Robot static compliance test device

Abstract

The present invention discloses a static compliance test device for a robot, the static compliance test device for the robot comprises a fixed frame, a mounting seat is provided on the fixed frame, a slider that can move linearly and a first micrometer located at one end of the slider are provided on the mounting seat, a measuring rod of the first micrometer is arranged toward the slider, a push-pull force gauge is installed on the slider, and the force measuring direction of the push-pull force gauge is consistent with the moving direction of the slider. The static compliance test device for the robot of the present invention is small in size and light in weight. When testing the static compliance of the robot, there is no need to move the robot, and the test device can be moved. The test is convenient, time-saving and labor-saving, and labor costs can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a static compliance testing device for robots. Background Art

[0002] In recent years, with the continuous increase in labor costs, traditional manufacturing is gradually transforming towards intelligence. Industrial robots have been applied to various fields due to their advantages such as low cost and high efficiency, showing a strong development trend.

[0003] At present, industrial robots are generally articulated robots, whose joints are independently driven by motors and controlled by controllers. Among them, the static compliance of industrial robots, as a key technical indicator, refers to the maximum displacement of the mechanical interface at the end of the robot under unit load. It reflects the static and dynamic stiffness performance of industrial robots and is crucial to improving the performance and reliability of robot products.

[0004] Existing static compliance testing equipment is mainly designed for medium and large robots. The size and weight of the whole machine are relatively large, and the installation position is fixed. Therefore, when testing, the robot needs to be moved to a specific position for testing. The test is inconvenient, time-consuming, labor-intensive, and has high labor costs. Summary of the invention

[0005] The main purpose of the present invention is to provide a robot static compliance testing device, aiming to solve the technical problems that the current robot static compliance testing is inconvenient, time-consuming, labor-intensive and has high labor costs.

[0006] To achieve the above-mentioned purpose, the present invention proposes a robot static compliance testing device, which includes a fixed frame, a mounting seat is provided on the fixed frame, a slider that can move linearly and a first micrometer located at one end of the slider are provided on the mounting seat, a measuring rod of the first micrometer is set toward the slider, a push-pull force gauge is installed on the slider, and the force measuring direction of the push-pull force gauge is consistent with the moving direction of the slider.

[0007] Preferably, the mounting seat is further provided with a second micrometer head located at the other end of the sliding block and arranged opposite to the first micrometer head.

[0008] Preferably, the mounting seat comprises a base plate and two limit plates arranged on the base plate at a relative interval, the two limit plates and the base plate are configured to form a linear slide groove, and the sliding block is located in the linear slide groove and slidably cooperates with the linear slide groove.

[0009] Preferably, the opposing surfaces of the two limit plates are arranged in an inclined plane, the linear slide groove thus constructed is a dovetail groove, and the sliding block is a wedge-shaped block adapted to the dovetail groove.

[0010] Preferably, the mounting seat also includes two mounting blocks arranged opposite to each other on the substrate and used to respectively mount the first micrometer head and the second micrometer head, and the mounting blocks are provided with threaded holes, and the measuring rods of the first micrometer head and the second micrometer head are inserted into the threaded holes to be threadedly connected with the mounting blocks.

[0011] Preferably, the fixing frame is further provided with a mounting plate and a rotating shaft located on the mounting plate, and the mounting seat is fixedly connected to the rotating shaft.

[0012] Preferably, the mounting plate is provided with a plurality of first positioning holes arranged along and around the rotating shaft, the mounting seat is provided with a second positioning hole matched with the first positioning hole, and the second positioning hole is connected to one of the plurality of first positioning holes through a positioning rod.

[0013] Preferably, the fixing frame comprises a base plate, a plurality of guide rods vertically arranged in parallel on the base plate and a slide seat sleeved on the guide rods, the mounting plate is fixedly connected to the slide seat, and the slide seat is provided with fasteners that abut against the guide rods.

[0014] Preferably, the bottom plate is provided with a plurality of waist-shaped holes and bolts passing through the waist-shaped holes for fixing the fixing frame.

[0015] Preferably, a fixing plate is provided on the sliding block, and the push-pull force gauge is detachably arranged on the fixing plate.

[0016] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0017] The static compliance test device of the robot is used to perform a static compliance test on the robot. Specifically, the test device is moved to the position of the robot and the test position is adjusted. The force measuring end of the push-pull dynamometer is pressed against the center position of the end of the robot. At this time, the force measured at the end of the robot is zero. Then, the first micrometer is operated to make its measuring rod push the slider to move, thereby driving the push-pull dynamometer to move to apply force to the end of the robot until the value displayed by the push-pull dynamometer reaches the required force value. The change value of the first micrometer (i.e., its moving distance) is recorded, and then corresponding calculations are performed to obtain the displacement of the robot, thereby realizing the static compliance test of the robot. The static compliance test device of the robot is small in size and light in weight. When testing the static compliance of the robot, there is no need to move the robot, but only the test device. The test is convenient, time-saving and labor-saving, and labor costs can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of a static compliance testing device for a robot in one embodiment of the present invention;

[0019] Figure 2 for Figure 1 Schematic diagram of the explosion structure of the static compliance test device of the robot. DETAILED DESCRIPTION

[0020] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The present invention proposes a robot static compliance testing device, referring to Figure 1 and Figure 2 The static compliance testing device of the robot includes a fixed frame 100, on which a mounting seat 200 is provided, on which a slider 300 movable in a straight line and a first micrometer head 1 located at one end of the slider 300 are provided, a measuring rod of the first micrometer head 1 is arranged toward the slider 300, a push-pull force gauge 400 is installed on the slider 300, and a force measuring direction of the push-pull force gauge 400 is consistent with a moving direction of the slider 300.

[0022] The robot static compliance test device involved in this embodiment is used to perform a static compliance test on the robot. Specifically, the robot static compliance test device is mainly composed of a fixed frame 100, a mounting seat 200, a slider 300, a push-pull force gauge 400 and a first micrometer 1, wherein: the fixed frame 100 is a frame structure, and the mounting seat 200 is arranged on the fixed frame 100 for mounting the slider 300 and the first micrometer 1. The slider 300 is slidably matched with the mounting seat 200 so as to be able to slide linearly on the mounting seat 200. The setting form can be various, such as setting a slide groove or a guide rail on the mounting seat 200 to mount the slider 300. In addition, the first micrometer 1 is located at one end of the slider 300. The micrometer is generally composed of a fine adjustment knob and a measuring rod, which has its own scale. The measuring rod and the fine adjustment knob are respectively located at both ends of the measuring rod, and the measuring rod is moved by turning the fine adjustment knob. The measuring rod is arranged toward the slider 300, so by turning the fine adjustment knob of the first micrometer head 1, the measuring rod can push the slider 300 to move. The push-pull force gauge 400 is fixed on the slider 300, so it can move with the slider 300, and its force measuring direction is consistent with the moving direction of the slider 300, so when the slider 300 moves, it can drive the push-pull force gauge 400 to move and apply force to the object to be measured. Preferably, a push-pull force gauge 400 with two force measuring ends is selected, and the two force measuring ends are located at opposite ends thereof. For the convenience of disassembly and assembly, screws can be used to connect the above structures.

[0023] The static compliance test device for the robot can be used to test the static compliance of the robot in the three directions of the X-axis, Y-axis and Z-axis. For example, when measuring the positive direction of the Z-axis, the test device is moved to the position of the robot and the test position is adjusted. The force measuring end of the push-pull force gauge 400 is pressed from bottom to top against the center position of the end of the robot. At this time, the force of the end of the robot measured is zero. Then, the first micrometer head 1 is operated to make its measuring rod push the slider 300 upward, thereby driving the push-pull force gauge 400 to move upward to exert force on the end of the robot. Force is applied until the value displayed by the push-pull dynamometer 400 reaches the required force value, and the change value of the first micrometer head 1 (i.e., its moving distance) is recorded. Then, corresponding calculations are performed. Specifically, according to Hooke's law F=k×x, the deformation amount (i.e., X) of the push-pull dynamometer 400 is calculated by using the value displayed by the push-pull dynamometer 400 and the elastic coefficient of the push-pull dynamometer 400. Then, the change value of the first micrometer head 1 is subtracted from the deformation amount of the push-pull dynamometer 400. The result is the displacement of the robot, thereby measuring the static compliance of the robot in the positive direction of the Z axis.

[0024] It is easy to understand that when measuring the negative direction of the Z axis, the test position of the test device can be adjusted so that the push-pull force gauge 400 can support the end of the robot from top to bottom, and the first micrometer head 1 can push the push-pull force gauge 400 to move downward to apply force to the end of the robot.

[0025] Moreover, when measuring the X-axis and Y-axis directions, the test position of the test device can also be adjusted accordingly so that the push-pull force gauge 400 can horizontally support the end of the robot along the X-axis or Y-axis direction, and the first micrometer head 1 can push the push-pull force gauge 400 to move in the opposite direction along the X-axis or Y-axis to apply force to the end of the robot.

[0026] The static compliance testing device for the robot is small in size and light in weight. When testing the static compliance of the robot, there is no need to move the robot, but only the testing device. The test is convenient, time-saving and labor-saving, and labor costs can be reduced.

[0027] In a preferred embodiment, referring to Figure 1 and Figure 2 , the mounting seat 200 is also provided with a second micrometer head 2 located at the other end of the slider 300 and arranged opposite to the first micrometer head 1. Correspondingly, the measuring rod of the second micrometer head 2 is arranged toward the slider 300. The structure and working principle of the second micrometer head 2 are the same as those of the first micrometer head 1 in the above-mentioned embodiment. It can be referred to the first micrometer head 1 and will not be repeated here. It can be understood that when the static compliance of the robot in the positive and negative directions of a certain axis is tested, there is no need to adjust the structure of the test device to change the test position. It is only necessary to adjust the position of the end of the robot and operate the first micrometer head 1 or the second micrometer head 2 accordingly to realize the static compliance test of the robot in the positive and negative directions of the axis. The operation is simple, time-saving and labor-saving, and the detection efficiency can be improved.

[0028] In a preferred embodiment, referring to Figure 2 The mounting seat 200 includes a base plate 210 and two limit plates 220 arranged on the base plate 210 at a relative interval. The two limit plates 220 and the base plate 210 form a linear slideway. The slider 300 is located in the linear slideway and slidably cooperates with the linear slideway. Specifically, the base plate 210 and the two limit plates 220 are both plate-shaped bodies. The limit plates 220 are fixed on the base plate 210 by bolts. The slider 300 is located in the linear slideway between the two limit plates 220 and can move linearly along the linear slideway. The structure is simple and easy to install.

[0029] Further, refer to Figure 2 The opposing surfaces of the two limit plates 220 are inclined, and the linear slideway formed is a dovetail groove, and the slider 300 is a wedge block adapted to the dovetail groove. That is, the opposing surfaces of the two limit plates 220 are inclined, so that the constructed slideway is a dovetail groove structure, and correspondingly, the slider 300 is a wedge block adapted thereto, so that the slider 300 can be limited to avoid it from being separated from the mounting seat 200 during the movement, thereby improving the compactness of the structure and ensuring the stable movement of the slider 300.

[0030] In a preferred embodiment, referring to Figure 2 The mounting seat 200 further includes two mounting blocks 230 which are arranged oppositely on the substrate 210 and are used to respectively mount the first micrometer head 1 and the second micrometer head 2. The mounting blocks 230 are provided with threaded holes, and the measuring rods of the first micrometer head 1 and the second micrometer head 2 are inserted into the threaded holes to be threadedly connected with the mounting blocks 230. Specifically, the first micrometer head 1 and the second micrometer head 2 are pre-installed on the mounting blocks 230, and the mounting blocks 230 are then locked and fixed with the substrate 210 by a plurality of bolts. The first micrometer head 1 and the second micrometer head 2 can be rotated and fed on the mounting blocks 230 by inserting into the threaded holes of the mounting blocks 230. The structure is simple and convenient for disassembly and assembly.

[0031] In a preferred embodiment, referring to Figure 2 , the fixing frame 100 is also provided with a mounting plate 500 and a rotating shaft 600 located on the mounting plate 500, and the mounting seat 200 is fixedly connected to the rotating shaft 600. Specifically, the rotating shaft 600 is horizontally arranged on the mounting seat 200 and installed through a bearing, and it can rotate around its own axis. The mounting seat 200 is located at one end of the rotating shaft 600 and is fixed by bolts, and the mounting seat 200 and the components arranged on the mounting seat 200 can rotate with the rotating shaft 600. When the test direction needs to be changed, the mounting seat 200 can be rotated, and the operation is simple and convenient. For example, after testing the Z-axis direction, the mounting seat 200 is rotated 90° to change the push-pull dynamometer 400 from a vertical setting to a horizontal setting, and adjusted to the X-axis direction for testing, and after testing the X-axis direction, the fixing frame 100 is rotated 90° and adjusted to the Y-axis direction for testing.

[0032] Further, refer to Figure 2 , the mounting plate 500 is provided with a plurality of first positioning holes 10 arranged along and around the rotating shaft 600, and the mounting seat 200 is provided with a second positioning hole 20 adapted to the first positioning hole 10, and the second positioning hole 20 is connected to one of the plurality of first positioning holes 10 through a positioning rod. Specifically, when the test direction is changed and the mounting seat 200 is rotated to a certain angle, the second positioning hole 20 thereon is positioned opposite to one of the plurality of first positioning holes 10 on the mounting plate 500, and the positioning rod is inserted between the second positioning hole 20 and the first positioning hole 10 so that the mounting seat 200 no longer rotates, thereby achieving the position fixing of the mounting seat 200. Among them, the number and setting positions of the first positioning holes 10 and the second positioning holes 20 are determined according to actual conditions.

[0033] In a preferred embodiment, referring to Figure 2 The fixed frame 100 includes a base plate 110, a plurality of guide rods 120 vertically arranged in parallel on the base plate 110, and a slide seat 130 sleeved on the guide rod 120. The mounting plate 500 is fixedly connected to the slide seat 130, and a fastener 140 is passed through the slide seat 130 to abut against the guide rod 120. Specifically, the mounting plate 500 can move up and down along the guide rod 120 through the slide seat 130, so as to adjust the position of the push-pull force gauge 400 to adapt to the end of the robot. After determining the position of the push-pull force gauge 400, the fastener 140 is abutted against the guide rod 120 to fix the slide seat 130. As a preferred design, the fastener 140 is a set screw, which is simple and convenient to operate; two guide rods 120 are provided to ensure the stability of the structure and the accuracy of the position. Refer to Figure 2 As a preferred design, a connecting plate 140 is further provided at the upper end of the guide rod 120. The connecting plate 140 is provided with connecting holes adapted to the guide rods 120. The guide rods 120 are correspondingly inserted into the connecting holes of the connecting plate 140 and are fixed by bolts. By providing the connecting plate 140 to further connect the guide rods 120, the structural stability of the fixing frame 100 can be improved.

[0034] In a preferred embodiment, referring to Figure 2 The bottom plate 110 is provided with a plurality of waist-shaped holes 30 and bolts passing through the waist-shaped holes 30 for fixing the fixing frame 100. Specifically, the fixing frame 100 is fixed by passing bolts through the waist-shaped holes 30 on the bottom plate 110 to connect with other structures, so as to facilitate assembly and disassembly. Moreover, the waist-shaped holes 30 are provided, and the fixing position and fixing direction of the fixing frame 100 can be adjusted by loosening the bolts.

[0035] In a preferred embodiment, referring to Figure 2The slider 300 is provided with a fixing plate 700, and the push-pull force gauge 400 is detachably arranged on the fixing plate 700. Specifically, the fixing plate 700 is adapted to the size of the push-pull force gauge 400 and can be a square plate. The fixing plate 700 is locked and fixed to the slider 300 by a plurality of bolts. Furthermore, the push-pull force gauge 400 is installed on the fixing plate 700 by a plurality of bolts, and the disassembly and assembly are simple, and maintenance is convenient.

[0036] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A robot static compliance testing device, characterized in that: It comprises a fixed frame, a mounting seat is provided on the fixed frame, a slider which can move linearly and a first micrometer located at one end of the slider are provided on the mounting seat, a measuring rod of the first micrometer is arranged toward the slider, a push-pull force gauge is installed on the slider, the push-pull force gauge is used to support the end of the robot, and the force measuring direction of the push-pull force gauge is consistent with the moving direction of the slider.

2. The robot static compliance testing device according to claim 1, characterized in that: The mounting seat is also provided with a second micrometer head located at the other end of the sliding block and arranged opposite to the first micrometer head.

3. The robot static compliance testing device according to claim 2, characterized in that: The mounting seat comprises a base plate and two limit plates arranged on the base plate at a relative interval, the two limit plates and the base plate are configured to form a linear slide groove, and the sliding block is located in the linear slide groove and slidably cooperates with the linear slide groove.

4. The robot static compliance testing device according to claim 3, characterized in that: The opposite surfaces of the two limit plates are arranged in an inclined plane, the linear slide groove thus constructed is a dovetail groove, and the sliding block is a wedge-shaped block matched with the dovetail groove.

5. The robot static compliance testing device according to claim 3, characterized in that: The mounting seat also includes two mounting blocks arranged opposite to each other on the substrate and used to respectively mount the first micrometer head and the second micrometer head. The mounting blocks are provided with threaded holes, and the measuring rods of the first micrometer head and the second micrometer head are inserted into the threaded holes to be threadedly connected with the mounting blocks.

6. The robot static compliance testing device according to claim 1, characterized in that: The fixing frame is also provided with a mounting plate and a rotating shaft located on the mounting plate, and the mounting seat is fixedly connected to the rotating shaft.

7. The robot static compliance testing device according to claim 6, characterized in that: The mounting plate is provided with a plurality of first positioning holes arranged around the rotating shaft, the mounting seat is provided with a second positioning hole matched with the first positioning hole, and the second positioning hole is connected to one of the plurality of first positioning holes through a positioning rod.

8. The robot static compliance testing device according to claim 6, characterized in that: The fixing frame comprises a bottom plate, a plurality of guide rods arranged vertically and in parallel on the bottom plate, and a slide seat sleeved on the guide rods; the mounting plate is fixedly connected to the slide seat, and a fastener which abuts against the guide rods is passed through the slide seat.

9. The robot static compliance testing device according to claim 8, characterized in that: The bottom plate is provided with a plurality of waist-shaped holes and bolts penetrating through the waist-shaped holes and used for fixing the fixing frame.

10. The robot static compliance testing device according to claim 1, characterized in that: The sliding block is provided with a fixing plate, and the push-pull force gauge is detachably arranged on the fixing plate.

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