Mechanism of a comprehensive performance testing machine for small joints of service robots

Abstract

The invention discloses a small joint comprehensive performance testing machine mechanism of a service robot. The output end of the small joint of the robot is connected with the output shaft through a screw, one end of the positioning sleeve is connected with the output shaft of the small joint of the robot, and the other end is connected with the main shaft of the tester. The left and right clamping plates are installed on the sliding guide rail. The knob handle of the clamping plate is fixed with the clamping screw rod through screws. By rotating the knob handle, the left and right clamping plates clamp both sides of the robot’s small joints at the same time to ensure that the robot’s small joints are fixed horizontally. The clamping plate locker is installed on the transverse T-shaped slot to lock the left and right clamping plates. The gasket is placed on the top block, the wedge-shaped push block is installed on the wedge-shaped support seat, and the push block knob handle is connected with the push block screw rod through screws. Push the wedge-shaped push block by rotating the knob handle to drive the top block to rise or fall, so as to ensure that the small joints of the robot are fixed vertically. The invention has wide application range and strong versatility.

Description

technical field [0001] The invention relates to a mechanism of a comprehensive performance testing machine for small joints of a service robot, which belongs to the fields of precision testing and measurement technology, precision instruments and mechanical transmission. Background technique [0002] The small joint of the robot is a kind of servo unit. To realize the precise control of the robot's motion, it must have three core elements: output power, control algorithm, and position control. In the small joints of the robot, the output power is transmitted by the gearbox generated by the motor, the control algorithm is integrated in the electric control board, and the position feedback is output by the position sensor. In recent years, with the rapid development of the robot industry, the performance of small robot joints, as the core components of robots, directly affects the performance of robots. Compared with foreign countries, the development time of the domestic rob...

AI Technical Summary

Problems solved by technology

For a comprehensive testing machine for small robot joints, it is necessary to meet the test requirements of small robot joints of different sizes. When measuring the transmission error, it is necessary to ensure the coaxiality in the horizontal direction. The usual design is to tighten the small joints of robots by screws. The method of fixing the small joints of the robot to meet the test of small joints of robots of different sizes, but this clamping method cannot ensure that the output shaft of the small joints of the robot is on the same level as the main shaft of the test machine, and the screws need to be readjusted every time the small joints of the robot are replaced. During the transmission error test, this clamping method is easy to introduce eccentricity error, so that the output angle measured by the grating is not completely the actual output end angle of the small joint of the robot, and the measurement result cannot fully reflect the transmission error of the small joint of the robot. It is easy to introduce unnecessary error terms due to re-clamping when the model robot has small joints

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