A testing device and method for dynamic characteristics of rope end and rope transmission efficiency

Abstract

The present application provides a testing device and method for the dynamic characteristics of the end of a rope and the rope transmission efficiency, and relates to the technical field of robot performance testing. A testing device for the dynamic characteristics of the end of a rope and the rope transmission efficiency, comprising: a first sensor module, fixedly arranged on a first fixed platform; a second sensor module, fixedly arranged on a second fixed platform; a temperature control module, arranged between the first fixed platform and the second fixed platform, the temperature control module comprising a fixed platform; a transmission module, fixedly arranged on the fixed platform; a load module, fixedly connected to the second fixed platform; a rope driving module, fixedly arranged on the first fixed platform or the fixed platform, the rope driving module, the first sensor module, the second sensor module, the transmission module and the load module are connected by ropes, so that the rope driving module can drive the load module through the rope after passing through the first sensor module, the second sensor module and the transmission module.

Description

Technical Field

[0001] The present application relates to the technical field of robot performance testing, and in particular to a testing device and method for testing the dynamic characteristics of a rope end and the rope transmission efficiency. Background Art

[0002] There are many types of driving devices and transmission devices for robots or manipulators. Among them, driving devices include motor drive, hydraulic drive, etc. Transmission devices include connecting rod drive, gear drive and rope drive, etc. Different driving devices and transmission devices make robots or manipulators show different characteristics, such as force control characteristics and kinematic characteristics.

[0003] In the case of a rope as a transmission device, a motor is generally used as a driving device to pull the rope through a drum or a lead screw. The specific structure of the transmission includes a pulley, a through hole, a sleeve, etc.

[0004] Under different temperatures and different transmission structures, the rope drive or rope transmission will exhibit different characteristics (including the dynamic characteristics of the rope end or the dynamic characteristics of the drive system, and the rope transmission efficiency, etc.), thus affecting the characteristics of the robot or robotic arm.

[0005] At present, most of the test schemes for rope transmission are rope tension test and rope end displacement error test, and there is no test scheme related to the dynamic characteristics of the rope end and the rope transmission efficiency. In addition, the current rope tension test and end displacement error test schemes have measurement errors caused by poor sensor installation positions. For example, the signal line of the force or displacement sensor moves with the rope, resulting in tension in the signal line, which causes errors in the test results of the force sensor. Summary of the invention

[0006] According to one aspect of the present application, a testing device for the dynamic characteristics of a rope end and the rope transmission efficiency is provided, comprising: a first sensor module, fixedly arranged on a first fixed platform; a second sensor module, fixedly arranged on a second fixed platform; a temperature control module, arranged between the first fixed platform and the second fixed platform, the temperature control module comprising a fixed platform; a transmission module, fixedly arranged on the fixed platform; a load module, fixedly connected to the second fixed platform; a rope driving module, fixedly arranged on the first fixed platform or the fixed platform, the rope driving module, the first sensor module, the second sensor module, the transmission module and the load module are connected by ropes, so that the rope driving module can drive the load module through the rope after passing through the first sensor module, the second sensor module and the transmission module.

[0007] According to some embodiments, the rope driving module includes: a motor; and a rope drum that rotates following the rotation of the motor so that the rope is wound around the rope drum and the rope moves.

[0008] According to some embodiments, the first sensing module and the second sensing module respectively include: a guide rail; a slider that moves along the guide rail; a force sensor that is arranged on the slider, and the connection position of the force sensor can be changed; a displacement sensor that includes a ruler and a test head, the ruler is fixedly arranged on one side of the guide rail, and the test head is fixedly arranged on the slider.

[0009] According to some embodiments, the transmission module includes: a base; a sliding table installed on the base; a bracket fixed on the base; and a pulley and a through hole arranged on the sliding table and the bracket.

[0010] According to some embodiments, the transmission module includes: a plurality of fixing plates, each fixing plate including a plurality of holes; and a Bowden cable passing through the holes on the plurality of fixing plates in sequence to form a transmission path.

[0011] According to some embodiments, the transmission module includes: a fixed mold including a groove; a rigid sleeve placed along the groove to form a transmission path, and the transmission path includes a two-dimensional transmission path or a three-dimensional transmission path.

[0012] According to some embodiments, the load module includes: a pulley, a force sensor and a hysteresis brake; a reduction wheel, which is connected to the hysteresis brake through a belt and fixed to the rope; and a weight structure, which moves in the direction of gravity; wherein, after passing through the pulley and the force sensor in sequence, the rope is wound around the reduction wheel and connected to the weight structure after passing through the reduction wheel.

[0013] According to some embodiments, the temperature control module is a box structure, with an opening provided on one side and through holes provided on two opposite sides respectively for the rope to pass in and out.

[0014] According to some embodiments, the fixing platform is disposed in the temperature control module and has a level lower than that of the through hole.

[0015] According to one aspect of the present application, a method for testing the dynamic characteristics of a rope end is provided, which is performed by a testing device as described above, wherein a rope driving module is fixedly disposed on a fixed platform of a temperature control module, and the method comprises: driving the rope to move according to a preset force or displacement by the rope driving module; connecting the rope end led out from the rope driving module to a force sensor or a displacement sensor of a second sensing module to detect the force or displacement of the rope end; connecting the rope end led out from the second sensing module to a load module, and setting the load of the load module according to preset test requirements; acquiring data on the force or displacement of the rope end over time by the second sensing module; and obtaining the dynamic characteristics of the rope end based on the data on the force or displacement of the rope end over time.

[0016] According to some embodiments, the temperature of the environment in which the rope driving module is located is adjusted by a temperature control module to obtain the dynamic characteristics of the rope driving module.

[0017] According to one aspect of the present application, a method for testing rope transmission efficiency is provided, which is performed by a testing device as described above, wherein a rope driving module is fixedly arranged on a first fixed platform, and a transmission module is fixedly arranged on a fixed platform of a temperature control module, and the method comprises: driving the rope to move according to a preset force or displacement by the rope driving module; connecting the end of the rope led out from the rope driving module to a force sensor or a displacement sensor of a first sensing module to detect the force or displacement of the rope before it passes through the transmission module; connecting the end of the rope led out from the first sensing module to a force sensor or a displacement sensor of a second sensing module through the transmission module to detect the force or displacement of the rope after it passes through the transmission module; connecting the end of the rope led out from the second sensing module to a load module, and setting the load of the load module according to a preset test requirement; obtaining a change in the force or displacement of the rope by the first sensing module and the second sensing module; and obtaining the rope transmission efficiency according to the change in the force or displacement of the rope.

[0018] According to some embodiments, the temperature of the environment in which the transmission module is located is adjusted by a temperature control module to obtain the transmission characteristics of the transmission module.

[0019] According to some embodiments, the force sensor of the first sensing module and the force sensor of the second sensing module are connected simultaneously through both ends of the rope of the transmission module; or the displacement sensor of the first sensing module and the displacement sensor of the second sensing module are connected simultaneously through both ends of the rope of the transmission module.

[0020] According to the embodiments of the present application, the dynamic characteristics of the rope end and the transmission efficiency of the rope can be tested under conditions of different temperatures, different transmission structures and freely configured loads, which is conducive to extracting the control properties of the rope and improving the stability and accuracy of the rope control.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application.

[0023] Figure 1 A schematic diagram showing a testing device for the dynamic characteristics of a rope end and the rope transmission efficiency according to an exemplary embodiment of the present application.

[0024] Figure 2 A schematic diagram showing a device for testing dynamic characteristics of a rope end according to an exemplary embodiment of the present application.

[0025] Figure 3 A schematic diagram of a rope driving module according to an exemplary embodiment of the present application is shown.

[0026] Figure 4 A schematic diagram of a sensor module according to an exemplary embodiment of the present application is shown.

[0027] Figure 5-Figure 7 A schematic diagram of a transmission module according to an exemplary embodiment of the present application is shown.

[0028] Figure 8 A schematic diagram of a load module according to an exemplary embodiment of the present application is shown.

[0029] Fig. 9 A schematic diagram of a temperature control module according to an exemplary embodiment of the present application is shown.

[0030] Fig.10 A flow chart showing a method for testing dynamic characteristics of a rope end according to an exemplary embodiment of the present application.

[0031] Fig.11 The flowchart shows a method for testing rope transmission efficiency according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0033] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application may be put into practice without one or more of these specific details, or other modes, components, materials, devices or operations may be adopted. In these cases, known structures, methods, devices, realizations, materials or operations will not be shown or described in detail.

[0034] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0035] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0036] The present application provides a testing device and method for the dynamic characteristics of a rope end and the rope transmission efficiency, which can test the dynamic characteristics of a rope end and the rope transmission efficiency under conditions of different temperatures, different transmission structures and freely configured loads.

[0037] A device and method for testing the dynamic characteristics of a rope end and the rope transmission efficiency according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0038] Figure 1 A schematic diagram showing a testing device for the dynamic characteristics of a rope end and the rope transmission efficiency according to an exemplary embodiment of the present application.

[0039] like Figure 1 As shown, the testing device 10 includes a first sensing module 100 , a second sensing module 200 , a temperature control module 300 , a transmission module 400 , a load module 500 and a rope driving module 600 .

[0040] The first sensor module 100 is fixedly disposed on the first fixing platform.

[0041] The second sensor module 200 is fixedly disposed on the second fixing platform.

[0042] The temperature control module 300 is disposed between the first fixing platform and the second fixing platform. The temperature control module 300 includes a fixing platform 310 therein.

[0043] According to some embodiments, the level of the fixing platform 310 may be consistent with the level of the first fixing table and the second fixing table.

[0044] According to some embodiments, two opposite sides of the temperature control module 300 are respectively provided with through holes ( Figure 1 ), so that the rope can be passed in and out.

[0045] The transmission module 400 is fixedly disposed on the fixed platform.

[0046] The load module 500 is fixedly connected to the second fixing platform to prevent the load module 500 from tipping over due to force.

[0047] The rope driving module 600 is fixedly disposed on the first fixing platform or the fixing platform 310 .

[0048] According to some embodiments, when the testing device 10 is used to perform a test on the rope transmission efficiency, the rope driving module 600 is fixedly disposed on the first fixed platform, and the transmission module 400 is fixedly disposed on the fixed platform.

[0049] The rope driving module 600, the first sensor module 100, the transmission module 400, the second sensor module 200 and the load module 500 are connected by ropes ( Figure 1 The first sensor module 100, the transmission module 400 and the second sensor module 200 are connected in sequence (not shown), so that the rope driving module 600 can drive the load module 500 through the rope after passing through the first sensor module 100, the transmission module 400 and the second sensor module 200.

[0050] The temperature control module 300 is used to adjust the temperature of the environment where the transmission module 400 is located.

[0051] According to some embodiments, when the testing device 10 is used to perform a test of the dynamic characteristics of the rope end, the rope driving module 600 is fixedly disposed on the fixed platform 310. The first sensor module 100 and the transmission module 400 do not participate in the test of the dynamic characteristics of the rope end.

[0052] The rope driving module 600 , the second sensing module 200 and the load module 500 are sequentially connected by ropes, so that the rope driving module 600 can drive the load module 500 after passing through the second sensing module 200 by the ropes.

[0053] The temperature control module 300 is used to adjust the temperature of the environment in which the rope driving module 600 is located.

[0054] Figure 2 A schematic diagram showing a device for testing dynamic characteristics of a rope end according to an exemplary embodiment of the present application.

[0055] like Figure 2 As shown, the testing device 10 ′ includes a second sensing module 200 , a temperature control module 300 , a load module 500 and a rope driving module 600 .

[0056] The second sensor module 200 is fixedly disposed on the second fixing platform.

[0057] The temperature control module 300 includes a fixing platform 310 therein.

[0058] According to some embodiments, the level of the fixing platform 310 may be consistent with the level of the second fixing stage.

[0059] According to some embodiments, two opposite sides of the temperature control module 300 are respectively provided with through holes ( Figure 2), so that the rope can be passed in and out.

[0060] The load module 500 is fixedly connected to the second fixing platform to prevent the load module 500 from tipping over due to force.

[0061] The rope driving module 600 is fixedly disposed on the fixed platform 310 .

[0062] The rope driving module 600, the second sensor module 200 and the load module 500 are connected by ropes ( Figure 2 ), so that the rope driving module 600 can drive the load module 500 after passing through the second sensing module 200 through the rope.

[0063] The temperature control module 300 is used to adjust the temperature of the environment in which the rope driving module 600 is located.

[0064] Figure 3 A schematic diagram of a rope driving module according to an exemplary embodiment of the present application is shown.

[0065] like Figure 3 As shown, the rope driving module 600 includes a motor 610 , a rope drum 620 , and a transmission gear 630 .

[0066] The output shaft of the motor 610 ( Figure 3 ) is fixedly connected to the transmission gear 630, and the transmission gear 630 is connected to the driving gear ( Figure 3 (not shown) engage with each other.

[0067] After the motor 610 is started, the output shaft of the motor 610 ( Figure 3 ) drives the transmission gear 630 and the rope drum 620 to rotate together, so that the rope ( Figure 3 The rope drum 620 (not shown) moves with the rope drum 620 and is wound around the rope drum 620.

[0068] According to some embodiments, the transmission gear 630 may be changed into a transmission component such as a transmission shaft, a worm gear, etc.

[0069] According to some embodiments, the rope driving module 600 may also include a motor, a lead screw and a nut slider. The lead screw is fixed to the output end of the motor and connected to the nut slider. One end of the rope is connected to the nut slider. The motor drives the lead screw to rotate, thereby causing the nut slider to move and driving the rope to move.

[0070] According to some embodiments, the rope drive module 600 determines, based on the resulting form of the robotic system, that the dynamic characteristics of the rope end are equivalent to the dynamic characteristics of the rope drive module 600 .

[0071] Figure 4A schematic diagram of a sensor module according to an exemplary embodiment of the present application is shown.

[0072] In the embodiment of the present application, the first sensor module 100 and the second sensor module 200 are the same sensor modules.

[0073] Taking the first sensor module 100 as an example, Figure 4 As shown, the first sensing module 100 includes a guide rail 110 , a slider 120 , a force sensor 130 and a displacement sensor 140 .

[0074] The guide rail 110 is fixed to the first fixed platform. The guide rail 110 can be a linear guide rail or a linear bearing, and the number of the guide rails can be adjusted according to actual needs. Figure 4 In the first sensor module 100 shown, the number of the guide rails 110 is 2 rows.

[0075] The slider 120 performs linear motion along the guide rail 110 .

[0076] The force sensor 130 is mounted on a fixed structure 131 , and the fixed structure 131 is rigidly connected to the slider 120 .

[0077] According to some embodiments, the force sensor 130 may be a beam-type load cell for measuring the tension of the rope, and the test force is not affected by the sensor leads.

[0078] According to some embodiments, the direction of the fixing structure 131 can be changed, and the connection position of the force sensor 130 can be changed.

[0079] The displacement sensor 140 includes a scale 141 and a test head 142. The scale 141 is fixedly disposed on one side of the guide rail 110, and the test head 142 is fixedly disposed on the slider 120.

[0080] According to some embodiments, the displacement sensor 140 may be a high-precision absolute grating ruler for measuring the displacement of the rope.

[0081] According to some embodiments, in the drive rope ( Figure 4 not shown) and subsequent ropes ( Figure 4 When the force sensor 130 is connected to the first sensor module 100 (not shown), the position of the force sensor 130 can be changed by changing the direction of the fixing structure 131 according to different test indicators to ensure that the test data is not affected by the deformation of the force sensor 130 due to the force.

[0082] For example, when the test force is the primary indicator, the drive rope ( Figure 4 ) is connected to the force sensor 130, and the slider 120 is pulled to move, and the test head 142 of the displacement sensor 140 is connected to the subsequent rope ( Figure 4 The head of the instrument (not shown) is required to ensure the accuracy of the force test data.

[0083] For example, when the test displacement is the primary indicator, the drive rope ( Figure 4 ) is connected to the test head 142 of the displacement sensor 140, and the slider 120 is pulled to move, and the force sensor 130 is connected to the subsequent rope ( Figure 4 The test data of the displacement sensor 140 is not affected by the deformation of the force sensor 130, thereby ensuring the accuracy of the displacement measurement.

[0084] Figure 5-Figure 7 A schematic diagram of a transmission module according to an exemplary embodiment of the present application is shown.

[0085] In the embodiment of the present application, the transmission module 400 may be in any one of four forms: a pulley, a through hole, a Bowden cable, and a rigid sleeve.

[0086] like Figure 5 As shown, the transmission module 400 may include a base 410 , a sliding platform 420 , a bracket 430 , a pulley 440 and a through hole 450 .

[0087] The base 410 is fixed to the fixing platform 310 ( Figure 5 (not shown).

[0088] The sliding platform 420 is mounted on the base 410 and includes a ball screw ( Figure 5 ) and the slider 421, through the ball screw ( Figure 5 (not shown) drives the slider 421 to move in the horizontal direction.

[0089] The brackets 430 are fixedly installed on both sides of the sliding platform 420 .

[0090] The pulley 440 and the through hole 450 are disposed on the slider 421 and the bracket 430 .

[0091] According to some embodiments, the number of pulleys 440 and through holes 450 can be adjusted according to actual needs. Figure 5 In the transmission module 400 shown, the pulley 440 and the through hole 450 can be divided into four groups, each group has one pulley and one through hole, two of which are arranged on the slider 421, and the other two are respectively arranged on the bracket 430.

[0092] According to some embodiments, the pulley 440 and the through hole 450 disposed on the slider 421 may change their positions following the movement of the slider 421 .

[0093] According to some embodiments, when the rope is connected to the transmission module 400 , it passes through each pulley 440 or each through hole 450 in the transmission module 400 .

[0094] like Figure 6As shown, the transmission module 400 may include a base 410 , a fixing plate 460 , and a Bowden cable 470 .

[0095] The base 410 is fixed to the fixing platform 310 ( Figure 6 (not shown).

[0096] The fixing plate 460 is fixedly connected to the base 410 and is perpendicular to the base 410 .

[0097] According to some embodiments, the number of fixing plates 460 can be adjusted according to actual needs, and each fixing plate 460 includes a plurality of holes 461. Figure 6 In the transmission module 400 shown, the number of the fixing plates 460 is three.

[0098] According to some embodiments, one end of the Bowden cable 470 is connected to the rope ( Figure 6 The other end is connected to the transmission module 400 through the entrance, and passes through the holes 461 on the plurality of fixing plates 460 in sequence, and then passes through the exit to connect with the subsequent rope ( Figure 6 (not shown) are connected to form a transmission path.

[0099] like Figure 7 As shown, the transmission module 400 may include a base 410 ( Figure 7 ), a fixed mold 480 and a rigid sleeve 490.

[0100] The fixed mold 480 and the base 410 ( Figure 7 490) is fixedly connected and contains a preset groove (not shown) for accommodating the rigid sleeve 490. Figure 7 not shown).

[0101] The rigid sleeve 490 is arranged along the groove ( Figure 7 (not shown) are placed to form multiple transmission paths.

[0102] According to some embodiments, the transmission path formed by the rigid sleeve 490 includes a two-dimensional transmission path and a three-dimensional transmission path.

[0103] According to some embodiments, one end of the rigid sleeve 490 is connected to the rope ( Figure 7 ), and the other end is connected to the subsequent rope ( Figure 7 (not shown) is connected and transmission is performed according to the transmission path formed by the rigid sleeve 490.

[0104] Figure 8 A schematic diagram of a load module according to an exemplary embodiment of the present application is shown.

[0105] like Figure 8As shown, the load module 500 includes a pulley 510 , a force sensor 520 , a hysteresis brake 530 , a reduction wheel 540 , a guide rod 550 and a weight structure 560 .

[0106] The pulley 510 is disposed at one side of the load module 500 .

[0107] The force sensor 520, the hysteresis brake 530 and the reduction wheel 540 are arranged on the top of the load module 500, and the hysteresis brake 530 and the reduction wheel 540 are connected by a belt ( Figure 8 ) connection.

[0108] According to some embodiments, the force sensor 520 may be a three-pulley force sensor.

[0109] According to some embodiments, the hysteresis brake 530 can be energized or de-energized according to actual needs to change the load mode of the load module 500 .

[0110] The guide rods 550 are disposed on two opposite sides of the load module 500 .

[0111] The weight structure 560 is disposed between the guide rods 550 and can move along the guide rods 550 in the direction of gravity.

[0112] According to some embodiments, the rope ( Figure 8 When the load module 500 is entered, it first passes through the pulley 510, passes through the force sensor 520, is wound around the reduction wheel 540, and is passed through the bolt ( Figure 8 The rope (not shown) is fixed to the reduction wheel 540. Figure 8 ) is connected to the weight structure 560 through the reduction wheel 540.

[0113] According to some embodiments, the reduction wheel 540 and the hysteresis brake 530 are connected by a belt ( Figure 8 (not shown) can be connected to the hysteresis brake 530 to decelerate and increase the braking torque. When the hysteresis brake 530 is not powered, the rope ( Figure 8 560) is equivalent to being directly connected to the weight structure 560 after the pulley 510 is reversed, and the rope ( Figure 8 The size of the load (not shown) forms a fixed load mode of the load module 500.

[0114] According to some embodiments, when the hysteresis brake 530 is powered on, the hysteresis brake 530 and the force sensor 520 form a closed-loop control, and the torque of the hysteresis brake 530 is set according to actual needs, thereby actively controlling the rope ( Figure 8 The size of the load (not shown) forms a programmable load mode of the load module 500.

[0115] According to some embodiments, the load module 500 further includes a tensioning wheel 570 for controlling the rope ( Figure 8 tension (not shown).

[0116] Fig. 9 A schematic diagram of a temperature control module according to an exemplary embodiment of the present application is shown.

[0117] like Fig. 9 As shown, the temperature control module 300 is a box structure, including a fixing platform 310 , an opening 320 and a through hole 330 .

[0118] The fixing platform 310 is disposed inside the temperature control module 300 and fixedly connected to the box.

[0119] According to some embodiments, the horizontal height of the fixing platform 310 may be the same as that of the first fixing platform ( Fig. 9 Not shown), the second fixing station ( Fig. 9 The horizontal height of the ) is consistent.

[0120] According to some embodiments, the fixed platform 310 is used to fix the rope driving module 600 ( Fig. 9 ) or transmission module 400.

[0121] For example, in the case of testing the dynamic characteristics of the rope end (or the dynamic characteristics of the rope drive module 600), the rope drive module 600 ( Fig. 9 The temperature control module 300 is fixedly arranged on the fixed platform 310, and the rope driving module 600 (not shown) is simulated by adjusting the temperature of the temperature control module 300. Fig. 9 not shown) in working environments at different temperatures.

[0122] For example, when conducting a rope transmission efficiency test, the transmission module 400 may be fixedly mounted on the fixed platform 310 , and the temperature of the temperature control module 300 may be adjusted to simulate the working environment of the transmission module 400 at different temperatures.

[0123] The opening 320 is disposed on one side of the housing of the temperature control module 300 and is used to place components inside the temperature control module 300 .

[0124] The through holes 330 are disposed on the other two opposite sides of the temperature control module 300 housing where the opening 320 is not disposed. Fig. 9 The through hole 330 (not shown) can be passed through from one side and passed through from the through hole 330 on the other side.

[0125] According to some embodiments, the level of the through hole 330 is higher than the level of the fixing platform 310 .

[0126] Fig.10A flow chart showing a method for testing dynamic characteristics of a rope end according to an exemplary embodiment of the present application.

[0127] like Fig.10 As shown, in step S100, the rope driving module drives the rope to move according to a preset force or displacement.

[0128] In step S110 , the end of the rope led out from the rope driving module is connected to the force sensor or displacement sensor of the second sensing module to detect the force or displacement of the end of the rope.

[0129] According to some embodiments, when detecting the force at the end of the rope, the rope is connected to a force sensor and connected to the head of the subsequent rope through a displacement sensor to ensure the accuracy of the force test data.

[0130] According to some embodiments, when detecting the displacement of the end of the rope, the rope is connected to a displacement sensor and connected to the head of the subsequent rope through a force sensor to ensure the accuracy of the displacement test data.

[0131] In step S120, the end of the rope led out from the second sensor module is connected to the load module, and the load of the load module is set according to the preset test requirements.

[0132] In step S130, data on the force or displacement of the end of the rope changing with time is acquired through the second sensing module.

[0133] In step S140, the dynamic characteristics of the rope end are obtained according to the data of the force or displacement of the rope end changing with time.

[0134] According to some embodiments, the temperature of the environment in which the rope driving module is located may be adjusted by a temperature control module to obtain dynamic characteristics of the rope driving module.

[0135] Fig.11 The flowchart shows a method for testing rope transmission efficiency according to an exemplary embodiment of the present application.

[0136] like Fig.11 As shown, in step S200, the rope driving module drives the rope to move according to a preset force or displacement.

[0137] In step S210, the end of the rope led out from the rope driving module is connected to the force sensor or displacement sensor of the first sensing module to detect the force or displacement of the rope before passing through the transmission module.

[0138] In step S220, the end of the rope led out from the first sensing module is connected to the force sensor or displacement sensor of the second sensing module through the transmission module to detect the force or displacement of the rope after passing through the transmission module.

[0139] According to some embodiments, the force sensor of the first sensing module and the force sensor of the second sensing module are simultaneously connected through the two ends of the rope of the transmission module. Alternatively, the displacement sensor of the first sensing module and the displacement sensor of the second sensing module are simultaneously connected through the two ends of the rope of the transmission module.

[0140] In step S230, the end of the rope led out from the second sensor module is connected to the load module, and the load of the load module is set according to the preset test requirements.

[0141] In step S240, the change in force or displacement of the rope is acquired by the first sensing module and the second sensing module.

[0142] In step S250, the transmission efficiency of the rope is obtained according to the change in the force or displacement of the rope.

[0143] According to some embodiments, the temperature of the environment in which the transmission module is located may be adjusted by a temperature control module to obtain the transmission characteristics of the transmission module.

[0144] The embodiments of the present application are described in detail above, and the description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the idea of ​​the present application, the specific implementation method and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as limiting the present application.

Claims

1. A test device for the dynamic characteristics of a rope end and the rope transmission efficiency, characterized in that: include: A first sensor module is fixedly mounted on a first fixing platform; A second sensor module is fixedly mounted on a second fixing platform; A temperature control module is disposed between the first fixing platform and the second fixing platform, and the temperature control module includes a fixing platform; A transmission module, fixedly arranged on the fixed platform; A load module, fixedly connected to the second fixing platform; a rope driving module, fixedly disposed on the first fixed platform or the fixed platform, wherein the rope driving module, the first sensing module, the second sensing module, the transmission module and the load module are connected by ropes, so that the rope driving module can drive the load module through the ropes after passing through the first sensing module, the second sensing module and the transmission module; In the case where the test device is used to perform a test on the rope transmission efficiency, the rope driving module is fixedly arranged on the first fixed platform, and the transmission module is fixedly arranged on the fixed platform; In the case where the test device is used to perform a test on the dynamic characteristics of the rope end, the rope driving module is fixedly arranged on the fixed platform, and the first sensor module and the transmission module do not participate in the test; Wherein, the first sensor module and the second sensor module respectively include: guide; A slider moves along the guide rail; A force sensor is disposed on the slider, and the connection position of the force sensor can be changed; Wherein, the load module comprises: pulleys, force sensors, and hysteresis brakes; A reduction wheel connected to the hysteresis brake via a belt and fixed to the rope; The weight structure moves in the direction of gravity; The rope is wound around the reduction wheel after passing through the pulley and the force sensor of the load module in sequence, and is connected to the weight structure after passing through the reduction wheel; When the hysteresis brake is not energized, the load of the rope is changed by increasing or decreasing the mass of the weight structure to form a fixed load mode of the load module; When the hysteresis brake is energized, the load of the rope is controlled by the hysteresis brake and the force sensor of the load module to form a programmable load mode of the load module.

2. The testing device according to claim 1, characterized in that: The rope drive module comprises: Motor; The rope drum rotates following the rotation of the motor so that the rope is wound around the rope drum and moves.

3. The testing device according to claim 1, characterized in that: The first sensor module and the second sensor module respectively further include: The displacement sensor comprises a ruler and a test head, wherein the ruler is fixedly arranged on one side of the guide rail, and the test head is fixedly arranged on the slider.

4. The testing device according to claim 1, characterized in that: The transmission module comprises: Base; A sliding table, mounted on the base; A bracket, fixed on the base; The pulley and the through hole are arranged on the sliding platform and the bracket.

5. The testing device according to claim 1, characterized in that: The transmission module comprises: A plurality of fixing plates, each of the fixing plates comprising a plurality of holes; The Bowden cables pass through the holes on the plurality of fixing plates in sequence to form a transmission path.

6. The testing device according to claim 1, characterized in that: The transmission module comprises: a fixed mold, including a groove; A rigid sleeve is placed along the groove to form a transmission path, wherein the transmission path includes a two-dimensional transmission path or a three-dimensional transmission path.

7. The testing device according to claim 1, characterized in that: The temperature control module is a box structure, one side of which is provided with an opening, and the other two opposite sides are respectively provided with through holes to allow the rope to pass in and out.

8. The testing device according to claim 7, characterized in that: The fixing platform is arranged in the temperature control module, and its level is lower than that of the through hole.

9. A method for testing the dynamic characteristics of a rope end, characterized in that: The method is performed by the testing device according to any one of claims 1 to 8, wherein the rope driving module is fixedly arranged on a fixed platform of the temperature control module, and the method comprises: The rope driving module drives the rope to move according to a preset force or displacement; Connecting the end of the rope led out from the rope driving module to the force sensor or displacement sensor of the second sensing module to detect the force or displacement of the end of the rope; Connecting the end of the rope led out from the second sensing module to the load module, and setting the load of the load module according to the preset test requirements; Acquiring data on the force or displacement of the end of the rope over time through the second sensing module; Obtaining the dynamic characteristics of the rope end according to the data of the force or displacement of the rope end over time; The load module provides the load amount through a fixed load mode or a programmable load mode.

10. The method according to claim 9, characterized in that Also includes: The temperature of the environment in which the rope driving module is located is adjusted by the temperature control module to obtain the dynamic characteristics of the rope driving module.

11. A method for testing rope transmission efficiency, characterized in that: The method is performed by the testing device according to any one of claims 1 to 8, wherein the rope driving module is fixedly arranged on the first fixed platform, and the transmission module is fixedly arranged on the fixed platform of the temperature control module, and the method comprises: The rope driving module drives the rope to move according to a preset force or displacement; Connecting the end of the rope led out from the rope driving module to the force sensor or displacement sensor of the first sensing module to detect the force or displacement of the rope before it passes through the transmission module; Connecting the end of the rope led out from the first sensing module to the force sensor or displacement sensor of the second sensing module through the transmission module to detect the force or displacement of the rope after passing through the transmission module; Connecting the end of the rope led out from the second sensing module to the load module, and setting the load of the load module according to the preset test requirements; Acquire a change in force or displacement of the rope through the first sensing module and the second sensing module; Obtaining the transmission efficiency of the rope according to the change in force or displacement of the rope; The load module provides the load amount through a fixed load mode or a programmable load mode.

12. The method according to claim 11, characterized in that Also includes: The temperature of the environment in which the transmission module is located is adjusted by the temperature control module to obtain the transmission characteristics of the transmission module.

13. The method according to claim 11, characterized in that Connecting the force sensor of the first sensing module and the force sensor of the second sensing module simultaneously through both ends of the rope of the transmission module; or The displacement sensor of the first sensing module and the displacement sensor of the second sensing module are simultaneously connected through two ends of the rope of the transmission module.

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