A functional detection device and method for a construction work machine arm

Abstract

The application relates to the technical field of mechanical arm detection, in particular to a functional detection device and method for a mechanical arm of a construction engineering operation, which comprises a detection table, a connecting base is fixed to the middle of the top end of the detection table, a fixed base is fixed to the top end of the connecting base, a vertical arm is rotationally connected to the top end of the fixed base, a horizontal arm is rotationally connected to the top end of the vertical arm, and an angle detection assembly is arranged on one side of the top end of the fixed base; through the cooperation of the point detection plate, the point camera, the monitoring assembly, the counterweight assembly and the angle detection assembly, the device can be monitored in real time when the mechanical arm is working, problems can be found in the first time, the device can be used for load detection of different weights during detection, various precision measurement sensors can be greatly reduced, different parts of the mechanical arm can be accurately detected, and the detection efficiency and the detection range of the device are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm testing technology, and more specifically, to a functional testing device and method for a robotic arm used in construction engineering. Background Technology

[0002] As industrial gripping and handling equipment, robotic arms can mechanically mimic the structure of a human arm to perform operations. The positioning accuracy of a robotic arm affects whether it accurately contacts the designated object or reaches the designated position during the gripping process. When positional accuracy is compromised, the robotic arm essentially loses its ability to perform precise operations. For robotic arms that frequently handle heavy objects, prolonged high-load operation leads to wear and tear on their internal transmission components, affecting their positioning accuracy.

[0003] A search revealed a fatigue testing device for a robotic arm, disclosed in publication number (CN118906092B). The device describes a structure comprising a body and a material block. A robotic arm is mounted on the top of the body. A right platform and a left platform are fixedly connected to both ends of the body on either side of the robotic arm. A left test chamber is located on one side of the bottom of the left platform. A sleeve is fixedly connected to the bottom of the left test chamber. A lifting rod is slidably connected inside the sleeve. The top of the lifting rod is fixedly connected to the bottom of the left platform. When testing the robotic arm, the robotic arm grasps the material block and moves it back and forth between the right and left platforms, simulating the actual load on the robotic arm in real-world application scenarios. This makes the testing results more accurate. Furthermore, a single distance sensor can acquire the displacement deviation of different parts of the robotic arm, reducing the need for numerous sensors while ensuring testing effectiveness, lowering costs, and improving the stability of test results.

[0004] In practical use, the aforementioned patent mainly uses a distance sensor to detect the displacement of the passive bar to detect the overall deviation of the robotic arm. However, the material counterweight of the device is fixed each time. When it is necessary to detect the device deviation under different load conditions, it is necessary to test twice under the same counterweight to obtain the test result, which is quite cumbersome. At the same time, the device cannot detect whether there is a problem during the operation of the robotic arm. During the test, it can only detect whether the robotic arm has shifted as a whole, and cannot accurately find the offset part, which has great limitations.

[0005] Based on this, the present invention discloses a functional testing device and method for a construction engineering robotic arm. Summary of the Invention

[0006] To address the issues raised in the background art, the aforementioned patent primarily uses a distance sensor to detect the displacement of the passive bar to assess the overall offset of the robotic arm. However, the material counterweight of this device is fixed per use. When it is necessary to detect the device's offset under different load conditions, two tests with the same counterweight are required to obtain the test results, which is cumbersome. Furthermore, this device cannot detect problems during the robotic arm's operation; it can only detect the overall offset of the robotic arm, not precisely pinpoint the offset location, resulting in significant limitations. This invention provides a functional testing device and method for a construction engineering robotic arm, comprising a testing platform. A connecting base is fixed to the top center of the testing platform, and a fixed base is fixed to the top of the connecting base. A vertical arm is rotatably connected to the top of the fixed base, and a horizontal arm is rotatably connected to the top of the vertical arm. An angle detection component is provided on one side of the top of the connecting base for detecting the angular offset of the vertical and horizontal arms. A load-bearing component is provided at the end of the horizontal arm away from the vertical arm for detecting the angular offset of the horizontal arm. The arm is counterweighted. Multiple positioning test chambers are provided on one side of the top of the testing platform. A point detection plate is installed at the lower inner end of each positioning test chamber and is fixedly connected to the testing platform. Point cameras are installed on both sides of the top of each positioning test chamber and are fixedly connected to the testing platform. A connecting shaft is fixed at the corresponding position of the horizontal and vertical arms, and the connecting shaft is rotatably connected to the vertical arm. A monitoring component is installed on the inner side of the vertical arm at the position corresponding to the connecting shaft. The monitoring component includes a movable gear frame, which is located on the inner side of the vertical arm at the position corresponding to the connecting shaft and is slidably connected to the vertical arm. A drive gear is fixed on the outer side of the connecting shaft. A transmission rack is fixed on the inner side of the movable gear frame at the position corresponding to the drive gear and meshes with the drive gear. A second spring telescopic rod is fixed at the end of the movable gear frame away from the horizontal arm. A pressure sensor is fixed on the inner side of the vertical arm at the position corresponding to the second spring telescopic rod, and the second spring telescopic rod cooperates with the pressure sensor.

[0007] As a further improvement to this technical solution, the angle detection component includes a fixed base plate, which is fixed to the top of a fixed base. A connecting frame is fixed to the top of the fixed base plate, and a fixed frame is fixed to the top of the connecting frame. A fixed ring is provided on the inner side of the fixed frame, and a connecting rod is fixed to the outer side of the fixed ring. A fixed plate is fixed to the end of the connecting rod away from the fixed ring. A horizontal angle test plate is fixed to the outer top of the fixed plate, and a vertical angle test plate is fixed to one side of the fixed frame. A movable rod is rotatably connected to the inner sides of both the fixed frame and the fixed plate, and the fixed ring is slidably connected to the movable rod located inside the fixed frame.

[0008] As a further improvement to this technical solution, a detection ring pin is fixed on the outside of the movable rod located inside the fixed frame and close to the fixed frame. An indicator slider is slidably connected to the outside of the horizontal angle test plate. A fixed rod is fixed to the top of the indicator slider. A first spring telescopic rod is fixed to the side of the fixed rod close to the horizontal arm. A contact plate is fixed to the telescopic end of the first spring telescopic rod. The contact plate is in contact with the horizontal arm.

[0009] As a further improvement to this technical solution, a connecting block is fixed to one end of the moving rod near the vertical arm, and the connecting block is plugged into the vertical arm. A lifting handle is fixed to the other end of the moving rod. A connecting plate is rotatably connected to the outer side of the moving rod near the connecting block. A limit spring is fixed to the side of the connecting plate away from the connecting block. The other ends of the two limit springs are fixedly connected to the fixing frame and the fixing plate, respectively. A sliding block is fixed to the inner side of the fixing ring. A limit groove is opened at the position of the moving rod corresponding to the sliding block. The sliding block is slidably connected to the moving rod through the limit groove.

[0010] As a further improvement to this technical solution, the load-bearing component includes a connecting seat, which is fixed to the end of the horizontal arm away from the vertical arm. A load box is provided at the lower end of the connecting seat, and a plug-in post is fixed at the top of the load box. A limit component is provided at the position corresponding to the plug-in post on the connecting seat. A counterweight is provided on the inner side of the load box, and a contact rod is fixed on the side of the load box near the detection platform. The contact rod is used in conjunction with the point detection plate and the point camera.

[0011] As a further improvement to this technical solution, a connecting plate is provided at the upper position of one end of the load box, and anti-detachment rods are fixed at the lower ends of both ends of the connecting plate. The lower ends of the anti-detachment rods extend to the inner side of the load box, and the anti-detachment rods are slidably connected to the load box.

[0012] As a further improvement to this technical solution, a retraction spring is sleeved on the outer side of the anti-detachment rod near the connecting plate. One end of the retraction spring is fixedly connected to the connecting plate, and the lower end of the retraction spring is fixedly connected to the load box.

[0013] As a further improvement to this technical solution, the limiting component includes a movable plate, which is disposed inside the connecting seat and slidably connected to the connecting seat. Limiting bolts are fixed at both ends of the movable plate near the insertion post, and the limiting bolts are inserted into the insertion post. An internal threaded sleeve is fixed in the middle of the other side of the movable plate. An adjusting screw is threadedly connected to the inner side of the internal threaded sleeve away from the movable plate. The adjusting screw extends to the outer side of the connecting seat at the end away from the internal threaded sleeve. A connecting knob is fixed to the adjusting screw on the outer side of the connecting seat.

[0014] As a further improvement to this technical solution, a functional testing method for a construction engineering robotic arm is provided. This method is mainly applicable to the aforementioned functional testing equipment for a construction engineering robotic arm, and mainly includes the following steps: S1: Operation monitoring. The monitoring component monitors whether the angle between the horizontal arm and the vertical arm changes by measuring the pressure value of the pressure sensor. S2: Inspection and assembly: Fix and connect the angle detection component to the connecting base, vertical arm and horizontal arm respectively, and at the same time connect and fix the load component to the connecting base through the plug-in column and the limiting component. S3: Positioning accuracy detection. The load box is controlled to drive the contact rod to make contact with the point detection plate. Then, different counterweights are adjusted to record the contact points between the contact rod and the point detection plate multiple times. The multiple contact point records between the contact rod and the point detection plate are compared by the point camera to facilitate the detection of positioning accuracy. S4: Counterweight adjustment. Pulling the connecting plate moves the anti-slip rod to remove the limit on the counterweight block. Different weight adjustments can be achieved by increasing or decreasing the number of counterweight blocks. S5: Angle detection. The readings indicated by the indicator slider and the detection ring needle are recorded. The actual angle readings of the horizontal and vertical arms under different counterweight conditions are compared with those under a fixed angle output command to complete the detection.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this functional testing equipment and method for a construction engineering robotic arm, the coordinated structural design of the point detection plate, point camera, monitoring component, counterweight component and angle detection component enables real-time monitoring during the operation of the robotic arm, thereby enabling the detection of problems at the first time. At the same time, the device can perform load testing of different weights during testing, which greatly reduces the need for various precision measurement sensors while enabling precise testing of different parts of the robotic arm, thereby effectively improving the testing efficiency of the device and expanding the testing range of the device.

[0016] 2. In the functional testing equipment and method for a construction engineering robotic arm, the structural design of the counterweight component enables the number of counterweight blocks to be increased or decreased according to actual needs, thereby increasing or decreasing the load. This facilitates testing under different load conditions and also makes it convenient to install and disassemble the load box and the horizontal arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the angle detection component and the vertical arm of the present invention; Figure 3 This is a schematic diagram of the angle detection component of the present invention; Figure 4 This is a schematic diagram of the limiting spring of the present invention; Figure 5 This is a schematic diagram of the connection structure between the horizontal angle testing plate and the indicator slider of the present invention; Figure 6 This is a schematic diagram of the load-bearing component of the present invention; Figure 7 This is a schematic diagram of the limiting component of the present invention; Figure 8 This is a schematic diagram of the connection structure between the limiting bolt and the insertion post of the present invention; Figure 9 This is a schematic diagram of the monitoring component structure of the present invention.

[0018] The meanings of the labels in the diagram are as follows: 1. Testing table; 2. Connecting base; 3. Fixed base; 4. Vertical arm; 5. Horizontal arm; 6. Positioning test chamber; 7. Point detection plate; 8. Point camera; 9. Fixed base plate; 10. Connecting frame; 11. Fixed frame; 12. Connecting rod; 13. Fixed plate; 14. Load box; 15. Horizontal angle test plate; 16. Moving rod; 17. Connecting block; 18. Vertical angle test plate; 19. Fixed ring; 20. Limiting spring; 21. Connecting plate; 22. Lifting handle; 23. Detection ring pin; 24. Sliding... 25. Fixed rod; 26. First spring telescopic rod; 27. Contact plate; 28. Indicator slider; 29. ​​Connecting seat; 30. Contact rod; 31. Counterweight block; 32. Anti-detachment rod; 33. Connecting plate; 34. Retraction spring; 35. Insertion post; 36. Internal threaded sleeve; 37. Adjusting screw; 38. Connecting knob; 39. Moving plate; 40. Limit bolt; 41. Connecting shaft; 42. Moving gear frame; 43. Transmission rack; 44. Drive gear; 45. Second spring telescopic rod; 46. Pressure sensor. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In practical use, the aforementioned patent mainly uses a distance sensor to detect the displacement of the passive bar to detect the overall deviation of the robotic arm. However, the material counterweight of the device is fixed each time. When it is necessary to detect the device deviation under different load conditions, it is necessary to test twice under the same counterweight to obtain the test result, which is quite cumbersome. At the same time, the device cannot detect whether there is a problem during the operation of the robotic arm. During the test, it can only detect whether the robotic arm has shifted as a whole, and cannot accurately find the offset part, which has great limitations.

[0021] Therefore, this invention provides a functional testing device and method for a construction engineering robotic arm, see [link to relevant documentation]. Figure 1 - Figure 9 As shown, it includes a testing platform 1, a connecting base 2 fixed to the top center of the testing platform 1, a fixed base 3 fixed to the top of the connecting base 2, a vertical arm 4 rotatably connected to the top of the fixed base 3, and a horizontal arm 5 rotatably connected to the top of the vertical arm 4. An angle detection component is provided on one side of the top of the connecting base 2 for detecting the angular offset of the vertical arm 4 and the horizontal arm 5. A load-bearing component is provided at the end of the horizontal arm 5 away from the vertical arm 4 for counterweighting the horizontal arm 5. Multiple positioning test chambers 6 are opened on one side of the top of the testing platform 1. A point detection plate 7 is provided at the lower inner end of the positioning test chamber 6, and the point detection plate 7 is fixedly connected to the testing platform 1. To facilitate the detection of the positioning accuracy of the vertical arm 4 and the horizontal arm 5, point cameras 8 are provided on both sides of the top of the positioning test chamber 6, and the point cameras 8 are fixedly connected to the testing platform 1. A connecting shaft 41 is fixed at the position corresponding to the vertical arm 4. The connecting shaft 41 is rotatably connected to the vertical arm 4. A monitoring component is provided on the inner side of the vertical arm 4 at the position corresponding to the connecting shaft 41. The monitoring component includes a movable gear 42, which is located on the inner side of the vertical arm 4 at the position corresponding to the connecting shaft 41. The movable gear 42 is slidably connected to the vertical arm 4. A drive gear 44 is fixed on the outer side of the connecting shaft 41. A transmission rack 43 is fixed on the inner side of the movable gear 42 at the position corresponding to the drive gear 44. The transmission rack 43 is meshed with the drive gear 44. A second spring telescopic rod 45 is fixed at the end of the movable gear 42 away from the horizontal arm 5. A pressure sensor 46 is fixed on the inner side of the vertical arm 4 at the position corresponding to the second spring telescopic rod 45. The second spring telescopic rod 45 cooperates with the pressure sensor 46.

[0022] During operation, when the robotic arm performs repetitive fixed operations, the lifting angle of the vertical arm 4 and the horizontal arm 5 after each material grabbing is fixed. When the horizontal arm 5 rotates, it drives the drive gear 44 to rotate via the connecting shaft 41. When the drive gear 44 rotates, it drives the moving gear frame 42, which is fixed to the drive gear rack 43, to move via the transmission rack 43. When the moving gear frame 42 moves, it drives the second spring telescopic rod 45 to move simultaneously. After the second spring telescopic rod 45 contacts the pressure sensor 46, it applies pressure to the pressure sensor 46. When the lifting angle of the horizontal arm 5 is at its maximum, the pressure value received by the pressure sensor 46 can be recorded. When the lifting angle of the horizontal arm 5 changes, the travel of the moving gear frame 42 will decrease or increase, thereby causing the pressure value applied by the second spring telescopic rod 45 to the pressure sensor 46 to change. At this time, the change in the lifting angle of the horizontal arm 5 and the vertical arm 4 can be detected. Then, the device can be installed on the fixed base 3 on the top of the detection table 1 for the next step of precise detection.

[0023] For details, see Figure 2 - Figure 5 As shown, the angle detection assembly includes a fixed base plate 9, which is fixed to the top of the fixed base 3. A connecting frame 10 is fixed to the top of the fixed base plate 9, and a fixed frame 11 is fixed to the top of the connecting frame 10. A fixing ring 19 is provided on the inner side of the fixed frame 11, and a connecting rod 12 is fixed to the outer side of the fixing ring 19. A fixed plate 13 is fixed to the end of the connecting rod 12 away from the fixing ring 19. To facilitate the detection of the rotation angle of the horizontal arm 5 relative to the vertical arm 4, a horizontal angle test plate 15 is fixed to the outer side of the top of the fixed plate 13. To facilitate the detection of the rotation angle of the vertical arm 4 relative to the fixed base 3, a vertical angle test plate 18 is fixed to one side of the fixed frame 11. The inner sides of both 11 and the fixed plate 13 are rotatably connected to the moving rod 16. The fixed ring 19 is slidably connected to the moving rod 16 located inside the fixed frame 11. The outer side of the moving rod 16 located inside the fixed frame 11 and close to the fixed frame 11 is fixed with the detection ring needle 23. The outer side of the horizontal angle test plate 15 is slidably connected to the indicator slider 28. In order to facilitate the rotation of the indicator slider 28 when the horizontal arm 5 rotates, the top of the indicator slider 28 is fixed with the fixed rod 25. The side of the fixed rod 25 close to the horizontal arm 5 is fixed with the first spring telescopic rod 26. The telescopic end of the first spring telescopic rod 26 is fixed with the contact plate 27, and the contact plate 27 is in contact with the horizontal arm 5. A connecting block 17 is fixed to one end of the moving rod 16 near the vertical arm 4. The connecting block 17 is plugged into the vertical arm 4. To facilitate the movement of the moving rod 16, a lifting handle 22 is fixed to the other end of the moving rod 16. A connecting plate 21 is rotatably connected to the outer side of the end of the moving rod 16 near the connecting block 17. To facilitate limiting the movement of the moving rod 16 without affecting its rotation, a limit spring 20 is fixed to the side of the connecting plate 21 away from the connecting block 17. The other ends of the two limit springs 20 are fixedly connected to the fixing frame 11 and the fixing plate 13, respectively. To facilitate the rotation of the moving rod 16 while driving the fixed ring 19 to rotate without affecting the horizontal movement of the moving rod 16, a sliding block 24 is fixed to the inner side of the fixed ring 19. A limit groove is opened at the position corresponding to the moving rod 16 and the sliding block 24. The sliding block 24 is slidably connected to the moving rod 16 through the limit groove.

[0024] During operation, the fixed base 3 is first connected to the connecting base 2. Then, by pulling the detection ring needle 23, the detection ring needle 23 drives the moving rod 16 and the connecting block 17 to move. When the rotation axis of the vertical arm 4 rotates to the position corresponding to the connecting block 17, the detection ring needle 23 is released. At this time, under the elastic action of the limit spring 20, the connecting plate 21 is moved closer to the vertical arm 4. When the connecting plate 21 moves, it drives the moving rod 16 and the connecting block 17 to move simultaneously. When the connecting block 17 moves to the inside of the vertical arm 4, the connection with the vertical arm 4 is completed. The angle of the horizontal arm 5 is adjusted, and then the contact plate 27 is connected to the horizontal arm 5 under the elastic action of the moving rod 16. After that, the detection can begin. During the detection process, when the horizontal arm 5 rotates relative to the vertical arm 4, the contact plate 27 drives the indicator slider 2 through the first spring telescopic rod 26 and the fixed rod 25. Simultaneously, the horizontal arm 5 rotates, causing the indicator slider 28 to slide along the outer edge of the horizontal angle test plate 15. By comparing the readings corresponding to the indicator slider 28 and the vertical angle test plate 18 with the initial data, the deviation of the rotation angle of the horizontal arm 5 can be detected. At the same time, when the vertical arm 4 rotates relative to the fixed base 3, the moving rod 16 will rotate through the connecting block 17. When the moving rod 16 rotates, the fixed ring 19 will rotate simultaneously through the sliding block 24. When the fixed ring 19 rotates, the fixed plate 13 will rotate through the connecting rod 12, so that the fixed plate 13 is always parallel to the end of the vertical arm 4 that is close to the horizontal arm 5. When the moving rod 16 located inside the fixed frame 11 rotates, it will drive the detection ring needle 23 to rotate simultaneously. By comparing the readings corresponding to the detection ring needle 23 and the vertical angle test plate 18 with the initial data, the angle deviation of the vertical arm 4 can be obtained.

[0025] Further, see Figure 6 - Figure 8As shown, the load-bearing component includes a connecting seat 29, which is fixed to the end of the horizontal arm 5 away from the vertical arm 4. A load box 14 is provided at the lower end of the connecting seat 29. To facilitate the connection between the load box 14 and the connecting seat 29, a plug-in post 35 is fixed to the top of the load box 14. To facilitate the limiting of the plug-in post 35, a limit component is provided at the corresponding position of the connecting seat 29 and the plug-in post 35. A counterweight block 31 is provided inside the load box 14. A contact rod 30 is fixed to the side of the load box 14 near the detection table 1. The contact rod 30 connects to the point detection plate 7 and... The point camera 8 is used in conjunction with the load box 14; a connecting plate 33 is set at the upper part of one end of the load box 14. In order to facilitate the limiting of the counterweight 31, the lower ends of both ends of the connecting plate 33 are fixed with anti-detachment rods 32. The lower ends of the anti-detachment rods 32 extend to the inner side of the load box 14, and the anti-detachment rods 32 are slidably connected to the load box 14; in order to facilitate the limiting of the anti-detachment rods 32, a contraction spring 34 is sleeved on the outer side of the end of the anti-detachment rods 32 near the connecting plate 33. One end of the contraction spring 34 is fixedly connected to the connecting plate 33, and the lower end of the contraction spring 34 is fixedly connected to the load box 14. The limiting assembly includes a movable plate 39, which is disposed inside the connecting seat 29 and is slidably connected to the connecting seat 29. To facilitate limiting the insertion post 35, limiting bolts 40 are fixed at both ends of the movable plate 39 near the insertion post 35. The limiting bolts 40 are inserted into the insertion post 35. To facilitate moving the movable plate 39, an internal threaded sleeve 36 is fixed in the middle of the other side of the movable plate 39. An adjusting screw 37 is threadedly connected to the inner side of the end of the internal threaded sleeve 36 away from the movable plate 39. The end of the adjusting screw 37 away from the internal threaded sleeve 36 extends to the outer side of the connecting seat 29. To facilitate rotating the adjusting screw 37, a connecting knob 38 is fixed to the outer side of the adjusting screw 37 on the connecting seat 29.

[0026] During operation, when it is necessary to add or remove counterweight, first pull the connecting plate 33 upwards, causing the connecting plate 33 to move the anti-detachment rod 32. When the lower end of the anti-detachment rod 32 is a certain distance from the lower inner end of the load box 14, the counterweight block 31 can be placed inside the load box 14 or removed from the load box 14. Then release the connecting plate 33. At this time, under the elastic action of the compression spring 34, the connecting plate 33 is pulled closer to the load box 14, thereby causing the connecting plate 33 to move the anti-detachment rod 32. When the lower end of the anti-detachment rod 32 moves to the lower inner end of the load box 14, the counterweight block 31 can be placed inside the load box 14 or removed from the load box 14. After the counterweight 31 is positioned, when the test is finished and the load box 14 needs to be disassembled from the connecting seat 29, the connecting knob 38 is rotated, causing the adjusting screw 37 to rotate. When the adjusting screw 37 rotates, the moving plate 39 moves away from the plug-in post 35 through the internal threaded sleeve 36 connected to it. When the moving plate 39 moves, the limiting bolt 40 moves at the same time. When the limiting bolt 40 moves to the point of disengagement from the plug-in post 35, the limiting bolt 40 releases its restriction on the plug-in post 35. Then, the plug-in post 35 can be removed from the inside of the connecting seat 29 to complete the disassembly.

[0027] Among them, see Figure 1 - Figure 9 As shown, a testing method for a functional testing device for a construction engineering robotic arm is disclosed. This functional testing method for a construction engineering robotic arm is mainly applicable to the aforementioned functional testing device for a construction engineering robotic arm. The method mainly includes the following steps: S1: Operation monitoring. The monitoring component monitors whether the angle between the horizontal arm 5 and the vertical arm 4 changes by measuring the pressure value change of the pressure sensor 46. S2: Inspection and assembly, fix and connect the angle detection component to the connecting base 2, vertical arm 4 and horizontal arm 5 respectively, and at the same time connect and fix the load component to the connecting seat 29 through the plug-in post 35 and the limiting component; S3: Positioning accuracy detection. The load box 14 is controlled to drive the contact rod 30 to make point contact with the point detection plate 7. Then, different counterweights are adjusted to record the point contact between the contact rod 30 and the point detection plate 7 multiple times. The point camera 8 compares the multiple contact point records between the contact rod 30 and the point detection plate 7 to facilitate the detection of positioning accuracy. S4: Counterweight adjustment, pulling the connecting plate 33 drives the anti-disengagement rod 32 to move and cancel the limit on the counterweight block 31. Different weight adjustments can be achieved by increasing or decreasing the number of counterweight blocks 31. S5: Angle detection. The readings indicated by the indicator slider 28 and the detection ring needle 23 are recorded. The actual angle readings of the horizontal arm 5 and the vertical arm 4 under different counterweight conditions are compared with the fixed angle output command to complete the detection.

[0028] In summary, this effectively solves the problem that the aforementioned patents mainly rely on distance sensors to detect the displacement of the passive bar to detect the overall offset of the robotic arm in actual use. However, the material counterweight of this device is fixed each time. When it is necessary to detect the offset of the device under different load conditions, it is necessary to test twice under the same counterweight to obtain the test result, which is cumbersome. At the same time, the device cannot detect whether there is a problem during the operation of the robotic arm. During the test, it can only detect whether the robotic arm is offset as a whole, but cannot accurately find the offset part, which has great limitations.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A functional testing device for a construction engineering robotic arm, characterized in that: The test platform includes a test stand (1), a connecting base (2) fixed at the top center of the test stand (1), a fixed base (3) fixed at the top of the connecting base (2), a vertical arm (4) rotatably connected to the top of the fixed base (3), a horizontal arm (5) rotatably connected to the top of the vertical arm (4), an angle detection component is provided on one side of the top of the connecting base (2) for detecting the angle offset between the vertical arm (4) and the horizontal arm (5), a load-bearing component is provided at the end of the horizontal arm (5) away from the vertical arm (4) for counterweighting the horizontal arm (5), multiple positioning test chambers (6) are provided on one side of the test stand (1), a point detection plate (7) is provided at the lower inner side of the positioning test chamber (6), the point detection plate (7) is fixedly connected to the test stand (1), point cameras (8) are provided on both sides of the top of the positioning test chamber (6), the point cameras (8) are fixedly connected to the test stand (1), and the horizontal arm (5) is positioned at the position corresponding to the vertical arm (4). A connecting shaft (41) is fixed at a certain location. The connecting shaft (41) is rotatably connected to the vertical arm (4). A monitoring component is provided on the inner side of the vertical arm (4) at a position corresponding to the connecting shaft (41). The monitoring component includes a movable gear (42). The movable gear (42) is located on the inner side of the vertical arm (4) at a position corresponding to the connecting shaft (41). The movable gear (42) is slidably connected to the vertical arm (4). A drive gear (44) is fixed on the outer side of the connecting shaft (41). A transmission rack (43) is fixed inside the movable gear frame (42) at a position corresponding to the drive gear (44). The transmission rack (43) meshes with the drive gear (44). A second spring telescopic rod (45) is fixed at one end of the movable gear frame (42) away from the horizontal arm (5). A pressure sensor (46) is fixed inside the vertical arm (4) at a position corresponding to the second spring telescopic rod (45). The second spring telescopic rod (45) cooperates with the pressure sensor (46).

2. The functional testing device for a construction engineering robotic arm according to claim 1, characterized in that: The angle detection assembly includes a fixed base plate (9), which is fixed to the top of a fixed base (3). A connecting frame (10) is fixed to the top of the fixed base plate (9), and a fixed frame (11) is fixed to the top of the connecting frame (10). A fixed ring (19) is provided on the inner side of the fixed frame (11), and a connecting rod (12) is fixed to the outer side of the fixed ring (19). A fixed plate (13) is fixed to the end of the connecting rod (12) away from the fixed ring (19). A horizontal angle test plate (15) is fixed to the outer side of the top of the fixed plate (13), and a vertical angle test plate (18) is fixed to one side of the fixed frame (11). A moving rod (16) is rotatably connected to the inner side of both the fixed frame (11) and the fixed plate (13). The fixed ring (19) is slidably connected to the moving rod (16) located inside the fixed frame (11).

3. The functional testing equipment for a construction engineering robotic arm according to claim 2, characterized in that: A detection ring needle (23) is fixed on the outside of the movable rod (16) located inside the fixed frame (11) and close to the fixed frame (11). An indicator slider (28) is slidably connected to the outside of the horizontal angle test plate (15). A fixed rod (25) is fixed to the top of the indicator slider (28). A first spring telescopic rod (26) is fixed to the side of the fixed rod (25) close to the horizontal arm (5). A contact plate (27) is fixed to the telescopic end of the first spring telescopic rod (26). The contact plate (27) is in contact with the horizontal arm (5).

4. The functional testing equipment for a construction engineering robotic arm according to claim 3, characterized in that: The moving rod (16) is fixed with a connecting block (17) at one end near the vertical arm (4). The connecting block (17) is plugged into the vertical arm (4). The other end of the moving rod (16) is fixed with a lifting handle (22). The outer side of the moving rod (16) near the connecting block (17) is rotatably connected with a connecting plate (21). The side of the connecting plate (21) away from the connecting block (17) is fixed with a limit spring (20). The other ends of the two limit springs (20) are fixedly connected to the fixing frame (11) and the fixing plate (13) respectively. The inner side of the fixing ring (19) is fixed with a sliding block (24). A limit groove is opened at the position corresponding to the moving rod (16) and the sliding block (24). The sliding block (24) is slidably connected to the moving rod (16) through the limit groove.

5. The functional testing device for a construction engineering robotic arm according to claim 3, characterized in that: The load-bearing component includes a connecting seat (29), which is fixed to one end of the horizontal arm (5) away from the vertical arm (4). A load box (14) is provided at the lower end of the connecting seat (29). A plug-in post (35) is fixed at the top of the load box (14). A limit component is provided at the position corresponding to the connecting seat (29) and the plug-in post (35). A counterweight block (31) is provided on the inner side of the load box (14). A contact rod (30) is fixed on the side of the load box (14) near the detection table (1). The contact rod (30) is used in conjunction with the point detection plate (7) and the point camera (8).

6. The functional testing device for a construction engineering robotic arm according to claim 5, characterized in that: A connecting plate (33) is provided at the upper position of one end of the load box (14). Anti-detachment rods (32) are fixed at the lower ends of both ends of the connecting plate (33). The lower ends of the anti-detachment rods (32) extend to the inner side of the load box (14). The anti-detachment rods (32) are slidably connected to the load box (14).

7. The functional testing device for a construction engineering robotic arm according to claim 6, characterized in that: The anti-detachment rod (32) is fitted with a retraction spring (34) on the outer side of one end near the connecting plate (33). One end of the retraction spring (34) is fixedly connected to the connecting plate (33), and the lower end of the retraction spring (34) is fixedly connected to the load box (14).

8. The functional testing device for a construction engineering robotic arm according to claim 5, characterized in that: The limiting component includes a movable plate (39), which is disposed inside the connecting seat (29). The movable plate (39) is slidably connected to the connecting seat (29). Limiting bolts (40) are fixed at both ends of the movable plate (39) near the insertion post (35). The limiting bolts (40) are inserted into the insertion post (35). An internal threaded sleeve (36) is fixed in the middle of the other side of the movable plate (39). An adjusting screw (37) is threadedly connected to the inner side of the end of the internal threaded sleeve (36) away from the movable plate (39). The end of the adjusting screw (37) away from the internal threaded sleeve (36) extends to the outer side of the connecting seat (29). A connecting knob (38) is fixed to the outer side of the adjusting screw (37) located on the connecting seat (29).

9. A method for functional testing of a construction engineering robotic arm, characterized in that: The functional testing method for a construction engineering robotic arm is applicable to the functional testing equipment for a construction engineering robotic arm as described in claim 6 or 7. The method mainly includes the following steps: S1: Operation monitoring, the monitoring component monitors whether the angle between the horizontal arm (5) and the vertical arm (4) changes by changing the pressure value of the pressure sensor (46); S2: Inspection and assembly, fix and connect the angle detection component to the connecting base (2), vertical arm (4) and horizontal arm (5) respectively, and connect and fix the load component to the connecting seat (29) through the plug-in post (35) and the limiting component; S3: Positioning accuracy detection. Control the load box (14) to drive the contact rod (30) to make point contact with the point detection plate (7). Then adjust different counterweights to record the point contact between the contact rod (30) and the point detection plate (7) multiple times. The point camera (8) compares the multiple contact point records between the contact rod (30) and the point detection plate (7) to facilitate the detection of positioning accuracy. S4: Counterweight adjustment, pull the connecting plate (33) to drive the anti-disengagement rod (32) to move and cancel the limit on the counterweight block (31). By increasing or decreasing the number of counterweight blocks (31), different weight adjustments can be achieved. S5: Angle detection. The readings indicated by the indicator slider (28) and the detection ring needle (23) are recorded. The actual angle readings of the horizontal arm (5) and the vertical arm (4) under different counterweight conditions are compared under the fixed angle output command to complete the detection.

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