A test platform for testing the performance of a robotic arm

Abstract

This invention discloses a testing platform for testing the performance of a robot arm, belonging to the field of robot manufacturing technology. The testing platform includes a testing plate for storing the robot body, which includes a robotic arm for clamping and releasing a test tube. The testing plate has a base plate at its bottom, a guide mechanism mounted on the base plate for guiding the movement of the testing plate, and a vibration mechanism mounted on the base plate for driving the testing plate to reciprocate up and down. A base is located on the underside of the base plate, and a testing frame is located below the base. This invention provides a testing platform for testing the performance of a robot arm, which drives the robot body and robotic arm to reciprocate, and the test tube clamped on the robotic arm also reciprocates up and down. The platform observes whether the clamped test tube falls off during the reciprocating motion, thereby determining whether the clamping of the robotic arm is safe and stable.

Description

Technical Field

[0001] This invention belongs to the field of robot manufacturing technology, specifically relating to a testing platform for testing the performance of a robot arm. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they vary in form, they all share a common characteristic: they can receive commands and precisely position themselves at a point in three-dimensional (or two-dimensional) space to perform tasks.

[0003] In some processing plants, robotic arms are often used to grasp materials. Other components on the robot then transport the materials gripped by the robotic arm to a designated location. To measure the stability of the robotic arm in gripping and transporting materials, performance testing of the robotic arm is necessary. Currently, most tests involve the robot grasping materials and transporting them to a designated location to determine if the robot can grasp and transport materials. However, this method does not measure the stability of the material gripped by the robot after grasping it. Without this performance test, the stability of the material gripped by the robot cannot be observed, and the material may easily fall during robot operation. Therefore, this application proposes a testing platform for testing the performance of a robotic arm. Summary of the Invention

[0004] The purpose of this invention is to provide a testing platform for testing the performance of a robotic arm, in order to solve the problem mentioned in the background art that most current robot tests involve the robot grabbing materials and transporting them to a designated location to determine whether the robot can grab and transport materials. However, the above method cannot measure the stability of the robot's gripping of materials after it has grabbed them.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a test platform for testing the performance of a robot arm, comprising a test plate for storing the robot body, the robot body including a robotic arm for clamping and releasing test tubes, a base plate at the bottom of the test plate, a guide mechanism mounted on the base plate for guiding the movement of the test plate, and a vibration mechanism mounted on the base plate for driving the test plate to reciprocate up and down. The base plate is provided with a base, a detection frame located on the lower side of the base, and a rotary detection mechanism for driving the base to rotate in both directions. The rotary detection mechanism includes a large gear mounted on the base, a small gear connected to the large gear through gear meshing, and a power motor mounted on the detection frame for driving the small gear to rotate in both directions. The power motor has the function of rotating in both directions. A storage box is provided on the outside of the detection plate, and the storage box is located below the detection tube.

[0006] Preferably, the guiding mechanism includes a guide rod installed at the bottom of the detection plate and a guide tube that slides with the guide rod and is installed on the base plate. There are four guiding mechanisms, and the four guiding mechanisms are distributed in a square shape.

[0007] Preferably, the vibration mechanism includes a transverse frame mounted on the detection plate, a first connecting rod inserted into the transverse frame and slidingly engaged with the transverse frame, a push-pull plate inserted into the first connecting rod, a second connecting rod inserted into the push-pull plate away from the first connecting rod, a rotating disk for mounting the second connecting rod, and a drive motor mounted on the base plate for driving the rotating disk to rotate.

[0008] Preferably, the base plate is provided with a motor bracket for mounting the drive motor.

[0009] Preferably, the transverse frame is provided with a guide block and a track that slides with the guide block and is mounted on the base plate. There are two guide blocks, and the two guide blocks are located on both sides of the transverse frame.

[0010] Preferably, the storage box is provided with a storage plate, which slides in conjunction with the inner wall of the storage box, and a buffer unit is provided between the storage plate and the inner wall of the storage box.

[0011] Preferably, a limiting frame is provided on the upper side of the storage plate, and the limiting frame slides in conjunction with the inner wall of the storage box.

[0012] Preferably, the detection plate is provided with a positioning mechanism and a positioning rod.

[0013] Preferably, the positioning rod is inserted into the detection plate, and the robot body is provided with a positioning hole that cooperates with the positioning rod.

[0014] Preferably, the positioning mechanism includes a telescopic unit mounted on the detection plate, a movable plate mounted on the output end of the telescopic unit, and a pressure plate mounted on the movable plate.

[0015] Beneficial effects: I. The present invention provides a test platform for testing the performance of a robot arm. When the drive motor is turned on, the drive motor can drive the rotating disk to rotate. During the rotation of the rotating disk, the push-pull plate can be pulled through the second connecting rod. At the same time, the first connecting rod at the other end of the push-pull plate moves laterally along the horizontal frame, causing the horizontal frame to move up and down reciprocally. The detection plate, robot body, and robot arm connected to the horizontal frame also move back and forth. The detection tube clamped on the robot arm also moves up and down reciprocally. The test platform is observed to see if the clamped detection tube falls off during the reciprocating motion, thereby judging whether the clamping of the robot arm is safe and stable.

[0016] II. The present invention provides a test platform for testing the performance of a robotic arm. When the power motor is turned on, it drives a small gear to rotate. The small gear drives a large gear to rotate through the meshing of its teeth. The large gear drives the base to rotate around its own center line. The base plate, the test plate, and the robot body located on the upper side of the base can rotate left and right. The test tube clamped by the robotic arm shakes as the robot body moves. By observing whether the test tube falls or becomes unstable during the shaking process, it is determined whether the robotic arm can stably clamp the test tube. By applying force in both the vertical and axial directions, the clamping effect of the robotic arm on the test tube is observed. This test is more comprehensive and can obtain the true effect of the robotic arm's clamping performance.

[0017] Third, the present invention provides a test platform for testing the performance of a robotic arm. When the telescopic unit is opened, it can drive the moving plate to move towards the side closer to the robot body or away from the robot body. The moving plate and the pressure plate on it approach the robot body and finally press on the robot body, which can complete the fixation of the robot body. In this way, the robot body can be fixed quickly, while the pressure plate detaches from the robot body and does not hinder the disassembly of the robot body. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the test platform for testing the performance of the robotic arm in this invention; Figure 2 This is a side view of the test platform for testing the performance of the robotic arm in this invention; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A; Figure 4 This is a bottom view of the test platform for testing the performance of the robotic arm in this invention; Figure 5 This is a schematic diagram of the vibration mechanism in this invention; Figure 6 This is a schematic diagram of the structure of the storage box in this invention.

[0019] Explanation of reference numerals in the attached figures: 1. Detection plate; 2. Robot body; 3. Detection tube; 4. Base plate; 5. Guiding mechanism; 501. Guide rod; 502. Guide tube; 6. Vibration mechanism; 601. Transverse frame; 602. Push-pull plate; 603. Rotary disk; 604. Drive motor; 605. Guide block; 606. Track; 7. Base; 8. Testing frame; 9. Large gear; 10. Small gear; 11. Storage box; 12. Storage board; 13. Buffer unit; 14. Limiting frame; 15. Positioning mechanism; 1501. Telescopic unit; 1502. Moving plate; 1503. Pressure plate; 16. Positioning rod. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0021] like Figures 1-6 As shown in the figure, an embodiment of the present invention provides a test platform for testing the performance of a robot arm, including a test plate 1. The test plate 1 is used to store the robot body 2. The robot body 2 includes a robotic arm for clamping and releasing the test tube 3. (See reference...) Figure 1 The robot body 2 is placed on the detection plate 1 for testing. The robotic arm in the robot body 2 is used to clamp and release the detection tube 3. In conjunction with the other internal components of the robot body 2, it can move the detection tube 3 to a designated position. This test platform is used to measure the stability of the detection tube 3 after the robotic arm clamps it, and to determine whether the detection tube 3 will fall off due to insufficient clamping force when the robotic arm is working.

[0022] In order to measure the stability of the detection tube 3 after it is clamped by the robotic arm, a base plate 4, a guide mechanism 5 mounted on the base plate 4 for guiding the movement of the detection plate 1, and a vibration mechanism 6 mounted on the base plate 4 for driving the detection plate 1 to move up and down reciprocally are provided at the bottom of the detection plate 1. The guide mechanism 5 is used to guide the up and down movement of the detection plate 1, so that the detection plate 1 moves more smoothly, thereby preventing the robot body 2 from falling off the detection plate 1 during the detection process.

[0023] For reference Figure 4 The guiding mechanism 5 includes a guide rod 501 installed at the bottom of the detection plate 1 and a guide tube 502 that slides with the guide rod 501 and is installed on the base plate 4. There are four guiding mechanisms 5, which are arranged in a square. The guide rods 501 can slide relative to each other. During the up and down movement of the detection plate 1, the guide rods 501 slide with each other, making the movement of the detection plate 1 more stable.

[0024] In a specific embodiment, in order to achieve the up-and-down reciprocating motion of the detection plate 1, reference is made to... Figure 2 , Figure 3 , Figure 5The vibration mechanism 6 includes a transverse frame 601 mounted on the detection plate 1, a first connecting rod inserted into the transverse frame 601 and slidingly engaged with the transverse frame 601, a push-pull plate 602 inserted into the first connecting rod, a second connecting rod inserted into the push-pull plate 602 away from the first connecting rod, a rotating disk 603 for mounting the second connecting rod, and a drive motor 604 mounted on the base plate 4 for driving the rotating disk 603 to rotate.

[0025] It should be noted that a motor bracket for mounting the drive motor 604 is provided on the base plate 4. In order to guide the movement of the transverse frame 601, a guide block 605 and a track 606 that slides with the guide block 605 and is mounted on the base plate 4 are provided at the transverse frame 601. There are two guide blocks 605, and the two guide blocks 605 are located on both sides of the transverse frame 601 respectively.

[0026] Turn on the drive motor 604, which drives the rotating disk 603 to rotate. During the rotation of the rotating disk 603, it can pull the push-pull plate 602 through the second connecting rod. At the same time, the first connecting rod at the other end of the push-pull plate 602 moves laterally along the horizontal frame 601, causing the horizontal frame 601 to move up and down reciprocally. The detection plate 1, robot body 2, and robotic arm connected to the horizontal frame 601 also move back and forth. The detection tube 3 clamped on the robotic arm also moves up and down reciprocally. Observe whether the clamped detection tube 3 falls off during the reciprocating motion, so as to determine whether the clamping of the robotic arm is safe and stable.

[0027] Simply relying on the up-and-down shaking of the robotic arm to determine the stability of the clamping of the detection tube 3 is rather limited. Therefore, a base 7, a detection frame 8 located below the base 7, and a rotary detection mechanism for driving the base 7 to rotate in both directions are provided on the underside of the base plate 4. The rotary detection mechanism includes a large gear 9 mounted on the base 7, a small gear 10 connected to the large gear 9 via gear meshing, and a power motor mounted on the detection frame 8 for driving the small gear 10 to rotate in both directions. The power motor has both forward and reverse rotation capabilities. To make the rotation between the base 7 and the detection frame 8 smoother, a bearing for reducing friction can be installed at the connection point between the base 7 and the detection frame 8.

[0028] When the power motor is turned on, it drives the small gear 10 to rotate. The small gear 10 drives the large gear 9 to rotate through the meshing of its teeth. The large gear 9 drives the base 7 to rotate around its own center line. The base plate 4, the detection plate 1, and the robot body 2 located on the upper side of the base 7 can rotate left and right. The detection tube 3 clamped by the robotic arm shakes as the robot body 2 moves. By observing whether the detection tube 3 falls or becomes unstable during the shaking process, it can be determined whether the robotic arm can stably clamp the detection tube 3. By applying force in both the up and down and axial directions, the clamping effect of the robotic arm on the detection tube 3 can be observed. This method provides a more comprehensive test and a true picture of the robotic arm's clamping performance.

[0029] To collect fallen detection tubes 3 and prevent them from hitting other components, a storage box 11 is installed on the outside of the detection plate 1, located below the detection tubes 3. Inside the storage box 11 is a storage plate 12, which slides against the inner wall of the storage box 11. A buffer unit 13, made of a 20cm long, 20mm diameter metal spring, is placed between the storage plate 12 and the inner wall of the storage box 11. After falling, the detection tube 3 lands on the storage plate 12 and is collected by the storage box 11, thus preventing it from hitting other components.

[0030] It should be noted that a limiting frame 14 is provided on the upper side of the storage board 12, and the limiting frame 14 slides in conjunction with the inner wall of the storage box 11.

[0031] In order to locate the position of the robot body 2, a positioning mechanism 15 and a positioning rod 16 are provided on the detection plate 1. The positioning rod 16 is inserted into the detection plate 1, and a positioning hole that cooperates with the positioning rod 16 is provided inside the robot body 2.

[0032] It should be noted that the positioning mechanism 15 includes a telescopic unit 1501 mounted on the detection plate 1, a movable plate 1502 mounted on the output end of the telescopic unit 1501, and a pressure plate 1503 mounted on the movable plate 1502. The telescopic unit 1501 can be a cylinder. When the telescopic unit 1501 is opened, the movable plate 1502 can be moved to the side closer to the robot body 2 or away from the robot body 2. The movable plate 1502 and the pressure plate 1503 on it approach the robot body 2 and finally press on the robot body 2, which can complete the fixation of the robot body 2. In this way, the robot body 2 can be fixed quickly, while the pressure plate 1503 is detached from the robot body 2 and does not hinder the disassembly of the robot body 2.

[0033] In summary, this invention provides a test platform for testing the performance of a robot arm. When the drive motor 604 is turned on, it drives the rotating disk 603 to rotate. During the rotation of the rotating disk 603, the second connecting rod pulls the push-pull plate 602, causing the first connecting rod at the other end of the push-pull plate 602 to move laterally along the horizontal frame 601. Simultaneously, the horizontal frame 601 moves up and down reciprocally. The detection plate 1, robot body 2, and robot arm connected to the horizontal frame 601 also move reciprocally. The detection tube 3 clamped on the robot arm also moves up and down reciprocally. The system observes whether the clamped detection tube 3 falls off during the reciprocating motion, thereby determining whether the clamping of the robot arm is safe and stable.

[0034] When the power motor is turned on, it drives the small gear 10 to rotate. The small gear 10 drives the large gear 9 to rotate through the meshing of its teeth. The large gear 9 drives the base 7 to rotate around its own center line. The base plate 4, the detection plate 1, and the robot body 2 located on the upper side of the base 7 can rotate left and right. The detection tube 3 clamped by the robotic arm shakes as the robot body 2 moves. By observing whether the detection tube 3 falls or becomes unstable during the shaking process, it can be determined whether the robotic arm can stably clamp the detection tube 3. By applying force in both the up and down and axial directions, the clamping effect of the robotic arm on the detection tube 3 can be observed. This method provides a more comprehensive test and a true picture of the robotic arm's clamping performance.

[0035] Activating the telescopic unit 1501 allows the movable plate 1502 to move towards or away from the robot body 2. The movable plate 1502 and the pressure plate 1503 on it approach the robot body 2 and eventually press against it, thus securing the robot body 2 quickly. Meanwhile, the pressure plate 1503 detaches from the robot body 2 without hindering its disassembly.

[0036] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A testing platform for testing the performance of a robot arm, comprising a testing plate (1), the testing plate (1) for storing a robot body (2), the robot body (2) including a robotic arm for clamping and releasing a testing tube (3), characterized in that, The bottom of the detection plate (1) is provided with a base plate (4), a guide mechanism (5) installed on the base plate (4) for guiding the movement of the detection plate (1), and a vibration mechanism (6) installed on the base plate (4) for driving the detection plate (1) to move up and down reciprocally. The base plate (4) is provided with a base (7) on the lower side, a detection frame (8) located on the lower side of the base (7), and a rotating detection mechanism for driving the base (7) to rotate in both directions. The rotating detection mechanism includes a large gear (9) installed on the base (7), a small gear (10) connected to the large gear (9) through gear meshing transmission, and a power motor for driving the small gear (10) to rotate in both directions and installed on the detection frame (8). A storage box (11) is provided on the outside of the detection plate (1), and the storage box (11) is located below the detection tube (3).

2. The testing platform for testing the performance of a robotic arm as described in claim 1, characterized in that, The guiding mechanism (5) includes a guide rod (501) installed at the bottom of the detection plate (1) and a guide tube (502) that slides with the guide rod (501) and is installed on the base plate (4). There are four guiding mechanisms (5), and the four guiding mechanisms (5) are distributed in a square.

3. The testing platform for testing the performance of a robotic arm as described in claim 1, characterized in that, The vibration mechanism (6) includes a transverse frame (601) mounted on the detection plate (1), a first connecting rod inserted into the transverse frame (601) and slidingly engaged with the transverse frame (601), a push-pull plate (602) inserted into the first connecting rod, a second connecting rod inserted into the push-pull plate (602) away from the first connecting rod, a rotating disk (603) for mounting the second connecting rod, and a drive motor (604) mounted on the base plate (4) for driving the rotating disk (603) to rotate.

4. The test platform for testing the performance of a robotic arm as described in claim 3, characterized in that, The base plate (4) is provided with a motor bracket for mounting the drive motor (604).

5. The testing platform for testing the performance of a robotic arm as described in claim 4, characterized in that, A guide block (605) is provided at the horizontal frame (601), and a track (606) is slidably engaged with the guide block (605) and installed on the base plate (4). There are two guide blocks (605), and the two guide blocks (605) are located on both sides of the horizontal frame (601).

6. The testing platform for testing the performance of a robotic arm as described in claim 1, characterized in that, The storage box (11) is provided with a storage plate (12), which slides with the inner wall of the storage box (11). A buffer unit (13) is provided between the storage plate (12) and the inner wall of the storage box (11).

7. The testing platform for testing the performance of a robotic arm as described in claim 6, characterized in that, A limiting frame (14) is provided on the upper side of the storage plate (12), and the limiting frame (14) slides in cooperation with the inner wall of the storage box (11).

8. The testing platform for testing the performance of a robotic arm as described in claim 1, characterized in that, The detection plate (1) is provided with a positioning mechanism (15) and a positioning rod (16).

9. The testing platform for testing the performance of a robotic arm as described in claim 8, characterized in that, The positioning rod (16) is inserted into the detection plate (1), and the robot body (2) is provided with a positioning hole that cooperates with the positioning rod (16).

10. A test platform for testing the performance of a robotic arm as described in claim 9, characterized in that, The positioning mechanism (15) includes a telescopic unit (1501) installed on the detection plate (1), a movable plate (1502) installed at the output end of the telescopic unit (1501), and a pressure plate (1503) installed on the movable plate (1502).

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