Test platform for robot wrist tail end transmission structure

Abstract

The utility model belongs to the technical field of test tools, and particularly relates to a test platform for a transmission structure at the tail end of a robot wrist. The utility model provides a test platform for a transmission structure at the tail end of a robot wrist, and the test platform can be adapted to lead screws of various specifications with different thicknesses by arranging a motor, a coupler, a movable base unit and a combined screw hole block unit on an open platform plate unit. It is ensured that the lead screw is more convenient and faster to inspect only or only independently.

Description

Technical Field

[0001] The utility model belongs to the technical field of testing tools, and in particular relates to a testing platform for a transmission structure at the end of a robot wrist. Background Art

[0002] The transmission structure of the robot wrist end generally includes gears, screws, cams, and chains, etc. Through the above transmission structure, the robot wrist end can achieve various actions such as extension, bending, and rotation.

[0003] The common existing test platform for the above-mentioned screw structure mainly consists of a motor, a track, and a screw hole block. The screw and the motor are connected by a coupling, and the screw hole block is engaged with the track and screwed with the screw. At this point, the screw can convert the rotation of the motor shaft into the sliding movement of the screw hole block, and it also has the function of testing and inspecting the screw, and can detect the screw's dimensional accuracy, material structure strength and other performance parameters.

[0004] For example, the Chinese utility model patent with authorization announcement number CN220751608U and authorization announcement date 2024.04.09 discloses a life test platform for a screw transmission device for a humanoid robot joint, including a workbench, a fixed rod, the fixed rod is fixedly connected to the upper end of the workbench, and a testing mechanism. The testing mechanism includes a support plate, a hydraulic cylinder, a motor, a fixed table, a planetary roller screw pair, a C-type retaining ring, a fixed block and a sliding plate.

[0005] The general structural principle and advantages of the test platform in this utility model patent are as follows: the fixed block in the test mechanism is inserted into the C-shaped retaining ring to keep the planetary roller screw pair stable, the hydraulic cylinder pushes the motor forward, and the output shaft is located in the arched groove to achieve the docking of the motor and the planetary roller screw pair. When the motor is running, it can detect whether the various components match, detect the flatness and running-in degree of the screw in the planetary roller screw pair, pick out defective products, and protect the safe use of the planetary roller screw pair.

[0006] However, the test platform still has at least the following shortcomings during actual inspection and use, which are also the technical problems to be solved by the present utility model, namely:

[0007] When the test platform is used to test the lead screw individually, it is necessary to switch back and forth between multiple test blocks with different screw hole sizes, which is rather troublesome.

[0008] So to sum up, there is an urgent need for a universal testing platform that is suitable for screw rods of different specifications and thicknesses, so that the screw rods can be inspected more conveniently and quickly when they only need to be inspected individually, and then applied to the daily maintenance work of assembly line robots. Utility Model Content

[0009] The utility model provides a test platform for a transmission structure at the end of a robot wrist. By setting a motor, a coupling, a movable base unit, and a combined screw hole block unit on an open platform plate unit, the following can be achieved: the test platform can be adapted to multi-specification lead screws with different thicknesses, ensuring that the lead screw is more convenient and faster when only / only needs to be inspected separately.

[0010] The technical solution adopted by the utility model to solve the above problems is: a test platform for a transmission structure at the end of a robot wrist, the structure includes a motor, a coupling, and a test track, and further includes an open platform plate unit with the test track on its upper surface, a movable base unit arranged on the open platform plate unit and used for lifting and sliding adjustment of the motor, and a combined screw hole block unit arranged on the test track and used for screwing the lead screw.

[0011] A further preferred technical solution lies in that: the open platform plate unit includes a cross plate with the test track on its upper surface, and a lifting opening arranged on the cross plate and used for installing the movable base unit.

[0012] A further preferred technical solution lies in that: the movable base unit includes a vertical connecting plate arranged on the lower surface of the cross plate, a horizontal bottom plate arranged on the vertical connecting plate, a lifting cylinder arranged on the horizontal bottom plate, and an adjustment track arranged on the lifting cylinder and perpendicular to the test track in the length direction and used for installing the motor.

[0013] A further preferred technical solution lies in that: the combined screw hole block unit includes an inverted U-shaped block snap-fitted on the test track, a vertical block arranged on the inverted U-shaped block, and a plurality of screw holes arranged on the vertical block and used for installing the lead screw.

[0014] A further preferred technical solution lies in that: the number of the screw holes is 4, and the diameters are 3mm, 8mm, 12mm, and 20mm respectively.

[0015] A further preferred technical solution lies in that: the movable base unit further includes a lifting bottom plate arranged on the lifting cylinder and used for arranging the adjustment track, 2 limit holes respectively arranged at both ends of the adjustment track on the lifting bottom plate, and a protective limit rod arranged on the horizontal bottom plate and inserted into the limit holes and used for blocking the motor.

[0016] A further preferred technical solution lies in that: the movable base unit further includes an inverted U-shaped plate arranged on the adjustment track and used for installing the motor, and a positioning bolt arranged on the side plate of the inverted U-shaped plate and used for laterally clamping the adjustment track.

[0017] A further preferred technical solution is that: the opening platform plate unit further includes a side opening groove provided on the cross plate, located on both sides of the lifting opening respectively, and used for placing the lead screw to be detected, and a tool groove for placing the coupling to be used.

[0018] A further preferred technical solution is that: the combined screw hole block unit further includes a rectangular opening provided on the vertical block and used for installing the screw pair.

[0019] A further preferred technical solution is that: the combined screw hole block unit further includes a counterweight groove provided on the upper surface of the vertical block and used for simulating the load of the vertical block by placing the lead screw to be detected. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the present utility model.

[0021] Figure 2 It is a schematic structural diagram of the opening platform plate unit in the present utility model from a top view angle.

[0022] Figure 3 It is a schematic position structure diagram of the movable base unit in the present utility model.

[0023] Figure 4 It is a schematic position diagram of the limiting hole in the present utility model from a top view angle.

[0024] Figure 5 It is a schematic position diagram of the positioning bolt in the present utility model.

[0025] Figure 6 It is a schematic structural diagram of the combined screw hole block unit in the present utility model.

[0026] Figure 7 It is a schematic position and shape diagram of the counterweight groove in the present utility model from a top view angle.

[0027] Figure 8 It is a schematic position diagram of the rectangular opening in the present utility model.

[0028] In the figure, the meanings of the various marks are as follows:

[0029] Lead screw a;

[0030] Motor 11, coupling 12, test track 13;

[0031] Opening platform plate unit 1, movable base unit 2, combined screw hole block unit 3;

[0032] Horizontal plate 101, lifting opening 102, vertical connecting plate 201, horizontal bottom plate 202, lifting cylinder 203, adjusting track 204, inverted U-shaped block 301, vertical block 302, screw hole 303, lifting bottom plate 205, limiting hole 206, protective limiting rod 207, inverted U-shaped plate 208, positioning bolt 209, side opening groove 103, tool groove 104, rectangular opening 304, counterweight groove 305. Specific implementation manner

[0033] The following is only a preferred embodiment of the present invention, and does not limit the scope of the present invention.

[0034] As shown in the attached Figure 1-8 As shown in the figure, a test platform for a transmission structure at the end of a robot wrist includes a motor 11, a coupling 12, and a test track 13. It also includes an opening platform plate unit 1 with the test track 13 on its upper surface, a movable base unit 2 arranged on the opening platform plate unit 1 and used for lifting and sliding adjustment of the motor 11, and a combined screw hole block unit 3 arranged on the test track 13 and used for screwing a lead screw a.

[0035] In the prior art, the lead screw does not necessarily have to be used with a lead screw pair. The former can also be directly screwed to the object to be driven. On the other hand, the shape of the lead screw is a slender rod, and the lead screw pair is a block with a smaller size. The latter has a relatively more stable size, while the former is prone to bending after long-term use in the robot wrist. Therefore, whether from the consideration of feasibility or necessity, it is relatively more reasonable to detect the lead screw alone.

[0036] In this embodiment, multiple lead screws a with different thicknesses and sizes in the robot wrist can be sequentially detected on this test platform. Only need to first lift and slide-adjust the movable base unit 2, and then preliminarily screw the lead screw a and the corresponding and adapted screw holes on the combined screw hole block unit 3. In the existing common lead screw detection platforms, different sliding blocks with different screw hole sizes need to be replaced multiple times. Therefore, conversely, this is the main advantage of this test platform in this embodiment.

[0037] Among them, the motor 11 is a reduction motor, which provides a sufficient and appropriate rotational speed. The coupling 12 is a commercially available product. A single such product can clamp and adapt multiple specifications of lead screws a within a certain diameter range. However, in order to ensure the comprehensiveness of lead screw detection, multiple couplings 12 with different adapted diameter ranges can still be set. The shape of the test track 13 is a simple cuboid, which can detect whether the lead screw a is bent. The specific method is as follows:

[0038] When the lead screw a is slightly bent, the combined screw hole block unit 3 will appropriately impact the test track 13. At this time, the detection operation needs to be stopped immediately, and the lead screw a is determined to be unqualified and needs to be replaced;

[0039] When the lead screw a is severely bent, the combined screw hole block unit 3 will be directly stuck on the test track 13. At this time, the detection operation needs to be stopped immediately, and the lead screw a is determined to be unqualified and needs to be replaced;

[0040] When the combined screw hole block unit 3 slides relatively smoothly and quietly on the test track 13 and finishes the expected length, the lead screw a is determined to be qualified and can continue to be used.

[0041] In addition, the main functions of the open platform plate unit 1 are: to fixedly install the test track 13 and to install and allow the lifting and adjustment of the movable base unit 2. The main functions of the movable base unit 2 are: to directly align with the coupling 12 and the screw hole corresponding to this test operation, so that the lead screw a is fully and slightly screwed into the corresponding screw hole before the test.

[0042] The structural characteristics and main functions of the combined screw hole block unit 3 are: several screw holes with different diameters are provided on it, so that the lead screw a in the test can be selectively aligned and screwed under the vertical and horizontal position adjustment of the movable base unit 2, saving the operation of frequently replacing the screw hole block, which is very convenient.

[0043] The open platform plate unit 1 includes a cross plate 101 with the test track 13 provided on its upper surface, and a lifting opening 102 provided on the cross plate 101 and used for installing the movable base unit 2.

[0044] In this embodiment, the shape of the cross plate 101 is rectangular, the test track 13 is provided at a relatively central position thereon, and the lifting opening 102 is provided at one end position. The length directions of the lifting opening 102 and the test track 13 are perpendicular to each other.

[0045] The movable base unit 2 includes a vertical connecting plate 201 provided on the lower surface of the cross plate 101, a horizontal bottom plate 202 provided on the vertical connecting plate 201, a lifting cylinder 203 provided on the horizontal bottom plate 202, and an adjustment track 204 provided on the lifting cylinder 203 and perpendicular to the length direction of the test track 13 and used for installing the motor 11.

[0046] In this embodiment, the number of the vertical connecting plates 201 is two, which are respectively located on both sides of the lifting opening 102, and the horizontal bottom plate 202 spans across the entire lifting opening 102. The above three plates together form a "U-shaped" structure for: First, stably installing the lifting cylinder 203; Second, creating the required vertical space for installing the lifting cylinder 203.

[0047] In addition, the number of the lifting cylinders 203 is two, which are used to support the adjustment track 204 together, and the motor 11 can also slide along the length direction of the adjustment track 204. Therefore, compared with the combined screw hole block unit 3, the motor 11 can be adjusted vertically and horizontally, ensuring that all the screw holes on the combined screw hole block unit 3 can be aligned with the coupling 12 and the plug-in lead screw a when needed.

[0048] Among them, the shape of the adjustment track 204 is also a simple cuboid.

[0049] The combined screw hole block unit 3 includes an inverted U-shaped block 301 clamped on the test track 13, a vertical block 302 arranged on the inverted U-shaped block 301, and a plurality of screw holes 303 arranged on the vertical block 302 and used for installing the lead screw a.

[0050] In this embodiment, the inverted U-shaped block 301 and the vertical block 302 are integrally formed, the screw holes 303 are opened later, and the clamping accuracy between the inverted U-shaped block 301 and the test track 13 is moderate, and this accuracy is slightly higher than the accuracy requirement of the robot wrist structure for the lead screw a.

[0051] For example, when one of the lead screws a drives the combined screw hole block unit 3 to slide on the test track 13 for a preset length, and there is a slight friction between the inverted U-shaped block 301 and the test track 13 during this period, it can still be considered that this lead screw a is qualified and can continue to be used.

[0052] The number of the screw holes 303 is four, and the diameters are 3mm, 8mm, 12mm, and 20mm respectively.

[0053] In this embodiment, the above diameter dimensions correspond to the nominal diameter, that is, for example, the screw hole 303 with a diameter of 8mm can accurately screw the lead screw a with a thickness of 8mm. In addition, the total of the four screw holes 303 are arranged in two rows, with two openings in each row.

[0054] On the other hand, when the number of the screw holes 303 is eight, they are arranged in three rows, with 3, 2, and 3 openings from top to bottom in sequence, trying to avoid the situation where the movable base unit 2 needs to move in a large size vertically or horizontally.

[0055] The movable base unit 2 further includes a lifting bottom plate 205 disposed on the lifting cylinder 203 and for setting the adjustment track 204, two limit holes 206 disposed on the lifting bottom plate 205 and located at both ends of the adjustment track 204 respectively, and a protective limit rod 207 disposed on the transverse bottom plate 202, inserted into the limit holes 206 and for blocking the motor 11.

[0056] In this embodiment, the main function of the lifting bottom plate 205 is to provide a structural basis for the setting of the limit holes 206, and when the limit holes 206 and the protective limit rod 207 are inserted, the lifting action of the motor 11 can be made more precise.

[0057] On the other hand, the second function of the protective limit rod 207, that is, the word "protective" in it, means that its position is at both ends of the lateral sliding adjustment direction of the motor 11. When the motor 11 accidentally slides excessively, the protective limit rod 207 directly or indirectly blocks the motor 11, which can prevent the motor 11 from falling off the adjustment track 204.

[0058] The movable base unit 2 further includes an inverted U-shaped plate 208 disposed on the adjustment track 204 and for installing the motor 11, and a positioning bolt 209 disposed on the side plates of the inverted U-shaped plate 208 and for laterally clamping the adjustment track 204.

[0059] In this embodiment, a threaded groove is provided on the middle plate of the inverted U-shaped plate 208 for installing the motor 11, and the positioning bolts 209 can be installed on both of its two side plates, so that after the motor 11 slides laterally to the required position, it is not easy to accidentally shift again.

[0060] Among them, the automatic lifting adjustment of the lifting cylinder 203 and the manual sliding adjustment of the inverted U-shaped plate 208 can be carried out together. Finally, the coupling 12 can be quickly aligned with one of the screw holes 303 adapted to this test. Then in sequence: install the lead screw a on the coupling 12, temporarily turn on the motor 11 to screw the lead screw a onto the screw hole 303, and continuously turn on the motor 11 to conduct the test.

[0061] The open platform plate unit 1 further includes a side opening groove 103 disposed on the cross plate 101, located on both sides of the lifting opening 102 respectively, and for placing the lead screw to be detected, and a tool groove 104 for placing the standby coupling.

[0062] In this embodiment, the side opening groove 103 and the tool groove 104 are located on the same side of the transverse plate 101, while the lifting opening 102 is located on the other side, so as to balance the weight at both ends of the transverse plate 101 as much as possible.

[0063] The tool slot 104 may contain a coupling that is not suitable for the current test operation and tool parts such as the spare lifting cylinder 203 .

[0064] The combined screw hole block unit 3 further includes a rectangular opening 304 disposed on the vertical block 302 and used for installing a screw pair.

[0065] In this embodiment, the rectangular opening 304 is used to: when a screw and a screw pair need to be tested together, the test platform can also be used. In this case, the screw pair needs to be properly and commonly fixed on the rectangular opening 304 of relatively large size.

[0066] The combined screw hole block unit 3 also includes a counterweight slot 305 which is arranged on the upper surface of the vertical block 302 and is used to simulate the weight load on the vertical block 302 by placing a screw rod to be tested.

[0067] In this embodiment, the length direction of the counterweight groove 305 is perpendicular to the test track 13, and its two ends pass through the vertical block 302, so that the relatively longer screw rod a to be used can be placed thereon. For details, please refer to the attached Figure 7 .

[0068] The function of the counterweight groove 305 is to enable the test platform to properly detect the structural strength of the screw rod a and whether its threaded portion is strong enough to push the vertical block 302 with a proper load.

[0069] In addition, balls for drag reduction can be set on the three inner sides of the inverted U-shaped block 301 as needed, and a limit block for blocking the maximum sliding size of the inverted U-shaped block 301 can be set on the end of the test track 13 away from the lifting opening 102 to prevent the combined screw hole block unit 3 from falling on the test track 13.

[0070] The above is a detailed description of the implementation of the utility model in conjunction with the accompanying drawings, but the utility model is not limited to the above implementation. Various modifications can be made within the knowledge of ordinary technicians in the technical field without departing from the purpose of the utility model. These are all non-creative modifications and are protected by patent law as long as they are within the scope of the claims of the utility model.

Claims

1. A test platform for the transmission structure at the end of a robot wrist, the structure comprising a motor (11), a coupling (12), and a test track (13), characterized in that: It further includes an open platform plate unit (1) with the test track (13) provided on its upper surface, a movable base unit (2) arranged on the open platform plate unit (1) and used for lifting and sliding adjustment of the motor (11), and a combined screw hole block unit (3) arranged on the test track (13) and used for screwing the lead screw (a).

2. The test platform for the transmission structure at the end of a robot wrist according to claim 1, characterized in that: The open platform plate unit (1) includes a cross plate (101) with the test track (13) provided on its upper surface, and a lifting opening (102) arranged on the cross plate (101) and used for installing the movable base unit (2).

3. The test platform for the transmission structure at the end of a robot wrist according to claim 2, characterized in that: The movable base unit (2) includes a vertical connecting plate (201) arranged on the lower surface of the cross plate (101), a horizontal bottom plate (202) arranged on the vertical connecting plate (201), a lifting cylinder (203) arranged on the horizontal bottom plate (202), and an adjustment track (204) arranged on the lifting cylinder (203) with its length direction perpendicular to the test track (13) and used for installing the motor (11).

4. A test platform for a transmission structure at the end of a robot wrist, characterized in that: The combined screw hole block unit (3) includes an inverted U-shaped block (301) snap-fitted on the test track (13), a vertical block (302) arranged on the inverted U-shaped block (301), and a plurality of screw holes (303) arranged on the vertical block (302) and used for installing the lead screw (a).

5. A test platform for a transmission structure at the end of a robot wrist, characterized in that: The number of the screw holes (303) is 4, and the diameters are 3mm, 8mm, 12mm, and 20mm respectively.

6. The test platform for the transmission structure at the end of a robot wrist according to claim 3, characterized in that: The movable base unit (2) further includes a lifting bottom plate (205) arranged on the lifting cylinder (203) and used for arranging the adjustment track (204), two limit holes (206) arranged on the lifting bottom plate (205) and located at both ends of the adjustment track (204) respectively, and a protective limit rod (207) arranged on the horizontal bottom plate (202), inserted into the limit holes (206) and used for blocking the motor (11).

7. A test platform for a transmission structure at the end of a robot wrist, according to claim 3, characterized in that: The movable base unit (2) further includes an inverted U-shaped plate (208) arranged on the adjustment track (204) and used for installing the motor (11), and a positioning bolt (209) arranged on the side plate of the inverted U-shaped plate (208) and used for laterally clamping the adjustment track (204).

8. The test platform for the transmission structure at the end of a robot wrist according to claim 2, characterized in that: The open platform plate unit (1) further includes a side opening groove (103) arranged on the cross plate (101) and located on both sides of the lifting opening (102) respectively and used for placing the lead screw to be detected, and a tool groove (104) used for placing the standby coupling.

9. A test platform for a transmission structure at the end of a robot wrist, characterized in that: The combined screw hole block unit (3) further includes a rectangular opening (304) arranged on the vertical block (302) and used for installing the lead screw pair.

10. A test platform for a transmission structure at the end of a robot wrist, characterized in that: The combined screw hole block unit (3) further includes a counterweight groove (305) arranged on the upper surface of the vertical block (302) and used for simulating the load of the vertical block (302) by placing the lead screw to be detected.

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