Large-load mechanical arm bending moment test device and method

Abstract

The invention belongs to the field of mechanical arm loading tests, and relates to a large-load mechanical arm bending moment test device and method.The large-load mechanical arm bending moment test device comprises a bridge crane, a direct display electronic hoist scale arranged below the bridge crane, and a large-load multi-joint mechanical arm connected with the direct display electronic hoist scale through a lifting rope; one end of the large-load multi-joint mechanical arm is fixed, and the other end is a telescopic lengthened force arm. In order to solve the problem that an existing large-load mechanical arm cannot load a heavy object, a lifting rope is bound to the tail end of a force arm and bypasses a fixed pulley fixed to the ground, after the lifting rope is reversed, the lifting rope is connected with a workshop bridge crane through a direct display type electronic hoist scale, and then hoisting and loading are conducted through a fine adjustment crane. The bending moment loading test problem of the large-load mechanical arm is solved; the loading load can be adjusted at will; and the size of the loaded load can be directly read.

Description

Technical Field

[0001] The invention belongs to the field of mechanical arm loading tests and relates to a large-load mechanical arm bending moment test device and method. Background Art

[0002] In the technical field of robotic arms, bending moment test is an important means to evaluate the structural strength, stability and durability of robotic arms. The traditional bending moment test method usually adopts the method of mounting a weight on the end of the robotic arm, and gradually increases the mass of the mounted object to simulate different bending moment conditions. However, this method is mainly suitable for small load robotic arms, and the weight mounted is usually limited to 500Kg.

[0003] With the continuous advancement of technology and the continuous expansion of industrial application fields, the demand for large-load robotic arms is increasing. These robotic arms often need to withstand huge bending moments under extreme working conditions, and the traditional bending moment test method cannot meet the testing needs of large-load robotic arms due to the limitation of mounting heavy objects. Therefore, how to effectively perform bending moment tests on large-load robotic arms has become an urgent problem to be solved.

[0004] Although there have been some attempts and improvements in the existing technology to address this problem, there are still many shortcomings. For example, some methods attempt to achieve large load loading by increasing the number of mounts or changing the mounting method, but these methods are often complicated to operate, inefficient, and difficult to accurately control the magnitude and direction of the loaded bending moment. In addition, these methods may also cause additional damage or destruction to the structure of the robot arm, thereby affecting the accuracy of the test results.

[0005] Therefore, there is an urgent need for a device and method that can efficiently, accurately and safely perform large-load mechanical arm bending moment tests to meet the actual needs of industrial application fields. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide a large-load mechanical arm bending moment test device and method, which can solve the problem of loading large-load mechanical bending moment tests because loading heavy objects is impossible for existing large-load mechanical arms.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a large-load mechanical arm bending moment test device, comprising a bridge crane, a direct-display electronic crane scale arranged under the bridge crane, and a large-load multi-joint mechanical arm connected to the direct-display electronic crane scale through a hanging rope; one end of the large-load multi-joint mechanical arm is fixed, and the other end is a retractable extended lever arm.

[0008] Optionally, one end of the suspension rope is fixed to the bottom of the direct display electronic suspension scale, and the other end is fixed to the end of the extended lever arm, and a fixed pulley structure is also provided along the middle section of the suspension rope path.

[0009] Optionally, the extended lever arm of the large-load multi-joint robotic arm is horizontally arranged, and the extension direction of the extended lever arm is perpendicular to the hanging rope below the vertical display electronic crane scale.

[0010] Optionally, the fixed pulley is set at a height lower than the large-load multi-joint robotic arm, and the lifting rope forms a U-shaped opening structure after passing through the fixed pulley.

[0011] The large-load mechanical arm bending moment test method uses the large-load mechanical arm bending moment test device as described above, and comprises the following steps:

[0012] S1, before lifting and loading, first use the direct display electronic crane scale to check the hanging rope and the hook of the bridge crane without load to ensure that the reading is accurate and error-free;

[0013] S2, when applying the bending moment test, gradually increase the lifting load, and record the readings on the direct display electronic crane scale and the bending deformation of the extended lever arm of the large-load multi-joint mechanical arm in stages;

[0014] S3, after each loading, maintain static observation for a certain period of time to check whether there is any sign of abnormal deformation or structural damage of the large-load multi-joint robot arm;

[0015] S4, by adjusting the length of the lifting rope and the position of the lifting point, different bending moment conditions can be simulated to conduct a comprehensive bending moment performance test on the large-load multi-joint robot arm.

[0016] Optionally, the workshop bridge crane is equipped with a fine-tuning function, so that both the height and speed of lifting can be precisely controlled, thus ensuring the accuracy and safety of the loading process.

[0017] The beneficial effects of the present invention are as follows: the present invention is aimed at the existing large-load mechanical arm, which cannot load heavy objects. The lifting rope is bound to the end of the force arm and passed around the fixed pulley fixed on the ground. After the lifting rope is changed, it is connected to the workshop bridge crane through a direct-display electronic crane scale, and then the loading is lifted by the fine-tuning crane. The present invention solves the problem of moment loading test of large-load mechanical arms; the loading load can be adjusted arbitrarily; and the loading load size can be directly read.

[0018] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 It is a schematic diagram of the large-load mechanical arm bending moment test device of the present invention.

[0021] Figure numerals: bridge crane 1, direct display electronic crane scale 2, lifting rope 3, fixed pulley 4, extended lever arm 5, large-load multi-joint mechanical arm 6. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0023] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0024] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0025] See also Figure 1, is a large-load mechanical arm bending moment test device, which mainly includes a bridge crane 1, a direct display electronic crane scale and a large-load multi-joint mechanical arm 6. The bridge crane 1 is responsible for providing the main power for lifting and loading. It is stably set above the test workshop and has sufficient lifting capacity and fine-tuning function to ensure that the height and speed of lifting can be accurately controlled. The direct display electronic crane scale is set below the bridge crane 1 to accurately measure the weight of the lifting load. The crane scale has high precision and real-time display function, which can ensure the accuracy and reliability of the readings during the test. The large-load multi-joint mechanical arm 6 is the core part of this test device. One end of it is fixed to ensure that no displacement occurs during the test. The other end is designed as a retractable extended lever arm 5. By adjusting the length of the lever arm, different bending moment conditions can be simulated. The extended lever arm 5 is set horizontally, and its telescopic direction is perpendicular to the suspension rope 3 below the direct display electronic crane scale to ensure that the loaded bending moment can accurately act on the mechanical arm.

[0026] During the test, one end of the suspension rope 3 is fixed to the bottom of the vertical display electronic suspension scale, and the other end is fixed to the end of the extension arm 5. A fixed pulley 4 structure is also provided along the middle section of the suspension rope 3 path. The fixed pulley 4 is provided at a height lower than the large load multi-joint mechanical arm 6, so that the suspension rope 3 is in a U-shaped opening structure after passing through the fixed pulley 4. Such a design not only ensures the smooth operation of the suspension rope 3, but also makes the loading process more stable and safe.

[0027] When conducting the bending moment test, it is first necessary to perform an empty-load calibration on the hanging rope 3 and the hook of the bridge crane 1 by means of the direct display electronic crane scale 2 to ensure that the readings are accurate and error-free. Then, the lifting load is gradually increased, and the readings on the direct display electronic crane scale 2 and the bending deformation of the extended lever arm 5 of the large-load multi-joint mechanical arm 6 are recorded in stages. After each loading, it is also necessary to maintain static observation for a certain period of time to check whether the large-load multi-joint mechanical arm 6 has signs of abnormal deformation or structural damage.

[0028] In addition, by adjusting the length of the suspension rope 3 and the position of the lifting point, different bending moment conditions can be simulated to perform a comprehensive bending moment performance test on the large-load multi-joint mechanical arm 6. Such a test method is not only highly flexible and repeatable, but also can ensure the accuracy and reliability of the test results.

[0029] In summary, the large-load mechanical arm bending moment test device and test method of the present embodiment have the advantages of simple structure, convenient operation, accurate and reliable test results, etc., and can effectively solve the problem of large-load mechanical arm bending moment loading test.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. Large load mechanical arm bending moment test device, characterized by: It includes a bridge crane, a direct-display electronic crane scale arranged below the bridge crane, and a large-load multi-joint mechanical arm connected to the direct-display electronic crane scale through a suspension rope; One end of the large-load multi-joint robotic arm is fixed, and the other end is a retractable extended lever arm.

2. The large load mechanical arm bending moment test device according to claim 1 is characterized in that: One end of the suspension rope is fixed to the bottom of the vertical display electronic suspension scale, and the other end is fixed to the end of the extended lever arm. A fixed pulley structure is also arranged along the middle section of the suspension rope path.

3. The large load mechanical arm bending moment test device according to claim 2 is characterized in that: The extended lever arm of the large-load multi-joint robotic arm is horizontally arranged, and the extension direction of the extended lever arm is perpendicular to the hanging rope below the vertical display electronic crane scale.

4. The large load mechanical arm bending moment test device according to claim 2, characterized in that: The fixed pulley is arranged at a height lower than the large-load multi-joint robotic arm, and the lifting rope forms a U-shaped opening structure after passing through the fixed pulley.

5. A large load mechanical arm bending moment test method, using a large load mechanical arm bending moment test device as described in any one of claims 1 to 4, characterized in that: The following steps are involved: S1, before lifting and loading, first use the direct display electronic crane scale to check the hanging rope and the hook of the bridge crane without load to ensure that the reading is accurate and error-free; S2, when applying the bending moment test, gradually increase the lifting load, and record the readings on the direct display electronic crane scale and the bending deformation of the extended lever arm of the large-load multi-joint mechanical arm in stages; S3, after each loading, keep static observation for a certain period of time to check whether there is any sign of abnormal deformation or structural damage of the large-load multi-joint robot arm; S4, by adjusting the length of the lifting rope and the position of the lifting point, different bending moment conditions can be simulated to conduct a comprehensive bending moment performance test on the large-load multi-joint robot arm.

6. The large load mechanical arm bending moment test method according to claim 5, characterized in that: The workshop bridge crane is equipped with a fine-tuning function, so that the lifting height and speed can be precisely controlled, thus ensuring the accuracy and safety of the loading process.

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