to 3, the static compliance testing system 100 of robot of the present invention further includes a meter mounting bracket 30, the side of the supporting frame 18 is provided with the meter mounting bracket 30, and the meter mounting bracket 30 is height-adjustable. The height-adjusted carrier 11 can be adapted by adjusting the height of the meter mount 30. Preferably, the meter mount 30 is provided on the side of the traction device 13 in the positive direction of the Y direction, but is not limited thereto. Because the instrument mounting bracket 30 is independently arranged at the side of the supporting frame 18, the instrument mounting bracket 30 and the supporting frame 18 are not interfered with each other, and the influence of the test environment on the test instrument 20 is reduced.

The above disclosure is only a preferred embodiment of the present invention, and the scope of the claims of the present invention should not be limited thereby, and all the equivalent changes made in the claims of the present invention are intended to be covered by the present invention.

Claims

1. The utility model provides a static compliance test system of robot which characterized in that: the test platform comprises a bearing platform and a butt joint piece, the butt joint piece is installed at the output end of a robot and comprises a bearing platform body and a test instrument, the butt joint piece is connected with a plurality of groups of traction devices, the plurality of groups of traction devices act on the direction of the butt joint piece and comprises three directions of XYZ parallel to a base coordinate, the bearing platform body can be adjusted in position along the up-down direction, the test instrument body is arranged on one side of the test platform body, the output end of the test instrument body abuts against the butt joint piece, and the test instrument body is used for measuring the displacement of the butt joint piece generated in the test process.

2. The robot static compliance testing system of claim 1, wherein the traction device comprises a traction rope and a weight, a first end of the traction rope is mounted to the interface element, and the weight is mounted to a second end of the traction rope.

3. A robot static compliance testing system, according to claim 2, wherein the weights are hooked to each other and arranged in a natural suspension.

4. The robot static compliance test system of claim 2, wherein the carrier stage is installed with a first wheel set, a second wheel set and a third wheel set, the first wheel set is arranged along an X direction of a base coordinate, the second wheel set is arranged along a Y direction of the base coordinate, the third wheel set is installed above the first wheel set, the third wheel set is arranged along an X direction of the base coordinate, and the traction ropes are correspondingly installed on the first wheel set, the second wheel set or the third wheel set.

5. The robot static compliance test system of claim 4, wherein the carrier platform is provided with a through hole, the docking piece is located right above the through hole, a mounting frame is mounted on the top of the carrier platform, and the third wheel set is mounted on the mounting frame.

6. The system of claim 1, wherein the test platform further comprises a support frame, the carrier is mounted to the support frame, and the carrier is adjustable in position in the support frame in an up-and-down direction.

7. The robot static compliance test system of claim 6, wherein the support frame has a vertically slidable column, the carrier is mounted on the column, the support frame is mounted with a height adjustment drive device, the column is connected to an output end of the height adjustment drive device, and the height adjustment drive device drives the column to slide up and down.

8. The robot static compliance test system of claim 7, wherein one of the upright and the support bracket is mounted with a vertically extending slide rail, and the other of the upright and the support bracket is mounted with a slide block, the slide block being in driving connection with the slide rail.

9. The system of claim 7, wherein the height adjustment driving device comprises a driving handwheel, a synchronous belt transmission wheel set, a driving nut and a driving screw, the synchronous belt transmission wheel set is mounted on the supporting frame, the driving handwheel is mounted at an input end of the synchronous belt transmission wheel set, the driving nut is mounted at an output end of the synchronous belt transmission wheel set, the driving screw is vertically arranged, the driving nut is in transmission connection with the driving screw, and the upright post is mounted at an output end of the driving screw.

10. The system of claim 6, further comprising a meter mount, the meter mount being located beside the support frame, the meter mount being in a height-adjustable arrangement.