Shock resistance testing device for knuckle bearing of humanoid robot

Abstract

The invention provides a humanoid robot joint bearing shock resistance testing device, which relates to the field of robot safety testing and comprises a testing machine supporting seat, a limiting mounting frame, a testing table protective cover, a sliding sealing baffle plate, a positioning mounting rod, a timer pressing switch and a bearing limiting piece. The limiting mounting frame is fixedly connected to the rear side of the testing machine supporting seat; the test board protective cover is fixedly connected to the upper end surface of the test machine supporting seat; the sliding sealing baffle is slidably connected to the front side of the test board protective cover. The positioning mounting rods are fixedly connected to the left and right sides of the sliding sealing baffle; the timer pressing switches are arranged on the left side and the right side of the testing machine supporting seat; the bearing limiting piece is in threaded connection with the upper part of the testing machine supporting seat; according to the invention, the test environment can have sufficient stable time, the condition of deviation of a test result is avoided, the accuracy of the test result is ensured, and the problem that the stable time of the environment is insufficient due to negligence or misoperation of a worker in the test process is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot safety testing, and particularly to an impact resistance testing device for joint bearings of humanoid robots. Background Art

[0002] When manufacturing humanoid robots, in order to diagnose and evaluate the safety of key components of the robots, it is necessary to detect the impact resistance performance of the bearings at the joints of the robots by simulating impact conditions. During the test, the bearings need to be fixed on the test bench first, and then the bearings are impacted radially or axially by an impactor, and various values when the bearings are impacted are recorded, so as to verify the ultimate load-bearing capacity of the bearings.

[0003] For example, CN113109048A discloses a performance testing system for bearings dedicated to industrial robots, including a base, a vertical plate, a driving device, a fixing device and a sleeve. The upper end of the base is fixedly connected with a vertical plate, and a plurality of fixing devices are arranged at equal intervals in the middle of the vertical plate. A driving device is arranged in front of the vertical plate at the upper end of the base, and a sleeve is arranged on the right side of the driving device; by placing a plurality of bearings to be detected on the outer side of the cylinder, and then connecting a gas externally through a connecting pipe and inflating the airbag, the airbag bulges. The bulging of the airbag pushes the push plate to move. Since a connecting plate is fixedly connected to the outer side of the push plate, the push plate is driven to move and pushed towards the inner ring surface of the bearing to fix the inner ring of the bearing; the air cylinder is started to make the air cylinder push forward. Due to the extrusion of the conveyor belt, the outer ring of the bearing is fixed.

[0004] However, before testing the impact resistance performance of the bearings, it is necessary to stabilize the environmental parameters for at least thirty minutes to make the test environment close to the actual use environment of the robot, so as to ensure the accuracy of the test results. However, during the test, the staff is prone to insufficient stabilization time of the environment due to negligence or operation errors, which may lead to deviation of the test results and affect the accuracy of the detection results. Summary of the Invention

[0005] In view of this, the present invention provides an impact resistance test device for a humanoid robot joint bearing, which avoids the splashing of fragments generated when the bearing breaks, facilitates the adjustment of the test environment, restricts the action time of the test impactor through a timer, enables the test environment to have sufficient stable time, avoids the deviation of the test results, ensures the accuracy of the detection results, controls the on-off of the test impactor circuit through the contact situation between the strip-shaped metal block and the metal electrode plate, makes the test impactor unable to be powered on when the sliding sealing baffle is opened, and thus avoids the abnormal operation of the test impactor when the control system fails, effectively improving the use safety of the test device. The friction force received by the bearing is increased through the anti-slip rubber pad, ensuring the stability of the bearing during the test, reducing the probability of the bearing sliding during the test, and thus ensuring the test effect on the bearing.

[0006] The present invention provides an impact resistance test device for a humanoid robot joint bearing, which specifically includes: a test machine support base, a limit mounting frame, a test bench protective cover, a sliding sealing baffle, positioning mounting rods, a limit structure, a positioning structure, a timer push switch, and a bearing limit member; the limit mounting frame is fixedly connected to the rear side of the test machine support base; the test bench protective cover is fixedly connected to the upper end surface of the test machine support base; the sliding sealing baffle is slidably connected up and down to the front side of the test bench protective cover; there are two positioning mounting rods, and the two positioning mounting rods are respectively fixedly connected to the left and right sides of the sliding sealing baffle; the limit structure is arranged on the upper part of the test machine support base; there are two timer push switches, and the two timer push switches are respectively arranged on the left and right sides of the test machine support base; the bearing limit member is threadedly connected to the upper part of the test machine support base; the positioning structure is arranged on the upper part of the test machine support base.

[0007] Further, the limit structure includes a limit electric push rod and a bearing limit plate; there are two limit electric push rods, and the two limit electric push rods are respectively bolted to the left and right sides of the test machine support base; the bearing limit plate is fixedly connected to the upper parts of the piston rods of the two limit electric push rods, and the bearing limit plate is slidably connected up and down to the test machine support base.

[0008] Further, the limit structure further includes metal electrode plates and strip-shaped metal blocks; there are two groups of metal electrode plates, and the two groups of metal electrode plates are respectively fixedly connected to the left and right sides of the test machine support base; there are two strip-shaped metal blocks, and the two strip-shaped metal blocks are respectively fixedly connected to the lower parts of the two positioning mounting rods.

[0009] Further, the limiting structure further includes a position limiting plate and a position limiting groove; there are two position limiting plates, and the two position limiting plates are respectively fixedly connected to the left and right sides of the test bench protective cover; there are multiple position limiting grooves, and the multiple position limiting grooves are evenly distributed and opened on the front sides of the two position limiting plates.

[0010] Further, the limiting structure further includes a test impactor and a position adjustment pull rod; there are multiple test impactors, and the multiple test impactors are all bolted to the front side of the limiting mounting frame, and the multiple test impactors are all fixedly connected to the test bench protective cover. Timers are connected in series in the control circuits of the multiple test impactors. The piston rod ends of the multiple test impactors are respectively threadedly connected with impact heads of different shapes; the position adjustment pull rod is slidably connected to the lower part of the sliding seal baffle in the front-rear direction.

[0011] Further, the limiting structure further includes position limiting insertion rods and first reset elastic members; there are two position limiting insertion rods, and the two position limiting insertion rods are respectively fixedly connected to the left and right sides of the position adjustment pull rod. The two position limiting insertion rods are both slidably connected to the sliding seal baffle in the front-rear direction; there are two first reset elastic members, and the two position limiting insertion rods are elastically connected to the sliding seal baffle through the two first reset elastic members.

[0012] Further, the positioning structure includes compression limiting inclined blocks and second reset elastic members; there are multiple compression limiting inclined blocks, and the multiple compression limiting inclined blocks are slidably connected to the upper part of the bearing limiting member in a circumferential array; there are multiple second reset elastic members, and the multiple compression limiting inclined blocks are elastically connected to the bearing limiting member through the multiple second reset elastic members.

[0013] Further, the positioning structure further includes anti-slip rubber pads and position adjustment screws; there are multiple anti-slip rubber pads, and the multiple anti-slip rubber pads are respectively bonded to the outer end faces of the multiple compression limiting inclined blocks; the position adjustment screws are rotatably connected to the middle of the bearing limiting member.

[0014] Further, the positioning structure further includes a sliding limiting plate and extrusion limiting inclined blocks; the sliding limiting plate is slidably connected to the upper part of the bearing limiting member in the up-down direction, and the sliding limiting plate is threadedly connected to the position adjustment screw; there are multiple extrusion limiting inclined blocks, and the multiple extrusion limiting inclined blocks are fixedly connected to the lower end face of the sliding limiting plate in a circumferential array. Beneficial effects

[0015] The present invention avoids the splashing of fragments generated when the bearing breaks through the shielding of the bearing by the test bench protective cover and the sliding sealing baffle. At the same time, it is also convenient to adjust the test environment. The action time of the test impactor is limited by a timer, so that the test environment has sufficient stable time, avoiding the deviation of the test results caused by insufficient environmental stable time, ensuring the accuracy of the detection results. The on-off of the test impactor circuit is controlled by the contact situation between the strip-shaped metal block and the metal electrode plate, so that the test impactor cannot be powered on when the sliding sealing baffle is opened, thereby avoiding the abnormal action of the test impactor when the control system fails, effectively improving the use safety of the test device. The friction force received by the bearing is increased through the anti-slip rubber pad, ensuring the stability of the bearing during the test, reducing the probability of the bearing sliding during the test, and thus ensuring the test effect on the bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0017] The drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0018] In the drawings: Figure 1 is the overall structural schematic diagram of the present invention.

[0019] Figure 2 is the structural schematic diagram when the sliding sealing baffle of the present invention is opened.

[0020] Figure 3 is the position schematic diagram of the metal electrode plate and the timer push switch of the present invention.

[0021] Figure 4 is the position schematic diagram of the position limiting plate and the position limiting insertion rod of the present invention.

[0022] Figure 5 is the present invention Figure 4 partial enlarged structural schematic diagram at A in

[0023] Figure 6 is the present invention Figure 4 partial enlarged structural schematic diagram at B in

[0024] Figure 7 is the position relationship schematic diagram of the bearing limiting plate and the bearing limiting member of the present invention.

[0025] Figure 8 is the split structural schematic diagram of the bearing limiting member and the compression limiting inclined block of the present invention.

[0026] Figure 9It is a schematic diagram of the split structure of the bearing limiting part and the sliding limiting plate of the present invention.

[0027] List of reference numerals 1. Test machine support base; 101. Limiting electric push rod; 102. Bearing limiting plate; 103. Metal electrode sheet; 2. Limiting mounting frame; 201. Test impactor; 3. Test bench protective cover; 301. Position limiting plate; 302. Position limiting groove; 4. Sliding sealing baffle; 401. Position adjusting pull rod; 402. Position limiting insertion rod; 403. First reset elastic member; 5. Positioning mounting rod; 501. Strip-shaped metal block; 6. Timer push switch; 7. Bearing limiting part; 701. Compressed limiting inclined block; 702. Second reset elastic member; 703. Anti-slip rubber pad; 704. Position adjusting screw; 705. Sliding limiting plate; 706. Extrusion limiting inclined block. Detailed implementation manners Embodiment 1

[0028] Please refer to Figures 1 to 6 as shown in The present invention provides an impact resistance test device for a joint bearing of a humanoid robot, including a test machine support base 1, a limiting mounting frame 2, a test bench protective cover 3, a sliding sealing baffle 4, a positioning mounting rod 5, a limiting structure, a timer push switch 6 and a bearing limiting part 7; the limiting mounting frame 2 is fixedly connected to the rear side of the test machine support base 1; the test bench protective cover 3 is fixedly connected to the upper end surface of the test machine support base 1; the sliding sealing baffle 4 is slidably connected up and down to the front side of the test bench protective cover 3; there are two positioning mounting rods 5, and the two positioning mounting rods 5 are respectively fixedly connected to the left and right sides of the sliding sealing baffle 4; the limiting structure is arranged on the upper part of the test machine support base 1; there are two timer push switches 6, and the two timer push switches 6 are respectively arranged on the left and right sides of the test machine support base 1; the bearing limiting part 7 is threadedly connected to the upper part of the test machine support base 1.

[0029] Among them, the limiting structure includes a limiting electric push rod 101 and a bearing limiting plate 102; there are two limiting electric push rods 101, and the two limiting electric push rods 101 are respectively bolted to the left and right sides of the test machine support base 1; the bearing limiting plate 102 is fixedly connected to the upper parts of the pistons of the two limiting electric push rods 101, and the bearing limiting plate 102 is slidably connected up and down to the test machine support base 1.

[0030] Among them, the limiting structure further includes metal electrode sheets 103 and strip-shaped metal blocks 501; there are two groups of metal electrode sheets 103, and the two groups of metal electrode sheets 103 are respectively fixedly connected to the left and right sides of the test machine support base 1; there are two strip-shaped metal blocks 501, and the two strip-shaped metal blocks 501 are respectively fixedly connected to the lower parts of the two positioning mounting rods 5.

[0031] Among them, the limiting structure further includes a position limiting plate 301 and a position limiting groove 302; there are two position limiting plates 301, and the two position limiting plates 301 are respectively fixedly connected to the left and right sides of the test bench protective cover 3; there are multiple position limiting grooves 302, and the multiple position limiting grooves 302 are evenly distributed and opened on the front sides of the two position limiting plates 301.

[0032] Among them, the limiting structure further includes a test impactor 201 and a position adjustment pull rod 401; there are multiple test impactors 201, and the multiple test impactors 201 are all bolted to the front side of the limiting mounting frame 2, the multiple test impactors 201 are all fixedly connected to the test bench protective cover 3, a timer is connected in series in the control circuits of the multiple test impactors 201, and the piston rod ends of the multiple test impactors 201 are respectively threadedly connected with impact heads of different shapes; the position adjustment pull rod 401 is slidably connected to the lower part of the sliding sealing baffle 4 in the front and rear directions.

[0033] Among them, the limiting structure further includes a position limiting plug rod 402 and a first reset elastic member 403; there are two position limiting plug rods 402, and the two position limiting plug rods 402 are respectively fixedly connected to the left and right sides of the position adjustment pull rod 401, and the two position limiting plug rods 402 are both slidably connected to the sliding sealing baffle 4 in the front and rear directions; there are two first reset elastic members 403, and the two position limiting plug rods 402 are elastically connected to the sliding sealing baffle 4 through the two first reset elastic members 403.

[0034] Specific usage method and function of this embodiment: When it is necessary to conduct an impact resistance test on the bearing at the joint of the humanoid robot, first pull the position adjustment pull rod 401 forward to make the position limiting plug rod 402 leave the position limiting groove 302 on the position limiting plate 301, and then push the sliding seal baffle 4 upward. After the sliding seal baffle 4 moves to a suitable position, push the position adjustment pull rod 401 backward to make the position limiting plug rod 402 insert into the corresponding position limiting groove 302 to limit the sliding seal baffle 4. The first reset elastic member 403 can continuously apply a pulling force to the position adjustment pull rod 401 to prevent the position limiting plug rod 402 from sliding out of the position limiting groove 302. Put the bearing to be tested on the outside of the bearing limiting member 7. After placing the bearing to be tested, close the sliding seal baffle 4. At this time, the sliding seal baffle 4 will drive the positioning mounting rod 5 to move downward. After the sliding seal baffle 4 is completely closed, the strip-shaped metal block 501 is in mutual contact with the metal electrode piece 103 to connect the control circuit of the test impactor 201. The positioning mounting rod 5 presses the timer push switch 6 to start the timer for timing. After the timing ends, the timer emits an electrical signal to the control circuit of the test impactor 201 to make the test impactor 201 act to test the impact resistance performance of the bearing. After the test is completed, the limit electric push rod 101 acts to push the bearing limiting plate 102 upward to push the bearing above the bearing limiting member 7, which is convenient for removing the bearing. The limit mounting frame 2 can limit the position of the test impactor 201, and the test bench protective cover 3 and the sliding seal baffle 4 can block the outside of the bearing, so that the bearing is in a sealed test environment. Embodiment 2

[0035] As Figures 2 to 9 shown: On the basis of Embodiment 1, it further includes a positioning structure; the positioning structure is arranged on the upper part of the test machine support base 1.

[0036] Among them, the positioning structure includes a pressure-limiting inclined block 701 and a second reset elastic member 702; there are multiple pressure-limiting inclined blocks 701, and the multiple pressure-limiting inclined blocks 701 are circumferentially and arrayedly slidably connected to the upper part of the bearing limiting member 7; there are multiple second reset elastic members 702, and the multiple pressure-limiting inclined blocks 701 are elastically connected to the bearing limiting member 7 through the multiple second reset elastic members 702.

[0037] Among them, the positioning structure further includes an anti-slip rubber pad 703 and a position adjustment screw rod 704; there are multiple anti-slip rubber pads 703, and the multiple anti-slip rubber pads 703 are respectively bonded to the outer end faces of the multiple pressure-limiting inclined blocks 701; the position adjustment screw rod 704 is rotatably connected to the middle of the bearing limiting member 7.

[0038] Among them, the positioning structure further includes a sliding limit plate 705 and an extrusion limit inclined block 706; the sliding limit plate 705 is slidably connected up and down to the upper part of the bearing limit member 7, and the sliding limit plate 705 is threadedly connected to the position adjustment screw 704; a plurality of extrusion limit inclined blocks 706 are provided, and the plurality of extrusion limit inclined blocks 706 are fixedly connected in a circumferential array to the lower end surface of the sliding limit plate 705.

[0039] The specific usage and function of this embodiment: After placing the bearing to be tested outside the bearing limit member 7, rotate the position adjustment screw 704 to make the sliding limit plate 705 and the extrusion limit inclined block 706 slide down along the bearing limit member 7. At this time, the extrusion limit inclined block 706 will apply a pressure to the pressure-receiving limit inclined block 701, so that the pressure-receiving limit inclined block 701 pushes the anti-slip rubber pad 703 to move outward and press against the inner ring of the bearing to fix the bearing. After the test is completed, rotate the position adjustment screw 704 in the reverse direction to reset the sliding limit plate 705 and the extrusion limit inclined block 706, and the second reset elastic member 702 will pull the pressure-receiving limit inclined block 701 and the anti-slip rubber pad 703 to reset.

[0040] In this article, the following points need to be noted: 1. The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure, and other structures can refer to the general design.

[0041] 2. Without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0042] The above is only the specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. Humanoid robot joint bearing impact resistance test device, including a test machine support base (1), a limit mounting frame (2), a test bench protective cover (3), a sliding seal baffle (4), a positioning mounting rod (5), a limit structure, a positioning structure, a timer push switch (6) and a bearing limit member (7); the limit mounting frame (2) is fixedly connected to the rear side of the test machine support base (1); the test bench protective cover (3) is fixedly connected to the upper end surface of the test machine support base (1); characterized in that: The sliding seal baffle (4) is slidably connected up and down to the front side of the test bench protective cover (3); there are two positioning and mounting rods (5), and the two positioning and mounting rods (5) are respectively fixedly connected to the left and right sides of the sliding seal baffle (4); the limiting structure is arranged on the upper part of the test machine support base (1); there are two timer push switches (6), and the two timer push switches (6) are respectively arranged on the left and right sides of the test machine support base (1); the bearing limiter (7) is threadedly connected to the upper part of the test machine support base (1); the positioning structure is arranged on the upper part of the test machine support base (1).

2. The humanoid robot joint bearing impact resistance test device according to claim 1, wherein: The limiting structure includes a limiting electric push rod (101) and a bearing limiting plate (102); there are two limiting electric push rods (101), and the two limiting electric push rods (101) are respectively bolted to the left and right sides of the test machine support base (1); the bearing limiting plate (102) is fixedly connected to the upper parts of the piston rods of the two limiting electric push rods (101), and the bearing limiting plate (102) is slidably connected up and down to the test machine support base (1).

3. The anti-impact test device for the joint bearing of the humanoid robot according to claim 2, wherein: The limiting structure further includes metal electrode plates (103) and strip-shaped metal blocks (501); there are two groups of metal electrode plates (103), and the two groups of metal electrode plates (103) are respectively fixedly connected to the left and right sides of the test machine support base (1); there are two strip-shaped metal blocks (501), and the two strip-shaped metal blocks (501) are respectively fixedly connected to the lower parts of the two positioning and mounting rods (5).

4. The humanoid robot joint bearing impact resistance test device according to claim 3, wherein: The limiting structure further includes position limiting plates (301) and position limiting grooves (302); there are two position limiting plates (301), and the two position limiting plates (301) are respectively fixedly connected to the left and right sides of the test bench protective cover (3); there are multiple position limiting grooves (302), and the multiple position limiting grooves (302) are evenly distributed and opened on the front sides of the two position limiting plates (301).

5. The anti-impact test device for the joint bearing of the humanoid robot according to claim 4, wherein: The limiting structure further includes test impactors (201) and position adjustment pull rods (401); there are multiple test impactors (201), and the multiple test impactors (201) are all bolted to the front side of the limiting mounting frame (2), the multiple test impactors (201) are all fixedly connected to the test bench protective cover (3), timers are connected in series in the control circuits of the multiple test impactors (201), and the piston rod ends of the multiple test impactors (201) are respectively threadedly connected with impact heads of different shapes; the position adjustment pull rod (401) is slidably connected back and forth to the lower part of the sliding seal baffle (4).

6. The humanoid robot joint bearing impact resistance test device according to claim 5, characterized in that: The position-limiting structure further includes a position-limiting insertion rod (402) and a first reset elastic member (403); there are two position-limiting insertion rods (402), and the two position-limiting insertion rods (402) are respectively fixedly connected to the left and right sides of the position-adjusting pull rod (401), and the two position-limiting insertion rods (402) are both slidably connected to the sliding sealing baffle (4) in the front and rear directions; there are two first reset elastic members (403), and the two position-limiting insertion rods (402) are elastically connected to the sliding sealing baffle (4) through the two first reset elastic members (403).

7. The anti-impact test device for the joint bearing of the humanoid robot according to claim 1, wherein: The positioning structure includes a pressure-bearing limit inclined block (701) and a second reset elastic member (702); there are multiple pressure-bearing limit inclined blocks (701), and the multiple pressure-bearing limit inclined blocks (701) are circumferentially and arrayedly slidably connected to the upper part of the bearing limit member (7); there are multiple second reset elastic members (702), and the multiple pressure-bearing limit inclined blocks (701) are elastically connected to the bearing limit member (7) through the multiple second reset elastic members (702).

8. The humanoid robot joint bearing impact resistance test device according to claim 7, characterized in that: The positioning structure further includes an anti-slip rubber pad (703) and a position-adjusting screw (704); there are multiple anti-slip rubber pads (703), and the multiple anti-slip rubber pads (703) are respectively bonded to the outer end faces of the multiple pressure-bearing limit inclined blocks (701); the position-adjusting screw (704) is rotatably connected to the middle of the bearing limit member (7).

9. The anti-impact test device for the joint bearing of the humanoid robot according to claim 8, wherein: The positioning structure further includes a sliding limit plate (705) and an extrusion limit inclined block (706); the sliding limit plate (705) is slidably connected to the upper part of the bearing limit member (7) in the up and down directions, and the sliding limit plate (705) is threadedly connected to the position-adjusting screw (704); there are multiple extrusion limit inclined blocks (706), and the multiple extrusion limit inclined blocks (706) are circumferentially and arrayedly fixedly connected to the lower end face of the sliding limit plate (705).

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