Carrying manipulator test platform

Abstract

The invention relates to the technical field of testing equipment, in particular to a carrying manipulator testing platform which comprises a platform body, a display screen installed at the upper end of the platform body, a belt and two supporting tools, a rotor is jointly arranged at the positions of rolling wheels of the two supporting tools in an attached mode, and balance weight mechanisms are arranged on the front portion and the rear portion of the rotor. Through mutual cooperation of the counterweight mechanism, the pushing mechanism, the limiting mechanism, the telescopic mechanism, the elastic mechanism, the offset mechanism, the elastic mechanism and the glue dripping mechanism, when a motor rotor structure component of the carrying manipulator is subjected to a dynamic balance test through the dynamic balance test machine, counterweight gaskets can be automatically added to cylindrical protruding parts on the left side and the right side of a rotor, and operation is convenient. The gasket can be fixed on the cylindrical protruding part through a small amount of glue, the gasket does not fall off from the cylindrical protruding part due to vibration or shaking in the rotation process of the rotor, and the dynamic balance test of the structural component of the motor rotor of the carrying manipulator is prevented from being affected.

Description

Technical Field

[0001] The invention relates to the technical field of testing equipment, in particular to a handling manipulator testing platform. Background Art

[0002] A handling robot is an automatic device that can imitate certain movements of human hands and arms to grab, carry objects or operate tools according to a fixed procedure. The structural components of the handling robot usually need to undergo a series of tests to ensure their performance and reliability. Among them, the motor rotor structural components of the handling robot need to undergo dynamic balancing tests, because when the motor rotor is working, the imbalance will generate vibration, which will accelerate the wear of components such as bearings and reduce the service life of the handling robot.

[0003] The motor rotor structural components of the handling robot are often tested for dynamic balance using a dynamic balancing tester. The existing dynamic balancing test mainly consists of a machine, two support fixtures that can be adjusted and mounted on the machine, and a pulley frame that is rotatably mounted on the machine. During the test, the left and right shafts of the rotor are respectively placed on the rollers of the two support fixtures, and then the pulley frame is rotated so that the belt on it presses the rotor from top to bottom appropriately. Then the pulley frame can drive the belt to rotate, and the rotor will rotate under the action of friction. The display screen on the dynamic balancing tester will display the vibration of the rotor and the imbalance data obtained by analysis in real time, and the counterweight method will be used to counterweight the left and right parts of the rotor until the imbalance of the rotor reaches the standard.

[0004] The counterweight method is to set a corresponding number of counterweight washers on the cylindrical protrusions on the left and right sides of the rotor, and then continue to drive the rotor to rotate, and then observe the data, and repeat this process until the number of washers added makes the rotor imbalance reach the standard, and finally the washers will be riveted to the cylindrical protrusions by a riveting gun. However, the washers not only need to be taken and set manually, which is not convenient, but the washers are also relatively loose on the cylindrical protrusions, and are easily fallen off on the cylindrical protrusions due to vibration or shaking during the rotation of the rotor, affecting the dynamic balance test of the motor rotor structural components of the handling robot. Summary of the invention

[0005] The purpose of the present invention is to provide a handling robot test platform to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a handling manipulator test platform, comprising a platform, a display screen installed on the upper end of the platform, a belt and two supporting fixtures, the rollers of the two supporting fixtures are jointly provided with a rotor, and a counterweight mechanism is provided at the front and rear of the rotor;

[0007] The counterweight mechanism includes an electric push rod, which is fixedly mounted on the upper end of the platform, and the telescopic shaft end of the electric push rod is fixedly connected to a hollow rod, a sliding sleeve is provided with a disc in the middle of the outer wall of the hollow rod, and a group of washers are provided with a sliding sleeve on the outer wall of the hollow rod near the rotor, a pushing mechanism and a limiting mechanism are respectively provided between the hollow rod and the group of washers, a telescopic mechanism is provided between the disc and the hollow rod, and a plurality of support rods are slidably arranged on the inner wall of the disc, an elastic mechanism is provided between the plurality of support rods and the disc, and an offset mechanism is provided between the plurality of support rods and the hollow rods, and trapezoidal blocks are installed on the outer sides of the plurality of support rods away from the disc through an elastic mechanism, and a glue dripping mechanism is provided on the support rod located at the top.

[0008] Preferably, the pushing mechanism includes a fixing ring, which is fixedly sleeved on the outer wall of the hollow rod, and the fixing ring is located between the disc and a group of washers, and the wall of the fixing ring away from the disc is fixedly connected to spring 2, and one end of the spring 2 away from the fixing ring is fixedly connected to a slip ring, the slip ring and spring 2 are both slidably sleeved on the outer wall of the hollow rod, and the wall of the slip ring away from spring 2 is in contact with a washer in the group of washers that is farthest from the rotor.

[0009] Preferably, the limiting mechanism includes a splicing plate, which is fixedly connected to the inner wall of the hollow rod near the rotor, and the upper and lower ends of the splicing plate are fixedly connected to columnar shells, pillars are slidably inserted into the interiors of the two columnar shells, and the ends of the two pillars away from each other are fixedly connected to ladder blocks, the ends of the two ladder blocks away from each other are movable through the outer wall of the hollow rod, and the ends of the two ladder blocks away from each other are fitted with the edge of the inner ring surface of a washer in a group of washers closest to the rotor, and springs four are fixedly connected between the ends of the two pillars close to each other and the splicing plate, and the two springs four are respectively located on the inner sides of the two columnar shells.

[0010] Preferably, the telescopic mechanism includes a support block, which is fixedly sleeved on the outer wall of the hollow rod near the electric push rod, and the inner wall of the support block away from the hollow rod is fixedly penetrated by an electric push rod 2, and the telescopic shaft end of the electric push rod 2 is fixedly connected to the eccentric wall of the disc away from the rotor.

[0011] Preferably, a plurality of slide grooves are provided on the inner wall of the disc, and the plurality of slide grooves are respectively slidably matched with a plurality of support rods.

[0012] Preferably, the elastic mechanism includes a fixed block, which is fixedly connected to the edge of the wall of the disk away from the rotor, and a guide column is slidably inserted on the inner wall of the fixed block, one end of the guide column is fixedly connected to the outer wall of the support rod, and a spring 1 is slidably sleeved on the outer wall of the guide column, and the spring 1 is fixedly connected between the fixed block and the support rod.

[0013] Preferably, the offset mechanism includes a concave frame and a connecting block, one end of the concave frame is fixedly connected to the outer wall of the hollow rod near the disc, and the other end of the concave frame is fixedly connected to a flat plate, the wall surface of the hollow rod corresponding to the flat plate is in contact with the wall surface of the support rod away from the hollow rod, and one end of the flat plate corresponding to the disc is fixedly connected to an inclined block, the connecting block is fixedly connected to the wall surface of the support rod away from the hollow rod, and the edge of one end of the connecting block away from the support rod is in contact with the inclined surface of the inclined block corresponding to the support rod.

[0014] Preferably, the elastic mechanism includes a sliding column and a spring three, the sliding column is slidably inserted in the inner wall of the support rod corresponding to the trapezoidal block, and one end of the sliding column is fixedly connected to the end of the trapezoidal block away from the hollow rod, the spring three is located on the outside of the sliding column, and the spring three is fixedly connected between the trapezoidal block and the support rod.

[0015] Preferably, the glue dripping mechanism includes a motor and a concave block, the motor is fixedly mounted on the upper end of the support rod located at the top, away from the disc, and the output shaft end of the motor is fixedly connected to the turntable, the upper end of the turntable is eccentrically connected to a connecting rod, and one end of the connecting rod away from the turntable is rotatably connected to a sliding rod, a fixing plate is slidably sleeved on the outer wall of the sliding rod, the lower end of the fixing plate is fixedly connected to the upper end of the top support rod, one end of the sliding rod away from the connecting rod is fixedly connected to an arc block, one end of the concave block is fixedly connected to an end of the support rod away from the disc, and the other end of the concave block is fixedly connected to the arc plate, and a press-type glue cylinder is fixedly mounted on the inner arc surface of the arc plate, the nozzle of the press-type glue cylinder movably passes through the lower end of the concave block, and the inner arc surface of the arc block fits with the outer wall of the press-type glue cylinder away from the arc plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. Through the cooperation of the counterweight mechanism, the pushing mechanism, the limiting mechanism, the telescopic mechanism, the elastic mechanism, the offset mechanism, the elastic mechanism and the glue dripping mechanism, when the motor rotor structural components of the handling robot are subjected to a dynamic balancing test by a dynamic balancing tester, the counterweight washers can be automatically added to the cylindrical protrusions on the left and right sides of the rotor, which is easy to operate.

[0018] 2. The washer can be fixed on the cylindrical protrusion by a small amount of glue. The washer will not fall off the cylindrical protrusion due to vibration or shaking during the rotation of the rotor, thereby avoiding affecting the dynamic balance test of the motor rotor structural components of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the supporting tooling of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the hollow rod of the present invention;

[0022] Figure 4 For the present invention Figure 3 A magnified view of the structure at center;

[0023] Figure 5 A partial cross-sectional view of a hollow rod of the present invention;

[0024] Figure 6 For the present invention Figure 5 A magnified view of the structure at B in the middle;

[0025] Figure 7 For the present invention Figure 5 A magnified view of the structure at C in the middle;

[0026] Figure 8 It is a side plan view of the present invention and a schematic diagram of a flat plate, an inclined block, a connecting block, a trapezoidal block and a press-type glue cylinder.

[0027] In the attached drawings, the parts represented by the reference numerals are as follows: 1. display screen; 2. belt; 3. table body; 4. rotor; 5. support fixture; 6. electric push rod 1; 7. hollow rod; 8. electric push rod 2; 9. disc; 10. support block; 11. slide groove; 12. spring 1; 13. fixed block; 14. guide column; 15. fixed ring; 16. concave frame; 17. spring 2; 18. slip ring; 19. washer; 20 , flat plate; 21, inclined block; 22, connecting block; 23, support rod; 24, push-type glue tube; 25, curved plate; 26, concave block; 27, sliding rod; 28, trapezoidal block; 29, motor; 30, connecting rod; 31, fixed plate; 32, curved block; 33, spring three; 34, sliding column; 35, ladder block; 36, columnar shell; 37, spring four; 38, pillar; 39, splicing plate; 40, turntable. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The present invention provides a technical solution: Figure 1 - Figure 8 The transport manipulator test platform shown includes a platform 3, a display screen 1 installed on the upper end of the platform 3, a belt 2 and two supporting fixtures 5, the rollers of the two supporting fixtures 5 are jointly fitted with a rotor 4, and a counterweight mechanism is provided at the front and rear of the rotor 4;

[0030] The counterweight mechanism includes an electric push rod 6, which is fixedly mounted on the upper end of the platform body 3, and the telescopic shaft end of the electric push rod 6 is fixedly connected to a hollow rod 7, a disc 9 is provided on the sliding sleeve in the middle of the outer wall of the hollow rod 7, and a group of washers 19 are provided on the sliding sleeve of the outer wall of the hollow rod 7 near the rotor 4, a pushing mechanism and a limiting mechanism are respectively provided between the hollow rod 7 and the group of washers 19, a telescopic mechanism is provided between the disk 9 and the hollow rod 7, and a plurality of support rods 23 are slidably arranged on the inner wall of the disk 9, an elastic mechanism is provided between the plurality of support rods 23 and the disk 9, and an offset mechanism is provided between the plurality of support rods 23 and the hollow rod 7, and a trapezoidal block 28 is installed on the outer side of the plurality of support rods 23 away from the disk 9 through an elastic mechanism, and a glue dripping mechanism is provided on the support rod 23 located at the top.

[0031] The pushing mechanism includes a fixed ring 15, which is fixedly sleeved on the outer wall of the hollow rod 7, and the fixed ring 15 is located between the disc 9 and a group of washers 19, and the wall of the fixed ring 15 away from the disc 9 is fixedly connected with a spring 2 17, and one end of the spring 2 17 away from the fixed ring 15 is fixedly connected with a slip ring 18, and the slip ring 18 and the spring 2 17 are both slidably sleeved on the outer wall of the hollow rod 7, and the wall of the slip ring 18 away from the spring 2 17 is in contact with a washer 19 in the group of washers 19 that is farthest from the rotor 4.

[0032] The limiting mechanism includes a splicing plate 39, which is fixedly connected to the inner wall of the hollow rod 7 near the rotor 4, and the upper and lower ends of the splicing plate 39 are fixedly connected to a cylindrical shell 36, and pillars 38 are slidably inserted into the interiors of the two cylindrical shells 36. The ends of the two pillars 38 that are away from each other are fixedly connected to ladder blocks 35, and the ends of the two ladder blocks 35 that are away from each other are movable and penetrate the outer wall of the hollow rod 7, and the ends of the two ladder blocks 35 that are away from each other are fitted with the edge of the inner ring surface of a washer 19 in a group of washers 19 that is closest to the rotor 4. Springs four 37 are fixedly connected between the ends of the two pillars 38 that are close to each other and the splicing plate 39, and the two springs four 37 are respectively located on the inner sides of the two cylindrical shells 36.

[0033] The telescopic mechanism includes a support block 10, which is fixedly sleeved on the outer wall of the hollow rod 7 near the electric push rod 1 6, and the inner wall of the support block 10 away from the hollow rod 7 is fixedly penetrated by an electric push rod 2 8, and the telescopic shaft end of the electric push rod 2 8 is fixedly connected to the eccentric wall of the disc 9 away from the rotor 4.

[0034] A plurality of slide grooves 11 are formed on the inner wall of the disk 9 , and the plurality of slide grooves 11 are slidably matched with the plurality of support rods 23 .

[0035] The elastic mechanism includes a fixed block 13, which is fixedly connected to the edge of the wall of the disk 9 away from the rotor 4, and a guide column 14 is slidably inserted on the inner wall of the fixed block 13, one end of the guide column 14 is fixedly connected to the outer wall of the support rod 23, and a spring 12 is slidably sleeved on the outer wall of the guide column 14, and the spring 12 is fixedly connected between the fixed block 13 and the support rod 23.

[0036] The offset mechanism includes a concave frame 16 and a connecting block 22, one end of the concave frame 16 is fixedly connected to the outer wall of the hollow rod 7 near the disc 9, and the other end of the concave frame 16 is fixedly connected to a flat plate 20, the wall surface of the hollow rod 7 corresponding to the flat plate 20 is in contact with the wall surface of the support rod 23 away from the hollow rod 7, and the end of the flat plate 20 corresponding to the disc 9 is fixedly connected to an inclined block 21, the connecting block 22 is fixedly connected to the wall surface of the support rod 23 away from the hollow rod 7, and the edge of one end of the connecting block 22 away from the support rod 23 is in contact with the inclined surface of the inclined block 21 corresponding to the support rod 23.

[0037] The elastic mechanism includes a sliding column 34 and a spring three 33. The sliding column 34 slides and is inserted into the inner wall of the support rod 23 corresponding to the trapezoidal block 28, and one end of the sliding column 34 is fixedly connected to the end of the trapezoidal block 28 away from the hollow rod 7. The spring three 33 is located on the outside of the sliding column 34, and the spring three 33 is fixedly connected between the trapezoidal block 28 and the support rod 23.

[0038] The glue dripping mechanism includes a motor 29 and a concave block 26. The motor 29 is fixedly mounted on the upper end of the uppermost support rod 23 away from the disc 9, and the output shaft end of the motor 29 is fixedly connected to a turntable 40. The upper end of the turntable 40 is rotatably connected to a connecting rod 30 at an eccentric position. The end of the connecting rod 30 away from the turntable 40 is rotatably connected to a sliding rod 27. A fixing plate 31 is slidably sleeved on the outer wall of the sliding rod 27. The lower end of the fixing plate 31 is fixedly connected to the upper end of the uppermost support rod 23. One end of the sliding rod 27 away from the connecting rod 30 is fixedly connected to the arc block 32, one end of the concave block 26 is fixedly connected to the end of the support rod 23 away from the disc 9, and the other end of the concave block 26 is fixedly connected to the arc plate 25, and the inner arc surface of the arc plate 25 is fixedly installed with a push-type glue cylinder 24, and the nozzle of the push-type glue cylinder 24 movably passes through the lower end of the concave block 26, and the inner arc surface of the arc block 32 is in contact with the outer wall of the push-type glue cylinder 24 away from the arc plate 25.

[0039] Working principle: First, place the two extended shafts of the rotor 4 on the rollers of the two supporting fixtures 5, and center the rotor 4 on the two supporting fixtures 5. Then, rotate the rack connected to the outside of the belt 2 so that the belt 2 can properly press the rotor 4 from top to bottom. Figure 1 and Figure 2As shown, this is a known prior art and will not be described in detail. While placing the rotor 4, let the center of one of the cylindrical protrusions on the left and right sides of the rotor 4 correspond to the center of the two hollow rods 7 respectively (this can be achieved with the help of a centering tool or a clamp, which is a known prior art and will not be described in detail), and then start the table 3 to drive the belt 2 to rotate, and the belt 2 can drive the rotor 4 to rotate, and the display screen 1 will display the vibration of the rotor 4 and the unbalance data obtained by analysis in real time. Then, according to the data analysis, close the table 3 to stop the rotation of the rotor 4, and make the center of one of the cylindrical protrusions on the left and right sides of the rotor 4 still correspond to the center of the two hollow rods 7 respectively, and according to the unbalance of the left and right sides of the rotor 4, weights are added to the cylindrical protrusions on the left and right sides of the rotor 4.

[0040] When the cylindrical protrusion on one side that needs to be counterweighted is being counterweighted, first start an electric push rod 28, which can drive the disc 9 to move in the direction of the rotor 4, and the disc 9 can drive multiple fixed blocks 13, multiple guide pillars 14, multiple support rods 23 and multiple trapezoidal blocks 28 to move together. During the process, the connecting block 22 outside each support rod 23 will squeeze the corresponding inclined block 21. Under the action of the squeezing force, each support rod 23 will synchronously approach the hollow in the corresponding slide groove 11. The rod 7 slides, and each support rod 23 drives the guide column 14 connected to it to slide in the corresponding fixed block 13, and each support rod 23 pulls the spring 12 connected to the corresponding fixed block 13, and each support rod 23 also drives the trapezoidal block 28 connected to it to move closer to the hollow rod 7. When the connecting block 22 outside each support rod 23 slides away from the corresponding inclined block 21, each connecting block 22 slides on the corresponding flat plate 20, and at this time, each connecting block 22 and each support rod 23 will stop moving close to the hollow rod 7, and at this time, one end of each trapezoidal block 28 will be squeezed on the outer surface of a washer 19 in a group of washers 19 that is closest to the rotor 4. During the process, each trapezoidal block 28 will drive the sliding column 34 connected to it to slide outward in the corresponding support rod 23, and each trapezoidal block 28 will squeeze the spring three 33 connected to the corresponding support rod 23. Multiple trapezoidal blocks 28 can clamp the first washer 19, and as the electric push rod 28 continues to run, multiple trapezoidal blocks 28 can move toward the rotor 4 with the first washer 19, and the first washer 19 will squeeze the inclined surfaces of the two ladder blocks 35, so that the two ladder blocks 35 slide close to each other in the inner wall of the hollow rod 7, and each ladder block 35 will drive the pillar 38 connected to it to slide inward in the corresponding columnar shell 36 and squeeze the corresponding spring four 37, until multiple ladder blocks 35 slide out of the hollow rod 7 with the first washer 19.

[0041] It should be noted that the outer surface of the hollow rod 7 is made of rubber, and there is a certain friction between it and the inner ring surface of the washer 19. At this time, since the second spring 17 is originally in an extruded state and the elastic force of the second spring 17 is small, the remaining washer 19 will be pushed through the slip ring 18 under the action of the second spring 17, and the inner ring surface of the remaining washer 19 will slowly slide in the direction of the outer rotor 4 of the hollow rod 7 under the action of the friction between the outer surface of the hollow rod 7, and at this time, the first washer 19 It has been separated from the hollow rod 7 and is firmly clamped by the three trapezoidal blocks 28. At the same time, under the force of the spring four 37, the two ladder blocks 35 will move away from each other to reset, and then the inner ring edge of the washer 19 closest to the rotor 4 among the remaining washers 19 will contact the inclined surface of the two ladder blocks 35, and will not cause the ladder block 35 to slide inward in the inner wall of the hollow rod 7, because the elastic force of the spring two 17 is small, and the elastic force of the spring four 37 is greater than the elastic force of the spring two 17. Then, as the electric push rod two 8 continues to run, the multiple ladder blocks 35 will clamp the first washer 19 and continue to move toward the rotor 4, and the first washer 19 will be sleeved outside one of the cylindrical protrusions on one side of the rotor 4. It should also be noted that a rubber pad is connected to one end of the multiple ladder blocks 35 corresponding to the washer 19, which can increase the friction with the washer 19, so that the multiple ladder blocks 35 can stably clamp the first washer 19. It should also be noted that the motor 29, the concave block 26, the turntable 40, the connecting rod 30, the sliding rod 27, the fixing plate 31, the arc block 32, the arc plate 25, and the pressing glue barrel 24 will move together with the support rod 23 located at the top, and the nozzle of the pressing glue barrel 24 is combined with the Figure 6 It is seen in front of the trapezoidal block 28.

[0042] When the first washer 19 moves to a side wall near the rotor 4, the motor 29 is started, and the motor 29 drives the turntable 40 to rotate one circle, and the turntable 40 drives the connecting rod 30 to swing back and forth once, and the connecting rod 30 drives the sliding rod 27 to slide close to and away from the pressing glue cylinder 24 in the inner wall of the fixed plate 31, and then drives the arc block 32 to lightly squeeze and release the pressing glue cylinder 24 once (the pressing glue cylinder 24 is a method of relying on external squeezing to make The glue inside the press-type glue cylinder 24 will drip along the nozzle onto the corresponding cylindrical protrusion, and then as the electric push rod 28 continues to operate, the multiple ladder blocks 35 will fit the first clamped washer 19 to the wall of one side of the rotor 4, and in this process, the washer 19 will push the glue onto the wall of one side of the rotor 4. Under the action of the glue, the washer 19 can be fixed, and the weight of the added glue is small, which will not affect the counterweight. Similarly, in the same way, the washer 19 can be added to the cylindrical protrusion on the other side of the rotor 4 for counterweight, and the washer 19 can also be added to the cylindrical protrusions at other positions on both sides of the rotor 4 for counterweight.

[0043] It should be noted that, by starting the electric push rod 1 6 , the hollow rod 7 and other components connected to the hollow rod 7 can be driven to move upward together, so that the rotor 4 can be placed on the two supporting fixtures 5 without hindrance. It should also be noted that when the electric push rod 2 8 retracts, it will drive the disc 9 to move away from the rotor 4, that is, the disc 9 will move back, and the disc 9 will drive the multiple support rods 23 and the multiple trapezoidal blocks 28 to move back. At this time, because the first washer 19 has been firmly connected to the wall of the rotor 4 by glue, the movement of the multiple trapezoidal blocks 28 back will not drive the first washer 19 to move together, and the first washer 19 will remain fixed on the cylindrical protrusion. When the multiple trapezoidal blocks 28 leave the surface of the first washer 19, under the action of the spring three 33, the multiple trapezoidal blocks 28 will reset. At this time, as the electric push rod 2 8 continues to operate, the connecting blocks 22 on the multiple support rods 23 will fit on their respective corresponding flat plates 20 When the disc 9 is moved back, the multiple trapezoidal blocks 28 will also move back, and the inclined surfaces of the multiple trapezoidal blocks 28 will squeeze the outer ring edge of the washer 19 closest to the rotor 4 among the remaining washers 19. Then, under the action of the squeezing force, the multiple trapezoidal blocks 28 will eventually move back while moving away from the hollow rod 7. Finally, the connecting blocks 22 on the multiple support rods 23 will leave their respective corresponding flat plates 20 and under the action of the spring 12, the multiple connecting blocks 22 will move along the inclined surfaces of the corresponding inclined blocks 21, that is, the multiple connecting blocks 22 will move away from the hollow rod 7 synchronously, then the multiple support rods 23 and the multiple trapezoidal blocks 28 will also move away from the hollow rod 7 synchronously, until the disc 9, the multiple connecting blocks 22 and the multiple support rods 23 return to the state as shown in the figure. Figure 3 Status shown.

[0044] It should also be noted that when the motor rotor 4 structural components of the handling robot are subjected to a dynamic balancing test through a dynamic balancing testing machine, counterweight washers 19 can be automatically added to the cylindrical protrusions on the left and right sides of the rotor 4, and the washers 19 can be fixed to the cylindrical protrusions with a small amount of glue, which is not only convenient to operate, but also the washers 19 will not fall off on the cylindrical protrusions due to vibration or shaking during the rotation of the rotor 4, thereby avoiding affecting the dynamic balancing test of the motor rotor 4 structural components of the handling robot.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A handling manipulator test platform, comprising a platform body (3), a display screen (1) mounted on the upper end of the platform body (3), a belt (2) and two supporting fixtures (5), characterized in that: The rollers of the two supporting fixtures (5) are fitted with a rotor (4), and a counterweight mechanism is provided at the front and rear of the rotor (4); The counterweight mechanism comprises an electric push rod (6), the electric push rod (6) being fixedly mounted on the upper end of the platform (3), and the telescopic shaft end of the electric push rod (6) being fixedly connected to a hollow rod (7), a disk (9) being provided on a sliding sleeve in the middle of the outer wall of the hollow rod (7), and a group of washers (19) being provided on the sliding sleeve of the outer wall of the hollow rod (7) near the rotor (4), a pushing mechanism and a limiting mechanism being provided respectively between the hollow rod (7) and the group of washers (19), and the disk (9) being provided on the sliding sleeve in the middle of the outer wall of the hollow rod (7) near the rotor (4). A telescopic mechanism is provided between the disk (9) and the hollow rod (7), and a plurality of support rods (23) are slidably provided on the inner wall of the disk (9), an elastic mechanism is provided between the plurality of support rods (23) and the disk (9), and an offset mechanism is provided between the plurality of support rods (23) and the hollow rod (7), and a trapezoidal block (28) is installed on the outer sides of the plurality of support rods (23) away from the disk (9) through an elastic mechanism, and a glue dripping mechanism is provided on the support rod (23) located at the top.

2. The handling robot test platform according to claim 1, characterized in that: The pushing mechanism comprises a fixing ring (15), the fixing ring (15) being fixedly sleeved on the outer wall of the hollow rod (7), and the fixing ring (15) being located between the disc (9) and a group of washers (19), and a wall surface of the fixing ring (15) away from the disc (9) being fixedly connected to a second spring (17), and an end of the second spring (17) away from the fixing ring (15) being fixedly connected to a slip ring (18), the slip ring (18) and the second spring (17) both being slidably sleeved on the outer wall of the hollow rod (7), and a wall surface of the slip ring (18) away from the second spring (17) being in contact with a washer (19) in the group of washers (19) which is farthest from the rotor (4).

3. The handling robot test platform according to claim 1, characterized in that: The limiting mechanism comprises a splicing plate (39), wherein the splicing plate (39) is fixedly connected to the inner wall of the hollow rod (7) near the rotor (4), and the upper and lower ends of the splicing plate (39) are fixedly connected to a columnar shell (36), and pillars (38) are slidably inserted into the interiors of the two columnar shells (36), and the ends of the two pillars (38) that are away from each other are fixedly connected to ladder blocks (35), and the ends of the two ladder blocks (35) that are away from each other are movable and penetrate the outer wall of the hollow rod (7), and the ends of the two ladder blocks (35) that are away from each other are both in contact with the edge of the inner ring surface of a washer (19) in a group of washers (19) that is closest to the rotor (4), and springs (37) are fixedly connected between the ends of the two pillars (38) that are close to each other and the splicing plate (39), and the two springs (37) are respectively located on the inner sides of the two columnar shells (36).

4. The handling robot test platform according to claim 1, characterized in that: The telescopic mechanism comprises a support block (10), wherein the support block (10) is fixedly sleeved on the outer wall of the hollow rod (7) near the first electric push rod (6), and the inner wall of the support block (10) away from the hollow rod (7) is fixedly penetrated by the second electric push rod (8), and the telescopic shaft end of the second electric push rod (8) is fixedly connected to the eccentric wall of the disc (9) away from the rotor (4).

5. The handling robot test platform according to claim 1, characterized in that: A plurality of slide grooves (11) are provided on the inner wall of the disc (9), and the plurality of slide grooves (11) are respectively slidably matched with a plurality of support rods (23).

6. The handling robot test platform according to claim 1, characterized in that: The elastic mechanism comprises a fixed block (13), the fixed block (13) being fixedly connected to the edge of the wall of the disk (9) away from the rotor (4), and a guide column (14) being slidably inserted into the inner wall of the fixed block (13), one end of the guide column (14) being fixedly connected to the outer wall of the support rod (23), and a spring 1 (12) being slidably sleeved on the outer wall of the guide column (14), and the spring 1 (12) being fixedly connected between the fixed block (13) and the support rod (23).

7. The handling robot test platform according to claim 1, characterized in that: The offset mechanism comprises a concave frame (16) and a connecting block (22); one end of the concave frame (16) is fixedly connected to the outer wall of the hollow rod (7) near the disc (9); the other end of the concave frame (16) is fixedly connected to a flat plate (20); a wall surface of the flat plate (20) corresponding to the hollow rod (7) is in contact with a wall surface of a support rod (23) away from the hollow rod (7); an end of the flat plate (20) corresponding to the disc (9) is fixedly connected to an inclined block (21); the connecting block (22) is fixedly connected to a wall surface of the support rod (23) away from the hollow rod (7); and an edge of one end of the connecting block (22) away from the support rod (23) is in contact with an inclined surface of the inclined block (21) corresponding to the support rod (23).

8. The handling robot test platform according to claim 1, characterized in that: The elastic mechanism comprises a sliding column (34) and a spring three (33); the sliding column (34) is slidably inserted into the inner wall of the support rod (23) corresponding to the trapezoidal block (28), and one end of the sliding column (34) is fixedly connected to an end of the trapezoidal block (28) away from the hollow rod (7); the spring three (33) is located outside the sliding column (34), and the spring three (33) is fixedly connected between the trapezoidal block (28) and the support rod (23).

9. The handling robot test platform according to claim 1, characterized in that: The glue dripping mechanism comprises a motor (29) and a concave block (26); the motor (29) is fixedly mounted on the upper end of the uppermost support rod (23) away from the disc (9); the output shaft end of the motor (29) is fixedly connected to a rotating disk (40); the upper end of the rotating disk (40) is rotatably connected to a connecting rod (30); the end of the connecting rod (30) away from the rotating disk (40) is rotatably connected to a sliding rod (27); a fixing plate (31) is slidably sleeved on the outer wall of the sliding rod (27); the lower end of the fixing plate (31) is fixedly connected to the upper end of the uppermost support rod (23); The end of the sliding rod (27) away from the connecting rod (30) is fixedly connected to an arc block (32), one end of the concave block (26) is fixedly connected to the end of the support rod (23) away from the disc (9), and the other end of the concave block (26) is fixedly connected to an arc plate (25), and a press-type glue cylinder (24) is fixedly installed on the inner arc surface of the arc plate (25), and the nozzle of the press-type glue cylinder (24) movably penetrates the lower end of the concave block (26), and the inner arc surface of the arc block (32) is in contact with the outer wall of the press-type glue cylinder (24) away from the arc plate (25).

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