SU1281404A1 - Rack for testing robots - Google Patents

Abstract

The invention relates to robotics and m. used to assess the quality of robots. The aim of the invention is to enhance the functionality of the stand. The stand contains the base. 1, sliding stops 2 mounted on it, measuring head 3 with sensor 5, device for its orientation 6 mounted on the base, and a control system. At the ends of the lugs 2, the elements 25 interacting with the sensors 5 are fixed. A speed sensor (tachogenerator) is fixed on the body 4 of the measuring head (tachogenerator) on the rotary input shaft of which the roller is fixed. On the base of the stand, supporting elements are installed, the working surfaces of which are designed to interact with the roller. The test robot 29 is installed next to the stand, the mechanical arm of which provides the wife with a grip of 30. 5 Il. V)

Description

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The invention relates to mechanical engineering and can be used in robotics to assess the quality of robots and manipulators.

The aim of the invention is to enhance the functionality of the bench by measuring the speed of movement of the gripping robot.

Fig. 1 shows a stand, the general view of Fig. 2-4 shows the positions of the measuring head when tested along the coordinates X, Y, Z; Fig, 5 shows the orientation device of the measuring head

The stand contains a base 1, mounted on it the fixed stops of the measuring head 3, having a body 4 with a sensor 5 fixed in it, a device 6 for orienting the measuring head and a control system (not shown) connected electrically to the robot and the sensor 5

The orientation device 6 comprises a housing 7 (FIG. 5), in which shaft 9 is mounted in the bearings 8, a coupling 10 is coupled with an U-turn actuator. Shaft 9 is fixed to fork 12, in which perpendicular to the axis of moisture 9 is mounted in bearings of a HS, shaft 14 connected by a coupling 15 with a 16 turn actuator, power cylinders 17 are mounted on shaft 14, gripping jaws 18 are mounted on rods, cylinders 17 are mounted spring 19 compression,

Drives And and 16 turn and power cylinders 17 are controlled from the stand control system.

The housing 4 of the measuring head 3 is provided with two basic elements 20 and 21, the Element 20 has a cylindrical shape and is molded in the jaws 18 of the orientation device 6, and the element 21 is spherical,

Each outrigation stop contains a rack 22, in which the rod 23 is mounted so that it can be moved, fixed in the rack by a clamp 24. At the end of the rod 23, there are fixed elements 25 for interacting with the sensor 5,

A speed sensor is mounted on the body 4 of the measuring head - a tachogenerator 26, on the rotary input shaft of which a roller 27 is fixed,

On the basis of the stand, supporting elements 28 are installed;

which are designed to interact with the roller 27, Pdm with a test bench mounted robot 29, the mechanical arm of which is provided with a gripper 30,

The stand works as follows.

The positions in which the elements 25 are located are determined by calculation, and their installation is carried out by moving the sliding stops 2 of the base 1 and moving the rods 23 in the uprights 22 with subsequent fixation of the rods by the latches 24,

On the robot control panel, the robot movements are programmed to operate in the test mode and its control system is connected to the bench control system.

Next, a start signal is received from the booth control system to the robot control system. The gripper 30 of the robot-29 enters the position in which the spherical element 20 of the body 4 of the measuring head 3 is located and picks up this element, while the gripping jaws 18 of the orientation device unclench

Thus, the measuring head is clamped in the gripper 30,

The robot then moves the gripper 30 in succession

all required positioning points along the X, Y or Z coordinates. Every time the robot captures the positioning points | 1th sensor 5 interacts with the elements 25 and its

The signals are recorded in the bench control console. The presence of signals from sensor 5 indicates that the robot captures 30 at the programmed coordinate positioning point.

here X, the difference between the highest and highest values of signals from sensor 5 with several measurements is the positioning error of the gripper at the programmed positioning point along the X coordinate. After that, the gripper jaws 18 of the orientation device are opened, the robot sets the measuring head 3 into it, and it is clamped, after which the gripper 30 of the robert disengages the measuring head and moves away from the orientation device. Then the orientation device is carried out

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Claims (1)

Invention Formula A test bench for robots, containing a base, fixed stops on it, a measuring head with a position sensor fixed in its case, a sensitive element of which has the ability to interact with the robot's grip and sliding stops, as well as a control panel connected electrically with the robot and with this A sensor, characterized in that, in order to extend the functionality by measuring the speed of movement of the robot's grip, the measuring head is equipped with a tachogenerator, at the input y koto cerned fixed roller, and additional supporting elements, working surfaces which are intended to interact with said roller tachogenerator mounted on the base stand between the movable abutments. I - 7 25 V guv Fig.Z 28 fig a 5