Robot drive control key performance test platform

Abstract

The present invention relates to the field of measurement and testing technology, and in particular to a robot driving and controlling key performance test platform, comprising a test bench, a manual adjustment component and a passive adjustment component are fixedly installed on the top of the test bench, the manual adjustment component is perpendicular to the passive adjustment component, a robot movable arm A is installed on the manual adjustment component, and a robot movable arm B is installed on the passive adjustment component. The present invention sets the passive adjustment component, the robot movable arm A and the robot movable arm B, and the test can measure the compression resistance and load resistance of the movable joint, and the electric push rod is energized to make the whole joint operate, and the reaction force curve of the electric push rod can be measured, and the influence of the load on the joint can be obtained. Moreover, according to the movement amount of the slide B, the operation accuracy can be tested, and it can also be tested for a long time when no one is around, so as to judge the reliability of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of measurement and testing, in particular to a robot driving and controlling key performance testing platform. Background Art

[0002] With the continuous development of modern science and technology, robots are gradually being used in many fields, replacing human labor to complete some tedious or dangerous tasks, which has brought great convenience to production and life. Therefore, the key performance of robot control, such as safety and reliability, is the primary guarantee.

[0003] Generally speaking, robots achieve motion trajectory output with different degrees of freedom through the combined movement of multiple joints to complete preset actions. During the operation of the robot, the torque and bending moment applied by the load on the robot's joints will affect the stability of the joint output power, causing the joint output torque to fluctuate. After long-term use, the joints are prone to wear and even damage, which will inevitably affect the safety and reliability of the drive control. Therefore, the robot needs to simulate the joints to reflect the control accuracy, safety, reliability, etc. of the key performance of the drive control.

[0004] One detection method disclosed in the prior art is to use a cantilever bracket, a first hydraulic servo drive unit, a torque motor and a matching controller, an angular displacement sensor bracket, an angular displacement sensor, a swing unit, several sleeves and other components; the base of the cantilever bracket is fixed on the ground, the angular displacement sensor bracket, the torque motor and the matching controller are fixed on the cantilever end of the cantilever bracket, the angular displacement sensor is fixed on the angular displacement sensor bracket and connected to the output shaft of the torque motor, the swing unit and the sleeve are connected in series to the output shaft of the torque motor, one end of the first hydraulic servo drive unit is connected to the cantilever bracket support ear, and the other end is connected to the swing unit; through the above, the change of the joint rotational inertia of the robot operating arm under different positions can be simulated. However, these all require the hydraulic servo drive to operate normally and the motion characteristics are known, which cannot be guaranteed for tests under load. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a robot drive control key performance testing platform to realize the testing of the robot's performance including but not limited to functionality (motion repeatability, motion accuracy, trajectory characteristics, etc.), real-time (beat, compliance evaluation, etc.), safety (control stability, emergency stop response time, etc.), reliability (fault tolerance, recoverability) and so on.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a robot drive controller key performance test platform, including a test bench, a manual adjustment component and a passive adjustment component are fixedly installed on the test bench, the manual adjustment component is perpendicular to the passive adjustment component, a robot movable arm A is installed on the manual adjustment component, and a robot movable arm B is installed on the passive adjustment component;

[0007] The robot movable arm A comprises a driving joint A, a driving joint B and an arm A. The driving joint A is fixed on the manual adjustment component, the arm A is installed on the driving joint A, the driving joint A can drive the arm A to swing, and the driving joint B is installed on the back of the arm A away from the driving joint A.

[0008] It also includes a test slide bar and a test counterweight. The test slide bar is fixed on the front side of one end of the arm A away from the driving joint A. A plurality of test counterweights are provided and can be slidably sleeved on the test slide bar.

[0009] The robot movable arm B includes a driving joint C and an arm B. The driving joint C is fixedly mounted on the passive adjustment component, the arm B is mounted on the driving joint C, and the end of the driving joint B away from the arm A can be mounted on the end of the arm B away from the driving joint C.

[0010] Furthermore, the manual adjustment assembly of the present invention comprises a guide rail A, a slide A, a bracket A and a fixed seat A, the guide rail A is fixed on the test bench, the slide A is clamped on the guide rail A and slidably connected thereto, the bracket A is fixed on the slide A, and the fixed seat A is fixed to an end of the bracket A away from the slide A;

[0011] It also includes a screw rod, which passes through the bracket A, both ends of the screw rod are supported by the test bench and rotatably connected thereto, the screw rod is threadedly connected to the bracket A, and one end of the screw rod extends out of the test bench and is fixedly mounted with a handle;

[0012] The driving joint A is fixed on the fixing seat A.

[0013] Furthermore, the manual adjustment assembly of the present invention also includes a displacement sensor 1, which is installed at the bottom of the slide A and is used to determine the position of the slide A on the test bench.

[0014] Furthermore, the passive adjustment assembly of the present invention comprises a guide rail B, a slide B, a bracket B and a fixed seat B, the guide rail B is fixed on the test bench, the slide B is clamped on the guide rail B and slidably connected thereto, the bracket B is fixed on the slide B, and the fixed seat B is fixed to an end of the bracket B away from the slide B;

[0015] It also includes an electric push rod, whose fixed end is fixed on the test bench and whose telescopic end is fixedly connected to the slide table B;

[0016] The driving joint C is fixed on the fixed seat B.

[0017] Furthermore, the passive adjustment assembly of the present invention also includes a second displacement sensor installed at the bottom of the slide B, which is used to determine the position of the slide B on the test bench.

[0018] Furthermore, a connecting rod is fixedly mounted on the movable end of the electric push rod of the present invention. The connecting rod extends to and is fixed to the slide B. A pressure sensor is mounted on the connecting rod.

[0019] The beneficial effects of the present invention are that the defects existing in the background technology are solved.

[0020] 1. The present invention sets a passive adjustment component, a robot movable arm A and a robot movable arm B. When the driving joint A is installed on the fixed seat A, the arm A can be freely driven to swing to perform a swing test. Then, a test counterweight is gradually installed on the test slide bar to make the arm A operate under a certain load. After a long period of operation, it is determined whether there is a transmission gap between the driving joint A and the arm A. The robot movable arm A is connected with the robot movable arm B to form a set of movable joints. The test can determine the compression and load resistance of the movable joints. The electric push rod is energized to make the entire joint operate. The reaction force curve of the electric push rod can be determined, and the influence of the load on the joint can be obtained. In addition, the operation accuracy can be tested according to the movement of the slide B. It can also be tested for a long time when no one is around to judge the reliability of the robot.

[0021] 2. The present invention provides a manual adjustment component and adjusts the screw to change the position of the slide A, so that after the robot movable arm A and the robot movable arm B are connected, the radial tension between the two can be increased, and the entire movable arm can be tested when subjected to a radial load. After a long period of measurement, it is possible to judge the operation of the machine, whether there is oil leakage in the joint, whether the drive controller can work normally, and whether it can work accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a front view of the structure of the present invention;

[0024] Figure 3 It is a top view of the structure of the present invention;

[0025] Figure 4 This is a structural exploded view of the movable arm A of the robot of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the manual adjustment component of the present invention.

[0027] In the figure: 1. test bench; 2. manual adjustment component; 201. guide rail A; 202. slide A; 203. bracket A; 204. fixed seat A; 205. screw; 206. handle; 3. passive adjustment component; 301. guide rail B; 302. slide B; 303. bracket B; 304. fixed seat B; 305. electric push rod; 306. connecting rod; 4. robot movable arm A; 401. drive joint A; 402. drive joint B; 403. arm A; 404. test slide; 405. test counterweight; 5. robot movable arm B; 501. drive joint C; 502. arm B. DETAILED DESCRIPTION

[0028] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0029] like Figure 1-5 A robot driving and control key performance test platform shown in the figure comprises a test bench 1, a manual adjustment component 2 and a passive adjustment component 3 are fixedly installed on the test bench 1, the manual adjustment component 2 is perpendicular to the passive adjustment component 3, a robot movable arm A4 is installed on the manual adjustment component 2, and a robot movable arm B5 is installed on the passive adjustment component 3;

[0030] The robot movable arm A4 includes a driving joint A401, a driving joint B402 and an arm A403. The driving joint A401 is fixed on the manual adjustment component 2. The arm A403 is installed on the driving joint A401. The driving joint A401 can drive the arm A403 to swing. The driving joint B402 is installed on the back of the arm A403 at one end away from the driving joint A401.

[0031] It also includes a test slide bar 404 and a test counterweight 405. The test slide bar 404 is fixed on the front side of one end of the arm A403 away from the driving joint A401. A plurality of test counterweights 405 are provided and can be slidably sleeved on the test slide bar 404.

[0032] The robot movable arm B5 includes a driving joint C501 and an arm B502. The driving joint C501 is fixedly mounted on the passive adjustment component 3, and the arm B502 is mounted on the driving joint C501. The driving joint B402 can be mounted on one end of the arm B502 away from the driving joint C501.

[0033] The test bench 1 is connected to a computer, and is installed with hydraulic oil circuits and circuits. After the tested parts are installed, the joints need to be connected to the oil circuits and circuits. The parameters of the oil circuits and circuits are detected by the computer. The robot movable arm A4 and the robot movable arm B5 are two groups of robot arms to be tested. Multiple test weights 405 are usually set up and placed on the test bench 1. When testing, the staff can assemble different numbers of test weights 405 according to the parameters.

[0034] When the driving joint B402 connects the arm A403 and the arm B502, the connection method can be a quick-release coupling for easy detection, or a normal coupling in the prior art can be used for connection, so as to ensure that the rotational force of the driving joint B402 can be transmitted to the arm A403 or the arm B502; in this process, it is necessary to operate the manual adjustment component 2 to move the arm A403 toward the arm B502 until the driving joint B402 can be connected to the arm B502.

[0035] The manual adjustment assembly 2 includes a guide rail A201, a slide A202, a bracket A203 and a fixed seat A204, the guide rail A201 is fixed on the test bench 1, the slide A202 is clamped on the guide rail A201 and slidably connected thereto, the bracket A203 is fixed on the slide A202, and the fixed seat A204 is fixed to one end of the bracket A203 away from the slide A202;

[0036] It also includes a screw rod 205, the screw rod 205 passes through the bracket A203, both ends of the screw rod 205 are supported by the test bench 1 and are rotatably connected thereto, the screw rod 205 is threadedly connected to the bracket A203, one end of the screw rod 205 extends out of the test bench 1 and is fixedly mounted with a handle 206;

[0037] The driving joint A401 is fixed on the fixing seat A204.

[0038] When the handle 206 is rotated, the position of the entire robot movable arm A4 can be shifted through the screw 205, so that it can be separated from the robot movable arm B5, or a pulling separation force can be applied when the two are connected together, so as to facilitate the operating accuracy of the robot arm driver in testing the lateral load.

[0039] The manual adjustment component 2 also includes a displacement sensor 1, which is installed at the bottom of the slide A202 and is used to determine the position of the slide A202 on the test bench 1.

[0040] The passive adjustment component 3 includes a guide rail B301, a slide B302, a bracket B303 and a fixed seat B304, the guide rail B301 is fixed on the test bench 1, the slide B302 is clamped on the guide rail B301 and slidably connected thereto, the bracket B303 is fixed on the slide B302, and the fixed seat B304 is fixed to one end of the bracket B303 away from the slide B302;

[0041] It also includes an electric push rod 305, whose fixed end is fixed on the test bench 1, and whose telescopic end is fixedly connected to the slide table B302;

[0042] The driving joint C501 is fixed on the fixing seat B304.

[0043] The passive adjustment component 3 also includes a displacement sensor 2 installed at the bottom of the slide B302 for determining the position of the slide B302 on the test bench 1 .

[0044] Displacement sensor 1 and displacement sensor 2 are both metal linear sensors that can output displacement in digital form. The range must meet the requirements when used.

[0045] A connecting rod 306 is fixedly mounted on the movable end of the electric push rod 305 . The connecting rod 306 extends to and is fixed to the slide B302 . A pressure sensor is mounted on the connecting rod 306 .

[0046] The electric push rod 305 adopts an electric hydraulic linear drive, which can output linear motion after being powered on.

[0047] During the test, the driving joint A401 can be installed on the fixed seat A204, the driving joint C501 can be fixed on the fixed seat B304, and the oil circuit can be connected. When the driving joint A401 is installed on the fixed seat A204, the arm A403 can be freely driven to swing, and the swing life test is performed. Then the test counterweight 405 is gradually installed on the test slide 404, so that the arm A403 operates under a certain load. After a long period of operation, it is determined whether there is a transmission gap between the driving joint A401 and the arm A403; the robot movable arm A4 can also be connected to the robot movable arm B5 to form a set of movable joints. The test can determine the movable joint The anti-compression and anti-load capabilities; the electric push rod 305 is energized to make the whole joint operate under a certain resistance. The reaction force curve of the electric push rod 305 can be measured, and the influence of the load on the joint can be obtained. Moreover, according to the movement of the slide B302, the operation accuracy can be tested. The screw 205 is adjusted to change the position of the slide A202, so that after the robot movable arm A4 and the robot movable arm B5 are connected, the radial tension between the two can be increased, and the whole movable arm can be tested when subjected to radial load. Under long-term measurement, it is possible to judge the operation condition of the machine, whether there is oil leakage at the joint, whether the drive controller can work normally, and whether it can work accurately.

[0048] The above description only describes the specific implementation mode of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can modify or deform the specific implementation modes described above without departing from the essence and scope of the invention.

Claims

1. A robot drive control key performance test platform, comprising a test bench (1), characterized in that: A manual adjustment component (2) and a passive adjustment component (3) are fixedly installed above the test bench (1); the manual adjustment component (2) is perpendicular to the passive adjustment component (3); a robot movable arm A (4) is installed on the manual adjustment component (2), and a robot movable arm B (5) is installed on the passive adjustment component (3); The robot movable arm A (4) comprises a driving joint A (401), a driving joint B (402) and an arm A (403), wherein the driving joint A (401) is fixed to the manual adjustment component (2), the arm A (403) is mounted on the driving joint A (401), the driving joint A (401) is capable of driving the arm A (403) to swing, and the driving joint B (402) is mounted on the back of one end of the arm A (403) away from the driving joint A (401); It also includes a test slide bar (404) and a test counterweight (405), wherein the test slide bar (404) is fixed on the front side of one end of the arm A (403) away from the driving joint A (401), and a plurality of the test counterweights (405) are provided and can be slidably sleeved on the test slide bar (404); The robot movable arm B (5) comprises a driving joint C (501) and an arm B (502), wherein the driving joint C (501) is fixedly mounted on the passive adjustment component (3), the arm B (502) is mounted on the driving joint C (501), and an end of the driving joint B (402) away from the arm A (403) can be mounted on an end of the arm B (502) away from the driving joint C (501); The manual adjustment assembly (2) comprises a guide rail A (201), a slide A (202), a bracket A (203) and a fixed seat A (204), wherein the guide rail A (201) is fixed on the test bench (1), the slide A (202) is clamped on the guide rail A (201) and slidably connected thereto, the bracket A (203) is fixed on the slide A (202), and the fixed seat A (204) is fixed to an end of the bracket A (203) away from the slide A (202); The manual adjustment assembly (2) further comprises a screw rod (205), wherein the screw rod (205) passes through the bracket A (203), both ends of the screw rod (205) are supported by the test bench (1) and are rotatably connected thereto, the screw rod (205) is threadedly connected to the bracket A (203), and one end of the screw rod (205) extends out of the test bench (1) and is fixedly mounted with a handle (206); The driving joint A (401) is fixed on a fixing seat A (204); The passive adjustment component (3) comprises a guide rail B (301), a slide B (302), a bracket B (303) and a fixed seat B (304), wherein the guide rail B (301) is fixed on the test bench (1), the slide B (302) is clamped on the guide rail B (301) and slidably connected thereto, the bracket B (303) is fixed on the slide B (302), and the fixed seat B (304) is fixed to an end of the bracket B (303) away from the slide B (302); It also includes an electric push rod (305), the fixed end of the electric push rod (305) is fixed on the test bench (1), and the telescopic end of the electric push rod (305) is fixedly connected to the slide table B (302); The driving joint C (501) is fixed on the fixing seat B (304); The passive adjustment component (3) further comprises a second displacement sensor, which is installed at the bottom of the slide B (302) and is used to determine the position of the slide B (302) on the test bench (1).

2. The robot drive control key performance test platform according to claim 1 is characterized by: The manual adjustment component (2) further comprises a displacement sensor 1, wherein the displacement sensor 1 is installed at the bottom of the slide A (202) and is used to determine the position of the slide A (202) on the test bench (1).

3. The robot drive control key performance test platform according to claim 1 is characterized by: A connecting rod (306) is fixedly mounted on the movable end of the electric push rod (305); the connecting rod (306) extends to and is fixed to the slide table B (302); and a pressure sensor is mounted on the connecting rod (306).

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