Mechanical arm testing device

Abstract

The utility model discloses a mechanical arm testing device. The mechanical arm testing device comprises a base; the test board is mounted on the machine base; a tester; the tester is arranged on one side of the test board and comprises a back plate, two side plates connected to the two ends of the back plate, a top plate connected with the top ends of the two side plates and a plurality of displacement sensors, and the displacement sensors are arranged on the side plates, the back plate and the top plate at intervals; the mechanical arm is arranged on one side of the test board; and the first electromagnetic part is arranged on the other side of the test board, and the first electromagnetic part is used for fixing the mechanical arm. The mechanical arm is transported to the test board through the hoisting assembly, and the mechanical arm is fixed to the test board through the first electromagnetic piece. The first electromagnetic part is arranged to attract the mechanical arm, so that the mounting and dismounting difficulty of the mechanical arm is greatly reduced, and manpower and material resources are conveniently saved. The pose error and the dynamic error of the mechanical arm are tested through the tester, so that the operation precision of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm testing, in particular to a mechanical arm testing device. Background Art

[0002] Robot arm testing is the process of ensuring that the robot arm can accurately reach the desired position and posture when performing a task. It includes several different levels of testing, such as kinematics and dynamics. The purpose of testing is to reduce the robot arm's positioning error and improve operational accuracy.

[0003] Existing robotic arm testing devices usually move the robotic arm to a preset position and then use fasteners to fix the robotic arm to the test bench. The fixing process is relatively cumbersome, and the robotic arm needs to be disassembled after testing, wasting a lot of manpower and material resources. Utility Model Content

[0004] The technical problem to be solved by the present invention is: the present invention provides a robotic arm testing device to solve the problem that the shape of the gripping claws of the robotic arm is fixed, resulting in limited usage scenarios of the gripping robotic arm.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a mechanical arm testing device, comprising: a machine base; a test bench, the test bench is installed on the machine base; a tester; the tester is arranged on one side of the test bench, the tester includes a back plate, two side plates connected to the two ends of the back plate, a top plate connecting the top ends of the two side plates and a plurality of displacement sensors, and the side plates, the back plate and the top plate are all provided with displacement sensors at intervals; a mechanical arm, the mechanical arm is arranged on one side of the test bench; the first electromagnetic component, the first electromagnetic component is arranged on the other side of the test bench, and the first electromagnetic component is used to fix the mechanical arm.

[0006] The beneficial effects of the present invention are as follows: the robotic arm is transported to the test bench by a lifting assembly, and the robotic arm is fixed to the test bench by a first electromagnetic component. Preferably, the test bench is provided with a through hole for the first electromagnetic component to pass through, so that the robotic arm can form zero-distance contact with the first electromagnetic component, thereby improving the adsorption force of the first electromagnetic component on the robotic arm. The area of the through hole is smaller than the cross-sectional area of the bottom of the robotic arm, thereby preventing the robotic arm from falling through the through hole. The output end of the robotic arm is connected to a gauge block. During the test process, the robotic arm moves to a specific posture to move the gauge block into the tester. The position of the gauge block is measured by multiple displacement sensors in the tester. The measured position is compared with the preset position to which the robotic arm wants to move the gauge block, thereby obtaining the posture error of the robotic arm. In addition, the robotic arm can also control the gauge block to move inside the tester, and the displacement sensor inside the tester measures its movement. The above movement is compared with the preset movement of the robotic arm, thereby obtaining the dynamic error of the robotic arm. The robotic arm is calibrated by the above error to improve the operating accuracy of the robotic arm. By setting up a first electromagnetic component to attract the robotic arm, the difficulty of installing and disassembling the robotic arm is greatly reduced, which saves manpower and material resources. The position error and dynamic error of the robotic arm are tested by a measuring instrument to improve the operating accuracy of the robotic arm.

[0007] Preferably, it also includes:

[0008] Multiple positioning parts, multiple positioning parts are installed on the test bench;

[0009] A connecting end, the robotic arm is provided with a connecting end;

[0010] Among them, the positioning parts include:

[0011] Positioning seat, the positioning seat is installed on the test bench;

[0012] The positioning block is arranged on the positioning seat, and the positioning block at least partially contacts the connecting end.

[0013] Preferably, the positioning member further comprises:

[0014] The guide block is arranged on the positioning block.

[0015] Preferably, the positioning member further comprises:

[0016] A screw rod is rotatably disposed on a positioning seat;

[0017] A nut block is threadedly connected to the screw rod and is movably arranged on the positioning seat, and the nut block is connected to the positioning block;

[0018] The slide rail is arranged on the positioning seat, and the positioning block is movably arranged on the slide rail.

[0019] Preferably, the positioning member further comprises:

[0020] The second electromagnetic component is arranged on the positioning block.

[0021] Preferably, the first electromagnetic member comprises:

[0022] Electromagnetic seat;

[0023] A plurality of electromagnetic chucks, wherein the plurality of electromagnetic chucks are arranged on the electromagnetic base;

[0024] A strong electromagnet is arranged on the electromagnetic base. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural diagram of a robotic arm testing device;

[0026] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0027] Figure 3 Schematic diagram of the structure of the first electromagnetic component.

[0028] In the figure: test bench 1, side panel 2, top panel 3, robotic arm 4, connecting end 5, machine base 6, guide block 7, nut block 8, screw 9, positioning seat 10, slide rail 11, threaded hole 12, second electromagnetic component 13, positioning block 14, electromagnetic chuck 15, strong electromagnet 16, electromagnetic seat 17. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0030] In this article, terms such as "upper, lower, inside, outside" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" are only used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0031] Example

[0032] like Figure 1-3As shown, a robotic arm testing device includes: a machine base 6; a test table 1, which is installed on the machine base 6; a tester; the tester is arranged on one side of the test table 1, the tester includes a back plate, two side plates 2 connected to the two ends of the back plate, a top plate 3 connecting the top ends of the two side plates 2, and a plurality of displacement sensors, and displacement sensors are arranged at intervals on the side plates 2, the back plate and the top plate 3; a robotic arm 4, which is arranged on one side of the test table 1; a first electromagnetic component, which is arranged on the other side of the test table 1, and is used to fix the robotic arm 4.

[0033] Specifically, the base 6 is used to support the test bench 1. Preferably, the base 6 is connected to an external component to ensure the stability of the test bench 1 during the test. The robotic arm 4 is transported to the test bench 1 by a lifting assembly, and the robotic arm 4 is fixed to the test bench 1 by a first electromagnetic component. Preferably, a through hole is provided on the test bench 1 for the first electromagnetic component to pass through, so that the robotic arm 4 can form zero-distance contact with the first electromagnetic component, thereby improving the adsorption force of the first electromagnetic component on the robotic arm 4. The area of the through hole is smaller than the cross-sectional area of the bottom of the robotic arm 4, thereby preventing the robotic arm 4 from falling from the through hole. The output end of the robotic arm 4 is connected to a gauge block. During the test, the robotic arm 4 moves to a specific posture to move the gauge block into the tester. The position of the gauge block is measured by multiple displacement sensors in the tester, and the measured position is compared with the preset position to which the robotic arm 4 wants to move the gauge block, thereby obtaining the posture error of the robotic arm 4. Furthermore, the manipulator 4 can control the movement of the gauge block within the tester. A displacement sensor within the tester measures its movement and compares this movement with the preset movement of the manipulator 4 to determine the dynamic error of the manipulator 4. This error is used to calibrate the manipulator 4, thereby improving its operational accuracy. The provision of a first electromagnetic element to attract the manipulator 4 significantly simplifies its installation and removal, saving manpower and resources. The positional and dynamic errors of the manipulator 4 are measured using a measuring device to improve its operational accuracy.

[0034] Furthermore, the system further includes: a plurality of positioning members mounted on the test bench 1; a connecting end 5, provided with the robotic arm 4; wherein the positioning members include: a positioning seat 10 mounted on the test bench 1; and a positioning block 14, provided on the positioning seat 10, with the positioning block 14 at least partially contacting the connecting end 5. The robotic arm 4 has a connecting end 5 for connecting to a component to be connected, for example, connecting the robotic arm 4 to a robot via the connecting end 5. The connecting end 5 is located at the bottom of the robotic arm 4 and is connected to a first electromagnetic component via the connecting end 5. During the installation of the robotic arm 4 on the test bench 1, the initial position of the robotic arm 4 is initially constrained by the positioning block 14 to ensure its initial position. Preferably, four positioning seats 10 are provided, evenly arranged along the circumference to limit the degrees of freedom of the robotic arm 4 on the plane of the test bench 1. Preferably, the positioning seats 10 are provided with threaded holes 12, and the positioning seats 10 are connected to the test bench 1 via fasteners.

[0035] Furthermore, the positioning member also includes a guide block 7, which is disposed on the positioning block 14. During the lifting process of the robotic arm 4, the guide block 7 serves as a guide, allowing the robotic arm 4 to move between the multiple positioning blocks 14 under the action of the guide block 7 even when there is position deviation. Preferably, the guide block 7 and the positioning block 14 are integrally structured, and the guide block 7 is provided with a curved guide surface.

[0036] Furthermore, the positioning member further includes: a screw rod 9, which is rotatably mounted on a positioning seat 10; a nut block 8, which is threadedly connected to the screw rod 9 and movably mounted on the positioning seat 10, the nut block 8 being connected to a positioning block 14, and a slide rail 11, which is mounted on the positioning seat 10, and the positioning block 14 being movably mounted on the slide rail 11. Rotating the screw rod 9 can move the nut block 8, thereby moving the positioning block 14. By changing the position of the positioning blocks 14, multiple positioning blocks 14 can be adapted to robotic arms 4 of different specifications and shapes.

[0037] Furthermore, the positioning member also includes a second electromagnetic member 13, which is disposed on the positioning block 14. After the positioning block 14 contacts the robotic arm 4 and the first electromagnetic member attracts the robotic arm 4, the second electromagnetic member 13 attracts the robotic arm 4. In addition to attracting the robotic arm 4 via the first electromagnetic member, the second electromagnetic member 13 also attracts the robotic arm 4, thereby improving safety performance. In addition to the second electromagnetic member 13, the slide rail 11 is provided to effectively prevent the screw 9 from being subjected to large vertical forces, thereby increasing the service life of the screw 9. Preferably, the second electromagnetic member 13 includes an electromagnet.

[0038] Furthermore, the first electromagnetic component includes: an electromagnetic base 17; a plurality of electromagnetic suction cups 15, and the plurality of electromagnetic suction cups 15 are arranged on the electromagnetic base 17; a strong electromagnet 16, and the strong electromagnet 16 is arranged on the electromagnetic base 17. The electromagnetic base 17 is fixed to the test bench 1 by the electromagnetic suction cup 15, and the connection end 5 of the robotic arm 4 is adsorbed by the strong electromagnet 16. The preferred test bench 1 is provided with a through hole for the strong electromagnet 16 to pass through, but the area of the through hole is much smaller than the cross-sectional area of the connection end 5 of the robotic arm 4. The above-mentioned technical features can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A robotic arm testing device, characterized in that: include: Machine base (6); A test bench (1), the test bench (1) being mounted on the machine base (6); A tester; the tester is arranged on one side of the test bench (1), and comprises a back plate, two side plates (2) connected to both ends of the back plate, a top plate (3) connected to the top ends of the two side plates (2), and a plurality of displacement sensors, wherein the displacement sensors are arranged at intervals on the side plates (2), the back plate, and the top plate (3); A mechanical arm (4), the mechanical arm (4) being arranged on one side of the test bench (1); A first electromagnetic component, the first electromagnetic component is arranged on the other side of the test bench (1), and the first electromagnetic component is used to fix the mechanical arm (4).

2. A robotic arm testing device according to claim 1, characterized in that: Also includes: A plurality of positioning members, wherein the plurality of positioning members are mounted on the test bench (1); A connecting end (5), the robotic arm (4) is provided with a connecting end (5); Wherein, the positioning member includes: A positioning seat (10), the positioning seat (10) being mounted on the test bench (1); A positioning block (14), wherein the positioning block (14) is arranged on the positioning seat (10), and the positioning block (14) at least partially contacts the connecting end (5).

3. A robotic arm testing device according to claim 2, characterized in that: The positioning member further comprises: A guide block (7), wherein the guide block (7) is arranged on the positioning block (14).

4. A robotic arm testing device according to claim 2, characterized in that: The positioning member further comprises: a screw (9), the screw (9) being rotatably disposed on the positioning seat (10); a nut block (8), the nut block (8) being threadedly connected to the screw rod (9) and being movably arranged on the positioning seat (10), the nut block (8) being connected to the positioning block (14); A slide rail (11), wherein the slide rail (11) is arranged on the positioning seat (10), and the positioning block (14) is movably arranged on the slide rail (11).

5. The robotic arm testing device according to claim 2, characterized in that: The positioning member further comprises: A second electromagnetic component (13), wherein the second electromagnetic component (13) is arranged on the positioning block (14).

6. The robotic arm testing device according to claim 1, characterized in that: The first electromagnetic component includes: Electromagnetic seat (17); A plurality of electromagnetic suction cups (15), wherein the plurality of electromagnetic suction cups (15) are arranged on the electromagnetic seat (17); A strong electromagnet (16), wherein the strong electromagnet (16) is arranged on the electromagnetic seat (17).

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