Test device and method for robot ball-and-socket joint friction pair

A ball-and-socket joint and testing device technology, applied in the field of testing, can solve problems such as the difficulty in simulating the friction pair wear of a robot's ball-and-socket joint, and achieve the effects of simple structure, accurate load application, and high accuracy

Active Publication Date: 2019-08-06
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some scholars have improved the ordinary friction and wear testing machine, such as the MMU-10 screen-display end-face wear tester, which is used to detect the friction coefficient and wear amount of materials in the form of end-face sliding friction under oil-immersed lubrication conditions, but it is difficult Simulate the real wear of the friction pair of the robot ball and socket joint in motion

Method used

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  • Test device and method for robot ball-and-socket joint friction pair
  • Test device and method for robot ball-and-socket joint friction pair

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0033] like figure 1 and 2 As shown, a test device for the friction pair of a robot ball joint includes a sealing device, a driving device, a fixing device, a loading device, a detection system and a computer control system.

[0034]The sealing device includes a sealing chamber body 4; the sealing chamber 4 is provided with an openable and closable sealing chamber side door 10; the inner wall of the sealing chamber side door 10 is provided with a sealing ring; the second rotating shaft 5 and the loading shaft 13 are coaxially arranged in the sealing chamber On the two opposite surfaces of the body 4, the first rotating shaft 3 and the loading shaft 13 are vertically arranged; the first rotating shaft 3 and the second rotating shaft 5 are supported on the sealing chamber cavity 4 through bearings; the loading shaft 13 and the sealing chamber The cavity 4 constitutes...

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Abstract

The invention discloses a test device and a test method for a robot ball-and-socket joint friction pair, aiming at the problem that the existing wear testing machine is difficult to simulate the actual wear condition of the robot ball-and-socket joint friction pair. The test device comprises a first rotating shaft, a second rotating shaft, a loading shaft, a joint socket fixture and a joint head fixture, wherein the second rotating shaft and the loading shaft are coaxial, and the first rotating shaft is perpendicular to the loading shaft. Through adopting fixing modes of different combinationsof the joint socket fixture and the joint head fixture on the first rotating shaft, the second rotating shaft and the loading shaft, the ball-and-socket joint rotation and swing tests are completed in the same set of devices, the dynamic measurement of wear amount is realized without damaging a paring relationship by means of a sensitive galvanometer, and the test result is high in precision.

Description

technical field [0001] The invention belongs to the technical field of testing, and relates to the friction and wear of a robot motion joint friction pair, in particular to a friction and wear test device and a test method for a robot ball-and-socket joint. Background technique [0002] Humanoid robot is one of the most active branches in the field of robotics. In the mechanical body of a humanoid robot, the joint is the most important part. The structure and performance of the joint directly affect the overall performance of the robot, including maneuverability, operation ability, and smoothness of motion. Wait. The ball and socket joint is one of the important joints of the robot, and the friction performance of the ball and socket joint has a great influence on the overall performance of the robot. [0003] It is estimated that about 1 / 3 to 1 / 2 of the world's energy consumption is caused by friction and wear, and about 80% of the parts in general mechanical equipment are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M13/025G01M13/027G01M13/028
CPCG01M13/025G01M13/027G01M13/028
Inventor 王志强黄依凡孙怡龙王宇
Owner HANGZHOU DIANZI UNIV
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