Testing method and testing device for mechanical arm of photovoltaic cleaning robot

Abstract

The invention discloses a testing method and a testing device for a mechanical arm of a photovoltaic cleaning robot, and belongs to the technical field of photovoltaic cleaning. The testing device comprises a first load loading device, a second load loading device, a first displacement measuring device and a second displacement measuring device, wherein the first load loading device and the second load loading device are respectively connected to two sides of the tail end of the mechanical arm to be tested. The method comprises the steps that when a second load loading device unloads, a first load loading device is sequentially loaded and then is sequentially deloaded, and load values and displacement values of all times are obtained; successively loading and then successively deloading the second load loading device to obtain each load value and displacement value; and the clearance of the mechanical arm is determined based on the load values and the displacement values obtained multiple times. According to the testing method, the gap of the mechanical arm can be tested through one testing process.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic cleaning technology, and in particular relates to a method for testing the robotic arm of a photovoltaic cleaning robot using a testing device and the testing device itself. Background Technology

[0002] In photovoltaic cleaning robots, the robotic arm is mainly used to perform cleaning tasks. The gap between the robotic arm and its end effector can affect the positioning accuracy of the cleaning mechanism installed at the end effector and may cause micro-impacts between structural components, exacerbating operational vibration and noise, thereby shortening the lifespan of the mechanical structure and electrical components. Currently, measuring the gap between the robotic arm and its end effector is complex, cumbersome, and inefficient. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a testing method and testing device for the robotic arm of a photovoltaic cleaning robot, which can calculate the gap of the robotic arm through a single testing process.

[0004] In a first aspect, this application provides a method for testing the robotic arm of a photovoltaic cleaning robot using a testing device, the testing device comprising: first and second load loading devices respectively connected to both sides of the end of the robotic arm under test, and first and second displacement measuring devices respectively connected to both sides of the end of the robotic arm under test; the method comprising: When the second load loading device is in the unloading state, the first load loading device is loaded and then unloaded one by one. After each loading / unloading, the load value of the first load loading device and the reading values ​​of the first displacement measuring device and the second displacement measuring device are obtained. The second load loading device is first loaded and then unloaded sequentially. After each loading / unloading, the load values ​​of the first load loading device and the second load loading device, as well as the reading values ​​of the first displacement measuring device and the second displacement measuring device, are obtained. The gap of the robotic arm is determined based on the load values ​​of the first load loading device and the second load loading device obtained multiple times, as well as the readings of the first displacement measuring device and the second displacement measuring device.

[0005] According to the method of testing the robotic arm of the photovoltaic cleaning robot using the testing device of this application, by using a pair of load loading devices and a pair of displacement measuring devices, forces in different directions can be applied to both sides of the end of the robotic arm and displacement changes can be monitored in real time. The backlash error of the robotic arm when moving in the opposite direction can be measured, and the gap of the robotic arm can be calculated through a single test process.

[0006] According to one embodiment of this application, when the second load loading device is in an unloading state, the first load loading device is first loaded and then unloaded sequentially. After each loading / unloading, the load value of the first load loading device and the readings of the first displacement measuring device and the second displacement measuring device are obtained, including: When the second load loading device is in the unloading state, a first load G0 is applied to the first load loading device, the reading values ​​of the first displacement measuring device and the second displacement measuring device are cleared, and the load value Fa0 of the first load loading device is obtained. The first load loading device is first applied with a unit load n times, and then the unit load is gradually deloaded n times. After each application / deloading, the load value Fa of the first load loading device is obtained. i The reading Da of the first displacement measuring device i and the reading Db of the second displacement measuring device i , i∈[1,2n].

[0007] According to one embodiment of this application, the step of sequentially loading and unloading the second load loading device, and obtaining the load values ​​of the first load loading device and the second load loading device, and the reading values ​​of the first displacement measuring device and the second displacement measuring device after each loading / unloading, includes: A second load Gb0 is applied to the second load loading device, and the load value Fa of the first load loading device is obtained. 2n+1 The load value Fb0 of the second load loading device satisfies: Fb0 <Fa 2n+1 The percentage of load difference δ0 = (|Fa 2n+1 -Fb0|) / G0×100% satisfies: 2%≤δ0≤5%; The second load loading device is first applied with a unit load n times, and then the unit load is gradually reduced (n-1) times. After each application / reduction, the load value Fa of the first load loading device is obtained. 2n+1+j The load value Fb of the second load loading device j The reading Da of the first displacement measuring device 2n+1+j and the reading Db of the second displacement measuring device 2n+1+j , j∈[1,2n-1]; The third load Gb1 is reduced by the second load loading device, and the load value Fa of the first load loading device is obtained. 4n+1 The load value Fb of the second load loading device 2n Satisfying: Fb 2n >Fa 4n+1 The percentage of load difference δ1 = (|Fa 4n+1 -Fb2n |) / G0×100% satisfies: 2%≤δ1≤5%.

[0008] According to one embodiment of this application, determining the clearance of the robotic arm based on the load values ​​of the first load loading device and the second load loading device obtained multiple times, and the readings of the first displacement measuring device and the second displacement measuring device, includes: Based on the obtained Fa p 、Fb q Da p and Db p Determine the stiffness K of the robotic arm, p∈[1,2n]∪[2n+2,4n], q∈[1,2n-1]; Based on the obtained Da 2n+1 Da 4n+1 Db 2n+1 Db 4n+1 δ0, δ1, and K determine the gap D of the robotic arm.

[0009] According to one embodiment of this application, both the first load loading device and the second load loading device include: The loading mechanism is mounted on the corresponding bracket; A transmission mechanism is connected to the loading mechanism and the end of the robotic arm under test. The loading mechanism is used to load the end of the robotic arm under test through the transmission mechanism. The mass of the transmission mechanism is m. c The first load G0 satisfies: 50m c ≤G0≤100m c ; The unit load G1 satisfies: 0.2G0≤G1≤0.5G0.

[0010] Secondly, this application provides a testing device for the robotic arm of a photovoltaic cleaning robot, comprising: The base has a first mounting position, a second mounting position, and a third mounting position for mounting the robotic arm under test; The first bracket and the second bracket are respectively installed at the first mounting position and the second mounting position; The first load loading device and the second load loading device are respectively installed on the first bracket and the second bracket, and are used to connect to both sides of the end of the robotic arm under test. The first displacement measuring device and the second displacement measuring device are respectively installed on the first bracket and the second bracket, and are used to connect to both sides of the end of the robotic arm to be measured.

[0011] According to the testing device of this application, by employing a pair of load loading devices and a pair of displacement measuring devices, forces in different directions can be applied to both sides of the end of the robotic arm and displacement changes can be monitored in real time. The backlash error of the robotic arm when the movement is reversed can be measured, thereby calculating the gap of the robotic arm through a single test process.

[0012] According to one embodiment of this application, The first load loading device and the second load loading device are mirror images and centrally symmetrically arranged, and are suitable for connection to the end of the robotic arm under test at the middle position in the vertical direction; And / or, The first displacement measuring device and the second displacement measuring device are arranged symmetrically at the center. The first displacement measuring device and the first load loading device are adapted to be connected to the first side of the end of the robotic arm under test. The second displacement measuring device and the second load loading device are adapted to be connected to the second side of the end of the robotic arm under test. The displacement measuring device and the load loading device connected to the same side of the end of the robotic arm under test are vertically spaced apart at the connection position of the bracket.

[0013] According to one embodiment of this application, each of the first load loading device and the second load loading device includes: The loading mechanism is mounted on the corresponding bracket; A transmission mechanism is connected to the loading mechanism and the end of the robotic arm under test. The loading mechanism is used to load the end of the robotic arm under test through the transmission mechanism.

[0014] According to one embodiment of this application, the conduction mechanism includes: The first cable has its first end connected to the loading mechanism; An elastic element, the first end of which is connected to the second end of the first cable; The second cable has its first end connected to the second end of the elastic element; A tension gauge is connected to the second end of the second cable; The third cable is connected to the second end of the tension indicator and the end of the robotic arm under test.

[0015] According to one embodiment of this application, each of the first displacement measuring device and the second displacement measuring device includes: Mounting base, for mounting onto the corresponding bracket; The displacement sensor includes a sensor body mounted on the mounting base and a pull wire connecting the sensor body to the end of the robotic arm under test.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the testing device provided in the embodiments of this application (also showing a robotic arm). Figure 2 This is a schematic diagram of the structure of the first load loading device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the second displacement measuring device provided in the embodiments of this application; Figure 4 This is one of the flowcharts illustrating the method for testing the robotic arm of a photovoltaic cleaning robot using a testing device, as provided in this application embodiment. Figure 5 This is the second flowchart illustrating the method for testing the robotic arm of a photovoltaic cleaning robot using a testing device, as provided in this application embodiment.

[0018] Figure label: Base 100, first mounting position 110, second mounting position 120, third mounting position 130; The first support is 200, and the second support is 300. First load loading device 400, second load loading device 500; Loading mechanism 410, loading mechanism mounting base 411, lead screw 412; The transmission mechanism 420, the first cable 421, the elastic element 422, the second cable 423, the tension indicator 424, and the third cable 425; First displacement measuring device 600, second displacement measuring device 700; Mounting base 710, displacement sensor 720, sensor body 721, pull wire 722; Robotic arm 20. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] The following is for reference. Figures 1-5 This application describes a method for testing the robotic arm of a photovoltaic cleaning robot using a testing apparatus, and the testing apparatus itself, according to embodiments of this application.

[0021] like Figure 1As shown, the testing device is used to test the robotic arm 20 of the photovoltaic cleaning robot. The testing device includes: a base 100, a first support 200, a second support 300, a first load loading device 400, a second load loading device 500, a first displacement measuring device 600, and a second displacement measuring device 700. The base 100 has a first mounting position 110, a second mounting position 120 and a third mounting position 130 for mounting the robotic arm 20 to be tested; The first bracket 200 and the second bracket 300 are respectively installed at the first mounting position 110 and the second mounting position 120; The first load loading device 400 and the second load loading device 500 are respectively installed on the first bracket 200 and the second bracket 300, and are respectively connected to both sides of the end of the robotic arm 20 to be tested; The first displacement measuring device 600 and the second displacement measuring device 700 are respectively installed on the first bracket 200 and the second bracket 300, and are respectively connected to both sides of the end of the robotic arm 20 to be measured.

[0022] In this embodiment, the photovoltaic cleaning robot is a robot used to clean dust or dirt from the surface of photovoltaic modules. The photovoltaic cleaning robot is equipped with a robotic arm 20 to perform cleaning actions.

[0023] The robotic arm 20 is a multi-jointed and programmable automated mechanical device that mimics the function of a human arm. The robotic arm 20 includes joints and rigid links connected by the joints. A cleaning mechanism, such as a roller brush, bristle brush, mop, or scraper, can be mounted at the end of the robotic arm 20. The robotic arm 20 is capable of precise movement and manipulation within a defined space to complete tasks such as cleaning through the cleaning mechanism.

[0024] The testing device refers to the equipment used to test the performance of the robotic arm 20 of the photovoltaic cleaning robot. The testing device can measure the stiffness and clearance of the robotic arm 20 of the photovoltaic cleaning robot.

[0025] Stiffness refers to the ability of a robotic arm to resist elastic deformation under external forces. The greater the stiffness, the greater the external force required to produce the same deformation, or the smaller the deformation produced under the same external force.

[0026] The gap refers to the ineffective displacement of the end effector of the robotic arm 20 due to the gap between the parts, which causes the end effector of the robotic arm 20 to lag behind the commanded displacement during reverse drive.

[0027] The base 100 is the fixed foundation of the test device, used to mount other components.

[0028] The first mounting position 110, the second mounting position 120, and the second mounting position 120 of the base 100 are spaced apart.

[0029] The first support 200 and the second support 300 are both independent support structures. The first support 200 and the second support 300 are located on both sides of the end of the robotic arm 20 to be tested. The first support 200 and the second support 300 can be detachably installed at the first mounting position 110 and the second mounting position 120, respectively, to accommodate the installation position requirements of the load loading device and the displacement measuring device.

[0030] Both the first load loading device 400 and the second load loading device 500 are devices capable of applying force. The first load loading device 400 is connected to one side of the first support 200 and the end of the robotic arm 20 under test; the second load loading device 500 is connected to the other side of the second support 300 and the end of the robotic arm 20 under test. That is, the first load loading device 400 and the second load loading device 500 are located on both sides of the end of the robotic arm 20 under test, respectively, and can apply loads to the end of the robotic arm 20 under test from different directions.

[0031] The first displacement measuring device 600 and the second displacement measuring device 700 are both devices used to measure the position or deformation displacement of the end effector of the robotic arm 20. The first displacement measuring device 600 is connected to one side of the first support 200 and the end effector of the robotic arm 20 under test; the second displacement measuring device 700 is connected to the other side of the second support 300 and the end effector of the robotic arm 20 under test. That is, the first displacement measuring device 600 and the second displacement measuring device 700 are located on both sides of the end effector of the robotic arm 20 under test, respectively, and can measure the displacement or deformation of the end effector of the robotic arm 20 under load in real time.

[0032] By setting up a base 100 with a first mounting position 110, a second mounting position 120, and a third mounting position 130, a relatively stable and accurately positioned reference platform is provided for the robotic arm 20 under test and the load loading devices and displacement measuring devices on both sides. This integrated layout ensures that the installation posture of the robotic arm 20 during the test is basically consistent with its actual working state, reducing additional errors introduced by different mounting planes or foundation vibrations, thereby improving the representativeness and reliability of the test results.

[0033] The first support 200 and the second support 300 are arranged on both sides of the robotic arm 20, and a load loading device and a displacement measuring device are installed on each support. This design can apply loads to both sides of the end of the robotic arm 20 and measure displacement, which can efficiently complete unilateral performance testing and simulate the asymmetrical or eccentric loads that the robotic arm 20 may bear in actual operation.

[0034] During loading, the displacement measuring device can record the deformation of the end effector of the robotic arm 20 in real time. By analyzing the linear relationship between load and displacement, the stiffness of the robotic arm 20 can be directly calculated. Furthermore, by applying a small-amplitude load, the testing device can capture the "idle" displacement of the end effector when the movement reverses; this idle distance directly reflects the clearance of the robotic arm 20. This design allows the stiffness and clearance of the robotic arm 20 to be obtained in a single testing cycle.

[0035] In some embodiments, such as Figure 1 As shown, the first load loading device 400 and the second load loading device 500 are mirror images and centrally symmetrically arranged, and are suitable for connection to the end of the robotic arm 20 under test at the middle position in the vertical direction.

[0036] In this embodiment, mirror symmetry means that the first load loading device 400 and the second load loading device 500 are arranged symmetrically with respect to the longitudinal midplane where the end of the robotic arm 20 is located, and the structure and installation method of the first load loading device 400 and the second load loading device 500 are symmetrical to each other.

[0037] Central symmetry means that the first load loading device 400 and the second load loading device 500 are symmetrically distributed around the midpoint of the end of the robotic arm 20, and the direction of force and the point of application are symmetrical with respect to the central point, which makes it easier to apply the opposite force.

[0038] The connection point between the first load loading device 400 and the end of the robotic arm 20 is located at the middle of the vertical direction on one side of the end of the robotic arm 20; the connection point between the second load loading device 500 and the end of the robotic arm 20 is located at the middle of the vertical direction on the other side of the end of the robotic arm 20.

[0039] In some embodiments, such as Figure 1 As shown, the first displacement measuring device 600 and the second displacement measuring device 700 are arranged symmetrically at the center. The first displacement measuring device 600 and the first load loading device 400 are adapted to be connected to the first side of the end of the robot arm 20 to be tested. The second displacement measuring device 700 and the second load loading device 500 are adapted to be connected to the second side of the end of the robot arm 20 to be tested. The displacement measuring device and the load loading device connected to the same side of the end of the robot arm 20 to be tested are vertically spaced apart at the connection position of the bracket.

[0040] In this embodiment, central symmetry means that the first displacement measuring device 600 and the second displacement measuring device 700 are symmetrically distributed about the midpoint of the end of the robotic arm 20 in spatial layout. This means that the first displacement measuring device 600 and the second displacement measuring device 700 are symmetrically distributed with respect to the center point in terms of installation position, measurement direction, and structural configuration.

[0041] The first displacement measuring device 600 and the first load loading device 400 are both designed to be connected to the same side of the end of the robotic arm 20. This arrangement facilitates simultaneous loading and displacement measurement on the same force-bearing side, enabling a direct correspondence between force and deformation data.

[0042] The second displacement measuring device 700 and the second load loading device 500 are both connected to the other side of the end of the robotic arm 20, thus forming a symmetrical test unit with the first displacement measuring device 600 and the first load loading device 400.

[0043] On the same side, the displacement measuring device and the load loading device may not be installed at the same height, but rather arranged vertically separately. This spacing design can reduce physical interference between the devices during installation or operation, and also helps to obtain deformation information of the end effector of the robotic arm 20 from different positions.

[0044] In other words, the first load loading device 400 and the second load loading device 500 can be located at the same height, while the first displacement measuring device 600 and the second displacement measuring device 700 can be located at different heights.

[0045] That is, the first displacement measuring device 600 and the second displacement measuring device 700 do not need to be arranged in a mirror-symmetric manner. For example, the connection point between the first displacement measuring device 600 and the end of the robotic arm 20 is located at the lower vertical position on one side of the end of the robotic arm 20, and the connection point between the second displacement measuring device 700 and the end of the robotic arm 20 is located at the upper vertical position on one side of the end of the robotic arm 20. Alternatively, the connection point between the first displacement measuring device 600 and the end of the robotic arm 20 is located at the upper vertical position on one side of the end of the robotic arm 20, and the connection point between the second displacement measuring device 700 and the end of the robotic arm 20 is located at the lower vertical position on one side of the end of the robotic arm 20.

[0046] This design effectively reduces the interference of torsion of the robotic arm 20 under load on the measurement results, thereby improving the overall accuracy of displacement measurement. Specifically, when the end of the robotic arm 20 is subjected to an asymmetric load, in addition to linear displacement, it may also be accompanied by torsion around the axis. If the first displacement measuring device 600 and the second displacement measuring device 700 are arranged in a mirror-symmetrical manner, the torsion of the robotic arm 20 will simultaneously affect the readings of the sensors on both sides, increasing the difficulty of data decoupling. In this embodiment, the first displacement measuring device 600 and the second displacement measuring device 700 can monitor displacement components in different axes respectively. Through data fusion, it is possible to better distinguish between pure translational deformation and torsional deformation, thereby more accurately extracting the true displacement signal reflecting the actual stiffness and clearance of the robotic arm 20, making the test results more reliable.

[0047] In some embodiments, such as Figure 2As shown, the first load loading device 400 and the second load loading device 500 may each include a loading mechanism 410 and a transmission mechanism 420. The loading mechanism 410 is mounted on the corresponding bracket; The transmission mechanism 420 is connected to the end of the loading mechanism 410 and the robotic arm 20 under test. The loading mechanism 410 is used to load the end of the robotic arm 20 under test through the transmission mechanism 420.

[0048] In this embodiment, the loading mechanism 410 refers to the execution component in the testing device used to generate and output a controllable load.

[0049] The loading mechanism 410 may include a loading mechanism mounting base 411 and a lead screw 412. The loading mechanism mounting base 411 is mounted on the first bracket 200 or the second bracket 300. The loading mechanism mounting base 411 may have a threaded hole inside. The lead screw 412 mates with the threaded hole. When the lead screw 412 rotates, because the lead screw 412 is constrained by the threaded hole, the rotational motion of the lead screw 412 can be directly converted into axial motion.

[0050] Of course, the loading mechanism 410 may also include a cylinder, a hydraulic cylinder, or a linear motor, etc.

[0051] The transmission mechanism 420 refers to the force transmission and connection component connecting the loading mechanism 410 and the end of the robotic arm 20 under test. The transmission mechanism 420 can effectively transmit the load generated by the loading mechanism 410 to the designated force application point at the end of the robotic arm 20. The transmission mechanism 420 may have a certain degree of axial motion freedom.

[0052] In some embodiments, such as Figure 2 As shown, the transmission mechanism 420 includes a first cable 421, an elastic element 422, a second cable 423, a tension indicator 424, and a third cable 425; The first end of the first cable 421 is connected to the loading mechanism 410; The first end of the elastic element 422 is connected to the second end of the first cable 421; The first end of the second cable 423 is connected to the second end of the elastic element 422; The tension indicator 424 is connected to the second end of the second cable 423; The third cable 425 is connected to the second end of the tension indicator 424 and the end of the robotic arm 20 under test.

[0053] In this embodiment, the first cable 421, the elastic element 422, the second cable 423, the tension indicator 424, and the third cable 425 are connected in series.

[0054] The first cable 421, the second cable 423, and the third cable 425 are all flexible force transmission components, which can be steel cables or synthetic fiber ropes, and can all transmit tensile force.

[0055] The elastic element 422 can be a helical tension spring or a rubber elastomer. The elastic element 422 can absorb impact energy and filter load fluctuations. It can provide buffer protection through its own deformation in the event of overload, reducing the risk of rigid impact damage to the test device or the robotic arm under test 20.

[0056] The force gauge 424 is a force measurement and display instrument. The force gauge 424 can be equipped with a force sensor, which can measure the magnitude of a force in real time and display it visually via a mechanical pointer or digital screen when force is applied.

[0057] By employing a loading mechanism 410 and an elastic element 422, this design improves load application accuracy, load control flexibility, and testing efficiency. The loading mechanism 410 provides a stable and controllable loading stroke, while the elastic element 422 absorbs mechanical shocks in real time during loading, resulting in a smoother loading process and reducing the need for repeated adjustments due to rigid impacts or jamming. This combination allows operators to quickly apply the target load, shortening the cycle time of a single test and increasing measurement speed.

[0058] The tension indicator 424 is connected to the end of the robot arm 20 under test via the third cable 425. The installation position of the tension indicator 424 is relatively close to the end of the robot arm 20, which can reduce the vertical bending error caused by the self-weight of the cable, the lateral disturbance that may be generated during the loading process, and the small angular influence caused by the initial installation alignment deviation. This makes the tension measurement data more accurately reflect the real load applied to the end of the robot arm 20 and improve the overall test accuracy.

[0059] In some embodiments, such as Figure 2 As shown, the length of the third cable 425 is less than the length of the first cable 421, and the length of the third cable 425 is less than the length of the second cable 423.

[0060] In this embodiment, the length of the third cable 425 is designed to be shorter than that of the first cable 421 and the second cable 423, which can improve the accuracy and stability of the test. The shorter third cable 425 reduces the sag of the cable itself due to gravity and the elastic deformation during the loading process, which can reduce energy loss and signal distortion in the long-distance flexible transmission of force, and effectively suppress interference introduced by cable swing, vibration or angle change. As a result, the measured value of the tension indicator 424 can more accurately reflect the load applied to the end of the robotic arm 20, and improve the reliability of the measurement results.

[0061] In some embodiments, such as Figure 3As shown, the first displacement measuring device 600 and the second displacement measuring device 700 may each include a mounting base 710 and a displacement sensor 720.

[0062] Mounting base 710 is installed on the corresponding bracket; The displacement sensor 720 is mounted on the mounting base 710 and connected to the end of the robotic arm 20 under test.

[0063] In this embodiment, the mounting base 710 can serve as a fixed base for the displacement sensor 720. The mounting base 710 can be mounted on the first bracket 200 or the second bracket 300.

[0064] The displacement sensor 720 is a component that can directly detect and quantify the displacement changes at the end of the robotic arm 20. The displacement sensor 720 establishes a physical or optical connection with the end of the robotic arm 20 under test. When the end of the robotic arm 20 is displaced due to force, the displacement sensor 720 can sense this positional change in real time and convert it into an electrical signal output, thereby achieving accurate measurement of the displacement.

[0065] In some embodiments, such as Figure 3 As shown, the displacement sensor 720 may include a sensor body 721 and a pull wire 722; The sensor body 721 is mounted on the mounting base 710; The pull wire 722 is connected to the end of the sensor body 721 and the robotic arm 20 under test.

[0066] In this embodiment, the displacement sensor 720 can be a wire-type displacement sensor 720. The sensor body 721 is the main part of the displacement sensor 720. The sensor body 721 may include a precision measuring mechanism such as an encoder or potentiometer, as well as electronic components. The sensor body 721 can be rigidly and firmly fixed to the mounting base 710 by means of threaded connectors or clamps. The end of the wire 722 of the displacement sensor 720 is fixed to the end of the robotic arm 20 to be measured. When the end of the robotic arm 20 is displaced due to force, it will drag the wire 722 to extend or retract. The wire 722 is connected to components such as a rotary encoder or a cable displacement conversion mechanism. When the wire 722 is pulled out or retracted, the displacement sensor 720 can accurately measure the change in wire length.

[0067] The working process of the wire-type displacement sensor 720 is as follows: When the end effector of the robotic arm 20 is stationary, the wire 722 maintains an initial length. When the load-loading device applies force to the end effector of the robotic arm 20, causing it to displace, the movement of the end effector of the robotic arm 20 directly pulls the wire 722 of the displacement sensor 720. The change in the length of the wire 722 is measured accurately in real time by the internal mechanism of the displacement sensor 720 and converted into an electrical signal output. This signal value corresponds to the displacement of the end effector of the robotic arm 20 relative to the mounting point of the sensor body 721.

[0068] Of course, the displacement sensor 720 can also be a laser displacement sensor or a contact probe sensor, etc.

[0069] In some embodiments, such as Figure 1 As shown, the first support 200 and the second support 300 each include a cylinder; The corresponding load loading device and the corresponding displacement measuring device are installed on the cylinder with adjustable angle and orientation.

[0070] In this embodiment, the main bodies of the first support 200 and the second support 300 can be cylinders. The cylinder has isotropic geometry in the radial direction. The mechanical strength and installation characteristics of the cylinder are uniform in the circumferential direction around its central axis.

[0071] The loading mechanism mounting base 411 of the first load loading device 400 can be installed on the cylinder of the first bracket 200 with adjustable angle and orientation via U-bolts; the mounting base 710 of the first displacement measuring device 600 can be installed on the cylinder of the first bracket 200 with adjustable angle and orientation via U-bolts; the loading mechanism mounting base 411 of the second load loading device 500 can be installed on the cylinder of the second bracket 300 with adjustable angle and orientation via U-bolts; the mounting base 710 of the second displacement measuring device 700 can be installed on the cylinder of the second bracket 300 with adjustable angle and orientation via U-bolts.

[0072] The installation angle of the displacement sensor 720 can be adjusted according to the actual situation to improve the matching degree of the test system.

[0073] Anti-slip measures can be installed between the load loading device or displacement measuring device and the cylinder to reduce slippage of the load loading device or displacement measuring device during the test.

[0074] This application also provides a method for testing the robotic arm 20 of a photovoltaic cleaning robot using a testing device.

[0075] like Figure 1As shown, the testing device is used to test the robotic arm 20 of the photovoltaic cleaning robot. The testing device includes: first and second load loading devices for connecting to both sides of the end of the robotic arm 20 under test, and first and second displacement measuring devices for connecting to both sides of the end of the robotic arm 20 under test, respectively.

[0076] A photovoltaic cleaning robot is a robot used to clean dust or dirt from the surface of photovoltaic modules. The photovoltaic cleaning robot is equipped with a robotic arm 20 to perform cleaning actions.

[0077] The robotic arm 20 is a multi-jointed and programmable automated mechanical device that mimics the function of a human arm. The robotic arm 20 includes joints and rigid links connected by the joints. A cleaning mechanism, such as a roller brush, bristle brush, mop, or scraper, can be mounted at the end of the robotic arm 20. The robotic arm 20 is capable of precise movement and manipulation within a defined space to complete tasks such as cleaning through the cleaning mechanism.

[0078] The testing device refers to the equipment used to test the performance of the robotic arm 20 of the photovoltaic cleaning robot. The testing device can measure the stiffness and clearance of the robotic arm 20 of the photovoltaic cleaning robot.

[0079] The gap refers to the ineffective displacement of the end effector of the robotic arm 20 due to the gap between the parts, which causes the end effector of the robotic arm 20 to lag behind the commanded displacement during reverse drive.

[0080] Both the first load loading device 400 and the second load loading device 500 are devices capable of applying force. The first load loading device 400 is connected to one side of the end of the robotic arm 20 under test; the second load loading device 500 is connected to the other side of the end of the robotic arm 20 under test. That is, the first load loading device 400 and the second load loading device 500 are located on both sides of the end of the robotic arm 20 under test, respectively, and can apply loads to the end of the robotic arm 20 under test from different directions.

[0081] The first displacement measuring device 600 and the second displacement measuring device 700 are both devices used to measure the position or deformation displacement of the end effector of the robotic arm 20. The first displacement measuring device 600 is connected to one side of the end effector of the robotic arm 20 to be measured; the second displacement measuring device 700 is connected to the other side of the end effector of the robotic arm 20 to be measured. That is, the first displacement measuring device 600 and the second displacement measuring device 700 are located on both sides of the end effector of the robotic arm 20 to be measured, respectively, and can measure the displacement or deformation of the end effector of the robotic arm 20 under load in real time.

[0082] like Figure 4 As shown, the method for testing the robotic arm 20 of the photovoltaic cleaning robot using a testing device includes steps 810, 820 and 830.

[0083] Step 810: When the second load loading device 500 is in the unloading state, the first load loading device 400 is loaded and then unloaded successively. After each loading / unloading, the load value of the first load loading device 400 and the reading values ​​of the first displacement measuring device 600 and the second displacement measuring device 700 are obtained.

[0084] In this embodiment, the second load loading device 500 does not apply a load to the robotic arm 20; the first load loading device 400 loads the robotic arm 20 one load at a time and then unloads it one load at a time.

[0085] The number of loading and unloading cycles should be as large as possible to collect more data and obtain more accurate gap calculation results.

[0086] This step allows us to obtain the load value of the first load loading device 400, the reading value of the first displacement measuring device 600, and the reading value of the second displacement measuring device 700 after each loading or unloading. This data can be used for subsequent gap calculations.

[0087] Step 820: First, load the second load loading device 500 one load at a time and then unload it one load at a time. After each load loading / unloading, obtain the load values ​​of the first load loading device 400 and the second load loading device 500, as well as the reading values ​​of the first displacement measuring device 600 and the second displacement measuring device 700.

[0088] In this embodiment, the load applied by the first load loading device 400 is kept basically stable, and the second load loading device 500 is loaded and unloaded sequentially.

[0089] The number of loading and unloading cycles should be as large as possible to collect more data and obtain more accurate gap calculation results.

[0090] This step obtains the load values ​​of the first load loading device 400, the second load loading device 500, the readings of the first displacement measuring device 600 and the second displacement measuring device 700 after each loading or unloading. This data can be used for subsequent gap calculations.

[0091] Step 830: Determine the gap of the robotic arm 20 based on the load values ​​of the first load loading device 400 and the second load loading device 500 obtained multiple times, and the readings of the first displacement measuring device 600 and the second displacement measuring device 700.

[0092] In this embodiment, the gap D of the robotic arm 20 can be calculated using the data obtained from the loading process of the first load loading device 400, the unloading process of the first load loading device 400, the loading process of the second load loading device 500, and the unloading process of the second load loading device 500.

[0093] According to the method for testing the robotic arm 20 of a photovoltaic cleaning robot using a testing device provided in the embodiments of this application, by using a pair of load loading devices and a pair of displacement measuring devices, forces in different directions can be applied to both sides of the end of the robotic arm and displacement changes can be monitored in real time. The backlash error of the robotic arm when moving in the opposite direction can be measured, thereby calculating the gap of the robotic arm through a single test process.

[0094] Correspondingly, according to the testing device provided in the embodiments of this application, by employing a pair of load loading devices and a pair of displacement measuring devices, forces in different directions can be applied to both sides of the end of the robotic arm and displacement changes can be monitored in real time. The backlash error of the robotic arm when moving in the opposite direction can be measured, thereby calculating the gap of the robotic arm through a single test process.

[0095] In some embodiments, such as Figure 4 and Figure 5 As shown, when the second load loading device 500 is in an unloading state, the first load loading device 400 is first loaded and then unloaded sequentially. After each loading / unloading, the load value of the first load loading device 400, the readings of the first displacement measuring device 600 and the second displacement measuring device 700 are obtained, including: When the second load loading device 500 is in the unloading state, the first load G0 is applied to the first load loading device 400, the readings of the first displacement measuring device 600 and the second displacement measuring device 700 are cleared, and the load value Fa0 of the first load loading device 400 is obtained. The first load loading device 400 is first loaded with a unit load n times, and then unloaded with a unit load n times. After each loading / unloading, the load value Fa of the first load loading device 400 is obtained. i The reading Da of the first displacement measuring device 600 i The reading Db of the second displacement measuring device 700 i , i∈[1,2n].

[0096] In this embodiment, step 810 of the method for testing the robotic arm 20 of the photovoltaic cleaning robot using a testing device includes steps 910 and 920.

[0097] In step 910, the second load loading device 500 does not apply a load to the robotic arm 20; the first load loading device 400 applies a first load G0 to the robotic arm 20. For example, the cables in the transmission mechanism 420 can be gradually tensioned by manually rotating the lead screw 412 of the first load loading device 400. Alternatively, the load loading of the first load loading device 400 can be controlled by an electric drive.

[0098] The first load G0 can make the transmission components such as the connecting rods inside the robotic arm 20 fit together tightly, reduce the initial free clearance, and make the robotic arm 20 enter a close contact state.

[0099] In this state, the readings of the first displacement measuring device 600 and the second displacement measuring device 700 are reset to zero. This means that subsequent displacement measurements are all changes made when the robotic arm 20 enters a close contact state. In this state, Fa0≈G0.

[0100] In step 920, while the second load loading device 500 is in the unloading state, the first load loading device 400 is loaded in n steps, followed by unloading in n steps, with the load changing by a unit load G1 each time.

[0101] During the process of successively loading or unloading the unit load G1, the unit load G1 does not need to be strictly fixed at a certain absolute value, but is allowed to fluctuate within a reasonable range to provide convenience and flexibility for actual operation. For example, when operating the first load loading device 400 manually, the operator can gradually change the load by rotating the lead screw 412 approximately the same number of turns. Since manual operation is difficult to achieve absolute precision, there may be slight differences in the number of turns of the lead screw 412 each time. However, as long as these differences are controlled within a certain limit, the resulting fluctuation range of the unit load G1 is within an acceptable range and will not have a significant impact on the overall experimental or test results. Alternatively, when using an electric drive to control the load loading, due to the combined effects of various factors such as motor performance, transmission component clearance, and control system accuracy, the unit load G1 will also exhibit a natural fluctuation state within a certain range. Controlling this fluctuation within a preset allowable range allows the entire loading or unloading process to proceed as expected.

[0102] The number of times the unit load G1 is applied, n, should be as large as possible, such as n≥4, in order to collect more data and obtain more accurate stiffness and clearance calculation results.

[0103] This step yields Fai, Dai, and Dbi, i∈[1,2n]. The changes in Dai and Dbi reflect the elastic deformation of the robotic arm 20 under the load applied by the first load loading device 400. This data can be used for subsequent stiffness calculations.

[0104] In some embodiments, such as Figure 4 and Figure 5 As shown, the second load loading device 500 is first loaded and then unloaded sequentially. After each loading / unloading, the load values ​​of the first load loading device 400 and the second load loading device 500, and the reading values ​​of the first displacement measuring device 600 and the second displacement measuring device 700 are obtained, including: A second load Gb0 is applied to the second load loading device 500, and the load value Fa of the first load loading device 400 is obtained. 2n+1 The load value Fb0 of the second load loading device 500 satisfies: Fb0 <Fa 2n+1 The percentage of load difference δ0 = |Fa 2n+1 -Fb0| / G0×100% satisfies: 2%≤δ0≤5%; The second load loading device 500 first applies a unit load n times and then gradually reduces the unit load (n-1) times, and obtains the load value Fa of the first load loading device 400 after each application / reduction. 2n+1+j The load value Fb of the second load loading device 500 j The reading Da of the first displacement measuring device 600 2n+1+j The reading Db of the second displacement measuring device 700 2n+1+j , j∈[1,2n-1]; The third load Gb1 is reduced by the second load loading device 500, and the load value Fa of the first load loading device 400 is obtained. 4n+1 The load value Fb of the second load loading device 500 2n Satisfying: Fb 2n >Fa 4n+1 The percentage of load difference δ1 = |Fa 4n+1 -Fb 2n | / G0×100% satisfies: 2%≤δ1≤5%.

[0105] In this embodiment, step 820 of the method for testing the robotic arm 20 of the photovoltaic cleaning robot using a testing device includes steps 930, 940, and 950.

[0106] In step 930, after the first load loading device 400 has completed the load reduction cycle, a second load Gb0 is applied to the second load loading device 500. For example, the cables in the transmission mechanism can be gradually tensioned by manually rotating the lead screw of the second load loading device 500. Alternatively, the load loading of the second load loading device can be controlled by an electric drive.

[0107] Fb0 <Fa 2n+1 Furthermore, 2%≤δ0≤5%, meaning the load applied by the second load loading device 500 must be slightly less than the load applied by the first load loading device 400. In this way, the end of the robotic arm 20 still experiences a net force pointing towards the first load loading device 400, reducing transmission backlash.

[0108] In step 940, the load applied by the first load loading device 400 is kept basically stable, and the second load loading device 500 is subjected to n-level loading and n-1-level unloading.

[0109] During the process of sequentially loading or unloading the unit load G1, the unit load G1 does not need to be strictly fixed at a certain absolute value, but is allowed to fluctuate within a reasonable range to provide convenience and flexibility for actual operation. For example, when operating the second load loading device 500 manually, the operator can gradually change the load by rotating the lead screw approximately the same number of times. Since manual operation is difficult to achieve absolute precision, there may be slight differences in the number of rotations of the lead screw each time. However, as long as these differences are controlled within a certain limit, the resulting fluctuation range of the unit load G1 is within an acceptable range and will not have a significant impact on the overall experimental or test results. Alternatively, when using an electric drive to control the load loading, due to the combined effects of various factors such as motor performance, transmission component clearance, and control system accuracy, the unit load G1 will also exhibit a natural fluctuation state within a certain range. Controlling this fluctuation within a preset allowable range allows the entire loading or unloading process to proceed as expected.

[0110] This step can obtain Fa 2n+1+j 、Fb j Da 2n+1+j and Db 2n+1+j , j∈[1,2n-1]. At this time, the deformation of the robotic arm 20 is mainly driven by the load applied by the second load loading device 500. Da 2n+1+j and Db 2n+1+j The changes can reflect the elastic deformation of the robotic arm 20 under the load applied by the second load loading device 500. This data can be used for subsequent stiffness calculations.

[0111] The second load loading device 500 reduces the unit load (n-1) times so that it retains a portion of the applied load for the next operation.

[0112] In step 950, Fb 2n >Fa 4n+1 Furthermore, 2%≤δ1≤5%, meaning that the load applied by the second load loading device 500 must be slightly greater than the load applied by the first load loading device 400. Thus, the end of the robotic arm 20 still experiences a net force, directed towards the second load loading device 500.

[0113] In some embodiments, such as Figure 4 and Figure 5 As shown, the clearance of the robotic arm 20 is determined based on the load values ​​obtained multiple times from the first load loading device 400 and the second load loading device 500, and the readings from the first displacement measuring device 600 and the second displacement measuring device 700, including: Based on the obtained Fa p 、Fbq Da p and Db p Determine the stiffness K of the robotic arm 20, p∈[1,2n]∪[2n+2,4n], q∈[1,2n-1]; Based on the obtained Da 2n+1 Da 4n+1 Db 2n+1 Db 4n+1 δ0, δ1 and K determine the gap D of the robotic arm 20.

[0114] In this embodiment, step 830 of the method for testing the robotic arm 20 of the photovoltaic cleaning robot using a testing device includes step 960.

[0115] In step 960, the load-displacement linear fitting can be performed using the data obtained from the loading process of the first load loading device 400, the unloading process of the first load loading device 400, the loading process of the second load loading device 500, and the unloading process of the second load loading device 500, to calculate the stiffness K of the robotic arm 20.

[0116] During the loading process of the first load loading device 400, the effective load is Fe. p =Fa p Effective displacement De p =(Da p +Db p ) / 2, based on data points (Fe) p De p The slope K1 is obtained by fitting, p∈[1,n].

[0117] During the unloading process of the first load loading device 400, the effective load is Fe. p =Fa p Effective displacement De p =(Da p +Db p ) / 2, based on data points (Fe) p De p The slope K2 is obtained by fitting the data, where p∈[n+1,2n]; During the loading process of the second load loading device 500, the effective load is Fe. p =Fa p -Fb q Effective displacement De p =(Da p +Db p ) / 2, based on data points (Fe) p De p The slope K3 is obtained by fitting, where p∈[2n+2,3n+1], q∈[1,n]; During the loading process of the second load loading device 500, the effective load is Fe. p =Fa p -Fb q Effective displacement De p =(Da p +Db p ) / 2, based on data points (Fe) p De p The slope K4 is obtained by fitting, p∈[3n+2,4n], q∈[n+1,2n-1].

[0118] The stiffness K of the robotic arm 20 can be calculated by taking the arithmetic mean of the four slopes, i.e., K = (K1 + K2 + K3 + K4) / 4.

[0119] The clearance D of the robotic arm 20 can be calculated using the following formula: D=((Da 4n+1 -Da 2n+1 )+(Db 2n+1 -Db 4n+1 )) / 2-(δ0+δ1)×G0 / K.

[0120] This method, by loading the mechanical arm 20 on both sides of the test arm 20, can complete the horizontal stiffness measurement in one test process; by controlling the loading sequence and the size of the difference range of the tension readings 424 on both sides, this method can accurately measure the gap of the mechanical arm 20.

[0121] In some embodiments, the first load loading device 400 and the second load loading device 500 each include: The loading mechanism 410 is mounted on the corresponding bracket; The transmission mechanism 420 is connected to the loading mechanism 410 and the end of the robot arm 20 under test. The loading mechanism 410 is used to load the end of the robot arm 20 under test through the transmission mechanism 420. The mass of the transmission mechanism 420 is m c The first load G0 satisfies: 50m c ≤G0≤100m c ; The unit load G1 satisfies: 0.2G0≤G1≤0.5G0.

[0122] In this embodiment, the first load G0 can satisfy: G0≥50m cThis reduces the impact of gravity loads. In this way, load fluctuations, sag deformation, and additional torque on the end of the robotic arm 20 caused by the mass of the transmission mechanism 420 can be controlled at lower levels, making the load applied to the robotic arm 20 closer to horizontal tension and improving the accuracy of load control. The first load G0 can satisfy: G0≤100m c This ensures that the load remains within the linear range of the elastic element 422 and the tension indicator 424, reducing the risk of measurement distortion or equipment damage due to overtravel.

[0123] The unit load G1 can satisfy: 0.2G0≤G1≤0.5G0. The unit load G1 should not be too large, so that the load is always within the linear range of the elastic element 422 and the tension indicator 424, reducing the risk of measurement distortion or equipment damage due to overtravel. The unit load G1 should not be too small, so as to reduce the number of loading times caused by too small step size, reduce the cumulative disturbance and test time waste caused by repeated operation, and make the load change cause measurable deformation of the robotic arm 20, thereby improving the effectiveness of measurement.

[0124] The following is combined with Figure 4 and Figure 5 This application describes a method for testing the robotic arm 20 of a photovoltaic cleaning robot using a testing apparatus, according to an embodiment of the present application.

[0125] The testing device includes a first load loading device 400, a second load loading device 500, a first displacement measuring device 600, and a second displacement measuring device 700.

[0126] The first load loading device 400 and the second load loading device 500 are respectively connected to both sides of the end of the robotic arm 20 under test. Each of the first load loading device 400 and the second load loading device 500 includes a loading mechanism 410 and a transmission mechanism 420. The loading mechanism 410 is mounted on a corresponding bracket. The transmission mechanism 420 is connected to the end of the robotic arm 20 under test via the loading mechanism 410, and the loading mechanism 410 is used to load the end of the robotic arm 20 under test through the transmission mechanism 420. The mass of the transmission mechanism 420 is m. c .

[0127] The first displacement measuring device 600 and the second displacement measuring device 700 are respectively connected to both sides of the end of the robotic arm 20 to be measured.

[0128] The test method includes steps 810, 820 and 830.

[0129] Step 810: When the second load loading device 500 is in the unloading state, the first load loading device 400 is loaded and then unloaded one by one. After each loading / unloading, the load value of the first load loading device 400, the reading values ​​of the first displacement measuring device 600 and the second displacement measuring device 700 are obtained. Step 820: First, load the second load loading device 500 one load at a time and then unload it one load at a time. After each loading / unloading, obtain the load values ​​of the first load loading device 400 and the second load loading device 500, and the reading values ​​of the first displacement measuring device 600 and the second displacement measuring device 700. Step 830: Determine the gap of the robotic arm 20 based on the load values ​​of the first load loading device 400 and the second load loading device 500 obtained multiple times, and the readings of the first displacement measuring device 600 and the second displacement measuring device 700.

[0130] Step 810 includes steps 910 and 920; step 820 includes steps 930, 940 and 950; step 830 includes step 960.

[0131] Step 910: When the second load loading device 500 is in the unloading state, apply the first load G0 to the first load loading device 400, clear the readings of the first displacement measuring device 600 and the second displacement measuring device 700, and obtain the load value Fa0 of the first load loading device 400. Step 920: Apply a unit load n times to the first load loading device 400 and then gradually reduce the unit load n times, obtaining the load value Fa of the first load loading device 400 after each application / reduction. i The reading Da of the first displacement measuring device 600 i The reading Db of the second displacement measuring device 700 i , i∈[1,2n].

[0132] Step 930: Apply the second load Gb0 to the second load loading device 500 and obtain the load value Fa of the first load loading device 400. 2n+1 The load value Fb0 of the second load loading device 500 satisfies: Fb0 <Fa 2n+1 The percentage of load difference δ0 = |Fa 2n+1 -Fb0| / G0×100% satisfies: 2%≤δ0≤5%; Step 940: Apply a unit load n times to the second load loading device 500 and then gradually reduce the unit load (n-1) times, obtaining the load value Fa of the first load loading device 400 after each application / reduction. 2n+1+j The load value Fb of the second load loading device 500 jThe reading Da of the first displacement measuring device 600 2n+1+j The reading Db of the second displacement measuring device 700 2n+1+j , j∈[1,2n-1]; Step 950: Reduce the third load Gb1 on the second load loading device 500 and obtain the load value Fa of the first load loading device 400. 4n+1 The load value Fb of the second load loading device 500 2n Satisfying: Fb 2n >Fa 4n+1 The percentage of load difference δ1 = |Fa 4n+1 -Fb 2n | / G0×100% satisfies: 2%≤δ1≤5%.

[0133] Step 960, based on the obtained Fa p 、Fb q Da p and Db p Determine the stiffness K of robotic arm 20, p∈[1,2n]∪[2n+2,4n], q∈[1,2n-1]; based on the obtained Da 2n+1 Da 4n+1 Db 2n+1 Db 4n+1 δ0, δ1 and K determine the gap D of the robotic arm 20.

[0134] Wherein: the first load G0 satisfies: 50m c ≤G0≤100m c The unit load G1 satisfies: 0.2G0≤G1≤0.5G0.

[0135] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0136] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0137] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0138] In the description of this application, "multiple" means two or more.

[0139] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0140] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0141] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0142] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A testing method for the robotic arm of a photovoltaic cleaning robot, characterized in that, The method includes: measuring the load using a testing device, which comprises: first and second load loading devices respectively connected to both sides of the end of the robotic arm (20) under test, and first and second displacement measuring devices respectively connected to both sides of the end of the robotic arm (20) under test; the method includes: When the second load loading device (500) is in the unloading state, the first load loading device (400) is loaded and then unloaded one by one. After each loading / unloading, the load value of the first load loading device (400), the reading values ​​of the first displacement measuring device (600) and the second displacement measuring device (700) are obtained. The second load loading device (500) is first loaded and then unloaded sequentially. After each loading / unloading, the load values ​​of the first load loading device (400) and the second load loading device (500), and the reading values ​​of the first displacement measuring device (600) and the second displacement measuring device (700) are obtained. The gap of the robotic arm (20) is determined based on the load values ​​of the first load loading device (400) and the second load loading device (500) obtained multiple times, and the readings of the first displacement measuring device (600) and the second displacement measuring device (700).

2. The method according to claim 1, characterized in that, When the second load loading device (500) is in an unloading state, the first load loading device (400) is loaded and then unloaded sequentially. After each loading / unloading, the load value of the first load loading device (400), the reading values ​​of the first displacement measuring device (600) and the second displacement measuring device (700) are obtained, including: When the second load loading device (500) is in the unloading state, the first load loading device (400) is loaded with a first load G0, the readings of the first displacement measuring device (600) and the second displacement measuring device (700) are cleared, and the load value Fa0 of the first load loading device (400) is obtained. The first load loading device (400) is first loaded with a unit load n times and then unloaded with a unit load n times. After each loading / unloading, the load value Fa of the first load loading device (400) is obtained. i The reading Da of the first displacement measuring device (600) i and the reading Db of the second displacement measuring device (700) i , i∈[1,2n].

3. The method according to claim 2, characterized in that, The process of sequentially loading and unloading the second load loading device (500), and obtaining the load values ​​of the first load loading device (400) and the second load loading device (500), and the reading values ​​of the first displacement measuring device (600) and the second displacement measuring device (700) after each loading / unloading, includes: A second load Gb0 is applied to the second load loading device (500), and the load value Fa of the first load loading device (400) is obtained. 2n+1 The load value Fb0 of the second load loading device (500) satisfies: Fb0 <Fa 2n+1 The percentage of load difference δ0 = (|Fa 2n+1 -Fb0|) / G0×100% satisfies: 2%≤δ0≤5%; The second load loading device (500) is first loaded with a unit load n times and then unloaded with a unit load (n-1) times. After each loading / unloading, the load value Fa of the first load loading device (400) is obtained. 2n+1+j The load value Fb of the second load loading device (500) j The reading Da of the first displacement measuring device (600) 2n+1+j and the reading Db of the second displacement measuring device (700) 2n+1+j , j∈[1,2n-1]; The third load Gb1 is reduced on the second load loading device (500), and the load value Fa of the first load loading device (400) is obtained. 4n+1 The load value Fb of the second load loading device (500) 2n Satisfying: Fb 2n >Fa 4n+1 The percentage of load difference δ1 = (|Fa 4n+1 -Fb 2n |) / G0×100% satisfies: 2%≤δ1≤5%.

4. The method according to claim 3, characterized in that, The clearance of the robotic arm (20) is determined based on the load values ​​of the first load loading device (400) and the second load loading device (500) obtained multiple times, and the readings of the first displacement measuring device (600) and the second displacement measuring device (700), including: Based on the obtained Fa p 、Fb q Da p and Db p Determine the stiffness K of the robotic arm (20), p∈[1,2n]∪[2n+2,4n], q∈[1,2n-1]; Based on the obtained Da 2n+1 Da 4n+1 Db 2n+1 Db 4n+1 δ0, δ1 and K determine the gap D of the robotic arm (20).

5. The method according to claim 2, characterized in that, The first load loading device (400) and the second load loading device (500) each include: The loading mechanism (410) is mounted on the corresponding bracket; A transmission mechanism (420) is connected to the loading mechanism (410) and the end of the robotic arm (20) under test. The loading mechanism (410) is used to load the end of the robotic arm (20) under test through the transmission mechanism (420). The mass of the transmission mechanism (420) is m c The first load G0 satisfies: 50m c ≤G0≤100m c ; The unit load G1 satisfies: 0.2G0≤G1≤0.5G0.

6. A testing device for the robotic arm (20) of a photovoltaic cleaning robot, characterized in that, include: The base (100) has a first mounting position (110), a second mounting position (120) and a third mounting position (130) for mounting the robotic arm (20) under test. The first bracket (200) and the second bracket (300) are respectively installed at the first mounting position (110) and the second mounting position (120). The first load loading device (400) and the second load loading device (500) are respectively installed on the first bracket (200) and the second bracket (300) for connecting to both sides of the end of the robotic arm (20) under test; The first displacement measuring device (600) and the second displacement measuring device (700) are respectively installed on the first bracket (200) and the second bracket (300) for connecting to both sides of the end of the robotic arm (20) to be measured.

7. The testing apparatus according to claim 6, characterized in that, The first load loading device (400) and the second load loading device (500) are mirror images and centrally symmetrically arranged, and are suitable for connection to the end of the robotic arm (20) under test at the middle position in the vertical direction; And / or, The first displacement measuring device (600) and the second displacement measuring device (700) are centrally symmetrically arranged. The first displacement measuring device (600) and the first load loading device (400) are adapted to be connected to the first side of the end of the robotic arm (20) under test. The second displacement measuring device (700) and the second load loading device (500) are adapted to be connected to the second side of the end of the robotic arm (20) under test. The displacement measuring device and the load loading device connected to the same side of the end of the robotic arm (20) under test are vertically spaced apart at the connection position of the bracket.

8. The testing apparatus according to claim 6 or 7, characterized in that, The first load loading device (400) and the second load loading device (500) each include: The loading mechanism (410) is mounted on the corresponding bracket; A transmission mechanism (420) is connected to the loading mechanism (410) and the end of the robotic arm (20) under test. The loading mechanism (410) is used to load the end of the robotic arm (20) under test through the transmission mechanism (420).

9. The testing apparatus according to claim 8, characterized in that, The transmission mechanism (420) includes: The first cable (421) has its first end connected to the loading mechanism (410). The elastic element (422) has its first end connected to the second end of the first cable (421); The second cable (423) has its first end connected to the second end of the elastic element (422); A tension indicator (424) is connected to the second end of the second cable (423); The third cable (425) is connected to the second end of the tension indicator (424) and the end of the robotic arm (20) under test.

10. The testing apparatus according to claim 6 or 7, characterized in that, The first displacement measuring device (600) and the second displacement measuring device (700) each include: Mounting base (710), installed on the corresponding bracket; The displacement sensor (720) includes a sensor body (721) mounted on the mounting base (710) and a pull wire (722) connecting the sensor body (721) to the end of the robotic arm (20) under test.

Images