Reliability test device for three-dimensional translation one-dimensional rotation four-degree-of

Abstract

The invention discloses a reliability test device for a three-dimensional translation one-dimensional rotation four-degree-of-freedom robot, which overcomes the problem of no test device, and comprises a support system, a chuck, a loading detection system and an operation table, the loading detection system comprises a loading position detection system and a rotation angle detection system, wherein the loading position detection system is composed of a sliding sleeve and three sets of rope control devices. The operation table is placed on the right side of the supporting system. The chuck is located above the bottom plate in the supporting system, the top end of the chuck clamps the bottom end of the tested robot through a clamping jaw, the top end of the tested robot is fixed to the top end of the supporting system, the bottom end of the chuck is inserted into the sliding sleeve through a chuck rotating shaft, one ends of the three rope control devices are fixed to the sliding sleeve through ropes, and the other ends of the three rope control devices are arranged on the bottom plate. The upper end of the rotation angle detection system is connected with a chuck rotating shaft in the chuck; the lower end of the rotation angle detection system is fixed to an angle sensor support of the supporting system through an angle sensor. And the operating platform is in line connection with the loading detection system.

Description

Technical Field

[0001] The invention relates to a test device in the field of robot and automation technology, and more specifically, to a reliability test device for a three-translation and one-rotation four-degree-of-freedom robot. Background Art

[0002] There is a huge demand for robots that can achieve three-dimensional movement and one-dimensional rotational freedom in the logistics sorting and packaging production lines of industries such as food, medicine, and 3C electronics. This type of robot is called a SCARA robot. The three-dimensional horizontal movement freedom of its terminal can drive the end effector to drive the load to achieve horizontal movement and positioning in space, and the one-dimensional rotational freedom can be used to adjust the terminal posture. The SCARA robot end is equipped with different types of gripping tools or grippers according to the different objects to be grasped, so as to realize the grasping and fixed posture placement of items on the production line.

[0003] However, there are few reliability test devices for three-level-one-rotation four-degree-of-freedom robots. Conducting reliability tests and detecting performance parameters, analyzing data, and proposing improvement measures are an effective way to improve the reliability of three-level-one-rotation four-degree-of-freedom robots, which is of great significance to the automation industry. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the problem that there is currently no reliability test device and reliability test method in China that has the loading function of a three-level one-rotation four-degree-of-freedom robot. A three-level one-rotation four-degree-of-freedom robot reliability test device is provided and a reliability test method is given.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions: the reliability test device of the three-level and one-rotation four-degree-of-freedom robot comprises a support system, a chuck, a loading detection system and an operating table;

[0006] The loading detection system includes a loading position detection system and a rotation angle detection system; the loading position detection system includes a sliding sleeve and three groups of rope control devices with the same structure;

[0007] The support system is installed on the foundation through its horizontal iron, and the operating table is placed on the foundation on the right side of the support system; the chuck is located above the center of the bottom plate in the support system, and the top of the chuck clamps the actuator chassis on the robot under test through three claws with the same structure. The top of the robot under test is fixed to the robot under test mounting beam in the support system through the robot under test chassis, and the sliding sleeve is mounted on the lower end of the chuck rotating shaft. The bottom end of the chuck is inserted into the upper end of the No. 1 constant velocity universal joint of the rotation angle detection system through the lower end of the chuck rotating shaft, and is fixedly connected to the upper end of the No. 1 constant velocity universal joint with a set screw. Three groups of rope control devices with the same structure One end of the device is inserted into three vertical circular through holes on the protrusions evenly distributed in the circumferential direction on the wall surface of the outer tube of the sliding sleeve through rope No. 1, rope No. 2 and rope No. 3 to be fixed, and the other ends of the three groups of rope control devices with the same structure are arranged on the bottom plate, that is, the other ends of the three groups of rope control devices with the same structure are arranged clockwise on the equilateral triangle NLM on the bottom plate, and the center of the equilateral triangle NLM coincides with the rotation axis of the center hole on the bottom plate; the lower end of the rotation angle detection system is fixedly connected to the angle sensor bracket at the bottom end of the support system through its angle sensor; the operating table and the rope control device are connected by an electrical connecting line.

[0008] The support system described in the technical solution includes 20 No. 2 L-shaped angle brackets, 4 columns, 24 No. 1 L-shaped angle brackets, a ground level iron, an angle sensor bracket, a bottom plate, a mounting beam for the robot under test, 6 longitudinal beams and 5 transverse beams;

[0009] The mounting beam, 4 columns, 6 longitudinal beams and 5 transverse beams of the robot under test are all made of aluminum profiles of Misumi brand model HFSF8-6060-[50-4000 / 0.5];

[0010] The No. 1 L-shaped corner bracket adopts the L-shaped corner bracket of the Handi brand with the model number of YyglbmJx;

[0011] The No. 2 L-shaped corner bracket adopts the L-shaped corner bracket of the Misumi brand model HBLTS8-50;

[0012] The bottom plate is a square plate with equal sides that meets the rigidity requirements, threaded holes are provided at the four corners of the bottom plate, and a circular through hole is provided at the center of the bottom plate;

[0013] The ground level iron is a rectangular plate casting, and the top of the plate is provided with T-shaped grooves of the same structure and parallel to each other;

[0014] The angle sensor bracket is a door-shaped sheet metal part, which consists of a top wall, a left support arm, a right support arm, a left mounting base, and a right mounting base. The top ends of the left support arm and the right support arm are vertically connected to the left and right ends of the top wall, and the bottom ends of the left support arm and the right support arm are vertically connected to the right and left ends of the left mounting base and the right mounting base; the top wall is provided with four circular through holes of equal diameter for mounting bolts, and a large-diameter circular through hole for inserting the angle sensor body is provided in the middle of the four circular through holes, and the left mounting base and the right mounting base are provided with two symmetrically arranged small circular through holes of the same diameter for mounting bolts;

[0015] 4 columns, 6 longitudinal beams and 5 transverse beams are connected into a rectangular frame by using No. 1 L-shaped angle code, No. 2 L-shaped angle code, slide nuts and bolts. The mounting beam of the robot under test is installed on the 2 longitudinal beams at the top of the rectangular frame by using No. 2 L-shaped angle code. The two ends of the mounting beam of the robot under test are located at the center of the 2 longitudinal beams at the top of the frame and are perpendicular. The bottom plate is installed on the 2 longitudinal beams in the same plane in the middle of the rectangular frame and the 2 transverse beams at the top by 4 bolts with the same structure. The angle sensor bracket is installed in the middle of the top of a transverse beam in the middle position at the bottom of the rectangular frame by using 2 bolts with the same structure. The entire rectangular frame is installed on the ground iron through the bottom and using No. 2 L-shaped angle code.

[0016] The chuck described in the technical solution includes a coupling, three claws with the same structure, a slide plate, a hexagon socket head screw, a chuck shaft, a No. 1 shaft elastic ring, a No. 1 deep groove ball bearing, an arc groove plate, a chuck base and a bearing seat;

[0017] The first shaft section of the chuck shaft is connected to the bottom end of the coupling, and the No. 1 deep groove ball bearing is set on the third shaft section of the chuck shaft. The No. 1 shaft is installed in the retaining ring groove on the chuck shaft with an elastic retaining ring. The upper end face of the No. 1 shaft elastic retaining ring is in contact with the bottom end face of the inner ring of the No. 1 deep groove ball bearing. The top end face of the inner ring of the No. 1 shaft elastic retaining ring is in contact with the shoulder on the chuck shaft. The No. 1 deep groove ball bearing is installed in the large annular body of the bearing seat, and the top end face of the small annular body is in contact with the bottom end face of the outer ring of the No. 1 deep groove ball bearing. The inner wall surface of the upper end of the large annular body is interference fit with the outer side surface of the outer ring of the No. 1 deep groove ball bearing. The chuck base is installed on the top of the bearing seat, and the chuck base and the bearing seat are connected by bolts. The arc groove plate is installed in the annular cylindrical groove at the center of the chuck base, and the slide groove plate is installed on the top of the chuck base. The bottom end surface of the slide groove plate is in contact with the top surface of the chuck base, and the two are fixedly connected by hexagonal cylindrical head screws. Three claws with the same structure are installed in the T-shaped slideways on the three T-shaped slide blocks of the slide groove plate with the same structure through their bases, and the two are slidably connected. The lower cylindrical rods of the three claws with the same structure are inserted into the arc-shaped through holes on the arc groove plate, and the two are slidably connected.

[0018] The arc slot plate described in the technical solution consists of an arc slot plate body and a handle. The arc slot plate is a circular flat plate on which three arc through holes of the same structure are evenly distributed in the circumferential direction. The arc through holes gradually move away from the central axis of the arc slot plate from the inside to the outside along the arc direction. The inner wall surface of the arc through hole is tangent to the cylindrical rod at the lower part of the clamping claw. The cylindrical handle is arranged on the side of the arc slot plate body, that is, the handle is installed on the side of the arc slot plate body along the radial direction of the arc slot plate body. The outer diameter of the arc slot plate 302 is equal to the outer diameter of the groove on the chuck base, the diameter of the outer cylindrical surface of the arc slot plate is equal to the inner diameter of the groove on the chuck base, and the thickness of the arc slot plate is equal to the depth of the groove on the chuck base.

[0019] The sliding sleeve described in the technical solution is a circular tubular part, and three protrusions with square cross-sections and vertical circular through holes are evenly distributed in the circumferential direction on the outer tube wall of the sliding sleeve. The three vertical circular through holes are used to insert three ropes, namely rope No. 1, rope No. 2 and rope No. 3, respectively. Knots are tied at the ends of the ropes, so that the ends of the three ropes are tightly fixed to the three vertical circular through holes respectively by the knot method. The inner diameter of the sliding sleeve is equal to the lower end shaft diameter of the chuck shaft of the chuck, and the outer diameter of the sliding sleeve is larger than the inner diameter of the upper end of the No. 1 constant velocity universal joint.

[0020] The rope control device described in the technical solution includes No. 1 rope, No. 1 linear guide, No. 2 linear guide, No. 1 linear guide base, No. 2 linear guide base, distance measuring plate assembly, movable pulley assembly, No. 4 rope, hydraulic cylinder, No. 1 angle code, hydraulic rod, connecting sleeve, ultrasonic distance sensor, No. 2 angle code, tension sensor, rope pulley, No. 1 rope threading frame, No. 2 rope threading frame, pulley, No. 2 hole elastic retaining ring, No. 3 deep groove ball bearing, No. 2 shaft elastic retaining ring, pulley bearing seat and pulley shaft;

[0021] The rope control device is arranged on the lower right side of the L point of the NL side in the equilateral triangle NLM on the bottom plate; the hydraulic cylinder is installed on the bottom plate through the No. 1 angle code, an ultrasonic distance sensor is installed on the right side wall of the upper end of the No. 2 angle code, and the No. 2 angle code is installed on the bottom plate inside the right end of the hydraulic cylinder; the hydraulic rod is installed in the hydraulic cylinder, the right end of the hydraulic rod is connected to the tension sensor through the connecting sleeve, the right end of the tension sensor is threadedly connected to the left end of the pull rope sleeve, and the No. 4 rope is installed in the through hole on the central axis of the pull rope sleeve by the rope knot method, and the movable pulley assembly The No. 2 slider is installed on the No. 1 linear guide on the base of the No. 1 linear guide and on the right side of the rope sleeve. The No. 2 linear guide is installed on the inner side of the No. 1 linear guide through the No. 2 linear guide base. The No. 2 linear guide and the No. 1 linear guide are installed on the bottom plate in parallel with each other; the distance measuring plate assembly is installed on the left end of the No. 2 linear guide through the No. 1 slider, and the pulley is installed on the right bottom plate at the right end of the No. 2 linear guide through the No. 2 hole elastic retaining ring, the No. 3 deep groove ball bearing, the No. 2 shaft elastic retaining ring, the pulley bearing seat and the pulley shaft;

[0022] The projections of the main axial center lines of the hydraulic cylinder, hydraulic rod, connecting sleeve, tension sensor, rope sleeve, No. 4 rope and movable pulley assembly on the upper surface of the base plate coincide with the projection of the side NL on the upper surface of the base plate. The projections of the central axes of all holes of the No. 1 linear guide and the No. 1 linear guide base on the upper surface of the base plate coincide with the projection of the side NL on the upper surface of the base plate. The No. 1 rope threading frame is installed on the lower right side of the right end of the No. 1 linear guide. The No. 2 rope threading frame is installed on the upper left of the pulley and between the pulley and the center of the upper surface of the base plate. One end of the No. 1 rope is fixed to the No. 1 rope threading frame by a knot method, and the other end of the No. 1 rope is fixed to the No. 1 rope threading frame by a knot method. It passes around the movable pulley in the movable pulley assembly in turn, is inserted into the distance measuring plate base in the distance measuring plate assembly, passes around the pulley, is inserted from one side of the No. 2 rope threading frame and extends out from the other side of the No. 2 rope threading frame, and finally the other end of the No. 1 rope is inserted into the corresponding round hole on the sliding sleeve and fixed to the sliding sleeve by a rope knot method; the straight line segment of the No. 1 rope between the No. 1 rope threading frame and the movable pulley, the straight line segment between the movable pulley and the pulley, and the No. 4 rope are all parallel to the edge NL, the part of the No. 1 rope from the No. 1 rope threading frame to the No. 2 rope threading frame is always maintained on the same horizontal plane, and an ultrasonic sensor is relatively aligned with the distance measuring plate in the distance measuring plate assembly.

[0023] The rotation angle detection system described in the technical solution also includes 4 identical set screws, a telescopic rod 1, a telescopic rod 2 and a constant velocity universal joint No. 2;

[0024] The constant velocity universal joint No. 1 and the constant velocity universal joint No. 2 are constant velocity universal joints of the Misumi brand with the model number of E-CLX06;

[0025] The set screw is a set screw of the Misumi brand with a model number of E-LBOX-MSSF304S4-3;

[0026] The main body of the telescopic rod one is a cylindrical long rod, with a small section at the upper end being a smooth rod, whose diameter is equal to the inner diameter of one end of the No. 1 constant velocity universal joint, and three semi-cylindrical protrusions are evenly distributed in the circumferential direction of the remaining rod sections, which correspond to the three semi-cylindrical grooves on the inner wall of the telescopic rod two, and the two are connected by a sliding fit;

[0027] The main body of the second telescopic rod is a circular tube, and three semi-cylindrical grooves are evenly distributed in the circumferential direction of the inner wall of the circular tube, which correspond to the three semi-cylindrical protrusions of the first telescopic rod, and the two are connected by sliding fit;

[0028] The angle sensor is an angle sensor of the model MK380A of the Maike sensor brand, which is provided with a circular flange and two arc-shaped through holes symmetrically distributed on the circular flange for connecting with the angle sensor bracket;

[0029] The upper joint of the No. 1 constant velocity universal joint is mounted on the lower end of the sliding sleeve and fixed together with a set screw. The lower joint of the No. 1 constant velocity universal joint is mounted on the upper end of the first telescopic rod and connected with a set screw. The lower end of the first telescopic rod is inserted into the upper end of the second telescopic rod. The first telescopic rod and the second telescopic rod are slidably connected. The upper joint of the No. 2 constant velocity universal joint is mounted on the lower end of the second telescopic rod. The lower joint of the No. 2 constant velocity universal joint is mounted on the rotating shaft of the angle sensor.

[0030] The operating table described in the technical solution includes input and output modules, 24V power supply, operation panel, Siemens 840DsI system, CNC unit, mouse, keyboard, adjustable power supply module, electro-hydraulic servo valve and operating table box;

[0031] The operating table box is a piano-style sheet metal box, which is divided into three parts: the upper part, the middle part and the lower part. The upper part is used to install the operating panel; the extended part of the middle part is used to install the mouse, keyboard and switch button; the lower part is a square box structure, which is used to install electrical components;

[0032] The Siemens 840Ds l system is integrated with the operation panel and installed on the front end surface of the upper part of the operation table box;

[0033] The input / output module adopts a Siemens 72 / 48D 2 / 2A PN input / output module, an electrical connection line is used to connect the X2 interface end of the input / output module with the X126 interface end of the numerical control unit, the X3-1 to X3-4 interfaces of the input / output module are respectively connected to three electro-hydraulic servo valves (509) through electrical connection lines, the 24V power supply is connected to the X1 interface of the Siemens 840Ds l system with an electrical line, and the operation panel is connected to the flat multi-core socket of the Siemens 840Ds l system with an electrical line; the mouse is installed on the upper end surface of the front protruding part of the operating table box body, and the mouse is connected to the USB interface of the Siemens 840Ds l system with an electrical line; the keyboard is installed on the upper end surface of the protruding part of the middle part of the operating table box body, and is connected to the USB2 interface of the Siemens 840Ds l system with an electrical line; the X120 interface of the numerical control unit is connected to the Siemens 840Ds l system with an Internet cable l The ETHERNET1 interface of the system is connected, and the X100 interface of the CNC unit is connected to the X200 interface of the adjustable power module through a network cable.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The reliability test device for the three-level-one-rotation four-degree-of-freedom robot described in the present invention can test and detect the reliability and accuracy retention of different three-level-one-rotation four-degree-of-freedom robots. It is easy to operate and detect, and the test results are reliable. By conducting reliability tests simulating real working conditions on the tested three-level-one-rotation four-degree-of-freedom robot, product failures are exposed and stimulated, providing practical basic data for product reliability growth and evaluation.

[0036] 2. The reliability testing device for the three-level and one-rotation four-degree-of-freedom robot described in the present invention has an automatic control system, which can automatically record accuracy data under program control, and automatically record failure data when accuracy failure or failure occurs.

[0037] 3. The reliability test device for the three-axis and one-rotation four-degree-of-freedom robot described in the present invention adopts a three-set rope loading method controlled by an electro-hydraulic servo to simulate the weight that should be loaded during the actual working process, and can truly simulate the inertial load borne by the robot.

[0038] 4. The reliability test device for the three-lateral and one-rotation four-degree-of-freedom robot described in the present invention adopts a method of determining the spatial position of the robot terminal through three sets of rope control modules. The equipment used is simple and the manufacturing cost is low.

[0039] 5. The loading and testing system of the reliability testing device for the three-lateral and one-rotation four-degree-of-freedom robot described in the present invention realizes the loading and testing functions simultaneously with one set of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings:

[0041] Figure 1 It is an axonometric projection view of the structural composition of the three-lateral and one-rotation four-degree-of-freedom robot reliability test device of the present invention;

[0042] Figure 2 It is a top view of the structural composition of the three-lateral and one-rotation four-degree-of-freedom robot reliability test device of the present invention;

[0043] Figure 3 It is an axonometric projection view of the structural components of the support system in the reliability test device for the three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0044] Figure 4 It is an axonometric projection view of the structure of the robot with three horizontal and one rotational degrees of freedom under test;

[0045] Figure 5 It is an axonometric projection view of the structure of the actuator output shaft in the reliability test device for the three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0046] Figure 6 It is an axonometric projection view of the actuator chassis structure in the reliability test device for a three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0047] Figure 7 It is an axonometric projection view of the chuck structure in the reliability test device for a three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0048] Figure 8 It is an axonometric projection view of the structure of the reliability test device for a three-lateral and one-rotation four-degree-of-freedom robot of the present invention, cut along the vertical axis of the chuck center;

[0049] Fig. 9 It is an axonometric projection view of the arc slot plate structure in the reliability test device for a three-level and one-rotation four-degree-of-freedom robot of the present invention;

[0050] Fig.10 It is an axonometric projection view of the chuck base structure in the three-lateral and one-rotation four-degree-of-freedom robot reliability test device of the present invention;

[0051] Fig.11 for Figure 1 A partially enlarged axonometric projection view of the connection between the robot under test and the chuck at A in the middle;

[0052] Fig.12 It is an axonometric projection view of the structural composition of the loading detection system in the reliability test device for the three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0053] Fig.13 It is a top view of the structural composition of the loading detection system in the reliability test device for the three-lateral and one-rotation four-degree-of-freedom robot of the present invention;

[0054] Fig.14 for Fig.12 A partially enlarged axonometric projection view of the sliding sleeve, telescopic rod and related structures at C in the middle;

[0055] Fig.15 for Fig.12 The structural relationship between the hydraulic rod, No. 4 rope, ultrasonic distance sensor and the traction rope sleeve at B in the middle and the traction rope sleeve along the Fig.13 A partially enlarged axonometric projection view of the section at the middle PP;

[0056] Fig.16 for Fig.12 The structure of the pulley at E, the elastic ring for the No. 2 hole, the No. 3 deep groove ball bearing, the elastic ring for the No. 2 shaft, the pulley bearing seat, and the pulley shaft is as follows: Fig.13 A partially enlarged axonometric projection view of the section at RR;

[0057] Fig.17 The movable pulley assembly structure of the reliability test device for the three-axis and one-rotation four-degree-of-freedom robot of the present invention is composed of the following parts: Fig.13 Axonometric projection view cut at the middle PP;

[0058] Fig.18 The invention discloses a part of the components of the distance measuring plate assembly structure in the reliability test device for the three-level and one-rotation four-degree-of-freedom robot. Fig.13 Axonometric projection view cut at QQ in the middle;

[0059] Fig.19 for Fig.12 A partially enlarged axonometric projection view of the No. 1 rope threading frame and the rope connection state at D in the middle;

[0060] Fig. 20 for Fig.12 A partially enlarged axonometric projection view of the connection between telescopic rod one and telescopic rod two at G in the middle;

[0061] Fig.21 for Fig.12 A partially enlarged axonometric projection view of the structural relationship between the angle sensor, the second telescopic rod and the constant velocity universal joint No. 2 at F in the middle;

[0062] Fig. 22 It is a schematic block diagram of the structure of the operating table in the reliability test device for the three-level and one-rotation four-degree-of-freedom robot of the present invention;

[0063] Fig.23It is a flowchart of the reliability test method of the three-level-one-rotation four-degree-of-freedom robot of the present invention;

[0064] Among them: 1. Support system, 101. No. 2 L-shaped angle bracket, 102. Column, 103. No. 1 L-shaped angle bracket, 104. Ground level iron, 105. Angle sensor bracket, 106. Bottom plate, 107. Mounting beam of the robot under test, 108. Longitudinal beam, 109. Transverse beam, 2. Robot under test, 201. Robot under test chassis, 202. Motor, 203. Actuator output shaft, 204. Actuator chassis, 205. Big arm motor, 206. Big arm, 207. Small arm connecting rod, 208. No. 4 deep groove ball bearing, 209. No. 1 coupling, 3. Chuck, 301. No. 2 coupling, 302. Claw, 303. Slide plate , 304. Hexagon socket head bolt, 305. Chuck shaft, 306. No. 1 shaft elastic ring, 307. No. 1 deep groove ball bearing, 308. Arc groove plate, 309. Chuck base, 310. Bearing seat, 4. Loading detection system, 401-1. No. 1 rope, 401-2. No. 2 rope, 401-3. No. 3 rope, 402. No. 1 linear guide, 403. No. 2 linear guide base, 404. No. 1 linear guide base, 405. No. 2 linear guide, 406. Distance measuring plate assembly, 4061. No. 1 slider, 4062. Distance measuring plate base, 4063. Rope pressing block, 4064. Distance measuring plate, 407. Moving pulley Components, 4071.2 slider, 4072. movable pulley base, 4073.3 shaft elastic ring, 4074. movable pulley bearing seat, 4075.1 hole elastic ring, 4076. movable pulley shaft, 4077. movable pulley, 4078.2 deep groove ball bearing, 408.4 rope, 409. hydraulic cylinder, 410.1 angle code, 411. hydraulic rod, 412. connecting sleeve, 413. ultrasonic distance sensor, 414.2 angle code, 415. tension sensor, 416. pull rope sleeve, telescopic rod, 418.1 constant velocity universal joint, 419. set screw, 420. sliding sleeve, 421.1 Rope threading rack, No. 422.2 rope threading rack, No. 423.2 movable pulley, No. 424.2 elastic retaining ring for hole, No. 425.3 deep groove ball bearing, No. 426.2 elastic retaining ring for shaft, 427. Pulley bearing seat, 428. Pulley shaft, 429. Telescopic rod two rods, No. 430.2 constant velocity universal joint, 431. Angle sensor, 5. Operating table, 501. Input and output module, 502. 24V power supply, 503. Operating panel, 504. Siemens 840DsI system, 505. CNC unit, 506. Mouse, 507. Keyboard, 508. Adjustable power supply module, 509. Electro-hydraulic servo valve, 510. Operating table box. DETAILED DESCRIPTION

[0065] The present invention is described in detail below in conjunction with the accompanying drawings:

[0066] The reliability test device for the three-level-one-rotation four-degree-of-freedom robot described in the present invention simulates different working conditions of the three-level-one-rotation four-degree-of-freedom robot in actual operation, and obtains the reliability and precision reliability data of the three-level-one-rotation four-degree-of-freedom robot under different loads. At the same time, the present invention also provides a complete reliability test method for the three-level-one-rotation four-degree-of-freedom robot.

[0067] See also Figure 1 and Figure 2 The reliability testing device for a three-lateral and one-rotation four-degree-of-freedom robot of the present invention comprises a support system 1, a chuck 3, a loading detection system 4 and an operating table 5.

[0068] The three-lateral and one-rotation four-degree-of-freedom robot under test is hereinafter referred to as the tested robot 2.

[0069] See also Figure 3 The support system 1 includes 20 No. 2 L-shaped angle brackets 101, 4 columns 102, 28 No. 1 L-shaped angle brackets 103, a ground iron 104, an angle sensor bracket 105, a base plate 106, a measured robot mounting beam 107, 6 longitudinal beams 108 and 5 transverse beams 109.

[0070] The robot mounting beam 107, four columns 102, six longitudinal beams 108 and five transverse beams 109 are all made of MISUMI brand aluminum profiles with model HFSF8-6060-[50-4000 / 0.5], with a cross-sectional length and width of 60 mm and a row of grooves on each of the four sides.

[0071] The No. 1 L-shaped corner bracket 103 is an L-shaped corner bracket of the brand YyglbmJx of Handi; the length of the two right-angle side walls of the No. 1 L-shaped corner bracket 103 in the embodiment is 200 mm, the width is 45 mm, the thickness is 3 mm, a reinforcing rib is provided to ensure rigidity, and a through hole is provided for installing bolts;

[0072] The No. 2 L-shaped corner bracket 101 adopts the L-shaped corner bracket of the Misumi brand model HBLTS8-50; the length of the two right-angle side walls of the No. 2 L-shaped corner bracket 101 in the embodiment are both 51 mm, 40 mm wide, and 9 mm thick, and circular through holes for installing bolts are provided thereon.

[0073] The ground iron 104 is a rectangular plate casting, and the top of the ground iron 104 is provided with T-shaped grooves of the same structure and parallel to each other.

[0074] The angle sensor bracket 105 is a door-shaped sheet metal part, which consists of a top wall, a left support arm, a right support arm, a left mounting base, and a right mounting base. The top ends of the left support arm and the right support arm are vertically connected to the left and right ends of the top wall, and the bottom ends of the left support arm and the right support arm are vertically connected to the right and left ends of the left mounting base and the right mounting base; the top wall is provided with four circular through holes of equal diameter for mounting bolts, and a large-diameter circular through hole for inserting the angle sensor body is provided in the middle of the four circular through holes, and a symmetrically arranged small circular through hole of the same diameter for mounting bolts is provided on the left mounting base and the right mounting base respectively;

[0075] In the embodiment, the diameter of the four equal circular through holes on the top wall is 3.2 mm, the diameter of the large-diameter circular through hole arranged in the middle of the four circular through holes is 80 mm, and the diameters of the small circular through holes arranged on the left mounting base and the right mounting base are both 11 mm;

[0076] The base plate 106 is a square plate with equal sides that meets the rigidity requirements. Through holes for mounting bolts are provided at the four corners of the base plate 106. A circular through hole with a large diameter is provided at the center of the base plate 106, on which some components of the loading detection system 4 are installed. A circular through hole for mounting bolts is provided at the installation position of each component. In the embodiment, the side length of the base plate 106 is 1380 mm, the thickness is 10 mm, and the diameter of the circular through hole at the center is 650 mm.

[0077] The four columns 102, the robot mounting beam 107, the six longitudinal beams 108 and the five transverse beams 109 are connected by using the No. 1 L-shaped angle bracket 103, the No. 2 L-shaped angle bracket 101, the slide nuts and bolts to form a Figure 3 Specifically, the rectangular frame shown in the figure has four columns 102 connected to six longitudinal beams 108 through twelve No. 1 L-shaped corner brackets 103, the robot mounting beam 107 under test is connected to the two upper longitudinal beams 108 through four No. 2 L-shaped corner brackets 101, five transverse beams 109 are connected to the four lower longitudinal beams 108 among the six longitudinal beams 108 through twelve No. 1 L-shaped corner brackets 103, and the two lower front and rear transverse beams 109 are connected to the four columns 102 through four No. 1 L-shaped corner brackets 103. The entire frame is mounted on the ground level iron 104 through No. 2 L-shaped corner brackets 101, the bottom plate 106 is mounted on the frame through four bolts of the same structure, and the angle sensor bracket 105 is mounted on the frame through two bolts of the same structure.

[0078] See also Figure 4 There are many types of structures of the robots under test. Figure 4 The SCARA robot with the structure shown is taken as an example to introduce part of the structure of the robot 2 to be tested, so as to help readers understand the present invention.

[0079] The robot 2 under test includes a robot chassis 201 under test, a motor 202, an actuator output shaft 203, an actuator chassis 204, a large arm motor 205, a large arm 206, a small arm connecting rod 207, a No. 4 deep groove ball bearing 208 and a No. 1 coupling 209.

[0080] The robot chassis 201 under test is a plate-like structural member with a completely symmetrical "Y"-shaped structure. Two adjacent ones of its three extension arms are evenly distributed at 120 degrees. Three circular through holes are provided in the central portion thereof for mounting the robot under test 2 on the robot under test mounting beam 107 in the support system 1 by bolts. The three circular through holes are arranged in a straight line, and the circular through hole in the middle position is located at the exact center of the robot chassis 201 under test. The remaining two circular through holes are symmetrically distributed about the circular through hole in the middle. The outer end walls of the three extension arms of the robot chassis 201 under test are cylindrical surfaces with the same structure.

[0081] The motor 202 is a standard part of the Leadshine brand with model number 35HS3H2204, and its output shaft is fixedly connected to the upper part of the No. 1 coupling 209 by bolts. The motor 202 serves as a driving part to control the rotation of the actuator output shaft 203.

[0082] See also Figure 4 and Figure 5 The actuator output shaft 203 is a 4-section stepped shaft, which includes the first shaft section, the second shaft section, the third shaft section and the fourth shaft section from top to bottom; it can rotate around its central vertical axis, the outer surface of the third shaft section is interference fit with the inner side surface of the inner ring of the No. 4 deep groove ball bearing 208, the lower end surface of the second shaft section is tightly fitted with the upper end surface of the outer ring of the No. 4 deep groove ball bearing 208, the first shaft section is fixedly connected to the lower part of the No. 1 coupling 209 by bolts, and the fourth shaft section is fixedly connected to the upper part of the No. 2 coupling 301 by bolts; in actual applications, the protruding part at the lower end of the actuator output shaft 203 can be connected to different grasping tools or grasping hands to realize the grasping and fixed posture placement of items on the production line.

[0083] See also Figure 4 and Figure 6The actuator chassis 204 is a plate-like structural member, presenting a completely symmetrical "Y"-shaped structure. Two adjacent extension arms are evenly distributed at 120 degrees. A cylindrical protrusion is provided on each of the two side walls of the outer end of each extension arm. A convex spherical structure is provided at one end of the top of the cylinder. The protruding area of ​​the spherical structure exceeds two-thirds of the area of ​​a complete sphere with the same diameter, which is used for hinged connection. A circular through hole is provided at the center of the actuator chassis 204 to provide space for the actuator output shaft 203 to pass through, but the two will not contact. There are also 3 pairs of 6 circular through holes with the same structure for mounting bolts. The 3 pairs of 6 circular through holes with the same structure are evenly arranged on the actuator chassis 204, that is, the angle between the center lines of each adjacent pair of circular through holes is 120 degrees; the outer end walls of the three extension arms of the actuator chassis 204 are cylindrical surfaces with the same structure. When conducting the test, the actuator chassis 204 moves horizontally in three-dimensional space.

[0084] The boom motor 205 is a standard part of the Yaskawa brand model GMGV-09ADC61, which serves as a driving part to control the rotation of the boom 206.

[0085] The boom 206 is a rod-type structural component, which is controlled by the boom motor 205 and swings around the output shaft axis of the boom motor 205 in a vertical plane. A cylindrical protrusion is provided on each of the two side walls away from one end of the boom motor 205. The top of the cylinder has a spherical structure with one end convex outward, and the area of ​​the protruding part exceeds two-thirds of the area of ​​a complete sphere with the same diameter, which is used for hinged connection.

[0086] The forearm connecting rod 207 is a rod-like structural member, with an embedded spherical groove structure at both ends. The inner surface area of ​​the groove is two-thirds of the area of ​​a complete sphere with the same diameter, and is used to be hingedly connected with the convex spherical structure on the upper arm 206 and the actuator chassis 204 to form a joint that can flexibly rotate around the center of the ball in three-dimensional space. The spherical groove part of the forearm connecting rod 207 is made of nylon material with good elasticity and low friction performance, so that the convex spherical structure can be smoothly embedded in the groove and provide an appropriate self-locking effect, ensuring the smoothness and stability of the articulated joint movement.

[0087] See also Figure 4 and Fig.11 The No. 4 deep groove ball bearing 208 is a single-row deep groove ball bearing of the Schaeffler brand, model 6004.

[0088] The coupling No. 1 209 is a double-diaphragm clamping coupling of the Misumi brand model E-LMCPW26, which connects the output shaft of the motor 202 and the first shaft section of the actuator output shaft 203 .

[0089] The robot 2 under test has three driving arms, each of which includes a large arm 206 and two small arm connecting rods 207. The three large arms 206 of the three driving arms are evenly distributed at 120 degrees at the ends of the three extension arms of the chassis 201 of the robot under test. The convex spherical structure of the large arm 206 in each driving arm is hingedly connected to the spherical groove structure at one end of the two small arm connecting rods 207, and the spherical groove structure at the other end of each small arm connecting rod 207 is hingedly connected to the convex spherical structure of the actuator chassis 204. The robot 2 under test also has three large arm motors 205 evenly distributed at 120 degrees at the ends of the three extension arms of the chassis 201 of the robot under test, and their three output shafts are connected to the actuator chassis 204. The axes are in a horizontal plane at the same height, and the triangle formed by the three axes is an equilateral triangle. The center of the equilateral triangle is on the axis of the circular hole at the center of the robot chassis 201 under test, and they are fixedly connected to the robot chassis 201 under test; each arm motor 205 controls a large arm 206 to swing around the output shaft axis of the arm motor 205 in a vertical plane, thereby driving the small arm connecting rod 207 to move through the arm 206, and then driving the actuator chassis 204 to move in three-dimensional space, and the actuator chassis 204 always remains horizontal and does not rotate during the movement; the motor 202 drives the actuator output shaft 203 to rotate through the No. 1 coupling 209.

[0090] Before the test, the robot under test 2 is fixed on the robot under test mounting beam 107 of the support system 1. Robots under test of different structural types may have different fixing methods. For example, the robot under test 2 of the structure shown in this article can directly fix the robot under test chassis 201 on the robot under test mounting beam 107 by bolts.

[0091] When the test is performed, the actuator chassis 204 of the robot under test 2 moves horizontally, and the robot under test 2 controls the actuator output shaft 203 to rotate through the motor 202 , and the entire robot under test 2 is always kept above the loading detection system 4 .

[0092] See also Figure 7 and Figure 8 The chuck 3 includes a coupling 301, three claws 302 with the same structure, a slide plate 303, a hexagon socket head screw 304, a chuck shaft 305, a No. 1 shaft elastic ring 306, a No. 1 deep groove ball bearing 307, an arc groove plate 308, a chuck base 309 and a bearing seat 310.

[0093] The slide plate 303 is an annular member, and the slide plate 303 is composed of a base plate and three T-shaped slide blocks with the same structure. The base plate is an annular flat plate, and three round through holes for connecting the chuck base 309 are evenly arranged on it; the main body of the T-shaped slide block is a rectangular parallelepiped, and a T-shaped slideway is arranged in the middle. The three T-shaped slide blocks with the same structure are evenly distributed in the circumferential direction of the base plate, and the longitudinal symmetry plane of each T-shaped slide block passes through the central axis of the base plate.

[0094] The clamping claw 302 is composed of a base, a lower cylindrical rod and an upper clamping plate. The outer contour of the T-shaped structure of the base is the same as the inner shape of the T-shaped slideway of the T-shaped slide block on the slide plate 303; the lower cylindrical rod is a cylindrical member; and the upper clamping plate is a plate-shaped member with a uniform cross-section and an isosceles trapezoid.

[0095] The No. 1 deep groove ball bearing 307 is a single-row deep groove ball bearing of model 6004 of the Schaeffler brand.

[0096] See also Figure 8 The arc slot plate 308 is composed of an arc slot plate body and a handle. The arc slot plate body is a circular flat plate, on which three arc through holes with the same structure are evenly distributed in the circumferential direction. The arc through holes gradually move away from the central axis of the arc slot plate body from the inside to the outside along the arc surface direction. The inner wall of the arc slot is tangent to the outer side of the cylindrical rod at the lower part of the claw 302. The cylindrical handle is arranged on the side of the arc slot plate body. By turning the handle, the arc slot plate body can be rotated around the central axis of the arc slot plate 308. , causing the three claws with the same structure to move radially along the slide groove plate 303; in the embodiment, the outer diameter of the arc groove plate body is equal to the diameter of the upper groove of the chuck base 309, the diameter of the middle through hole of the arc groove plate body is equal to the diameter of the middle through hole of the chuck base 309 and is larger than the diameter of the outer cylindrical surface of the No. 2 coupling 301, and the thickness of the arc groove plate body is 0.5mm less than the depth of the upper groove of the chuck base 309 to ensure that the arc groove plate 308 can rotate in the upper groove of the chuck base 309.

[0097] See also Fig.10 The chuck base 309 is an annular disk, and a cylindrical groove for mounting the arc slot plate 308 is arranged at its center. The inner side of the groove is connected with the center hole. Three threaded holes are evenly arranged on the top of the peripheral groove wall and the bottom wall of the groove for connecting the slide groove plate 303 and the bearing seat 310. A notch is arranged on the peripheral groove wall. The handle installed on the arc slot plate body moves in the notch of the groove wall, so that the arc slot plate 308 can work normally.

[0098] The bearing seat 310 is a hollow stepped annular body, that is, it is composed of a large annular body and a small annular body. The large annular body is mounted on the small annular body. The inner diameter of the large annular body is equal to the outer diameter of the small annular body, and is equal to the outer diameter of the No. 1 deep groove ball bearing 307. The thickness of the large annular body is greater than the thickness of the small annular body. The two are fixedly connected. The bottom end faces of the large annular body and the small annular body are coplanar, and the rotation center lines of the large annular body and the small annular body are colinear. The top end face of the small annular body is in contact and connected with the bottom end face of the outer ring of the No. 1 deep groove ball bearing 307. The inner wall surface of the upper end of the large annular body is interference fit with the outer side surface of the outer ring of the No. 1 deep groove ball bearing 307. The bearing seat 310 is provided with three evenly distributed circular countersunk through holes along the circumference for connecting the chuck base 309.

[0099] The No. 2 coupling 301 is a double-diaphragm clamping coupling of the Misumi brand with a model number of E-LMCPW26. The No. 2 coupling 301 can be replaced with different models to adapt to different robots 2 under test.

[0100] See also Figure 8 The chuck shaft 305 is a 4-section stepped shaft, which is the first shaft section, the second shaft section, the third shaft section and the fourth shaft section from top to bottom; it can rotate around the vertical axis of the center of the chuck 3, the outer surface of the third shaft section is interference fit with the inner side surface of the inner ring of the No. 1 deep groove ball bearing 307, and the third shaft section is provided with an annular groove for installing the shaft elastic retaining ring 306, and the axial fixation of the No. 1 deep groove ball bearing 307 is achieved through the lower end surface of the second shaft section and the shaft elastic retaining ring 306, the first shaft section is connected to the No. 2 coupling 301, and the fourth shaft section is provided with a sleeve 420, the lower end surface of the sleeve 420 is completely in contact with the upper end plane of the No. 1 constant velocity universal joint 418, the sleeve 420 can rotate around the central axis relative to the chuck shaft 305 to prevent the three ropes connected thereto from being tangled together when the chuck shaft 305 rotates, and the fourth shaft section is connected to one end of the No. 1 constant velocity universal joint 418 by a set screw 419.

[0101] The No. 1 shaft elastic retaining ring 306 is a shaft elastic retaining ring of the Fansheng brand with the model number ZTD-GB894.1-20CB.

[0102] The hexagon socket head bolt 304 adopts the hexagon socket head bolt of the Misumi brand model E-LBOX-ACB12.9HH3-5.

[0103] The clamping claw 302 is installed in the slide groove of the T-shaped slide groove block through its lower base. The clamping claw 302 and the T-shaped slide groove block are connected in a linear sliding manner. The upper clamping plate of the clamping claw 302 is used to clamp the actuator chassis 204. Different styles can be replaced to adapt to different robots under test. The lower cylindrical rod at the lower end of the clamping claw 302 cooperates with the arc through hole on the arc groove plate 308. The lower cylindrical rod can move relatively along the arc surface in the arc through hole. The clamping claw 302 has three evenly distributed in the circumferential direction. The slide groove plate 303 is fixedly connected to the chuck base 309 by three hexagon socket head bolts 304. The arc groove plate 308 is placed in the groove of the chuck base 309, and can be rotated around the central vertical axis by turning its handle. The bearing seat 310 is fixedly connected to the chuck base 309 by bolts. The top end surface of the small annular body of the bearing seat 310 is in contact with the bottom end surface of the outer ring of the No. 1 deep groove ball bearing 307, the inner wall surface of the upper end of the large annular body of the bearing seat 310 is interference fit with the outer side surface of the outer ring of the No. 1 deep groove ball bearing 307, the first shaft section of the chuck shaft 305 is connected to the lower end of the No. 2 coupling 301, the outer surface of the third shaft section is interference fit with the inner side surface of the inner ring of the No. 1 deep groove ball bearing 307, and the third shaft section is provided with an annular groove for installing the shaft elastic retaining ring 306, the axial fixation of the No. 1 deep groove ball bearing 307 is achieved by the lower end surface of the second shaft section and the shaft elastic retaining ring 306, and the chuck shaft 305 can rotate around the central vertical axis.

[0104] See also Figure 8 and Fig.11 The state of the chuck 3 when connected to the robot 2 under test is as follows: Fig.11 The fourth shaft section of the actuator output shaft 203 is fixedly connected to the upper part of the No. 2 coupling 301 by bolts, and the first shaft section of the chuck shaft is fixedly connected to the lower part of the No. 2 coupling 301 by bolts. By turning the handle of the arc slot plate 308, the three claws 302 move in a straight line toward the vertical axis of the center of the chuck at the same speed, and finally the upper clamping plates of the three claws 302 clamp the actuator chassis 204, completing the connection between the chuck 3 and the robot 2 under test.

[0105] The chuck 3 has the function of transmitting the rotation angle and the clamping function. The following describes these two functions respectively:

[0106] First, let's introduce the function of transferring the rotation angle:

[0107] The top end of the chuck shaft 305 is connected to the actuator output shaft 203 in the robot 2 under test through the No. 2 coupling 301, and the lower end of the chuck shaft 305 is connected to the No. 1 constant velocity universal joint 418; when conducting the test, the rotation angle of the actuator output shaft 203 can be transmitted to the rotation angle detection system through the chuck shaft 305, thereby realizing the rotation angle detection.

[0108] The clamping function is described below:

[0109] When the arc slot plate 308 is rotated, the claws 302 will move linearly along the direction of the slot under the dual restrictions of the arc through hole of the arc slot plate 308 and the slot of the slot plate 303, and the movement of the three claws 302 is synchronous, thereby realizing the clamping function of the chuck 3. Taking this article as an example, before the test, the actuator chassis 204 of the robot 2 under test is placed between the three claws 302 in the chuck 3, and the handle on the arc slot plate 308 is toggled, and the three claws 302 move inward synchronously, thereby clamping the actuator chassis 204 of the robot 2 under test.

[0110] The clamping function is realized by replacing different styles of the clamping claws 302 to adapt to the different structures of the robot 2 under test. After clamping, during the test, the chuck 3 moves horizontally in the three-dimensional space along with the actuator chassis 204 of the robot 2 under test. The loading position detection system can determine the spatial position of the terminal of the robot 2 under test by detecting the spatial position of the chuck 3.

[0111] See also Fig.11 and Fig.12 The loading detection system 4 includes a loading position detection system and a rotation angle detection system.

[0112] See also Fig.12 , Fig.13 and Fig.14 The loading position detection system includes a sliding sleeve 420 and three groups of rope control devices with the same structure.

[0113] The sliding sleeve 420 is a circular tube-shaped member. Three protrusions with vertical circular through holes and a square cross section are evenly distributed along the circumferential direction on the outer wall of the sliding sleeve 420. The three vertical circular through holes are used to insert three ropes, namely rope No. 1 401-1, rope No. 2 401-2 and rope No. 3 401-3, respectively. The ends of the ropes are tied with knots (such as Fig.14 During the test, the rope is always in a tensioned and straightened state, so that the rope knot can clamp the rope so that the rope end is always close to the hole on the top surface of the vertical circular through hole on the sliding sleeve 420. The connection and fixing methods of other rope ends all adopt this rope knot method, and all the places marked with X in the drawings are to illustrate the meaning of the rope knot.

[0114] The sleeve 420 is mounted on the lower shaft section of the chuck shaft 305. The cylindrical inner wall of the sleeve 420 is clearance-matched with the corresponding shaft section of the chuck shaft 305. The sleeve 420 can rotate along the central vertical axis to avoid the ropes from getting entangled with each other during the test. The lower end surface of the third shaft section of the chuck shaft 305 and the upper end plane of the No. 1 constant velocity universal joint 418 can limit the axial movement of the sleeve 420.

[0115] See also Fig.12 , Fig.13 , Fig.15 and Fig.16 The rope control device includes a No. 1 rope 401-1, a No. 1 linear guide 402, a No. 2 linear guide base 403, a No. 1 linear guide base 404, a No. 2 linear guide 405, a distance measuring plate assembly 406, a movable pulley assembly 407, a No. 4 rope 408, a hydraulic cylinder 409, a hydraulic rod 411, a No. 1 angle code 410, a connecting sleeve 412, an ultrasonic distance sensor 413, a No. 2 angle code 414, a tension sensor 415, a rope pulley sleeve 416, a No. 1 rope threading frame 421, a No. 2 rope threading frame 422, a pulley 423, a No. 3 deep groove ball bearing 425, a No. 2 shaft elastic retaining ring 426, a pulley bearing seat 427, a pulley shaft 428 and a No. 2 hole elastic retaining ring 424.

[0116] The No. 3 deep groove ball bearing 425 is a single-row deep groove ball bearing of the Schaeffler brand and model 6001.

[0117] The elastic retaining ring 424 for hole No. 2 is a hole elastic retaining ring of the Fansheng brand with the model number KTD-GB893.1-28CB;

[0118] The No. 2 shaft elastic retaining ring 426 adopts the shaft elastic retaining ring of the Fansheng brand with the model number ZTD-GB894.1-12CB.

[0119] All linear guides are Nanjing Technology brand GGB-AA four-way equal load rolling linear guide pair, with several countersunk circular through holes evenly distributed along the straight line;

[0120] All the sliders are the sliders of Nanjing Technology brand GGB-AA four-way equal load rolling linear guide pair, which are provided with 4 standard threaded holes.

[0121] The hydraulic cylinder 409 and the hydraulic rod 411 are hydraulic cylinders of the MOB standard type of the Bo Rui brand. The hydraulic cylinder 409 is fixed to the base plate 106 by a No. 1 angle code 410 and screws. The hydraulic rod 411 is connected to one end of the connecting sleeve 412 by threads, and the other end of the connecting sleeve 412 is connected to the tension sensor 415 by threads. In the embodiment, the cylinder diameter of the hydraulic cylinder 409 is 40 mm.

[0122] The tension sensor 415 adopts the BCLM-1 membrane box type tension and pressure sensor of the Bengchuan brand. The measuring range includes four specifications, namely 1-50kg, 30-100kg, 100-500kg and 1-2t. Considering the general load conditions of the SCARA robot in practical applications, the measuring range of 1-50kg can meet the test requirements. Threaded rods are provided at both ends of the tension sensor 415 for connecting with the connecting sleeve 412 and the pull rope sleeve 416.

[0123] See also Fig.12 , Fig.13 , Fig.15 and Fig.17 The No. 4 rope 408 is the same as the No. 1 rope 401-1 except for the length, and both ends are connected to the pull rope sleeve 416 and the movable pulley base 4072 respectively by a knot method.

[0124] See also Fig.16 The movable pulley assembly 407 includes a No. 2 slider 4071, a movable pulley base 4072, a No. 3 shaft elastic retaining ring 4073, a movable pulley bearing seat 4074, a No. 1 hole elastic retaining ring 4075, a movable pulley shaft 4076, a movable pulley 4077 and a No. 2 deep groove ball bearing 4078.

[0125] The movable pulley assembly 407 can slide linearly along the guide rail direction on the first linear guide rail 402. The entire movable pulley assembly 407, except for the two screws and corresponding holes at the upper end, is about Fig.13 Symmetrical structure of the mid-section PP.

[0126] The movable pulley base 4072 is a disc-shaped member, and a circular through hole for inserting the No. 4 rope 408 is arranged radially along the movable pulley base 4072. Four countersunk circular through holes are arranged on the movable pulley base 4072. The four countersunk circular through holes are used to connect with the No. 2 slider 4071 using countersunk screws. The four countersunk circular through holes are aligned with the four threaded holes on the No. 2 slider 4071. The movable pulley base 4072 is also provided with four threaded holes. The four threaded holes are used to connect with the movable pulley bearing seat 4074 using bolts. The four threaded holes are aligned with the four circular through holes on the movable pulley bearing seat 4074.

[0127] The No. 3 shaft elastic retaining ring 4073 adopts the shaft elastic retaining ring of the Fansheng brand with the model number ZTD-GB894.1-12CB.

[0128] The elastic retaining ring 4075 for hole No. 1 is a hole elastic retaining ring of the Fansheng brand with the model number KTD-GB893.1-28CB;

[0129] The movable pulley bearing seat 4074 is a hollow stepped rotating body flange, with a circular flange plate at the bottom end. The circular flange plate is provided with 4 circular through holes for connecting with the movable pulley base 4072 by screws. The inner wall of the movable pulley bearing seat 4074 is provided with a stepped hole, and the lower end of the stepped hole is used to install the No. 2 deep groove ball bearing 4078. The circular surface of the shoulder at the lower end of the stepped hole is in contact with the lower end surface of the outer ring of the No. 2 deep groove ball bearing 4078. The upper end of the stepped hole is provided with an annular retaining ring groove for installing the elastic retaining ring 4075 for the No. 1 hole.

[0130] The outer side surface of the outer ring of the No. 2 deep groove ball bearing 4078 is interference fit with the inner side surface of the stepped hole of the movable pulley bearing seat 4074, and the axial positioning is achieved by using the No. 1 hole elastic ring 4075 and the annular surface of the lower end shoulder of the stepped hole of the movable pulley bearing seat 4074.

[0131] The movable pulley shaft 4076 is a two-section stepped shaft, i.e., it is composed of an upper shaft section and a bearing shaft section. The outer surface of the bearing shaft section of the movable pulley shaft 4076 is interference fit with the inner surface of the inner ring of the deep groove ball bearing 4078, and axial positioning is achieved through the elastic retaining ring 4073 for shaft No. 3 and the lower end face of the upper shaft section. The top of the movable pulley shaft 4076 is provided with two threaded holes of specification M3 for connecting with the movable pulley 4077 by screws. The two threaded holes on the movable pulley shaft 4076 are symmetrically arranged relative to its central axis.

[0132] The movable pulley 4077 is a disc-shaped member, and a full circle of U-shaped grooves are provided on the circumferential side wall of the movable pulley 4077. The U-shaped grooves are used to install the No. 1 rope 401-1 and play a guiding and supporting role. Two circular through holes are provided in the middle of the movable pulley 4077. The two circular through holes are used to connect the movable pulley 4077 to the top of the movable pulley shaft 4076 with screws. The two circular through holes are symmetrically arranged on the movable pulley 4077 relative to its central axis.

[0133] This section introduces the position and connection relationship of each component in the movable pulley assembly 407. The movable pulley base 4072 is installed on the top of the No. 2 slider 4071 by four bolts of the same structure, the movable pulley bearing seat 4074 is installed on the top of the movable pulley base 4072 by four bolts of the same structure, the outer side surface of the outer ring of the No. 2 deep groove ball bearing 4078 is interference fit with the inner side surface of the stepped hole of the movable pulley bearing seat 4074, and the axial positioning is achieved by using the No. 1 hole elastic retaining ring 4075 and the annular surface of the lower end of the stepped hole of the movable pulley bearing seat 4074, the outer surface of the bearing section shaft of the movable pulley shaft 4076 is interference fit with the inner side surface of the inner ring of the deep groove ball bearing 4078, and the axial positioning is achieved by the No. 3 shaft elastic retaining ring 4073 and the lower end surface of the upper section shaft, and the movable pulley 4077 is installed on the top of the movable pulley shaft 4076 by two bolts of the same structure.

[0134] See also Fig.18 The distance measuring board assembly 406 includes a No. 1 slider 4061, a distance measuring board base 4062, a rope pressing block 4063 and a distance measuring board 4064.

[0135] The distance measuring plate assembly 406 can slide linearly along the guide rail direction on the No. 2 linear guide rail 405. The entire distance measuring plate assembly 406 is about Fig.13 Symmetrical structure at the middle QQ.

[0136] The distance measuring plate base 4062 is provided with a horizontal circular through hole for inserting the No. 1 rope 401-1 in the longitudinal direction, and the distance measuring plate base 4062 is provided with four countersunk circular through holes for connecting with the No. 1 slider 4061 by bolts, and the rotation axes of the four countersunk circular through holes are parallel to each other and perpendicular to the horizontal circular through hole for inserting the No. 1 rope 401-1, and the distance measuring plate base 4062 is also provided with two threaded holes of specification M3 for connecting with the distance measuring plate 4064 by bolts, A square groove is provided at the center of the top of the distance plate base 4062. The bottom surface of the groove is at the same height as the lowest position of the inner wall of the horizontal circular through hole for inserting the No. 1 rope 401-1. The groove is used to install the rope pressing block 4063. When the bolts on the ranging plate 4064 are tightened, the pressure generated by the bolts is transmitted to the rope pressing block 4063 through the ranging plate 4064 and then presses the No. 1 rope 401-1 under the rope pressing block 4063, so that the No. 1 rope 401-1 can drive the ranging plate assembly 406 to move.

[0137] The rope pressing block 4063 is a rectangular parallelepiped member, and its height is greater than the depth of the groove of the ranging plate base 4062 by the height of a rope diameter.

[0138] The ranging plate 4064 is an L-shaped sheet metal part, which consists of a fixed end and a vertical end. One end of the fixed end is vertically fixedly connected to the bottom end of the vertical end. The fixed end is provided with two circular through holes for connecting with the ranging plate base 4062 by screws. When the ranging plate 4064 is installed on the ranging plate base 4062, the fixed end of the ranging plate 4064 presses down the rope pressing block 4063, and the rope pressing block 4063 presses the No. 1 rope 401-1 below it, thereby fixing the No. 1 rope 401-1 and the ranging plate assembly 406 together. The No. 1 rope 401-1 can drive the ranging plate assembly 406 to move, and the movement distance of the compressed portion of the No. 1 rope 401-1 is equal to the movement distance of the ranging plate assembly 406. The vertical end of the ranging plate 4064 is used to reflect the ultrasonic wave emitted by the ultrasonic distance sensor 413.

[0139] See also Fig.15 The ultrasonic distance sensor 413 adopts the ultrasonic module of TELESKY brand model HC-SRO4, with an operating frequency of 40KHz, a range of 2cm-4m (peak), a measuring angle ≤15°, an input trigger signal of 10uS TTL pulse, an output TTL level signal proportional to the range, and a module size of 45*20*12mm. The module is fixed to the bottom plate 106 in the support system 1 by means of No. 2 angle code 414 and screws, so that the distance between it and the distance measuring board 4064 can always be measured during the test.

[0140] The No. 1 linear guide base 404 and the No. 2 linear guide base 403 are the same rectangular parts, and the tops of the No. 1 linear guide base 404 and the No. 2 linear guide base 403 are provided with 4 countersunk circular through holes, and the countersunk circular through holes are used to install the No. 1 linear guide base 404 and the No. 2 linear guide base 403 on the base plate 106 with bolts. The No. 1 linear guide base 404 and the No. 2 linear guide base 403 also have evenly distributed threaded holes for connecting with the No. 1 linear guide 402 and the No. 2 linear guide 405 with bolts respectively, and the spacing between the threaded holes is equal to the spacing between the holes on the No. 1 linear guide 402 and the No. 2 linear guide 405; the No. 1 linear guide base 404 and the No. 2 linear guide base 403 are installed on the base plate 106 parallel to each other.

[0141] The linear guide rail No. 1 402 and the linear guide rail No. 2 405 are linear guide rails of the MISUMI brand with model E-GMLG12-[45-900 / 1]; the tops of the linear guide rail No. 1 402 and the linear guide rail No. 2 405 are provided with countersunk circular through holes for connecting to the linear guide base No. 1 404 and the linear guide base No. 2 403 respectively by bolts.

[0142] See also Fig.13 , Fig.15 and Fig.19 The No. 1 rope threading frame 421 has the same structure as the No. 2 rope threading frame 422. The main body is a triangular plate bracket, and a square plate flange is provided at the bottom end. Four circular through holes are provided at the four corners of the square plate flange. The four circular through holes are used to install it on the base plate 106 with bolts. A cylindrical structural member is provided at the top, and a circular through hole is provided at the center of the cylindrical structural member. The circular through hole is used to insert the No. 1 rope 401-1.

[0143] See also Fig.16 The structure of the pulley 423 is the same as that of the movable pulley 4077 except for the diameter. It is also used to accommodate the No. 1 rope 401-1, plays a guiding and supporting role, and can rotate around the central vertical axis. The pulley 423 is installed on the pulley shaft 428 below it by screws, and the supporting structure below it also includes a hole elastic ring 424, a No. 3 deep groove ball bearing 425, a shaft elastic ring 426 and a pulley bearing seat 427.

[0144] The pulley bearing seat 427 is a rotating body with a stepped hole, a circular flange is provided at the bottom end, and four circular through holes are evenly distributed in the circumferential direction of the circular flange. The four circular through holes are used to install the pulley bearing seat 427 on the base plate 106 with bolts. The inner wall of the pulley bearing seat 427 is provided with a circular retaining ring groove for accommodating the hole elastic retaining ring 424. The inner wall of the pulley bearing seat 427 is also provided with a circular stepped shaft shoulder, which is in contact with the bottom end surface of the outer ring of the No. 3 deep groove ball bearing 425.

[0145] The No. 3 deep groove ball bearing 425 is a single-row deep groove ball bearing of the Schaeffler brand model 6001. The outer side surface of its outer ring is interference fit with the inner wall of the pulley bearing seat 427, and axial fixation is achieved through the hole elastic retaining ring 424 and the annular stepped shoulder of the pulley bearing seat 427.

[0146] The pulley shaft 428 is a two-section stepped shaft; the outer surface of the lower end section of the shaft is interference fit with the inner hole surface of the inner ring of the No. 3 deep groove ball bearing 425, and the No. 3 deep groove ball bearing 425 is axially positioned through the No. 2 shaft elastic retaining ring 426 and the shoulder on the pulley shaft 428. The top of the pulley shaft 428 is provided with two threaded holes of specification M3, and the two threaded holes of specification M3 are used to connect with the pulley 423. The two threaded holes of specification M3 are symmetrically arranged on the pulley shaft 428 about the central axis of the pulley shaft 428.

[0147] Fig.13The medium side triangle auxiliary line NLM is used to help introduce the arrangement of three groups of rope control devices with the same structure. The equilateral triangle auxiliary line NLM takes the center of the circular through hole in the middle of the bottom plate 106 as the center. Each group of rope control devices is arranged with the same position relationship based on the three sides of the equilateral triangle auxiliary line NLM as the position reference; the arrangement of the rope control device is introduced by taking the first group of rope control devices at the side NL as an example. The hydraulic cylinder 409, the hydraulic rod 411, the connecting sleeve 412, the tension sensor 415, the pulling rope sleeve 416, the No. 4 rope 408 and the main body axial center line of the movable pulley assembly 407 are on the bottom plate 10 6 on the upper surface coincides with the projection of the side NL on the upper surface of the bottom plate 106, the projections of the central axes of all the holes of the No. 1 linear guide 402 and the No. 1 linear guide base 404 on the upper surface coincide with the projection of the side LN on the upper surface of the bottom plate 106, the No. 1 rope threading frame 421 is installed on the side of the No. 1 linear guide 402 away from the hydraulic cylinder 409 and away from the center of the upper surface of the bottom plate 106, the No. 2 linear guide 405 is arranged parallel to the No. 1 linear guide 402, the pulley 423 and its supporting structure are installed on the side of the No. 2 linear guide 405 away from the hydraulic cylinder 409, and the No. 2 rope threading frame 422 is installed on the pulley 4 23 and between the pulley 423 and the center of the upper surface of the bottom plate 106, one end of the No. 1 rope 401-1 is fixed to the No. 1 rope threading frame 421, and the fixing method is the rope knot method described above. One end of the No. 1 rope 401-1 takes the No. 1 rope threading frame 421 as the starting point, and the other end of the No. 1 rope 401-1 successively passes around the movable pulley 4077 in the movable pulley assembly 407, is inserted into the distance measuring board base 4062 in the distance measuring board assembly 406, passes around the pulley 423, is inserted from one side of the No. 2 rope threading frame 422, and extends from the other side of the No. 2 rope threading frame 422. Finally, the other end of the No. 1 rope 401-1 is inserted into the corresponding end of the sliding sleeve 420 The circular hole is fixed to the sliding sleeve 420 by a knot method. The arrangement of the above-mentioned components ultimately makes the straight line segment of rope No. 1 401-1 between rope threading frame No. 1 421 and movable pulley 4077, the straight line segment between movable pulley 4077 and pulley 423, and rope No. 4 408 all parallel to side LN. The portion of rope No. 1 401-1 from rope threading frame No. 1 421 to rope threading frame No. 2 422 is always maintained on the same horizontal plane. The ultrasonic sensor 413 is installed on the side of the hydraulic cylinder 409 close to the center of triangle LMN so that it is aligned with the distance measuring plate 4064, and is used to detect the distance between the distance measuring plate 4064.

[0148] The second group of rope control devices are arranged on the LM side of the equilateral triangle NLM, with one side of its hydraulic cylinder close to the point M, and its position relationship relative to the side LM is the same as the position relationship of the first group of rope control devices relative to the side NL; the third group of rope control devices are arranged on the MN side of the equilateral triangle NLM, with one side of its hydraulic cylinder close to the point N, and its position relationship relative to the side MN is the same as the position relationship of the first group of rope control devices relative to the side NL.

[0149] The rope control device has the functions of controlling the tension on the rope and detecting the distance:

[0150] 1. Control the tension on the rope:

[0151] See also Fig.19 , Fig.17 , Fig.15 and Fig.12 One end of the No. 1 rope 401-1 is fixed on the No. 1 rope threading frame 421, and the fixing method is the rope knot method described above. One end of the No. 1 rope 401-1 takes the No. 1 rope threading frame 421 as the starting point, and the other end of the No. 1 rope 401-1 successively passes around the movable pulley 4077 in the movable pulley assembly 407, is inserted into the distance measuring plate base 4062 in the distance measuring plate assembly 406, passes around the pulley 423, is inserted from one side of the No. 2 rope threading frame 422, and extends from the other side of the No. 2 rope threading frame 422. Finally, the other end of the No. 1 rope 401-1 is inserted into the corresponding round hole on the sliding sleeve 420 and is fixed to the sliding sleeve 420 by the rope knot method; the hydraulic rod of the hydraulic cylinder 409 411 is fixedly connected with the tension sensor 415 through the connecting sleeve 412, one / left end of the No. 4 rope 408 is fixedly connected to the pulling rope sleeve 416, and the left end of the pulling rope sleeve 416 is installed on the right end of the tension sensor 415. The other end of the No. 4 rope 408 is fixedly connected to the movable pulley base 4072, so that the hydraulic cylinder 409 can cooperate with the tension sensor 415 and other components to control the size of the tension on the No. 4 rope 408, and this tension is transferred to the No. 1 rope 401-1 by half through the movable pulley 4077. In this way, we can control the tension on the No. 1 rope 401-1 to the size we need by controlling the hydraulic cylinder 409.

[0152] 2. Distance detection function:

[0153] See also Fig.12 , 13 , Fig.15 and Fig.18When the test is being conducted, the No. 1 rope 401-1 is in a state of tension and straightening, and the rope segment from the lower end of the cylindrical hole of the sliding sleeve 420 to the upper end of the circular hole of the No. 2 rope threading frame 422 near the sliding sleeve 420 always maintains a straight line, and the distance value between these two places is equal to the length value of this rope segment. When the sliding sleeve 420 moves away from or close to the No. 2 rope threading frame 422 by a certain distance, the length of this rope segment will be correspondingly lengthened or shortened by the same amount, and at the same time, it will drive the distance measuring plate assembly 406 to move along the linear guide rail 405 away from or close to the ultrasonic distance sensor 413 by the same distance. The ultrasonic distance sensor 413 can detect the moving distance of the distance measuring plate assembly 406 in real time, so that the distance change of the sliding sleeve 420 from the No. 2 rope threading frame 422 can be detected in real time. Before the test begins, we can easily know the length of the rope segment mentioned above, that is, we know the distance between the sliding sleeve 420 and the No. 2 rope threading frame 422. By adding and subtracting the distance change measured by the ultrasonic distance sensor 413 at a certain moment, we can get the distance between the sliding sleeve 420 and the No. 2 rope threading frame 422 at this moment. Thus, the real-time distance detection function is realized.

[0154] See also Fig.12 , Fig.14 , Fig. 20 and Fig.21 The rotation angle detection system includes, from top to bottom, a constant velocity universal joint No. 1 418 , four identical set screws 419 , a telescopic rod No. 1, a telescopic rod No. 2 429 , a constant velocity universal joint No. 2 430 and an angle sensor 431 .

[0155] The constant velocity universal joint No. 1 418 and the constant velocity universal joint No. 2 430 are both constant velocity universal joints of the Misumi brand model E-CLX06, which are used to transmit rotational motion and can achieve constant velocity transmission, that is, the rotation speeds of the two ends connected are equal, thereby ensuring that the measured rotation angle is equal to the rotation angle of the actuator output shaft 203 of the robot 2 under test. The upper joint of the constant velocity universal joint No. 1 418 is fixedly connected to the fourth shaft section of the chuck shaft 305 by a set screw 419, and the connection between the constant velocity universal joint No. 1 418 and the constant velocity universal joint No. 2 430 is connected by this screw connection method, the lower joint of the constant velocity universal joint No. 1 418 is connected to the upper end of the first telescopic rod, the upper joint of the constant velocity universal joint No. 2 430 is connected to the lower end of the second telescopic rod 429, and the lower joint of the constant velocity universal joint No. 2 430 is connected to the rotating shaft of the angle sensor 431.

[0156] The set screw 419 is a set screw of the Misumi brand with a model number of E-LBOX-MSSF304S4-3.

[0157] The main body of the telescopic rod 1 is a cylindrical long rod, with a small section at the upper end being a smooth rod for connecting the universal joint 418, and three semi-cylindrical protrusions are evenly distributed in the circumferential direction of the remaining rod sections, corresponding to the three semi-cylindrical grooves on the inner wall of the telescopic rod 2 429, for realizing the transmission of rotational motion and ensuring uniform speed transmission.

[0158] The main body of the second telescopic rod 429 is in the shape of a circular tube, and three semi-cylindrical grooves are evenly distributed in the circumferential direction of the inner wall of the circular tube, corresponding to the three semi-cylindrical protrusions of the first telescopic rod, for realizing the transmission of rotational motion and ensuring uniform speed transmission.

[0159] The angle sensor 431 adopts the angle sensor of the model MK380A of the Maike sensor brand, with a measuring range of 0-360° (±180°), an accuracy of 0.2°, a resolution of 0.02°, and an axis that can rotate clockwise and counterclockwise, and infinitely rotates 0-360°, with no stop position for forward and reverse rotation. A circular flange is provided, and two arc-shaped through holes are symmetrically distributed on the circular flange for connecting with the angle sensor bracket 105.

[0160] See also Figure 1 and Fig.21 The operating console 5 includes an input / output module 501, a 24V power supply 502, an operating panel 503, a Siemens 840DsI system 504, a numerical control unit 505, a mouse 506, a keyboard 507, an adjustable power supply module 508, three electro-hydraulic servo valves 509 with the same structure and an operating console box 510.

[0161] The above-mentioned equipment, together with the angle sensor 431, the tension sensor 415 and the ultrasonic distance sensor 413, plays a control role, realizes the data collection and control function of the entire reliability test device, and can display the operating status of the test device on the display.

[0162] See also Figure 1 The operating table box 510 is a piano-shaped sheet metal box, which is divided into three parts: the upper part, the middle part and the lower part. The upper part is used to install the operating panel 503; the extended part of the middle part is used to install the mouse 506, the keyboard 507 and the switch button; the lower part is a square box structure, which is used to install electrical components.

[0163] The Siemens 840Ds 1 system 504 is the core part of the control function, which is integrated with the operation panel 503 and installed on the front end surface of the upper part of the operation table box 510. The 24V power supply 502, the operation panel 503, the mouse 506, the keyboard 507, and the numerical control unit 505 are respectively connected to the Siemens 840Ds 1 system 504. The Siemens 840Ds 1 system 504 is pre-installed with a data processing program, which includes three parts: the first part is the preparation before the reliability test, the second part is the detection and recording of the reliability test data, and the third part is the comparison and analysis of the test data after the reliability test.

[0164] The input-output module 501 is a Siemens 72 / 48D 2 / 2A PN input-output module. The X2 interface of the input-output module 501 is connected to the X126 interface of the numerical control unit 505 by an electrical connection line, the X3-1 interface of the input-output module 501 is connected to the output end of the angle sensor 431 by an electrical connection line, the X3-2 to X3-4 interfaces of the input-output module 501 are respectively connected to the three electro-hydraulic servo valves 509 by electrical connection lines, the X3-5 to X3-7 interfaces of the input-output module 501 are respectively connected to the output ends of the three tension sensors 415 by electrical connection lines, and the X3-8 to X3-10 interfaces of the input-output module 501 are respectively connected to the output ends of the three ultrasonic distance sensors 413 by electrical connection lines.

[0165] The 24V power supply 502 mainly provides DC24V power for the Siemens 840Ds 1 system 504 , and its electrical line is connected to the X1 interface of the Siemens 840Ds 1 system 504 .

[0166] The operation panel 503 is a Siemens OP 012 operation panel. The operation panel 503 is installed on the front panel of the upper part of the operation table box 510. The electrical wire of the operation panel 503 is connected to the flat multi-core socket of the Siemens 840Ds l system 504.

[0167] The mouse 506 is installed on the upper end surface of the front protruding part of the operating table box 510, and the electrical wire of the mouse 506 is connected to the USB interface of the Siemens 840Ds l system 504.

[0168] The keyboard 507 is installed on the upper end surface of the protruding part in the middle of the operating table box 510, and its electrical wire is connected to the USB2 interface of the Siemens 840Ds l system 504.

[0169] The numerical control unit 505 is a Siemens NCU720 numerical control unit, which is the central processor of the Siemens 840Ds l system 504 and is mainly used to process all CNC and PLC communication tasks. The X120 interface of the numerical control unit 505 is connected to the ETHERNET1 interface of the Siemens 840Ds l system 504 through a network cable, and the X100 interface of the numerical control unit 505 is connected to the X200 interface of the adjustable power supply module 508 through a network cable.

[0170] The adjustable power module 508 is a Siemens ALM adjustable power module, which is mainly used to convert three-phase 380V AC power into DC power. The X200 interface of the adjustable power module 508 and the X100 interface of the numerical control unit 505 are connected by a network cable.

[0171] The electro-hydraulic servo valve 509 adopts the Moog servo valve of model MOOG. The present invention adopts three identical electro-hydraulic servo valves 509 to control the output force of three hydraulic cylinders 409 respectively, and is connected to the X3-2 ~ X3-4 interfaces of the input-output module 501 through electrical connecting lines respectively.

[0172] See also Figure 1 , Figure 8 and Fig.11 The robot chassis 201 of the robot 2 is mounted on the robot mounting beam 107 of the support system 1 through three bolts with the same structure, and its bottom actuator chassis 204 is clamped by three claws 302 of the chuck 3; the sleeve 420 of the loading detection system 4 is sleeved on the fourth shaft section of the chuck shaft 305 of the chuck 3, and the sleeve 420 can rotate around the central axis relative to the chuck shaft 305, and the upper joint of the No. 1 constant velocity universal joint 418 of the loading detection system 4 is connected to the fourth shaft section of the chuck shaft 305 of the chuck 3 through a set screw 419, and the angle sensor 431 of the loading detection system 4 is fixed to the upper end of the angle sensor bracket 105 of the support system 1 through bolts, and three groups of rope control devices with the same structure of the loading detection system 4 are installed on the upper surface of the bottom plate 106 of the support system 1 through bolts; the operating table 5 is placed next to the support system 1, and is connected to each detection element and control element on the support system 1 through a data transmission line to realize real-time monitoring and precise control of the entire system.

[0173] Position detection and loading principle of the reliability test device for the three-level and one-rotation four-degree-of-freedom robot:

[0174] (1) Position detection principle:

[0175] In three-dimensional space, the positions of the three No. 2 rope threading racks 422 are known, so the three No. 2 rope threading racks 422 outlets correspond to three fixed points with known position coordinates and on the same horizontal plane. From the above description, we can detect the distances of the sleeve 420 to these three fixed points in real time. It is easy to imagine that in three-dimensional space, three spheres with the three fixed points as the center and the measured distances to the corresponding fixed points as the radius have two intersections, which are located above and below the horizontal plane and symmetrical about the horizontal plane. The position coordinates of these two intersections are known, and the position coordinates of the intersection above the horizontal plane are the position coordinates of the sleeve 420. When conducting the test, the sleeve 420 moves horizontally synchronously with the terminal of the robot 2 under test in three-dimensional space, so obtaining the position coordinates of the sleeve 420 is equivalent to obtaining the position coordinates of the terminal of the robot 2 under test. In this way, the position detection of the terminal of the robot under test is realized, and the function of detecting the positioning accuracy and repeatability of the SCARA robot is possessed.

[0176] (2) Loading principle

[0177] The load on the SCARA robot in actual application is usually a vertical downward force acting on the terminal, which is usually the gravity of the grasped object. The load simulated by the present invention is the vertical downward force acting on the terminal, that is, the gravity of the object grasped by the SCARA robot in actual work. From the above description, we can know that the three groups of rope control devices can respectively control the three ropes 401-1 to 401-3 to apply three forces along the rope directions to the terminal of the robot 2 under test, and the magnitude of the force is controllable. If the terminal is assumed to be a point in three-dimensional space, and three downward forces along the rope act on this point, combined with the knowledge of force analysis, it can be known that if these three forces are decomposed into components in the horizontal and vertical directions, at least one set of three forces of certain size can be found, so that the resultant force of the three components in the horizontal plane is zero, and the resultant force of the three vertical downward components acts as a load on this point, that is, on the terminal. After the three determined forces are changed by the same multiple, the components in the horizontal plane remain zero, and the vertical downward resultant force, i.e., the simulated load, will change by the same multiple, that is, this method can be used to load any size of load. The directions of the three forces along the rope can be determined by combining the spatial position coordinates of the sliding sleeve 420 and the position coordinates of the three rope ends passing through the No. 2 rope frame 422.

[0178] The rotation angle detection principle of the three-level-one-rotation four-degree-of-freedom robot reliability test device is as follows:

[0179] It is easy to see from the structure of the rotation angle detection system that the actuator output shaft 203 of the robot 2 under test will rotate synchronously with the rotation shaft of the angle sensor 431 at the same speed. The angle sensor 431 can cooperate with the operating platform 5 to detect the rotation angle of the actuator output shaft 203 in real time, thereby realizing the rotation angle detection function of the actuator output shaft 203.

[0180] The reliability test method of the three-level-one-rotation four-degree-of-freedom robot described is as follows:

[0181] The reliability test method for a three-level-one-rotation four-degree-of-freedom robot described in the present invention is a method based on the reliability test device for a three-level-one-rotation four-degree-of-freedom robot described above, and proposes a set of reliability test methods for the robot 2 under test.

[0182] See also Fig. 20 The steps of the reliability test method for a three-level-one-rotation four-degree-of-freedom robot are as follows:

[0183] 1. Reliability test preparation

[0184] 1) Installation and connection

[0185] The top end of the robot under test 2 is mounted on the robot under test mounting beam 107 of the support system 1, and the actuator chassis 204 at the bottom end of the robot under test 2 is clamped with three claws 302 of the chuck 3;

[0186] In actual applications, the SCARA robot is used to drive the load to move horizontally in three-dimensional space and rotate a certain angle in some application cases, which is referred to as case one in this article. In some application cases, it is only necessary to drive the load to move horizontally in three-dimensional space, which is referred to as case two in this article. The SCARA robot used in case two is not equipped with a structure for realizing one-dimensional rotational freedom. That is to say, referring to the robot 2 under test described in this article, if its application case is case two, it is not equipped with the actuator output shaft 203 and its related structures.

[0187] Therefore, if the robot 2 under test is applied to the first case, the rotating shaft (actuator output shaft 203) of its terminal should be connected to the chuck rotating shaft 305 through the coupling; if it is applied to the second case, there is no rotating shaft (actuator output shaft 203), the chuck rotating shaft 305 is not connected to any part of the robot under test, and the coupling 301 is not provided thereon;

[0188] 2) Determine the accuracy index to be tested

[0189] The technician selects the accuracy index to be tested on the operation panel 503 of the operation platform 5 according to the application requirements of the robot 2 to be tested:

[0190] a. The accuracy indicators selected in case 1 include positioning accuracy, repeat positioning accuracy and rotation angle accuracy of the actuator output shaft 203,

[0191] b. In case 2, there is no need to consider the rotation angle accuracy, and the accuracy indicators only need to select positioning accuracy and repeated positioning accuracy;

[0192] 3) Set the tolerance value of the accuracy index

[0193] The technicians set the tolerance value of the precision index of the robot 2 under test according to the application requirements and input it into the operation console 5:

[0194] a. If the robot 2 under test is applied to a case, the following three accuracy indicators need to be set to allow tolerance values: positioning accuracy allowable tolerance value, repeat positioning accuracy allowable tolerance value and the rotation angle accuracy allowable tolerance value of the actuator output shaft 203;

[0195] b. If the robot 2 under test is used in case 2, it is only necessary to set the following two accuracy index allowable tolerance values: the positioning accuracy allowable tolerance value and the repeat positioning accuracy allowable tolerance value;

[0196] 4) Planning the movement path of the actuator chassis 204 of the robot under test 2

[0197] The technicians design the motion route of the actuator chassis 204 of the robot 2 under test according to the application requirements of the robot 2 under test, that is, the motion route of the terminal of the robot 2 under test, and input it into the operation console 5 to ensure that it can represent the actual working conditions. It can usually be set to move back and forth along the same route between two points; when conducting the test, the actuator chassis 204 of the robot 2 under test is controlled by the operation console 5 to move along the set route;

[0198] 5) Set the load size

[0199] The technicians determine the load size to be loaded on the terminal of the robot 2 under test according to the application requirements of the robot 2 under test, so as to simulate the load of the robot 2 under test in actual work; according to the movement route set in the previous step, the spatial position coordinates of the robot terminal at each moment during the test can be known, so the size of the force that each hydraulic cylinder 409 should apply at this moment can be known, and each hydraulic cylinder 409 can be controlled to apply a corresponding amount of force at a corresponding moment to achieve loading of a constant load;

[0200] 2. Detection and recording of reliability test data

[0201] 1) Start the program and start timing

[0202] The technician starts the pre-installed program through the Siemens 840Ds l system 504 and counts the time in real time;

[0203] 2) Signal and accuracy detection

[0204] a. The robot 2 under test moves back and forth according to the set motion route, and the positioning accuracy and repeatability of the robot 2 under test are measured by the ultrasonic distance sensor 413 and transmitted to the console 5 in real time, and displayed in real time on the operation panel 503 of the console 5 for the operator to monitor;

[0205] b. The actual rotation angle of the actuator output shaft 203 is measured by the angle sensor 431 and transmitted to the operating station 5 in real time, and is displayed in real time on the operating panel 503 of the operating station 5 for the operator to monitor. If the robot 2 under test is applied to the second case, there is no such item;

[0206] c. The operating station 5 adjusts the force applied by each hydraulic cylinder 409 according to the real-time monitoring terminal spatial position signal of the robot 2 under test to accurately maintain a constant load of a set size;

[0207] 3) Failure type identification

[0208] a. The operating console 5 uses the data detected by the ultrasonic distance sensor 413 to compare the actual positioning accuracy and repeat positioning accuracy of the terminal of the tested robot 2 with the positioning accuracy and repeat positioning accuracy allowable tolerance values ​​set in the reliability test preparation stage. If the actual value is greater than the set value, it is determined that the accuracy of the tested robot 2 has failed, which is recorded as a primary accuracy failure. If the tested robot 2 is used in situation 1, it is also necessary to compare the actual rotation angle of the rotating axis (actuator output shaft 203) of its terminal measured by the angle sensor 431 with the set rotation angle accuracy allowable tolerance value. If the actual value is greater than the set value, it is determined that the accuracy of the tested robot 2 has failed, which is recorded as a primary accuracy failure.

[0209] b. The operating table 5 also records other faults, such as insufficient oil pressure, damage to hydraulic components, oil leakage, etc. If such a fault occurs, it will be recorded as a non-precision failure fault;

[0210] 4) Stop the test

[0211] If a fault occurs, the technician will stop the reliability test and record the continuous trouble-free working time of the test; conduct a comprehensive inspection and repair of the robot 2 under test to eliminate the fault and restore it to the state before the test, and then move the actuator chassis 204 of the robot 2 under test to the initial position; after the technician confirms that there is no abnormality, restart the pre-installed program through the Siemens 840Dsl system to start a new round of reliability test data detection and recording. The number of rounds of reliability test data detection and recording is determined by the operator according to actual needs;

[0212] 3. Analysis of reliability test data

[0213] 1) After the reliability test is completed, the responsible personnel shall organize the fault data collected during the test and use the failure mode, effects and criticality analysis method (FMECA) to evaluate the reliability level of the robot 2 under test;

[0214] 2) During the reliability test, if there are faults such as insufficient oil pressure, damage to hydraulic components, oil leakage, control device alarm, etc., the technicians should immediately stop the test, analyze the cause of the fault, and improve the reliability test device of the three-horizontal and one-rotation four-degree-of-freedom robot.

[0215] The embodiments described in the present invention are intended to facilitate the understanding and application of the present invention by those skilled in the art. The present invention is only an optimized example, or a better specific technical solution. If relevant technical personnel adhere to the basic technical solution of the present invention, make equivalent structural changes or various modifications that do not require creative work, they are all within the protection scope of the present invention.

Claims

1. A reliability test device for a three-level and one-rotation four-degree-of-freedom robot, characterized in that: The three-axis one-rotation four-degree-of-freedom robot reliability test device comprises a support system (1), a chuck (3), a loading detection system (4) and an operating table (5); The loading detection system (4) comprises a loading position detection system and a rotation angle detection system; the loading position detection system comprises a sliding sleeve (420) and three groups of rope control devices with the same structure; The support system (1) is installed on the foundation through its horizontal iron (104), and the operating table (5) is placed on the foundation on the right side of the support system (1); the chuck (3) is located above the center of the bottom plate (106) in the support system (1), and the top of the chuck (3) clamps the actuator chassis (204) on the robot under test (2) through three claws (302) with the same structure. The top of the robot under test (2) is fixed to the robot under test mounting beam (107) in the support system (1) through the robot under test chassis (201), and the sliding sleeve (420) is sleeved on the lower end of the chuck rotating shaft (305). The bottom end of the chuck (3) is inserted into the upper end of the No. 1 constant velocity universal joint (418) of the rotation angle detection system through the lower end of the chuck rotating shaft (305), and is fixed to the upper end of the No. 1 constant velocity universal joint (418) by a set screw (419). The three groups of rope control devices are fixedly connected, one end of which is inserted into three vertical circular through holes on the protrusions evenly distributed in the circumferential direction on the outer tube wall of the sliding sleeve (420) through rope No. 1 (401-1), rope No. 2 (401-2) and rope No. 3 (401-3) and fixed, and the other ends of the three groups of rope control devices are arranged on the bottom plate (106), that is, the other ends of the three groups of rope control devices are arranged clockwise on an equilateral triangle NLM on the bottom plate (106), and the center of the equilateral triangle NLM coincides with the rotation axis of the center hole on the bottom plate (106); the lower end of the rotation angle detection system is fixedly connected to the angle sensor bracket (105) at the bottom end of the support system (1) through its angle sensor (431); the operating table (5) and the rope control device are connected by an electrical connection line.

2. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The support system (1) comprises 20 No. 2 L-shaped angle brackets (101), 4 columns (102), 24 No. 1 L-shaped angle brackets (103), a ground level iron (104), an angle sensor bracket (105), a bottom plate (106), a measured robot mounting beam (107), 6 longitudinal beams (108) and 5 transverse beams (109); The robot mounting beam (107), four columns (102), six longitudinal beams (108) and five transverse beams (109) are all made of aluminum profiles of the Misumi brand model HFSF8-6060-[50-4000 / 0.5]; The No. 1 L-shaped corner bracket (103) adopts the L-shaped corner bracket of the Handi brand and the model number is YyglbmJx; The No. 2 L-shaped corner code (101) adopts the L-shaped corner code of Misumi brand model HBLTS8-50; The bottom plate (106) is a square plate with equal sides that meets the rigidity requirements. The four corners of the bottom plate (106) are provided with threaded holes, and the center of the bottom plate (106) is provided with a circular through hole. The ground level iron (104) is a rectangular plate casting, and the top of the plate is provided with mutually parallel T-shaped grooves of the same structure; The angle sensor bracket (105) is a door-shaped sheet metal part, which consists of a top wall, a left support arm, a right support arm, a left mounting base, and a right mounting base. The top ends of the left support arm and the right support arm are vertically connected to the left and right ends of the top wall, and the bottom ends of the left support arm and the right support arm are vertically connected to the right and left ends of the left mounting base and the right mounting base. The top wall is provided with four circular through holes with equal diameters for mounting bolts, and a large-diameter circular through hole for inserting the angle sensor (431) body is provided in the middle of the four circular through holes. The left mounting base and the right mounting base are provided with two symmetrically arranged small circular through holes with the same diameter for mounting bolts. Four uprights (102), six longitudinal beams (108) and five transverse beams (109) are connected to form a rectangular frame by using No. 1 L-shaped angle bracket (103), No. 2 L-shaped angle bracket (101), slide nuts and bolts. The robot mounting beam (107) to be tested is mounted on the two longitudinal beams (108) at the top of the rectangular frame by using No. 2 L-shaped angle bracket (101). The two ends of the robot mounting beam (107) to be tested are located at the center of the two longitudinal beams (108) at the top of the frame and are perpendicular. The bottom plate (106) is mounted on two longitudinal beams (108) and two transverse beams (109) located on the same plane in the middle of the rectangular frame by means of four bolts of the same structure. The angle sensor bracket (105) is mounted on the middle of the top of a transverse beam (109) located in the middle of the bottom end of the rectangular frame by means of two bolts of the same structure. The entire rectangular frame is mounted on the ground level iron (104) by means of a No. 2 L-shaped angle bracket (101) through the bottom end.

3. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The chuck (3) comprises a coupling (301), three claws (302) of the same structure, a slide plate (303), a hexagon socket head screw (304), a chuck shaft (305), a No. 1 shaft elastic retaining ring (306), a No. 1 deep groove ball bearing (307), an arc groove plate (308), a chuck base (309) and a bearing seat (310); The first shaft section of the chuck shaft (305) is connected to the bottom end of the coupling (301), the No. 1 deep groove ball bearing (307) is mounted on the third shaft section of the chuck shaft (305), the No. 1 shaft elastic retaining ring (306) is installed in the retaining ring groove on the chuck shaft (305), the upper end surface of the No. 1 shaft elastic retaining ring (306) is in contact with the bottom end surface of the inner ring of the No. 1 deep groove ball bearing (307), the top end surface of the inner ring of the No. 1 shaft elastic retaining ring (306) is in contact with the shaft shoulder on the chuck shaft (305), the No. 1 deep groove ball bearing (307) is installed in the large annular body of the bearing seat (310), the top end surface of the small annular body is in contact with the bottom end surface of the outer ring of the No. 1 deep groove ball bearing (307), and the inner wall surface of the upper end of the large annular body is interference fit with the outer side surface of the outer ring of the No. 1 deep groove ball bearing (307); The chuck base (309) is installed on the top of the bearing seat (310), and the chuck base (309) and the bearing seat (310) are connected by bolts. The arc slot plate (308) is installed in the annular cylindrical groove at the center of the chuck base (309). The slide plate (303) is installed on the top of the chuck base (309), and the bottom end surface of the slide plate (303) is in contact with the top end surface of the chuck base (309). The two are fixedly connected by a hexagon socket head screw (304). Three claws (302) with the same structure are installed in the T-shaped slideways on the three T-shaped slide blocks of the slide plate (303) with the same structure through their bases. The two are slidably connected. The lower cylindrical rods of the three claws (302) with the same structure are inserted into the arc-shaped through holes on the arc slot plate (308), and the two are slidably connected.

4. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The arc slot plate (308) is composed of an arc slot plate body and a handle. The arc slot plate (308) is an annular flat plate, on which are arranged three arc through holes of the same structure evenly distributed in the circumferential direction. The arc through holes gradually move away from the central axis of the arc slot plate (308) from the inside to the outside along the arc direction. The inner wall surface of the arc through hole is tangent to the lower cylindrical rod of the clamping claw (302). The cylindrical handle is arranged on the side of the arc slot plate body, that is, the handle is installed on the side of the arc slot plate body along the radial direction of the arc slot plate body. The outer diameter of the arc slot plate (308) is equal to the outer diameter of the groove on the chuck base (309), the diameter of the outer cylindrical surface of the arc slot plate (308) is equal to the inner diameter of the groove on the chuck base (309), and the thickness of the arc slot plate (308) is equal to the depth of the groove on the chuck base (309).

5. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The sliding sleeve (420) is a circular tubular member. Three protrusions with square cross-sections and vertical circular through holes are evenly distributed along the circumferential direction on the outer tube wall of the sliding sleeve (420). The three vertical circular through holes are respectively used to insert three ropes, namely rope No. 1 (401-1), rope No. 2 (401-2) and rope No. 3 (401-3). Knots are tied at the ends of the ropes, so that the ends of the three ropes are tightly fixed to the three vertical circular through holes respectively by the knot method. The inner diameter of the sliding sleeve (420) is equal to the lower end shaft diameter of the chuck shaft (305) of the chuck (3), and the outer diameter of the sliding sleeve (420) is larger than the inner diameter of the upper end of the No. 1 constant velocity universal joint (418).

6. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The rope control device comprises a No. 1 rope (401-1), a No. 1 linear guide (402), a No. 2 linear guide (405), a No. 1 linear guide base (404), a No. 2 linear guide base (403), a distance measuring plate assembly (406), a movable pulley assembly (407), a No. 4 rope (408), a hydraulic cylinder (409), a No. 1 angle code (410), a hydraulic rod (411), a connecting sleeve (412), an ultrasonic distance sensor (413), a No. 2 angle code (414), a tension sensor (415), a rope pulling sleeve (416), a No. 1 rope threading frame (421), a No. 2 rope threading frame (422), a pulley (423), a No. 2 hole elastic retaining ring (424), a No. 3 deep groove ball bearing (425), a No. 2 shaft elastic retaining ring (426), a pulley bearing seat (427) and a pulley shaft (428); The rope control device is arranged on the lower right side of the L point of the NL side in the equilateral triangle NLM on the bottom plate (106); the hydraulic cylinder (409) is installed on the bottom plate (106) through the No. 1 angle code (410), an ultrasonic distance sensor (413) is installed on the right side wall of the upper end of the No. 2 angle code (414), and the No. 2 angle code (414) is installed on the bottom plate (106) on the inner side of the right end of the hydraulic cylinder (409); the hydraulic rod (411) is installed in the hydraulic cylinder (409), the right end of the hydraulic rod (411) is connected to the tension sensor (415) through the connecting sleeve (412), the right end of the tension sensor (415) is threadedly connected to the left end of the pulling rope sleeve (416), the No. 4 rope (408) is installed in the through hole on the central axis of the pulling rope sleeve (416) by a rope knot method, and the movable pulley assembly (407) is connected to the pulley sleeve (416) through the two connecting sleeves. The first slider (4071) is mounted on the first linear guide rail base (404) and on the first linear guide rail (402) on the right side of the traction rope sleeve (416); the second linear guide rail (405) is mounted on the inner side of the first linear guide rail (402) through the second linear guide rail base (403); the second linear guide rail (405) and the first linear guide rail (402) are mounted on the bottom plate (106) in parallel with each other; the distance measuring plate assembly (406) is mounted on the left end of the second linear guide rail (405) through the first slider (4061) therein; the pulley (423) is mounted on the right bottom plate (106) at the right end of the second linear guide rail (405) through the second hole elastic retaining ring (424), the third deep groove ball bearing (425), the second shaft elastic retaining ring (426), the pulley bearing seat (427) and the pulley shaft (428); The projections of the main axial center lines of the hydraulic cylinder (409), the hydraulic rod (411), the connecting sleeve (412), the tension sensor (415), the traction rope sleeve (416), the No. 4 rope (408) and the movable pulley assembly (407) on the upper surface of the bottom plate (106) are all coincident with the projections of the edge NL on the upper surface of the bottom plate (106), and the central axes of all the holes of the No. 1 linear guide rail (402) and the No. 1 linear guide rail base (404) are coincident with the projections of the edge NL on the upper surface of the bottom plate (106). The projections of the two ropes coincide with the projections of the edge NL on the upper surface of the bottom plate (106). The No. 1 rope threading frame (421) is installed at the lower right side of the right end of the No. 1 linear guide rail (402). The No. 2 rope threading frame (422) is installed at the upper left of the pulley (423) and between the pulley (423) and the center of the upper surface of the bottom plate (106). One end of the No. 1 rope (401-1) is fixed to the No. 1 rope threading frame (421) by a knot method, and the other end of the No. 1 rope (401-1) is passed through the No. 1 rope threading frame (421) in sequence. The movable pulley (4077) in the movable pulley assembly (407) is inserted into the distance measuring plate base (4062) in the distance measuring plate assembly (406), passes around the pulley (423), is inserted from one side of the No. 2 rope threading frame (422), and extends from the other side of the No. 2 rope threading frame (422). Finally, the other end of the No. 1 rope (401-1) is inserted into the corresponding round hole on the sliding sleeve (420) and fixed to the sliding sleeve (420) by a rope knot method; the No. 1 rope (401-1) is inserted into the No. 1 rope threading frame (422). The straight line segment between the rope rack (421) and the movable pulley (4077), the straight line segment between the movable pulley (4077) and the pulley (423), and the No. 4 rope (408) are all parallel to the side NL, the portion of the No. 1 rope (401-1) from the No. 1 rope threading rack (421) to the No. 2 rope threading rack (422) is always kept on the same horizontal plane, and an ultrasonic sensor (413) is aligned with the distance measuring board (4064) in the distance measuring board assembly (406).

7. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The rotation angle detection system also includes four identical set screws (419), a first telescopic rod (417), a second telescopic rod (429) and a second constant velocity universal joint (430); The constant velocity universal joint No. 1 (418) and the constant velocity universal joint No. 2 (430) are constant velocity universal joints of the Misumi brand with a model number of E-CLX06; The set screw (419) is a set screw of the Misumi brand with a model number of E-LBOX-MSSF304S4-3; The main body of the telescopic rod (417) is a cylindrical long rod, with a small section at the upper end being a smooth rod, whose diameter is equal to the inner diameter of one end of the No. 1 constant velocity universal joint (418), and three semi-cylindrical protrusions are evenly distributed in the circumferential direction of the remaining rod section, which correspond to the three semi-cylindrical grooves on the inner wall of the telescopic rod (429), and the two are connected in a sliding manner; The main body of the second telescopic rod (429) is a circular tube, and three semi-cylindrical grooves are evenly distributed in the circumferential direction of the inner wall of the circular tube, which correspond to the three semi-cylindrical protrusions of the first telescopic rod (417), and the two are connected by sliding fit; The angle sensor (431) is an angle sensor of the model MK380A of the Maike sensor brand, and is provided with a circular flange on which two arc-shaped through holes for connecting to the angle sensor bracket (105) are symmetrically distributed; The upper joint of the No. 1 constant velocity universal joint (418) is sleeved on the lower end of the sliding sleeve (420) and is fixedly connected together by a set screw (419); the lower joint of the No. 1 constant velocity universal joint (418) is sleeved on the upper end of the telescopic rod (417) and is connected by a set screw (419); the lower end of the telescopic rod (417) is inserted into the upper end of the telescopic rod (429); the telescopic rod (417) and the telescopic rod (429) are slidably connected; the upper joint of the No. 2 constant velocity universal joint (430) is sleeved on the lower end of the telescopic rod (429); and the lower joint of the No. 2 constant velocity universal joint (430) is sleeved on the rotating shaft of the angle sensor (431).

8. The reliability test device for a three-level-one-rotation four-degree-of-freedom robot according to claim 1, characterized in that: The operating table (5) comprises an input / output module (501), a 24V power supply (502), an operating panel (503), a Siemens 840DsI system (504), a numerical control unit (505), a mouse (506), a keyboard (507), an adjustable power supply module (508), an electro-hydraulic servo valve (509) and an operating table box (510); The operating table box (510) is a piano-shaped sheet metal box, which is divided into three parts: an upper part, a middle part and a lower part. The upper part is used to install the operating panel (503); the extended part of the middle part is used to install the mouse (506), the keyboard (507) and the switch button; the lower part is a square box structure, which is used to install electrical components. The Siemens 840Ds 1 system (504) is integrated with the operation panel (503) and is installed on the front end surface of the upper part of the operation table box (510); The input / output module (501) is a Siemens 72 / 48D 2 / 2A PN input / output module. An electrical connection line is used to connect the X2 interface end of the input / output module (501) and the X126 interface end of the numerical control unit (505). The X3-1 to X3-4 interfaces of the input / output module (501) are respectively connected to three electro-hydraulic servo valves (509) through electrical connection lines. The 24V power supply (502) is connected to the X1 interface of the Siemens 840Dsl system (504) through an electrical line. The operation panel (503) is connected to the flat multi-core socket of the Siemens 840Dsl system (504) through an electrical line. The mouse (506) is installed on the upper end surface of the front protruding part of the operation table box (510). The mouse (506) is connected to the Siemens 840Dsl system (504) through an electrical line. l system (504); the keyboard (507) is installed on the upper end surface of the middle extension of the operating table box (510), and is connected to the USB2 interface of the Siemens 840Ds l system (504) by an electrical line; the X120 interface of the numerical control unit (505) is connected to the ETHERNET1 interface of the Siemens 840Dsl system (504) by a network cable, and the X100 interface of the numerical control unit (505) is connected to the X200 interface of the adjustable power supply module (508) through the network cable.

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