Scale model vibration test device of furnace discharge robot end tool

Abstract

A scaled model vibration test device for an end tool of a tapping robot belongs to the technical field of vibration simulation of end actuators of tapping robots and comprises a waist joint rotary table with a fixed part mounted on a base; the large arm is rotationally connected with the small arm plane connecting rod mechanism, and the flexible tail end fixing base is installed on the small arm plane connecting rod mechanism; the tail end tool rod is mounted on the flexible tail end fixing seat; the vibration measuring unit is arranged at the free end of the tail end tool rod; the forearm power mechanism is installed on the rotating part of the waist joint rotary table, and the output end of the forearm power mechanism is connected with the forearm plane connecting rod mechanism; and the big arm power mechanism is installed on the rotating part of the waist joint rotary table, and a big arm is installed at the output end of the big arm power mechanism. According to the invention, multi-degree-of-freedom structure excitation and control are realized, and an experimental basis is provided for vibration characteristic research of the tail end structure of the tapping robot under different excitation conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to a scaled model vibration test device, in particular to a scaled model vibration test device for a furnace robot end tool, and belongs to the technical field of industrial robot end effector testing and structural vibration simulation. BACKGROUND

[0002] With the improvement of the automation level of the metallurgical industry, the furnace robot is widely used in the discharge, opening, and slagging operations in the high-temperature smelting process. Such robots are usually equipped with end tools (such as steel drills, burn-through tools, etc.) for contact operations with the furnace mouth or slag area. Due to the high temperature, high impact, and strong structural uncertainty of the working environment, the end structure will be subjected to complex excitation during operation, resulting in low-frequency vibration in multiple directions, affecting the operation accuracy and structural reliability.

[0003] Current structural dynamics research on the end tool of the furnace robot mainly relies on finite element simulation or field experience verification, lacking systematic vibration tests supported by physical scaled models. Especially when it comes to robot multi-degree-of-freedom linkage, rigid-flexible coupling, load disturbance response, etc., the existing methods are difficult to effectively evaluate the dynamic characteristics of each structural unit and their coupling behavior. In addition, due to the large size of the original size equipment, the complex running space, and the high risk of operation, direct whole machine experiments face high cost and safety hazards, limiting their widespread application in structural optimization design and control strategy verification. For example, CN115229849A is directed to vibration suppression of a joint type heavy load furnace robot under impact load, focusing on the control system and algorithm to achieve vibration suppression of the joint type heavy load furnace robot under strong impact load.

[0004] In summary, how to realize multi-degree-of-freedom structure excitation and control, and provide experimental basis and technical support for the vibration characteristic research of the end structure of the furnace robot under different excitation conditions, has become a problem to be solved by the technical personnel in the field. SUMMARY

[0005] The present application provides a scaled model vibration test device for a furnace robot end tool to overcome the deficiencies of the prior art. It can realistically restore the dynamic response characteristics of the end tool under typical working conditions and has good scalability and parameter controllability, suitable for various research scenarios such as structural optimization, modal identification, and vibration control, especially for vibration research of the end tool of the furnace robot.

[0006] A scaled model vibration test device for a furnace robot end tool includes a waist joint turntable, the fixed part of which is installed on a base;

[0007] The large arm is rotationally connected with the small arm plane link mechanism,

[0008] The flexible end fixing seat is installed on the forearm plane connecting rod mechanism;

[0009] The end tool rod is installed on the flexible end fixing seat and is used to simulate the characteristics of the end tool of the furnace robot;

[0010] a vibration measuring unit, disposed at the free end of the end tool rod;

[0011] A forearm power mechanism is installed on the rotating part of the waist joint turntable, and the output end of the forearm power mechanism is connected to the forearm plane connecting rod mechanism to realize the pitching movement of the flexible end fixing seat;

[0012] The boom power mechanism is installed on the rotating part of the waist joint turntable. The output end of the boom power mechanism is installed with a boom. The boom and the forearm planar connecting rod mechanism couple the movement to realize the translational movement of the flexible end fixing seat.

[0013] Furthermore, the forearm plane linkage mechanism includes a link I, a link II and a link III; one end of the link I is fixed to the output end of the forearm power mechanism, the other end of the link I is rotatably connected to one end of the link II, the other end of the link II is rotatably connected to one end of the link III, and the other end of the link III is rotatably connected to the boom.

[0014] Furthermore, the vibration measurement unit is an inertial measurement unit.

[0015] The beneficial effects of the present invention compared to the prior art are:

[0016] 1. The test device has a modular structure and is easy to build, making it convenient to adjust system parameters and expand various working states;

[0017] 2. The drive transmission of the arm power mechanism is realized through a parallelogram connecting rod, which effectively separates the mass and drive layout and reduces the inertial coupling of the system;

[0018] 3. This application combines the high precision and fast response of industrial servo control systems to support structural response testing under different frequency excitations;

[0019] 4. The combination of the end tool rod and the inertial measurement unit truly reflects the response law of the flexible structure under impact and vibration, and is suitable for modal identification and structural vibration control algorithm verification;

[0020] 5. This application has typical three-degree-of-freedom motion capabilities, which is sufficient to simulate typical operating paths and operating postures under actual furnace discharge conditions, and is widely used in the structural optimization and dynamic performance verification of metallurgical and smelting furnace discharge robots.

[0021] The following is a further description of the scheme of the application in conjunction with the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of a scaled model vibration test device for a robot end tooling produced for this application;

[0023] Figure 2 A side view of a vibration test device for a scaled model of a furnace-produced robot end-of-line tool;

[0024] Figure 3 This is the front view of the vibration test device for the scaled model of the robot end tool.

[0025] Figures: 10, base; 20, waist joint turntable, 30, upper arm, 40, upper arm power mechanism, 50, lower arm power mechanism, 60, lower arm plane connecting rod mechanism, 601, connecting rod I, 602, connecting rod II, 603, connecting rod III, 70, flexible end fixing seat, 80, end tool rod, 90, vibration measurement unit, 100, base. DETAILED DESCRIPTION

[0026] The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in this application have the common meanings understood by those skilled in the art.

[0027] See also Figure 1 In this embodiment, a vibration test device for a scaled model of a furnace-exiting robot end tool comprises:

[0028] The waist joint turntable 20 has a fixed portion mounted on the base 10;

[0029] The big arm 30 is rotatably connected to the small arm plane link mechanism 60.

[0030] The flexible end fixing seat 70 is mounted on the forearm plane connecting rod mechanism 60;

[0031] The end tool rod 80 is mounted on the flexible end fixing seat 70 and is used to simulate the characteristics of the end tool of the furnace robot;

[0032] a vibration measuring unit 90 , provided at the free end of the end tool rod 80 ;

[0033] The arm power mechanism 50 is mounted on the rotating part of the waist joint turntable 20. The output end of the arm power mechanism 50 is connected to the arm plane link mechanism 60 to achieve the pitch movement of the flexible end fixing seat 70.

[0034] The upper arm power mechanism 40 is mounted on the rotating portion of the waist joint turntable 20. The upper arm 30 is mounted on the output end of the upper arm power mechanism 40. The upper arm 30 and the lower arm planar linkage mechanism 60 couple the motion to achieve translational motion of the flexible end fixture 70. The scaled-down vibration test device for the end tool of a furnace-exiting robot of this embodiment has a simple structure, easy assembly, and clear degrees of freedom. It can realistically reproduce the dynamic response characteristics of the end tool under typical working conditions and has good scalability and parameter controllability. With the advantages of simple structure, controllable parameters, and realistic dynamic response, it is suitable for various research scenarios such as structural optimization, modal identification, and vibration control.

[0035] Reference Figure 3 The upper arm 30 and the lower arm plane link mechanism 60 are each driven by an independent industrial servo motor and a reducer, and the drive motor is uniformly installed on the base 100 provided on the rotating part of the waist joint turntable 20.

[0036] Specifically, the arm power mechanism 50 includes a reduction motor and a coupling, the output end of which is connected to the boom 30 via the coupling. The boom power mechanism 40 also includes a reduction motor and a coupling, the output end of which is connected to the arm planar linkage 60 via the coupling. The output ends of the boom power mechanism 40 and the arm power mechanism 50 are coaxially arranged, meaning that the rotational pairs of the two industrial servo motors and reducers form a coaxial arrangement.

[0037] The end tool rod 80 is mounted on the flexible end fixing seat 70 and is provided on the revolving pair at the end of the small arm planar linkage mechanism 60. The end tool rod 80 is a slender and flexible structure used to simulate the mass and inertia characteristics of the end tool of the furnace unloading robot;

[0038] The vibration measurement unit 90 is provided at the end of the end tool rod and is used to measure the three-axis vibration response thereof during operation. The measurement unit is an inertial measurement unit (IMU).

[0039] Reference Figure 2 The forearm plane linkage mechanism 60 includes a link I 601, a link II 602 and a link III 603; the two large arms 30 and the two sets of forearm plane linkage mechanisms 60 are symmetrically arranged and are connected to each other.

[0040] One end of the connecting rod I601 is fixed to the output end of the forearm power mechanism 50, and the other end of the connecting rod I601 is rotationally connected to one end of the connecting rod II602, and the other end of the connecting rod II602 is rotationally connected to one end of the connecting rod III603, and the other end of the connecting rod III603 is rotationally connected to the upper arm 300. In this embodiment, the base 10 is constructed using standard industrial aluminum profiles, and the structure is lightweight and can be quickly assembled. The test device adopts a modular design, and the waist joint turntable adopts a commercial reduction turntable (such as a turntable driven by a worm gear). The forearm power mechanism 50 and the upper arm power mechanism 40 (such as a drive motor and a reducer) are both installed on the base 100 located on the waist joint turntable 20, using a coaxial structure. The upper arm 30 is directly driven by the motor, and the upper arm 30 and the forearm plane connecting rod mechanism 60 form a parallelogram connecting rod structure. By driving the rotary pair at the end of the forearm plane connecting rod mechanism 60, a typical industrial robot arm model is constructed. The end tool rod 80 is a long and thin rod structure used to simulate the inertia and flexibility characteristics of a real tool rod, and is equipped with an inertial measurement unit (IMU) to capture the end vibration response and improve test accuracy.

[0041] For example: the upper arm power mechanism 40 works to output power, while the lower arm power mechanism 50 does not output power. The upper arm power mechanism 40 drives the upper arm 30 to rotate. At this time, under the action of the mutual rotation pair of the connecting rod II602 and the connecting rod III603, the flexible end fixing seat 70 and the end tool rod 80 move up and down together to realize one degree of freedom of movement; at this time, if the waist joint turntable 20 outputs power, it drives the base 100 and the upper arm power mechanism 40 and the lower arm power mechanism 50 thereon to rotate together, realizing the two degrees of freedom of translation and rotation of the end tool rod 80.

[0042] Alternatively, the upper arm power mechanism 40 does not output power, while the lower arm power mechanism 50 outputs power, and the lower arm power mechanism 50 drives the lower arm plane connecting rod mechanism 60 to move. Since the upper arm 30 does not move, the flexible end fixing seat 70 and the end tool rod 80 will swing around the rotating pair connected by the connecting rod II602 and the connecting rod III603, realizing pitch motion and realizing one degree of freedom motion. At this time, if the waist joint turntable 20 outputs power, it drives the base 100 and the upper arm power mechanism 40 and the lower arm power mechanism 50 thereon to rotate together, realizing the two degrees of freedom motion of pitch and rotation of the end tool rod 80.

[0043] Alternatively, the upper arm power mechanism 40 works to output power, while the lower arm power mechanism 50 works to output power, and the upper arm power mechanism 40 drives the upper arm 30 to rotate. At this time, under the action of the mutual rotation pair of the connecting rod II602 and the connecting rod III603, the flexible end fixing seat 70 and the end tool rod 80 make an up and down translation motion together, realizing one degree of freedom of movement; the lower arm power mechanism 50 drives the lower arm plane connecting rod mechanism 60 to move. Due to the movement of the upper arm 30, the flexible end fixing seat 70 and the end tool rod 80 will swing around the rotation pair connected by the connecting rod II602 and the connecting rod III603, realizing pitch motion, realizing one degree of freedom of movement. At this time, if the waist joint turntable 20 outputs power, it drives the base 100 and the upper arm power mechanism 40 and the lower arm power mechanism 50 thereon to rotate together, realizing the three degrees of freedom of pitch, rotation and translation of the end tool rod 80.

[0044] That is, the upper arm power mechanism 40, the lower arm power mechanism 50 and the waist joint turntable 20 are independent of each other and can all move, none of them move, or any one or two of them can move at the same time.

[0045] The base 10 is used to carry and support the above-mentioned waist joint turntable 20, upper arm 30, upper arm power mechanism 40, lower arm power mechanism 50, lower arm plane connecting rod mechanism 60, connecting rod I601, connecting rod II602, connecting rod III603, flexible end fixing seat 70, end tool rod 80 and vibration measuring unit 90.

[0046] The waist joint turntable 20 is connected to the base 10, driving the part above the waist to rotate around the vertical axis;

[0047] The said big arm power mechanism 40 is connected to the flexible end fixing seat 70 via the big arm 30 to provide power for its movement;

[0048] The forearm power mechanism 50 is connected to the flexible end fixing seat 70 through the forearm plane link mechanism 60 to provide power for its pitch freedom movement;

[0049] The flexible end fixing seat 70 can realize three-degree-of-freedom motion of rotation, pitch and vertical translation within a certain range under the action of the above-mentioned power and transmission mechanism.

[0050] The device also includes a control system to achieve coordinated control of the multi-degree-of-freedom structure and real-time acquisition of vibration response. The control system includes a motor driver, a motion controller and a data acquisition module. The motor driver is electrically connected to the reduction motor, the motion controller is electrically connected to the motor driver, and the data acquisition module is electrically connected to the motion controller and the vibration measurement unit respectively.

[0051] By combining proportional structural reduction with functional simulation, this application constructs a dynamic testing platform with adjustable structure, controllable parameters, and ease of experimentation and observation, without requiring the use of an actual furnace-exiting robot. This device can test the vibration response of end-of-line tools under typical operating postures, providing reliable experimental support for the optimized design of metallurgical robot end-of-line structures and the verification of control algorithms.

[0052] This application has been disclosed as above with preferred implementation cases, but it is not intended to limit this application. Any technician familiar with this profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of this application, and the equivalent implementation cases with equivalent changes are all within the scope of the technical solution of this application.

Claims

1. A scale model vibration test device for a furnace-exiting robot end tool, characterized by: Include: A waist joint turntable (20), a fixed portion of which is mounted on the base (10); The upper arm (30) is rotatably connected to the lower arm plane connecting rod mechanism (60). A flexible end fixing seat (70) is mounted on the forearm plane connecting rod mechanism (60); An end tool rod (80) is mounted on the flexible end fixing seat (70) and is used to simulate the characteristics of the end tool of the furnace robot; A vibration measuring unit (90) is provided at the free end of the end tool rod (80); A forearm power mechanism (50) is mounted on the rotating portion of the waist joint turntable (20), and an output end of the forearm power mechanism (50) is connected to a forearm plane connecting rod mechanism (60); A large arm power mechanism (40) is installed on the rotating part of the waist joint turntable (20). The output end of the large arm power mechanism (40) is installed with a large arm (30). The large arm (30) and the small arm plane connecting rod mechanism (60) are coupled to realize the movement of the flexible end fixing seat (70).

2. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The waist joint turntable (20) is a turntable driven by a worm gear.

3. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The forearm plane link mechanism (60) comprises a link I (601), a link II (602) and a link III (603); One end of the connecting rod I (601) is fixed to the output end of the small arm power mechanism (50), the other end of the connecting rod I (601) is rotatably connected to one end of the connecting rod II (602), the other end of the connecting rod II (602) is rotatably connected to one end of the connecting rod III (603), and the other end of the connecting rod III (603) is rotatably connected to the large arm (300).

4. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The vibration measurement unit (90) is an inertial measurement unit.

5. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The characteristics of the end tool of the simulated furnace-exiting robot are mass and inertia characteristics.

6. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The small arm power mechanism (50) comprises a reduction motor and a coupling, and the output end of the reduction motor is connected to the large arm (30) via the coupling.

7. The scale model vibration test device for a furnace-exiting robot end tool according to claim 6, characterized in that: The large arm power mechanism (40) comprises a reduction motor and a coupling, and the output end of the reduction motor is connected to the small arm planar connecting rod mechanism (60) via the coupling.

8. The scale model vibration test device for a furnace-exiting robot end tool according to claim 1, characterized in that: The output end of the upper arm power mechanism (40) and the output end of the lower arm power mechanism (50) are coaxially arranged.

9. The scale model vibration test device for a furnace-exiting robot end tool according to claim 7, characterized in that: The device also includes a control system to achieve coordinated control of the multi-degree-of-freedom structure and real-time acquisition of vibration response. The control system includes a motor driver, a motion controller and a data acquisition module. The motor driver is electrically connected to the reduction motor, the motion controller is electrically connected to the motor driver, and the data acquisition module is electrically connected to the motion controller and the vibration measurement unit respectively.

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