Flexible joint testing system of lightweight collaborative robot
A flexible joint and test system technology, applied in the field of robot inspection, can solve the problems of inability to achieve multi-person collaborative measurement, cumbersome process, cumbersome mechanism, etc., and achieve the effects of saving test costs, simple process, and easy operation.
Active Publication Date: 2019-10-08
TIANJIN UNIV
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Problems solved by technology
However, due to the cumbersome mechanism, for ordinary assembly workers, the operation is difficult and the process is cumbersome, and the purpose of multi-person collaborative measurement cannot be achieved
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[0027] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0028] As shown in the accompanying drawings, the light collaborative robot flexible joint testing system of the present invention includes a support frame 4, and an industrial computer 2 is installed on the support frame 4, and the industrial computer 2 is connected to the display 5 installed in the middle of the support through a VGA cable. . The industrial computer 2 is connected to the EtherCAT signal input interface of the coupler 3 through an Ethernet network cable. The EtherCAT signal output interface of the coupler 3 is connected to the Ethernet port of the servo driver 1 through an Ethernet network cable.
[0029] A flexible joint mechanical device 15 is i...
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The invention discloses a flexible joint testing system of a lightweight collaborative robot. The flexible joint testing system comprises a display, an industrial personal computer, a coupler, a servodriver, a force sensor and a synchronous belt tensioning force testing device comprising a servo motor, wherein the industrial personal computer is connected with the display and the coupler, and thecoupler is connected with the servo driver; the servo driver is connected with the servo motor, an encoder on the servo motor feeds back data of the servo motor to the industrial personal computer, and outputs an operation result to the servo driver, and then the servo driver drives the servo motor; and the servo motor drives a tensioning belt wheel through a synchronous belt, the force sensor measures and reads the tensioning force of the synchronous belt under different conditions, and then the driving of the flexible joint testing system of the lightweight collaborative robot is realized.According to the flexible joint testing system of the lightweight collaborative robot, a tensioning module adjusting device is simple in structure and easy to operate, other sensors do not need to beinstalled, and the cost is saved; and the flexible joint testing system has the advantages that the fluctuation of a data curve on the display can be directly observed, and the adjusting effect of thedevice can be clearly displayed.
Description
technical field [0001] The invention relates to the technical field of robot detection, in particular to a flexible joint testing system of a light collaborative robot. Background technique [0002] With the continuous advancement of automation control technology, ordinary six-degree-of-freedom robots can no longer meet the requirements, and lightweight collaborative robots have been developed. Since the internal joints of the robot use a harmonic reducer and a highly flexible synchronous transmission belt system to drive the joints, the flexibility of the joints and connecting rods increases, which in turn causes subtle deformation and resonance of the structure, resulting in a decrease in the robot's motion accuracy. Since the adjustment of the tension of the timing belt directly affects the precision performance of the robot, it is very important to ensure the tension of the timing belt inside the robot joints to meet the assembly precision requirements of the robot. [...
Claims
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Login to View More IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 洪鹰孙升才肖聚亮王国栋
Owner TIANJIN UNIV