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Self-adaptive compliance characteristic testing and analyzing platform for thin-wall fragile part operation manipulator

A technology of feature testing and test analysis, which is applied to manipulators, measuring devices, instruments, etc., and can solve problems such as undisclosed technical solutions

Pending Publication Date: 2022-01-25
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the mechanical structure disclosed by them, there is a core part, the compliance ring; the vertical section of the compliance ring is an inverted U shape, and the top is two congruent triangles connected symmetrically at the apex; the two triangles at the top of the compliance ring are connected The degree of torsion that can be achieved directly affects the technical effects of the above-mentioned existing technologies; the influence of the material and dimensions of the compliant ring on the coaxial installation manipulator for thin-walled parts with the compliant ring as the core requires a specific test and analysis platform ; The prior art does not disclose the technical solution about this test analysis platform

Method used

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  • Self-adaptive compliance characteristic testing and analyzing platform for thin-wall fragile part operation manipulator
  • Self-adaptive compliance characteristic testing and analyzing platform for thin-wall fragile part operation manipulator
  • Self-adaptive compliance characteristic testing and analyzing platform for thin-wall fragile part operation manipulator

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Experimental program
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Effect test

Embodiment 1

[0026] Embodiment one: see Figure 1-8 , a test and analysis platform for the self-adaptive compliance characteristics of thin-walled fragile parts, including a compliance manipulator system, a high-precision manual sliding table, a mounting seat, and a measuring column; the compliance manipulator system is set above the high-precision manual sliding table to control thin-walled fragile parts; the top of the compliant manipulator system is provided with a compliant ring, which is the core part of the compliant manipulator system and is also a part that needs to be tested and analyzed in the present invention; the high-precision manual slide table can move precisely in two directions horizontally; Chinese patent publication number CN208859257U, the date of publication is A utility model patent published on May 14, 2019, an industrial camera clamping device, has disclosed a high-precision manual slide table; Degree of freedom and rotational freedom around the Z axis, the adjustm...

Embodiment 2

[0046] Embodiment two: see Figure 1-9 , Embodiment 2 is basically the same as Embodiment 1, and the similarities will not be repeated. The difference is: the upper end of the measuring column has a stepped shaft structure with a thin upper end and a thicker lower end; the outer wall of the thin shaft at the upper end of the measuring column is covered with a measuring sleeve; the measuring sleeve There are different wall thickness series; the inner diameter of each measuring sleeve matches the outer diameter of the thin shaft at the upper end of the measuring column; the outer diameter of each measuring sleeve matches the inner wall of the corresponding thin-walled fragile part;

[0047] When measuring sleeves with different wall thicknesses are used, different matching accuracy will be formed between the measuring sleeve and the inner wall of thin-walled fragile parts, and the load required by the compliant manipulator system for installing thin-walled fragile parts will chan...

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Abstract

The invention discloses a self-adaptive compliance characteristic testing and analyzing platform for a thin-wall fragile part operation manipulator. The platform sequentially comprises a compliance manipulator system, a measuring column, a mounting seat and a high-precision manual sliding table from top to bottom; the compliance manipulator system is used for clamping a thin-wall fragile part, and a compliance ring with a strain gauge is arranged on the compliance manipulator system; the outer wall of the upper end of the measuring column is matched with the inner wall of the thin-wall fragile part and is engraved with an axial datum line; the lower end of the measuring column is a spherical outer wall and forms a spherical pair with a spherical inner wall of the upper end of the mounting seat; the lower end of the mounting seat is connected to the high-precision manual sliding table; the high-precision manual sliding table can precisely move in two horizontal directions; the two sides of the front side of the measuring column are each aligned with a high-precision theodolite; the high-precision manual sliding table can horizontally make the measuring column horizontally deviate, and the offset can be quantified; the measuring column is matched with the mounting seat so that the measuring column can vertically deflect; the high-precision theodolites can quantify the vertical deflection of the measuring column; and the strain gauge can output the mechanical property change condition of the compliant ring. Therefore, the platform can be used for testing and analyzing.

Description

technical field [0001] The invention relates to the technical field of test and analysis of robot parts, in particular to an adaptive compliance feature test and analysis platform of a manipulator for thin-walled fragile parts. Background technique [0002] Thin-walled parts refer to tubular objects with small wall thickness; because the wall thickness is too small, the thin-walled parts themselves are not strong and easy to be damaged. During the coaxial assembly process, the requirements for coaxiality are very high; now In the prior art, there have been disclosures about the manipulator used for the coaxial assembly of thin-walled fragile parts. For example, the Chinese patent publication number is CN111300461A, and the publication date is June 19, 2020. The inner support type of the fragile thin-walled cylindrical inner wall workpiece Operation self-adaptive compliant manipulator, the Chinese patent publication number is CN112720556A, and the publication date is April 30...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00G01D21/02
CPCB25J19/0095G01D21/02
Inventor 王良文王若澜钟玉东胡晓张珂杜文辽孔阳光解宏昌李林峰
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY