A fatigue testing device for a mechanical arm

Abstract

The present invention relates to a fatigue testing device for a mechanical arm applied to the field of mechanical arm detection, comprising a body and a material block, a mechanical arm is installed on the top of the body, and the body is located at both ends of the mechanical arm and is respectively fixedly connected with a right platform and a left platform, a side of the body located at the bottom end of the left platform is provided with a left testing cavity, the bottom end of the left testing cavity is fixedly connected with a sleeve, the inside of the sleeve is slidably connected with a lifting rod, the top end of the lifting rod is fixedly connected with the bottom end of the left platform, when the mechanical arm is tested, the material block is grabbed by the mechanical arm and moved back and forth on the right platform and the left platform, which can simulate the real load of the mechanical arm in the actual application scene, so that the testing effect of the mechanical arm is more accurate, and at the same time, the displacement deviation of different parts of the mechanical arm can be obtained through a single left distance sensor, a large number of sensors are subtracted while ensuring the testing effect, and the cost is reduced while the stability of the test result is improved.

Description

Technical Field

[0001] The invention relates to a fatigue testing device, in particular to a fatigue testing device for a mechanical arm applied in the field of mechanical arm detection. Background Art

[0002] The main purpose of the robot arm fatigue test is to verify the durability and reliability of the robot arm under long-term operation or repeated loads. By simulating actual working conditions, the fatigue life of the robot arm is tested to ensure that it can work normally within the design life and avoid failure or performance degradation due to fatigue. The invention patent with application number CN116893114A discloses a fatigue testing device based on a robot arm. During the test, the displacement distance data generated by the movement of the robot arm body is collected and recorded through the sensor component, and the swing data of the robot arm is recorded through the recording strip to complete the swing test of the robot arm.

[0003] However, the test results of this method are single and can only record a single displacement deviation of the robot arm. The test results are not reliable. At the same time, the robot arm needs to clamp materials when working. The no-load test of the robot arm cannot better reflect the actual application scenario, so further improvement is needed. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the above-mentioned invention can only record a single displacement deviation of the robotic arm, and the test result is not reliable. At the same time, the robotic arm needs to clamp materials when working, and the no-load test of the robotic arm cannot better reflect the actual application scenario, so further improvement is needed.

[0005] To solve the above problems, the present invention provides a fatigue testing device for a mechanical arm, comprising a body and a material block, a mechanical arm is installed on the top of the body, and the body is located at both ends of the two sides of the mechanical arm and is fixedly connected to a right platform and a left platform respectively, a left test cavity is opened on one side of the body located at the bottom end of the left platform, the bottom end of the left test cavity is fixedly connected with a sleeve, a lifting rod is slidably connected inside the sleeve, the top end of the lifting rod is fixedly connected to the bottom end of the left platform, a top spring is fixedly connected between the bottom end of the lifting rod and the bottom end of the sleeve, a passive strip is slidably connected to the inner wall of the left test cavity located on one side of the sleeve, a left distance sensor is fixedly connected to the inner wall of the left test cavity located on the lower side of the passive strip, the lifting rod and the passive strip are connected by a transmission, a push sleeve is fixedly connected to one end of the body close to the left platform, the push sleeve is arranged on the outer side of the left platform, the inner wall of the push sleeve is in contact with and slidably connected to the outer wall of the left platform, and the edge of the material block is flush with the edge of the left platform.

[0006] As a further improvement of the present application, the transmission device includes a driving bar slidably connected to the inner wall of the left test cavity, the driving bar is fixedly connected to the lifting rod, and racks are fixedly installed on the sides of the driving bar and the passive bar that are close to each other.

[0007] As a further improvement of the present application, a large gear and a small gear rotatably connected to the inner wall of the left test chamber are arranged between the driving bar and the passive bar. The large gear and the small gear are meshingly connected, and the large gear and the small gear are respectively meshingly connected to the two racks. Through the above arrangement, the moving distance of the passive bar can be amplified, so that the left distance sensor can better detect the displacement distance of the passive bar.

[0008] As a further improvement of the present application, the top of the material block is fixedly connected to an inner core, a plurality of counterweight bars are arranged on the outside of the material block, the right end and the lower end of the counterweight bar are fixedly connected to a slider, and the left end and the top of the counterweight bar are provided with a slide groove matching the slider.

[0009] As another improvement of the present application, the sliders on the multiple counterweight bars are located on the inner side of the slide groove and are slidably connected, the multiple counterweight bars are distributed in a circular shape, and the innermost counterweight bar is fixedly connected to the material block.

[0010] As another improvement supplement of the present application, the right platform is configured to be box-shaped, the edge of the right platform is flush with the edge of the material block, a right test cavity is opened at one end of the machine body located at the lower side of the right platform, and an air duct and an exhaust fan are fixedly connected to the inner wall of the right test cavity, and the exhaust fan is located at the lower side of the air duct.

[0011] As another improved supplement of the present application, a connecting pipe is fixedly connected between the top end of the air duct and the bottom end of the right platform, and the bottom end of the air duct is connected to the input end of the exhaust fan.

[0012] As another improvement of the present application, the inner wall of the air duct is slidably connected with a wind receiving plate, a surface of the wind receiving plate is penetrated with a plurality of wind holes, and a push spring is fixedly connected between the bottom end of the wind receiving plate and the bottom end of the air duct.

[0013] As another improvement of the present application, a side hole is opened on the side wall of the air duct, and the side wall of the wind receiving plate is fixedly connected to an extension plate and the extension plate passes through the side hole. The right test cavity is located at one end on the lower side of the extension plate and is fixedly connected to a right distance sensor. The displacement deviation of the robotic arm on the right platform is obtained in another way, which increases the sampling data of the robotic arm fatigue test and makes the test result of the robotic arm more accurate.

[0014] To sum up, when testing the robotic arm, by grabbing the material block and moving it back and forth on the right platform and the left platform, the real load of the robotic arm in the actual application scenario can be simulated, making the test effect of the robotic arm more accurate. At the same time, the displacement deviation of different parts of the robotic arm can be obtained through a single left distance sensor, which eliminates a large number of sensors while ensuring the test effect, reduces costs and improves the stability of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is a front cross-sectional view of the machine body in the first and second embodiments of the present application;

[0016] Figure 2 It is a front cross-sectional view of the left test cavity in the first and second embodiments of the present application;

[0017] Figure 3 This is a state diagram of the material block on the left platform when a deviation occurs in the first embodiment of the present application;

[0018] Figure 4 This is a top cross-sectional view of a material block in the first embodiment of the present application;

[0019] Figure 5 This is a top view of the balancing weight bar in the first embodiment of the present application;

[0020] Figure 6 This is a state diagram of the counterweight bar when it is disassembled in the first embodiment of the present application;

[0021] Figure 7 This is a front cross-sectional view of the counterweight bar in the first embodiment of the present application;

[0022] Figure 8 This is a state diagram of two adjacent counterweight bars sliding in the first embodiment of the present application;

[0023] Fig. 9 This is a front cross-sectional view of the right test cavity in the second embodiment of the present application.

[0024] Description of the numbers in the figure:

[0025] 1. Machine body; 2. Robotic arm; 3. Right platform; 4. Left platform; 5. Left test chamber; 6. Casing; 7. Lifting rod; 8. Material block; 801. Inner core; 802. Counterweight bar; 8021. Slider; 8022. Slide; 9. Left distance sensor; 10. Driving bar; 1001. Rack; 1002. Large gear; 1003. Small gear; 11. Passive bar; 12. Top spring; 13. Push sleeve; 14. Right test chamber; 15. Air duct; 16. Connecting pipe; 17. Exhaust fan; 18. Wind receiving plate; 19. Push spring; 20. Side hole; 21. Extension plate; 22. Air hole; 23. Right distance sensor. DETAILED DESCRIPTION

[0026] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0027] The first implementation method:

[0028] Figure 1-8A fatigue test device for a mechanical arm is shown, comprising a body 1 and a material block 8, a mechanical arm 2 is installed on the top of the body 1, and the two ends of the body 1 located on both sides of the mechanical arm 2 are respectively fixedly connected to a right platform 3 and a left platform 4, a left test cavity 5 is opened on one side of the body 1 located at the bottom of the left platform 4, a sleeve 6 is fixedly connected to the bottom of the left test cavity 5, a lifting rod 7 is slidably connected inside the sleeve 6, the top of the lifting rod 7 is fixedly connected to the bottom of the left platform 4, and the bottom of the lifting rod 7 is fixedly connected to the bottom of the sleeve 6. A top spring 12 is connected, the inner wall of the left test chamber 5 on one side of the sleeve 6 is slidably connected to a passive strip 11, the inner wall of the left test chamber 5 on the lower side of the passive strip 11 is fixedly connected to a left distance sensor 9, the lifting rod 7 and the passive strip 11 are connected by a transmission, the end of the body 1 close to the left platform 4 is fixedly connected to a push sleeve 13, the push sleeve 13 is sleeved on the outer side of the left platform 4, the inner wall of the push sleeve 13 is in contact with the outer wall of the left platform 4 and is slidably connected thereto, and the edge of the material block 8 is flush with the edge of the left platform 4.

[0029] When testing the robotic arm 2, by grabbing the material block 8 and moving it back and forth on the right platform 3 and the left platform 4, the real load of the robotic arm 2 in the actual application scenario can be simulated, making the test effect of the robotic arm 2 more accurate. When the robotic arm 2 grabs the material block 8 and places it on the left platform 4 in a normal state, the edge of the material block 8 is aligned with the edge of the left platform 4, and the material block 8 drives the left platform 4 to move downward. After the left platform 4 moves downward, it drives the passive bar 11 to move downward through the transmission. When the passive bar 11 moves downward, the moving distance of the passive bar 11 is obtained by the push sleeve 13.

[0030] When the robot arm 2 becomes fatigued after long-term testing and the material block 8 is placed on the left platform 4, the material block 8 is offset. At this time, part of the edge of the material block 8 exceeds the left platform 4. The material block 8 exceeding the edge of the left platform 4 is lifted up by the push sleeve 13, causing the weight of the material block 8 placed on the left platform 4 to become lower.

[0031] The fatigue deviation of the robot arm 2 when carrying the material block 8 on the left platform 4 is obtained through the connecting pipe 16 .

[0032] At the same time, the displacement deviations of different parts of the robot arm 2 can be obtained through a single left distance sensor 9, which reduces a large number of sensors while ensuring the test effect, reduces costs and improves the stability of the test results.

[0033] The top of the material block 8 is fixedly connected to the inner core 801, and a plurality of counterweight bars 802 are arranged on the outside of the material block 8. The right end and the lower end of the counterweight bar 802 are fixedly connected to the slider 8021, and the left end and the top of the counterweight bar 802 are provided with a slide groove 8022 matching the slider 8021. The sliders 8021 on the plurality of counterweight bars 802 are located on the inner side of the slide groove 8022 and are slidably connected. The plurality of counterweight bars 802 are distributed in a circular shape, and the innermost counterweight bar 802 is fixedly connected to the material block 8.

[0034] Through the above arrangement, when the edge of the material block 8 exceeds the edge of the left platform 4, part of the counterweight bar 802 is located on the upper side of the left distance sensor 9. At this time, when the left platform 4 descends, the counterweight bar 802 located on the upper side of the left distance sensor 9 contacts the left distance sensor 9, and the weight of this part of the counterweight bar 802 is not applied to the left platform 4. When the right platform 3 grabs the material block 8 and moves upward, multiple counterweight bars 802 are reset under the action of gravity.

[0035] The second implementation method:

[0036] Figure 1-2 and Fig. 9 A fatigue testing device for a robotic arm is shown. Different from the first embodiment, the transmission device includes a driving bar 10 slidably connected to the inner wall of the left test cavity 5, the driving bar 10 is fixedly connected to the lifting rod 7, and racks 1001 are fixedly installed on the sides of the driving bar 10 and the passive bar 11 that are close to each other. A large gear 1002 and a small gear 1003 that are rotatably connected to the inner wall of the left test cavity 5 are arranged between the driving bar 10 and the passive bar 11, the large gear 1002 and the small gear 1003 are meshedly connected, and the large gear 1002 and the small gear 1003 are respectively meshedly connected to the two racks 1001.

[0037] When the lifting rod 7 descends, it can drive the driving bar 10 to descend. When the driving bar 10 descends, it drives the passive bar 11 to move downward under the action of the large gear 1002 and the small gear 1003. Since the large gear 1002 is larger than the small gear 1003, the driving bar 10 can be driven when it descends a distance. Through the above settings, the moving distance of the passive bar 11 can be magnified, so that the left distance sensor 9 can better detect the displacement distance of the passive bar 11.

[0038] The right platform 3 is set to be box-shaped, and the edge of the right platform 3 is flush with the edge of the material block 8. A right test chamber 14 is opened at one end of the machine body 1 located at the lower side of the right platform 3, and an air duct 15 and an exhaust fan 17 are fixedly connected to the inner wall of the right test chamber 14. The exhaust fan 17 is located at the lower side of the air duct 15, and a connecting pipe 16 is fixedly connected between the top of the air duct 15 and the bottom end of the right platform 3. The bottom end of the air duct 15 is connected to the input end of the exhaust fan 17, and a wind receiving plate 18 is slidably connected to the inner wall of the air duct 15. A plurality of wind holes 22 are penetrated through the surface of the wind receiving plate 18, and a push spring 19 is fixedly connected between the bottom end of the wind receiving plate 18 and the bottom end of the air duct 15. A side hole 20 is opened on the side wall of the air duct 15, and an extension plate 21 is fixedly connected to the side wall of the wind receiving plate 18 and the extension plate 21 penetrates the side hole 20. A right distance sensor 23 is fixedly connected to one end of the right test chamber 14 located at the lower side of the extension plate 21.

[0039] When the robot arm 2 grabs the material block 8 and places it on the right platform 3 in a normal state, the edge of the material block 8 is aligned with the edge of the right platform 3, and then the exhaust fan 17 is started to extract the air inside the right platform 3. Since the right platform 3 is blocked by the material block 8, the amount of gas flowing into the air duct 15 through the connecting pipe 16 is small at this time, and the descending distance of the wind receiving plate 18 is small.

[0040] When the robot arm 2 becomes fatigued after a long period of testing and the material block 8 is placed on the right platform 3, the material block 8 is offset. At this time, part of the edge of the material block 8 exceeds the right platform 3, and then the exhaust fan 17 is started to extract the air inside the right platform 3. At this time, the edge of the right platform 3 leaks, and a large amount of gas flows into the air duct 15 through the connecting pipe 16, and the wind receiving plate 18 drops a large distance.

[0041] The wind receiving plate 18 drives the wind hole 22 to move when it moves. By obtaining the moving distance of the wind hole 22 through the right distance sensor 23, the fatigue deviation of the robot arm 2 when the material block 8 is transported on the right platform 3 can be calculated.

[0042] The displacement deviation of the robot arm 2 on the right platform 3 is obtained by another method with fewer sensors, which increases the sampling data of the fatigue test of the robot arm 2 and makes the test result of the robot arm 2 more accurate.

[0043] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A fatigue testing device for a mechanical arm, comprising a body (1) and a material block (8), wherein a mechanical arm (2) is mounted on the top of the body (1), and characterized in that: The machine body (1) is located on both sides of the mechanical arm (2), and the two ends thereof are respectively fixedly connected to a right platform (3) and a left platform (4). A left test chamber (5) is provided on one side of the machine body (1) located at the bottom of the left platform (4). The bottom end of the left test chamber (5) is fixedly connected to a sleeve (6). A lifting rod (7) is slidably connected inside the sleeve (6). The top end of the lifting rod (7) is fixedly connected to the bottom end of the left platform (4). A top spring (12) is fixedly connected between the bottom end of the lifting rod (7) and the bottom end of the sleeve (6). The inner wall of the left test chamber (5) located on one side of the sleeve (6) is slidably connected to a passive strip (11). The inner wall of the left test chamber (5) located on the lower side of the passive strip (11) is fixedly connected to a left distance sensor (9). The lifting rod (7) and the passive strip (11) are connected via a transmission. The end of the machine body (1) close to the left platform (4) is fixedly connected to A push sleeve (13) is provided, the push sleeve (13) being sleeved on the outer side of the left platform (4), the inner wall of the push sleeve (13) being in contact with and slidably connected to the outer wall of the left platform (4), the top end of the material block (8) being fixedly connected to an inner core (801), a plurality of counterweight bars (802) being provided on the outer side of the material block (8), the right end and the lower end of the counterweight bar (802) being fixedly connected to a slider (8021), the left end and the top end of the counterweight bar (802) being provided with a slide groove (8022) matching the slider (8021), the sliders (8021) on the plurality of counterweight bars (802) being located on the inner side of the slide groove (8022) and being slidably connected, the plurality of counterweight bars (802) being distributed in a circular shape, the innermost counterweight bar (802) being fixedly connected to the material block (8), and the edge of the outermost counterweight bar (802) being flush with the edge of the left platform (4).

2. A fatigue testing device for a robotic arm according to claim 1, characterized in that: The transmission device comprises a driving bar (10) slidably connected to the inner wall of the left test chamber (5), the driving bar (10) being fixedly connected to the lifting rod (7), and a rack (1001) being fixedly mounted on a surface of the driving bar (10) and the passive bar (11) that are close to each other.

3. A fatigue testing device for a mechanical arm according to claim 2, characterized in that: A large gear (1002) and a small gear (1003) rotatably connected to the inner wall of the left test chamber (5) are provided between the driving bar (10) and the passive bar (11); the large gear (1002) and the small gear (1003) are meshingly connected, and the large gear (1002) and the small gear (1003) are respectively meshingly connected to the two racks (1001).

4. The fatigue testing device for a mechanical arm according to claim 1, characterized in that: The right platform (3) is configured to be box-shaped, the edge of the right platform (3) being flush with the edge of the outermost counterweight bar (802), a right test chamber (14) being provided at one end of the machine body (1) located at the lower side of the right platform (3), an air duct (15) and an exhaust fan (17) being fixedly connected to the inner wall of the right test chamber (14), and the exhaust fan (17) being located at the lower side of the air duct (15).

5. A fatigue testing device for a mechanical arm according to claim 4, characterized in that: A connecting pipe (16) is fixedly connected between the top end of the air duct (15) and the bottom end of the right platform (3), and the bottom end of the air duct (15) is connected to the input end of the exhaust fan (17).

6. A fatigue testing device for a mechanical arm according to claim 5, characterized in that: The inner wall of the air duct (15) is slidably connected to a wind receiving plate (18), a surface of the wind receiving plate (18) is penetrated by a plurality of wind holes (22), and a push spring (19) is fixedly connected between the bottom end of the wind receiving plate (18) and the bottom end of the air duct (15).

7. A fatigue testing device for a mechanical arm according to claim 6, characterized in that: A side hole (20) is formed on the side wall of the air duct (15); an extension plate (21) is fixedly connected to the side wall of the wind receiving plate (18), and the extension plate (21) passes through the side hole (20); and a right distance sensor (23) is fixedly connected to one end of the right test cavity (14) located below the extension plate (21).

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