CN219255627U

CN219255627U - Joint assembly detecting system

Info

Publication number: CN219255627U
Application number: CN202223243709.3U
Authority: CN
Inventors: 刘杰; 杨慧新; 蔡嵩林; 孙恺; 曹宇男
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2022-12-05
Filing date: 2022-12-05
Publication date: 2023-06-27
Anticipated expiration: 2032-12-05

Abstract

The utility model discloses a joint assembly detection system which comprises a semi-finished joint, a detection device and a computer. The semi-finished joint comprises a joint shell, a speed reducer, a motor and a motor driver, wherein a mounting cavity is formed in the joint shell, and the speed reducer, the motor and the motor driver are sequentially arranged in the mounting cavity; the detection device comprises a sensor substrate, an acceleration sensor and a microprocessor, wherein the sensor substrate is connected with the joint shell, the motor driver is positioned between the motor and the sensor substrate, the acceleration sensor and the microprocessor are arranged on the sensor substrate, and the acceleration sensor is connected with the microprocessor; the computer is connected with the microprocessor of the detection device. The system realizes the detection of the vibration data related to the semi-finished joint, and perfects the process inspection in the production flow of the product.

Description

Joint assembly detecting system

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a joint assembly detection system.

Background

The joints used by the serial mechanical arms comprise a speed reducer, a flange shaft, a motor and related control plates. In the assembly step, the several components are assembled into the joint housing. Due to mechanical tolerances and the effects of the assembly process, the operational characteristics of the final finished joint are affected, and the primary motion characteristics of the joint include noise and vibration during operation. The related vibration data are usually tested after the joint is assembled, the assembly quality of the joint semi-finished product cannot be judged, and the existing joint measuring device cannot be directly used for testing the joint of the semi-finished product.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a joint assembly detection system which is used for detecting relevant vibration data of a semi-finished joint.

A joint fit detection system, comprising:

the semi-finished joint comprises a joint shell, a speed reducer, a motor and a motor driver, wherein a mounting cavity is formed in the joint shell, and the speed reducer, the motor and the motor driver are sequentially arranged in the mounting cavity;

the detection device comprises a sensor substrate, an acceleration sensor and a microprocessor, wherein the sensor substrate is connected with the joint shell, the motor driver is positioned between the motor and the sensor substrate, the acceleration sensor and the microprocessor are arranged on the sensor substrate, and the acceleration sensor is connected with the microprocessor;

and the computer is connected with the microprocessor of the detection device.

Optionally, the detection device further includes a serial port disposed on the sensor substrate, and the serial port is connected to the microprocessor and the computer.

Optionally, the joint shell has intercommunication the first opening and the second opening of installation cavity, the motor is located the middle part of installation cavity, the motor driver is connected the input of motor just is close to first opening, the reduction gear is connected the output of motor just is close to the second opening.

Optionally, the joint shell further includes at least two first erection columns, the head end of first erection column is connected the inner wall of joint shell, the tail end of first erection column is towards first opening, motor driver with the tail end of first erection column links to each other.

Optionally, the motor driver is provided with a driver substrate, a first mounting hole corresponding to the first mounting column one by one is arranged in the circumferential direction of the driver substrate, and the first mounting hole is connected with the first mounting column one by one and then through a first connecting piece.

Optionally, the joint housing further includes at least two second mounting posts, the head ends of the second mounting posts are connected to the inner wall of the joint housing, the tail ends of the second mounting posts face the second opening, the tail ends of the second mounting posts exceed the tail ends of the first mounting posts, and the sensor substrate is connected to the tail ends of the second mounting posts.

Optionally, second mounting holes corresponding to the second mounting columns one by one are formed in the circumferential direction of the sensor substrate, and the second mounting holes and the second mounting columns are connected through second connecting pieces after corresponding to each other one by one.

Optionally, the driver substrate is further provided with an avoidance hole through which the second mounting column passes.

Optionally, a first via hole through which the cable passes is formed in the middle of the driver substrate, and a second via hole through which the cable passes is formed in the middle of the sensor substrate.

Optionally, the semi-finished joint further comprises a flange, the flange comprises a flange plate and a flange shaft, the flange shaft is connected with the output end of the speed reducer, the flange plate is sleeved on the flange shaft, and the flange plate is located outside the first opening.

By implementing the scheme, the method has the following beneficial effects:

according to the semi-finished joint vibration detection device, the detection device is arranged on the joint shell of the semi-finished joint and is in communication connection with the computer, after the motor of the semi-finished joint is started, the acceleration sensor of the detection device can collect vibration information of the semi-finished joint and transmit the collected information to the computer, and the computer can intuitively feed back the vibration condition of the semi-finished joint by analyzing the vibration information. In use, vibration conditions of a plurality of speed sections can be measured according to the highest rotation speed of joint operation, and a basis is provided for determining joint assembly quality. The method detects the related vibration information in the semi-finished product stage of joint assembly, improves the process inspection in the production flow of the product, guides assembly by using the detection result, and can improve the product grade.

Drawings

FIG. 1 is a schematic diagram of an assembled semi-finished joint and detection device according to an embodiment of the present disclosure;

FIG. 2 is a cross-sectional view of a semi-finished joint and detection device assembled according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a semi-finished joint provided in an embodiment of the present disclosure;

FIG. 4 is a schematic illustration of a semi-finished joint and detection device assembly provided in an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a detection device provided in an embodiment of the present disclosure;

fig. 6 is a schematic diagram of data interaction between a detection device and a computer according to an embodiment of the disclosure.

In the figure:

100 semi-finished joints, 101 joint shells, 102 mounting cavities, 103 first openings, 104 second openings, 105 first mounting posts, 106 second mounting posts, 107 reducers, 108 motors, 109 motor drivers, 110 driver substrates, 111 first mounting holes, 112 relief openings, 113 first through holes, 114 flanges, 115 flanges, 116 flange shafts,

200 detection device, 201 sensor substrate, 202 second mounting hole, 203 second via hole, 204 acceleration sensor, 205 microprocessor, 206 serial port,

300 computers.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

The embodiment provides a joint assembly detection system, realizes the detection of semi-manufactured joint vibration data, and the detection data can guide joint assembly adjustment, promotes the quality grade of joint product.

Fig. 1 and 2 illustrate the structure of some of the components in the joint assembly detection system. Referring to fig. 1 and 2, the joint assembly detection system of the present embodiment includes a semi-finished joint 100, a detection device 200, and a computer 300. The semi-finished joint 100 may include a joint housing 101, a flange 114, a speed reducer 107, a motor 108, and a motor driver 109, wherein the joint housing 101 is provided with an installation cavity 102, the speed reducer 107, the motor 108, and the motor driver 109 are sequentially disposed in the installation cavity 102, and the flange 114 is connected with the speed reducer 107 and is located outside the installation cavity 102. The detection device 200 comprises a sensor substrate 201, an acceleration sensor 204, a microprocessor 205 and a serial port 206, wherein the sensor substrate 201 is connected with the joint housing 101, the motor driver 109 is positioned between the motor 108 and the sensor substrate 201, the acceleration sensor 204, the serial port 206 and the microprocessor 205 are arranged on the sensor substrate 201, the acceleration sensor 204 is connected with the microprocessor 205, the microprocessor 205 is connected with the serial port 206, and the computer 300 is connected with the microprocessor 205 through the serial port 206.

In an alternative implementation, the joint housing 101 has a mounting chamber 102 therein, and the joint housing 101 is provided with a first opening 103 and a second opening 104 that communicate with the mounting chamber 102. The motor 108 is disposed in the middle of the mounting chamber 102, the motor driver 109 is connected to the input end of the motor 108 and is close to the first opening 103, and the decelerator 107 is connected to the output end of the motor 108 and is close to the second opening 104. The flange 114 comprises a flange plate 115 and a flange shaft 116, the flange shaft 116 is connected with the output end of the speed reducer 107, the flange plate 115 is sleeved on the flange shaft 116, and the flange plate 115 is positioned outside the first opening 103.

In an alternative implementation, at least two first mounting posts 105 are disposed in the joint housing 101, a head end of the first mounting posts 105 is connected to an inner wall of the joint housing 101, and a tail end of the first mounting posts 105 faces the first opening 103. The motor driver 109 has a driver base 110, and the driver base 110 is connected to the tail end of the first mounting post 105. The middle part of the driver substrate 110 is provided with a first via hole 113 for the cable to pass through. The driver substrate 110 has first mounting holes 111 corresponding to the first mounting posts 105 in one-to-one manner in the circumferential direction, and the first mounting holes 111 and the first mounting posts 105 are connected by first connectors after corresponding to one another. The first connecting member may be a nut or a screw, and is screwed with the second mounting post 106 after passing through the second mounting hole 202. The driver substrate 110 is further provided with an avoidance port 112 through which the second mounting post 106 passes, and the second mounting post 106 passes through the avoidance port 112 and is connected to the sensor substrate 201.

In an alternative implementation, at least two second mounting posts 106 are disposed in the joint housing 101, the head ends of the second mounting posts 106 are connected to the inner wall of the joint housing 101, the tail ends of the second mounting posts 106 face the second opening 104, and the tail ends of the second mounting posts 106 exceed the tail ends of the first mounting posts 105. The sensor substrate 201 is connected to the tail end of the second mounting post 106. Specifically, a second through hole 203 through which the cable passes is provided in the middle of the sensor substrate 201, and second mounting holes 202 corresponding to the second mounting posts 106 one to one are provided in the circumferential direction of the sensor substrate 201. The second mounting holes 202 are connected to the second mounting posts 106 in a one-to-one correspondence via second connectors. The second connecting member may be a nut or a screw, and is screwed with the second mounting post 106 after passing through the second mounting hole 202.

Referring to fig. 3, the joint housing 101 is provided with three first mounting posts 105 and three second mounting posts 106, the three first mounting posts 105 are circumferentially distributed along the inner wall of the mounting chamber 102, and the three second mounting posts 106 are circumferentially distributed along the inner wall of the mounting chamber 102. Three first mounting holes 111 are circumferentially provided in the driver board 110, and three second mounting holes 202 are circumferentially provided in the sensor board 201. After the first mounting holes 111 on the driver substrate 110 are in one-to-one correspondence with the first mounting posts 105 on the joint housing 101, screws pass through the first mounting holes 111 and are in threaded connection with the first mounting posts 105, so that the driver substrate 110 is fixed on the joint housing 101. After the second mounting holes 202 on the sensor substrate 201 are in one-to-one correspondence with the second mounting posts 106 on the joint housing 101, the screws pass through the second mounting holes 202 and are in threaded connection with the second mounting posts 106, so that the sensor substrate 201 is fixed on the joint housing 101. When the motor 108 works, vibration information of the joint housing 101 can be transmitted to the sensor substrate 201, and the acceleration sensor 204 on the sensor substrate 201 collects the vibration information, so that vibration data of the semi-finished joint 100 is obtained.

In the schematic structural diagram of the detection device 200 shown in fig. 5, the acceleration sensor 204, the microprocessor 205 and the serial port 206 are disposed on the same side of the sensor substrate 201, and the microprocessor 205 and the acceleration sensor 204 are distributed on two sides of the second via 203, and the serial port 206 is disposed near the microprocessor 205. When the detection device 200 is assembled on the semi-finished joint 100, the detection device 200 is located outside the first opening 103 of the joint housing 101, and the acceleration sensor 204, the microprocessor 205 and the serial port 206 face to the outer side of the first opening 103, so that friction damage between detection elements such as the acceleration sensor 204 and the microprocessor 205 and the motor driver 109 can be avoided, and on the other hand, the serial port 206 and the computer 300 can be conveniently connected through cables.

The use steps of the joint assembly detection system in this embodiment include: the base of the semi-finished joint 100 is placed on a horizontal tabletop downwards, the joint is generally parallel to the base and vibrates most in the direction parallel to the flange plate 115, so that the acceleration in the direction is selected for data analysis, an external power supply supplies power to a motor driver 109 of the semi-finished joint 100, and the motor driver 109 drives a motor 108 to operate, so that a speed reducer 107 and a flange 114 are driven to rotate; when the motor 108 runs, vibration in different directions is generated on the whole joint, and the acceleration sensor 204 of the detection device 200 can detect the generated vibration; the detection device 200 transmits a vibration signal to the computer 300 through the serial port 206, thereby realizing vibration detection of the joint. The computer 300 may use FFT (fast fourier transform) to test the maximum acceleration amplitude for assembly quality.

In the embodiment, the detection device is arranged on the semi-finished joint, the acceleration sensor and the microprocessor MCU are integrated on the sensor substrate, and the acceleration sensor is connected with the computer through a serial port on the sensor substrate to read vibration data of the semi-finished joint. The scheme of the embodiment is used for the joint semi-finished product stage, and can effectively judge the assembly condition of relevant parts of the machine. The device has the advantages of simple installation, convenient operation and higher practical value.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims

1. A joint assembly detection system, comprising:

the semi-finished joint (100) comprises a joint shell (101), a speed reducer (107), a motor (108) and a motor driver (109), wherein an installation cavity (102) is formed in the joint shell (101), and the speed reducer (107), the motor (108) and the motor driver (109) are sequentially arranged in the installation cavity (102);

the detection device (200) comprises a sensor substrate (201), an acceleration sensor (204) and a microprocessor (205), wherein the sensor substrate (201) is connected with the joint housing (101), the motor driver (109) is positioned between the motor (108) and the sensor substrate (201), the acceleration sensor (204) and the microprocessor (205) are arranged on the sensor substrate (201), and the acceleration sensor (204) is connected with the microprocessor (205);

and the computer (300) is connected with the microprocessor (205) of the detection device (200).

2. The joint assembly detection system of claim 1, wherein,

the detection device (200) further comprises a serial port (206) arranged on the sensor substrate (201), and the serial port (206) is connected with the microprocessor (205) and the computer (300).

3. The joint assembly detection system of claim 1, wherein,

the joint housing (101) is provided with a first opening (103) and a second opening (104) which are communicated with the installation cavity (102), the motor (108) is arranged in the middle of the installation cavity (102), the motor driver (109) is connected with the input end of the motor (108) and is close to the first opening (103), and the speed reducer (107) is connected with the output end of the motor (108) and is close to the second opening (104).

4. The joint assembly detection system of claim 3, wherein,

the joint housing (101) further comprises at least two first mounting columns (105), the head ends of the first mounting columns (105) are connected with the inner wall of the joint housing (101), the tail ends of the first mounting columns (105) face the first opening (103), and the motor driver (109) is connected with the tail ends of the first mounting columns (105).

5. The joint assembly detection system of claim 4, wherein,

the motor driver (109) is provided with a driver base plate (110), first mounting holes (111) corresponding to the first mounting columns (105) one by one are formed in the circumferential direction of the driver base plate (110), and the first mounting holes (111) are connected with the first mounting columns (105) through first connecting pieces after corresponding to the first mounting columns one by one.

6. The joint assembly detection system of claim 5, wherein,

the joint housing (101) further comprises at least two second mounting columns (106), the head ends of the second mounting columns (106) are connected with the inner wall of the joint housing (101), the tail ends of the second mounting columns (106) face the second opening (104), the tail ends of the second mounting columns (106) exceed the tail ends of the first mounting columns (105), and the sensor substrate (201) is connected with the tail ends of the second mounting columns (106).

7. The joint assembly detection system of claim 6, wherein,

the sensor substrate (201) is provided with second mounting holes (202) in one-to-one correspondence with the second mounting columns (106) in the circumferential direction, and the second mounting holes (202) are connected with the second mounting columns (106) through second connecting pieces after one-to-one correspondence.

8. The joint assembly detection system of claim 6, wherein the driver base plate (110) further includes a relief opening (112) for the second mounting post (106) to pass through.

9. The joint assembly detection system of claim 5, wherein,

the middle part of the driver substrate (110) is provided with a first through hole (113) for the cable to pass through, and the middle part of the sensor substrate (201) is provided with a second through hole (203) for the cable to pass through.

10. The joint assembly detection system of claim 3, wherein,

the semi-finished joint (100) further comprises a flange (114), the flange (114) comprises a flange plate (115) and a flange shaft (116), the flange shaft (116) is connected with the output end of the speed reducer (107), the flange plate (115) is sleeved on the flange shaft (116), and the flange plate (115) is located outside the first opening (103).