Electromechanical integrated test device

Abstract

The utility model discloses a mechanical and electrical integration test device which comprises a bottom test platform, and the lower portion of the bottom test platform is provided with supporting legs supported on the ground. The vertical platform can move along the length direction of the bottom test platform along the horizontal direction; the execution tail end integration base can reciprocate in the height direction of the vertical platform in the vertical direction, and an execution tail end is arranged on the execution tail end integration base; the horizontal movement of the vertical platform, the vertical movement of the execution tail end integration seat and the movement of the execution tail end are driven by a motor. According to the test device provided by the utility model, the stepping motor drives the tail end execution part to act, so that the movement, positioning and grabbing actions of the mechanical arm and the mechanical claw are realized, and the automatic control requirement of a prototype test is met; the problems that an original air power source is complex in structure, tedious in operation, poor in stability and low in control precision are solved, a single electric drive scheme is adopted, and finally the technical effects of high precision and high stability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of test devices, in particular to an electromechanical integrated test device. Background Art

[0002] Existing similar test devices on the market usually output logic control to the end solenoid valve island by a controller. The solenoid valve island uses external compressed air as the power source to control the movement of the end cylinder, and then realizes the regular mechanical movement output required for the test. For prototypes that need to be tested at multiple parts, multiple mechanical devices need to be equipped.

[0003] Due to the complex mechanical structure and large volume of the existing device, and at the same time, a set of high-pressure pneumatic power source needs to be configured, which occupies a relatively large space; it is also more cumbersome for operators to use, and the mechanical output accuracy is not high enough, thus affecting the test accuracy.

[0004] Based on the above technical problems, those skilled in the art urgently need to develop an electromechanical integrated test device. Content of the Utility Model

[0005] The purpose of the utility model is to provide an electromechanical integrated test device. The device is composed of an execution end composed of a stepping motor and a portable mechanical device, which is integrally integrated on the experimental platform. By outputting control instructions through the controller, the mechanical actions required for the test are completed, solving the technical problems of complex structure, cumbersome operation, poor stability and low control accuracy of the air power source, and having the technical advantages of high precision and high stability.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An electromechanical integrated test device of the utility model, the test device includes:

[0008] A bottom test platform, the lower part of the bottom test platform has support legs supported on the ground;

[0009] A vertical platform capable of moving along the length direction of the bottom test platform in the horizontal direction; and

[0010] An execution end integrated seat capable of reciprocating in the height direction of the vertical platform in the vertical direction, and an execution end is arranged on the execution end integrated seat;

[0011] The horizontal movement of the vertical platform, the vertical movement of the execution end integrated seat and the movement of the execution end are all driven by motors.

[0012] Further, the bottom test platform is configured as a quadrilateral structure;

[0013] The four corners of the bottom test platform with a quadrilateral structure are each provided with the support legs, and the lower end of the support leg has a floor footing with a cross-sectional dimension larger than that of the support leg;

[0014] On the upper surface of the bottom test platform, there are two horizontal slide rails extending along the length direction of the bottom test platform and arranged at intervals;

[0015] The vertical platform is slidably connected to the horizontal slide rails.

[0016] Further, a horizontal movement driving motor is provided at one end of the bottom test platform;

[0017] There is a horizontal lead screw between the two horizontal slide rails. The output end of the horizontal movement driving motor is connected to one end of the horizontal lead screw to drive the horizontal lead screw to rotate, and the other end of the horizontal lead screw is rotatably connected to the mounting plate at the end of the bottom test platform through a bearing;

[0018] The lower part of the vertical platform is provided with a vertical platform bottom plate, and the bottom of the vertical platform bottom plate is threadedly connected to the horizontal lead screw through a nut.

[0019] Further, the vertical platform includes:

[0020] The vertical platform bottom plate; and

[0021] A vertical plate fixed to the vertical platform bottom plate. Vertical slide rails are symmetrically arranged on the vertical plate, and the execution end integrated seat is slidably connected to the vertical slide rails.

[0022] Further, a vertical movement driving motor is provided at the upper end of the vertical plate;

[0023] A vertical lead screw is arranged between the two vertical slide rails. The output end of the vertical movement driving motor is connected to the vertical lead screw to drive the vertical lead screw to rotate, and the other end of the vertical lead screw is rotatably connected to the mounting plate of the vertical platform bottom plate through a bearing;

[0024] The side of the execution end integrated seat that cooperates with the vertical lead screw is threadedly connected to the vertical lead screw through a nut.

[0025] Further, the execution end is a robotic arm and a robotic claw;

[0026] The robotic claw is arranged at one end of the robotic arm away from the execution end integrated seat.

[0027] Further, the robotic arm is rotatably connected to the execution end integrated seat;

[0028] The robotic arm includes:

[0029] The first arm and the second arm;

[0030] The first arm is rotationally connected to the end effector integration base through a first motor, and the first motor drives the first arm to rotate relative to the end effector integration base;

[0031] The second arm is rotationally connected to the first arm through a second motor and a transmission gear set. The transmission gear set includes a driving gear installed inside the first arm and a driven gear installed inside the second arm. The second motor is connected to the driving gear to drive the driving gear to rotate, and the driven gear meshes with the driving gear to be driven to rotate by the driving gear.

[0032] Furthermore, the mechanical claw is installed at the end of the second arm;

[0033] The mechanical claw includes:

[0034] A mechanical claw base; and

[0035] A plurality of claw parts movably connected to the front end of the mechanical claw base;

[0036] The plurality of claw parts are driven to move synchronously through a mechanical claw driving structure.

[0037] Furthermore, the claw part is hinged to the mechanical claw base through a connecting rod;

[0038] The mechanical claw driving structure includes:

[0039] A driving motor installed inside the second arm and close to the end of the second arm;

[0040] A driving lead screw connected to the output end of the driving motor; and

[0041] A driving nut threadedly connected to the driving lead screw;

[0042] The driving nut is connected to the corresponding connecting rod through a driving rod to drive the corresponding claw part to move.

[0043] In the above technical solution, an electromechanical integrated test device provided by the present utility model has the following beneficial effects:

[0044] The test device of the present utility model drives the end effector components to act through a stepping motor, realizes the movement, positioning and grasping actions of the robotic arm and the mechanical claw, and meets the requirements of automatic control for the prototype test; the present invention solves the problems of the original pneumatic power source such as complex structure, cumbersome operation, poor stability and low control accuracy, adopts a single electric drive scheme, and finally achieves the technical effects of high precision and high stability. Description of the Drawings

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a front view of a mechatronic test device disclosed in an embodiment of the utility model;

[0047] Figure 2 A top view of a mechatronic test device disclosed in an embodiment of the utility model;

[0048] Figure 3 The structure of the execution end of a mechatronic test device disclosed in the embodiment of the utility model is schematically shown. Figure 1 ;

[0049] Figure 4 The structure of the execution end of a mechatronic test device disclosed in the embodiment of the utility model is schematically shown. Figure 2 .

[0050] Description of reference numerals:

[0051] 1. Bottom test platform; 2. Vertical platform; 3. Execution end;

[0052] 102, horizontal movement drive motor; 103, horizontal slide rail; 104, horizontal lead screw; 105, support leg; 106, ground anchor;

[0053] 201, vertical plate; 202, vertical moving drive motor; 203, vertical slide rail; 205, vertical platform bottom plate;

[0054] 301, execution end integrated seat; 302, first motor; 303, first arm; 304, second arm; 305, second motor; 306, driving gear; 307, driven gear; 308, driving motor; 309, mechanical claw base; 310, driving screw; 311, driving nut; 312, claw; 313, connecting rod; 314, driving rod; 401, controller; 402, touch screen. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0056] See also Figures 1 to 4 As shown;

[0057] A mechatronic test device of this embodiment includes:

[0058] The bottom test platform 1 has support legs 105 at its lower part that are supported on the ground.

[0059] A vertical platform 2 that can move horizontally along the length direction of the bottom test platform 1; and

[0060] An execution end integrated seat 301 that can reciprocate vertically along the height direction of the vertical platform 2, and an execution end 3 is arranged on the execution end integrated seat 301.

[0061] The horizontal movement of the vertical platform 2, the vertical movement of the execution end integrated seat 301, and the movement of the execution end 3 are all driven by motors.

[0062] Specifically, this embodiment discloses an electromechanical integrated test device, which includes a bottom test platform 1, a vertical platform 2, and an execution end 3; the bottom test platform 1 of this embodiment can adjust the horizontal position of the vertical platform 2 and the execution end 3; the vertical platform 2 can adjust the vertical height of the execution end 3; and the execution end 3 mainly uses a robotic arm and a robotic claw to complete the grasping operation. The execution end 3 of this embodiment is integrated on the vertical platform 2 through the execution end integrated seat 301, and all the drive structures of this embodiment adopt motor drive. The single electric drive method can solve problems such as the complex structure, cumbersome operation, and poor stability of the air power source.

[0063] Preferably, the bottom test platform 1 of this embodiment is configured as a quadrilateral structure;

[0064] Support legs 105 are provided at the four corners of the quadrilateral bottom test platform 1, and the lower ends of the support legs 105 have anchor feet 106 with a cross-sectional dimension larger than that of the support legs 105.

[0065] Two horizontal sliding rails 103 extending along the length direction of the bottom test platform 1 and arranged at intervals are provided on the upper surface of the bottom test platform 1;

[0066] The vertical platform 2 is slidably connected to the horizontal sliding rails 103.

[0067] Among them, more specifically: a horizontal movement drive motor 102 is provided at one end of the bottom test platform 1 of this embodiment;

[0068] A horizontal lead screw 104 is arranged between the two horizontal sliding rails 103. The output end of the horizontal movement drive motor 102 is connected to one end of the horizontal lead screw 104 to drive the horizontal lead screw 104 to rotate, and the other end of the horizontal lead screw 104 is rotatably connected to the mounting plate at the end of the bottom test platform 1 through a bearing;

[0069] A vertical platform base plate 205 is provided at the lower part of the vertical platform 2, and the bottom of the vertical platform base plate 205 is threadedly connected to the horizontal lead screw 104 through a nut.

[0070] First, this embodiment further defines the structure of the bottom test platform 1 and the specific structural principle of adjusting the horizontal positions of the vertical platform 2 and the execution end 3 through the bottom test platform 1. The bottom test platform 1 of this embodiment is supported on the ground by the support legs 105 at the four corners to maintain the stability of the entire device. The bottom test platform 1 is provided with two horizontal slide rails 103, and a horizontal lead screw 104 is arranged between the two horizontal slide rails 103. The driving structure is the horizontal movement driving motor 102 on the side. The output end of the horizontal movement driving motor 102 is connected to the horizontal lead screw 104 to drive the horizontal lead screw 104 to rotate. And a nut threadedly connected to the horizontal lead screw 104 is provided at the bottom of the vertical platform base plate 205 of the vertical platform 2 in this embodiment, so as to convert the rotational motion into the linear motion of the vertical platform 2 and realize the adjustment of the horizontal position.

[0071] Preferably, the vertical platform 2 of this embodiment includes:

[0072] A vertical platform base plate 205; and

[0073] A vertical plate 201 fixed to the vertical platform base plate 205. Vertical slide rails 203 are symmetrically arranged on the vertical plate 201, and the execution end integrated seat 301 is slidably connected to the vertical slide rails 203.

[0074] Among them, a vertical movement driving motor 202 is provided at the upper end of the vertical plate 201 of this embodiment;

[0075] A vertical lead screw is arranged between the two vertical slide rails 203. The output end of the vertical movement driving motor 202 is connected to the vertical lead screw to drive the vertical lead screw to rotate, and the other end of the vertical lead screw is rotationally connected to the mounting plate of the vertical platform base plate 205 through a bearing;

[0076] One side of the execution end integrated seat 301 cooperating with the vertical lead screw is threadedly connected to the vertical lead screw through a nut.

[0077] This embodiment further defines the structure of the vertical platform 2 and the structural principle of the vertical platform 2 adjusting the vertical height of the execution end 3. The vertical platform 2 is provided with a vertical plate 201, and two vertical slide rails 203 are arranged on the vertical plate 201. A vertical lead screw is arranged between the two vertical slide rails 203. And a nut is provided at one end of the execution end integrated seat 301 cooperating with the vertical lead screw in this embodiment. At the same time, the driving structure of the vertical movement in this embodiment is the vertical movement driving motor 202. The output end of the vertical movement driving motor 202 is connected to the vertical lead screw to drive the vertical lead screw to rotate, so as to convert the rotational motion of the vertical lead screw into the linear motion of the execution end integrated seat 301.

[0078] Preferably, the execution end 3 of this embodiment is a robotic arm and a robotic gripper;

[0079] The robotic gripper is arranged at one end of the robotic arm away from the execution end integrated base 301.

[0080] Among them, the robotic arm of this embodiment is rotatably connected to the execution end integrated base 301;

[0081] The robotic arm includes:

[0082] A first arm 303 and a second arm 304;

[0083] The first arm 303 is rotatably connected to the execution end integrated base 301 through a first motor 302, and the first motor 302 drives the first arm 303 to rotate relative to the execution end integrated base 301;

[0084] The second arm 304 is rotatably connected to the first arm 303 through a second motor 305 and a transmission gear set. The transmission gear set includes a driving gear 306 installed inside the first arm 303 and a driven gear 307 installed inside the second arm 304. The second motor 305 is connected to the driving gear 306 to drive the driving gear 306 to rotate, and the driven gear 307 meshes with the driving gear 306 to drive rotation through the driving gear 306.

[0085] The robotic gripper is installed at the end of the second arm 304;

[0086] The robotic gripper includes:

[0087] A robotic gripper base 309; and

[0088] A plurality of claw parts 312 movably connected to the front end of the robotic gripper base 309;

[0089] The plurality of claw parts 312 are driven to move synchronously through a robotic gripper driving structure.

[0090] In addition, the claw part 312 of this embodiment is hinged to the robotic gripper base 309 through a connecting rod 313;

[0091] The robotic gripper driving structure includes:

[0092] A driving motor 308 installed inside the second arm 304 and near the end of the second arm 304;

[0093] A driving lead screw 310 connected to the output end of the driving motor 308; and

[0094] A driving lead nut 311 threadedly connected to the driving lead screw 310;

[0095] The driving lead nut 311 is connected to the corresponding connecting rod 313 through a driving rod 314 to drive the corresponding claw part 312 to move.

[0096] The device of this embodiment can be fixed on the laboratory floor, and the mechanism for fixing the execution end 3 can accurately move and position on the platform by receiving the control signal of the controller 401. Only one set of actuators is required, and through program control, positioning, rotation, pushing and pulling are automatically completed. For the test itself, the control accuracy has been greatly improved. Finally, the test data shows that the whole test process is more stable, reducing the influence of subjective factors such as personnel and equipment on the test process, improving the accuracy of the test. At the same time, the laboratory cost is further reduced.

[0097] In the above technical solution, a mechatronic test device provided by the present utility model has the following beneficial effects:

[0098] The test device of the present utility model drives the end execution component to act through a stepper motor, realizes the movement, positioning and grasping actions of the robotic arm and the robotic claw, and meets the requirements of automatic control for the prototype test; the present invention solves the problems of the original pneumatic power source such as complex structure, cumbersome operation, poor stability and low control accuracy, adopts a single electric drive scheme, and finally achieves the technical effects of high precision and high stability.

[0099] Only some exemplary embodiments of the present utility model have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present utility model, the described embodiments can be modified in various different ways. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present utility model.

Claims

1. An electromechanical integrated test device, characterized in that, The test device includes: A bottom test platform (1), with support legs (105) supporting it on the ground at the lower part of the bottom test platform (1); A vertical platform (2) capable of moving horizontally along the length direction of the bottom test platform (1); and An execution end integrated seat (301) capable of reciprocating vertically along the height direction of the vertical platform (2), with an execution end (3) provided on the execution end integrated seat (301); The horizontal movement of the vertical platform (2), the vertical movement of the execution end integrated seat (301), and the movement of the execution end (3) are all driven by motors.

2. An electromechanical integrated test device according to claim 1, characterized in that, The bottom test platform (1) is configured as a quadrilateral structure; Support legs (105) are provided at the four corners of the quadrilateral bottom test platform (1), and the lower ends of the support legs (105) have anchor feet (106) with a cross-sectional dimension larger than that of the support legs (105); Two horizontal slide rails (103) extending along the length direction of the bottom test platform (1) and arranged at intervals are provided on the upper surface of the bottom test platform (1); The vertical platform (2) is slidably connected to the horizontal slide rails (103).

3. An electromechanical integrated test device according to claim 2, characterized in that, A horizontal movement drive motor (102) is provided at one end of the bottom test platform (1); A horizontal lead screw (104) is provided between the two horizontal slide rails (103). The output end of the horizontal movement drive motor (102) is connected to one end of the horizontal lead screw (104) to drive the horizontal lead screw (104) to rotate, and the other end of the horizontal lead screw (104) is rotatably connected to the mounting plate at the end of the bottom test platform (1) through a bearing; A vertical platform bottom plate (205) is provided at the lower part of the vertical platform (2), and the bottom of the vertical platform bottom plate (205) is threadedly connected to the horizontal lead screw (104) through a nut.

4. An electromechanical integrated test device according to claim 3, characterized in that The vertical platform (2) includes: The vertical platform bottom plate (205); and A vertical plate (201) fixed to the vertical platform bottom plate (205). Vertical slide rails (203) are symmetrically provided on the vertical plate (201), and the execution end integrated seat (301) is slidably connected to the vertical slide rails (203).

5. An electromechanical integrated test device according to claim 4, characterized in that, A vertical movement drive motor (202) is provided at the upper end of the vertical plate (201); A vertical lead screw is provided between the two vertical slide rails (203). The output end of the vertical movement drive motor (202) is connected to the vertical lead screw to drive the vertical lead screw to rotate, and the other end of the vertical lead screw is rotatably connected to the mounting plate of the vertical platform bottom plate (205) through a bearing; One side of the execution end integrated seat (301) cooperating with the vertical lead screw is threadedly connected to the vertical lead screw through a nut.

6. An electromechanical integrated test device according to claim 1 or 5, characterized in that, The execution end (3) is a robotic arm and a robotic claw; The robotic claw is provided at one end of the robotic arm away from the execution end integrated seat (301).

7. An electromechanical integrated test device according to claim 6, characterized in that, The robotic arm is rotatably connected to the execution end integrated seat (301); The robotic arm includes: A first arm (303) and a second arm (304); The first arm (303) is rotatably connected to the end effector integrated base (301) through a first motor (302), and the first motor (302) drives the first arm (303) to rotate relative to the end effector integrated base (301); The second arm (304) is rotatably connected to the first arm (303) through a second motor (305) and a transmission gear set. The transmission gear set includes a driving gear (306) installed on the inner side of the first arm (303) and a driven gear (307) installed on the inner side of the second arm (304). The second motor (305) is connected to the driving gear (306) to drive the driving gear (306) to rotate, and the driven gear (307) meshes with the driving gear (306) to be driven to rotate by the driving gear (306).

8. An electromechanical integrated test device according to claim 7, characterized in that, The mechanical claw is installed at the end of the second arm (304); The mechanical claw includes: A mechanical claw base (309); and A plurality of claw parts (312) movably connected to the front end of the mechanical claw base (309); The plurality of claw parts (312) are driven to move synchronously through a mechanical claw driving structure.

9. An electromechanical integrated test device according to claim 8, characterized in that, The claw part (312) is hinged to the mechanical claw base (309) through a connecting rod (313); The mechanical claw driving structure includes: A driving motor (308) installed on the inner side of the second arm (304) and close to the end of the second arm (304); A driving lead screw (310) connected to the output end of the driving motor (308); and A driving nut (311) threadedly connected to the driving lead screw (310); The driving nut (311) is connected to the corresponding connecting rod (313) through a driving rod (314) to drive the corresponding claw part (312) to move.

Images