Mechanical arm fatigue test equipment
By designing a robotic arm fatigue testing device with a base, lifting mechanism, and fixed components, the problem of inaccurate data caused by vibration during robotic arm testing was solved, and reliable fatigue testing of carbon fiber robotic arms was achieved.
Patent Information
- Application Number
- CN202422893251.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2034-11-26
AI Technical Summary
Existing robotic arm fatigue testing equipment causes inaccurate data due to vibration during the test process, reducing the test effect.
A robotic arm fatigue testing device was designed, which included a base, first and second lifting mechanisms, and first and second fixing assemblies. The robotic arm was fixed with an L-shaped bracket and a positioning plate. The cooperation of the first and second lifting mechanisms was used to simulate the movement of the robotic arm and detect its fatigue performance.
Reliable fatigue testing of carbon fiber robotic arms has been achieved, and the structure is stable, enabling accurate evaluation of its durability performance.
Smart Images
Figure CN223412946U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of testing technology, and in particular to a mechanical arm fatigue testing device based on carbon fiber material. Background Art
[0002] Robot arm fatigue testing is a method used to evaluate the durability of components or products under long-term cycling or extreme operating conditions. It typically simulates the fatigue process by simulating the loads and motions encountered in actual use. Currently, sensors are typically mounted on the robot arm during testing to monitor and measure its motion parameters in real time. However, during actual testing, vibrations generated by the robot arm and other factors can lead to inaccurate test data, reducing test effectiveness. Utility Model Content
[0003] In order to overcome the above shortcomings, the purpose of this application is to provide a robotic arm fatigue testing device, which is used to evaluate a robotic arm made of carbon fiber material. The testing device has a stable structure and can reliably perform fatigue testing on a robotic arm made of carbon fiber material.
[0004] In order to achieve the above objectives, this application adopts the following technical solutions:
[0005] A robotic arm fatigue testing device for evaluating a carbon fiber-based robotic arm, comprising:
[0006] base, a first lifting mechanism, a second lifting mechanism, a first fixing assembly and a second fixing assembly,
[0007] The first fixing assembly includes a bracket and a first positioning plate, wherein the first positioning plate is fixed to the bracket.
[0008] The second fixing assembly includes a support portion and a second positioning plate, the second positioning plate is fixed to the support portion, the support portion is fixed to the base, and the second positioning plate is arranged opposite to the first positioning plate.
[0009] The first lifting mechanism and the second lifting mechanism are arranged on the same side of the base, and their output ends are respectively connected to the brackets. The first lifting mechanism is constructed so that the lifting direction of its telescopic rod is perpendicular to the plane of the base, and the lifting direction of the telescopic rod of the second lifting mechanism is inclined to the plane of the base (the top surface of the base).
[0010] Preferably, the bracket is an L-shaped bracket, which includes a first sub-bracket and a second sub-bracket.
[0011] The end of the first telescopic shaft of the first lifting mechanism is connected to the second sub-bracket,
[0012] An end portion of the second telescopic shaft of the second lifting mechanism is connected to a side of the first sub-bracket away from the second sub-bracket.
[0013] Preferably, the second fixing assembly further comprises at least one auxiliary bracket, one end of which is fixed to the base and the other end of which is fixed to the supporting portion.
[0014] Preferably, the base is provided with a plurality of mounting holes, and the support portion is embedded in the matching mounting holes through a connecting piece to fix the support portion on the base.
[0015] Preferably, the first positioning plate is provided with a plurality of first through holes.
[0016] Preferably, a combination of a plurality of the first perforations in the robotic arm fatigue testing device forms circles with different diameters.
[0017] Preferably, the second positioning plate is provided with a plurality of second through holes.
[0018] Preferably, the first lifting mechanism includes a first driving portion, the first driving portion has a first telescopic shaft, and an end portion of the first telescopic shaft is connected to the bracket through a connecting component;
[0019] The second lifting mechanism includes a second driving portion having a second telescopic shaft, and an end portion of the second telescopic shaft is connected to the bracket through a connecting component.
[0020] Preferably, the robotic arm includes a body made of carbon fiber material, a first connecting portion is provided at one end thereof, and a second connecting portion is provided at the other end opposite to the one end, and the first connecting portion and the second connecting portion are respectively made of metal material.
[0021] Preferably, at least one flat portion is provided in each of the two side ends of the body, and the flat portion has a through hole extending radially along the body, and the flat portion is used to match the platform on the side of the first connecting portion or the platform on the side of the second connecting portion.
[0022] Beneficial effects
[0023] The testing equipment proposed in this application has a stable structure and can reliably perform fatigue testing on a robotic arm made of carbon fiber material. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The accompanying drawings are intended to facilitate understanding of the technical solutions of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solutions of the present disclosure and do not constitute a limitation of the technical solutions of the present disclosure. The shapes and sizes of the components in the accompanying drawings do not reflect the actual scale and are intended only to illustrate the contents of this application.
[0025] Figure 1This is a three-dimensional schematic diagram of a robotic arm fatigue testing device according to an embodiment of the present application;
[0026] Figure 2 A schematic structural diagram of a testing device from another perspective of an embodiment of the present application;
[0027] Figure 3 and Figure 4 A schematic diagram of a test robot arm of a test device according to an embodiment of the present application;
[0028] Figure 5 for Figure 3 A schematic diagram of a cross section at a certain viewing angle;
[0029] Figure 6 and Figure 7 This is a schematic structural diagram of a carbon fiber robotic arm according to an embodiment of the present application;
[0030] Figure 8 This is a schematic structural diagram of the first connecting portion of the carbon fiber robotic arm according to an embodiment of the present application;
[0031] Figure 9 This is a schematic structural diagram of a carbon fiber robotic arm body according to an embodiment of the present application;
[0032] Figure 10 and Figure 11 Schematic diagram of the structure of the second connecting part of the carbon fiber robotic arm according to an embodiment of the present application. DETAILED DESCRIPTION
[0033] The above scheme is further described below with reference to specific examples. It should be understood that these examples are intended to illustrate the present application and are not intended to limit the scope of the present application. The implementation conditions used in the examples can be further adjusted according to the conditions of the specific manufacturer. The implementation conditions not specified are generally those used in routine experiments.
[0034] Next, combine the Figures 1-11 To describe the robotic arm fatigue testing equipment proposed in this application, the robotic arm is based on carbon fiber material.
[0035] Figure 1 Schematic diagram of a three-dimensional view of a mechanical arm fatigue testing device (hereinafter referred to as the testing device) according to an embodiment of the present application; Figure 2 for Figure 1 Schematic diagram of the structure of the test equipment from another perspective.
[0036] The testing device 100 includes a base 110, a first lifting mechanism 120 is provided on the base 110 (such as the top surface 110a of the base 110), the lifting direction of the first lifting mechanism 120 is perpendicular or approximately perpendicular to the plane of the base 110, a second lifting mechanism 150, the lifting direction of the second lifting mechanism 150 is inclined to the plane of the base 110, and a first fixing assembly, the first fixing assembly including a bracket 130 and a first positioning plate 140,
[0037] The output end 121 of the first lifting mechanism 120 is connected to the bracket 130.
[0038] The output end 151 of the second lifting mechanism 150 is connected to the bracket 130.
[0039] The first positioning plate 140 is disposed on the bracket 130 .
[0040] The second fixing assembly includes a support portion 160 and a second positioning plate 170.
[0041] The second positioning plate 170 is fixed to the support portion 160 (such as fixed to the support portion 160 by a combination of bolts and nuts, or fixed to the support portion 160 by riveting), and the second positioning plate 170 is arranged opposite to the first positioning plate 140. The support portion 160 is fixed to the base 110. Preferably, the second fixing assembly also includes at least one auxiliary bracket 161, one end of which is fixed to the base 110 (such as in the groove 111 on the base 110), and the other end is fixed to the support portion 160. Preferably, a plurality of mounting holes 112 are provided on the base 110, and the support portion 160 is fixed to the base 110 by matching the mounting holes 112 with bolts. The interval between the first positioning plate 140 and the second positioning plate 170 can be adjusted for different sizes of robotic arms through the corresponding mounting holes 112.
[0042] The first positioning plate 140 is provided with a plurality of first through-holes 141 for fixing the robot arm under test via connecting members (such as bolts / pins). For example, the first through-holes 141 are arranged to form circles of different diameters to match robot arms of different sizes.
[0043] The second positioning plate 170 is provided with a plurality of second through-holes 171 (eg, the second through-holes 171 are combined to form circles of different diameters), and the testing robot arm is fixed by connecting members (eg, bolts / pins).
[0044] The fixing portion 122 of the first lifting mechanism 120 is fixed to the base 110, and the fixing portion 152 of the second lifting mechanism 150 is fixed to the base 110. The second lifting mechanism 150 is disposed on the same side of the base 110 as the first lifting mechanism 120. The first lifting mechanism 120 includes a first driving portion having a first telescopic shaft, the end of which (serving as an output end) is connected to the bracket 130 via a connecting component. The second lifting mechanism 150 includes a second driving portion having a second telescopic shaft, the end of which (serving as an output end) is connected to the bracket 130 via a connecting component.
[0045] In one embodiment, the bracket 130 is an L-shaped bracket having a first sub-bracket 131 and a second sub-bracket 132. The end of the telescopic shaft of the first lifting mechanism 120 is connected to the second sub-bracket 132 of the bracket 130 via a connecting component. The end of the second telescopic shaft of the second driving unit included in the second lifting mechanism 150 is connected to the first sub-bracket 131 of the bracket 130 via a connecting component. By adjusting the first lifting mechanism 120 so that the first positioning plate 140 and the second positioning plate 170 are approximately in the same position, the robotic arm to be tested is fixed. By adjusting the telescopic rod of the second lifting mechanism 150, the bracket 130 is twisted (the first sub-bracket 131 is twisted around the second sub-bracket 132) to test the carbon fiber robotic arm.
[0046] Next, combine Figure 3-Figure 11 To describe the test equipment to test the carbon fiber robotic arm.
[0047] The carbon fiber robotic arm 200 includes a body 230, one end of which is provided with a first connecting portion 220, and the other end opposite the first end is provided with a second connecting portion 210. The body 210 is made of carbon fiber, and the first connecting portion 220 and the second connecting portion 210 are respectively made of metal (such as aluminum). The first connecting portion 220 and the second connecting portion 210 are respectively fixed to the side ends of the body 230 via adhesives (or connectors). Taking one side as an example, a flat portion 230a1 is provided within one side end 230a of the body 230. The flat portion 230a1 is used to match the platform 224 on the side of the first connecting portion 220, so that the first connecting portion 220 can be snapped onto the side end of the body 230. The portion 230a1 has a through-hole 230a2. After the first connecting portion 220 is mounted on the side end of the main body 230, the connecting piece passes through the through-hole 230a2 to further secure the first connecting portion 220 (when bonded with an adhesive and then fastened with screws, the strength dispersion is small, the peeling resistance is large, and the maximum stress point is only 37.51MPa at the two mounting holes, which does not exceed the failure strength of the carbon fiber composite material and the failure strength of the metal screw (355Mpa), providing a double guarantee and making the whole more reasonable and reliable). Similarly, the second connecting portion 210 is clamped to the side end of the main body 230 through the flat portion. The main body 230 is made of carbon fiber material to reduce the weight of the robotic arm itself.
[0048] The first connecting portion 220 is hollow and annular, with multiple through-holes 221 disposed along its circumference. A protrusion 222 is disposed on its outer side. This protrusion 222 can be used for position limiting. When the first connecting portion 220 is mounted on the side of the body 230, the protrusion 222 abuts against the side of the body 230. The outer side of the first connecting portion 220 has a groove 223. This groove 223 is exposed when the first connecting portion 220 is mounted on the side of the body 230. This groove 223 can be used to accommodate a nut. During testing, the connector passes through the through-holes 221 to secure the side to the first positioning plate 140. The outer side of the first connecting portion 220 has at least one platform 224.
[0049] The second connecting portion 210 is hollow and annular, with multiple through-holes 211 arranged around its circumference. A protrusion 212 is provided on its outer side. This protrusion 212 can be used for position limiting. When the second connecting portion 210 is installed on the side of the body 230, the protrusion 212 abuts against the side of the body 230. The outer side of the second connecting portion 210 has a groove 213. This groove 213 is exposed when the second connecting portion 210 is installed on the side of the body 230. This groove 213 can be used to accommodate a nut. During testing, the connecting member passes through the through-holes 211 to secure this side to the second positioning plate 170. A platform 214 is provided on the side of the second connecting portion 210. This platform 214 prevents the robot arm from rotating.
[0050] During the test, the first lifting mechanism 120 moves back and forth linearly (see Figure 4 ) Detect the adhesion of the first connecting part and the second connecting part to the body, the detection cycle (20,000 times); the second lifting mechanism 150 is linearly reciprocated to twist the robot arm (see Figure 4 ), detect the adhesion of the first connecting part and the second connecting part to the main body, the detection cycle (such as 20,000 times), and then remove it for appearance inspection. In one embodiment, the test equipment also includes a display module 180, which can display the number of reciprocating times, time and other information of the first lifting mechanism or the second lifting mechanism. It is known that the test equipment also includes a solenoid valve which is connected to the driving part (i.e., cylinder) of the matching first lifting mechanism or the second lifting mechanism through a pipeline, and controls the reciprocation of the driving part. Preferably, a regulating valve (not shown) is provided on the pipeline to adjust the amount of compressed air. In this way, the robotic arm can be reliably tested / evaluated by using this test equipment.
[0051] The above embodiments are intended only to illustrate the technical concepts and features of this application. Their purpose is to enable those familiar with the art to understand the content of this application and implement it accordingly. They are not intended to limit the scope of protection of this application. Any equivalent changes or modifications made in accordance with the spirit of this application shall be included in the scope of protection of this application.
Claims
1. A mechanical arm fatigue testing device for evaluating a mechanical arm based on carbon fiber, characterized in that: include: base, a first lifting mechanism, a second lifting mechanism, a first fixing assembly and a second fixing assembly, The first fixing assembly includes a bracket and a first positioning plate, wherein the first positioning plate is fixed to the bracket. The second fixing assembly includes a support portion and a second positioning plate, the second positioning plate is fixed to the support portion, the support portion is fixed to the base, and the second positioning plate is arranged opposite to the first positioning plate. The first lifting mechanism and the second lifting mechanism are arranged on the same side of the base, and their output ends are respectively connected to the brackets. The first lifting mechanism is constructed so that the lifting direction of its telescopic rod is perpendicular to the plane of the base, and the lifting direction of the telescopic rod of the second lifting mechanism is inclined to the plane of the base.
2. The mechanical arm fatigue testing device according to claim 1, characterized in that: The bracket is an L-shaped bracket, which includes a first sub-bracket and a second sub-bracket. The first telescopic shaft of the first lifting mechanism is connected to the second sub-bracket, The second telescopic shaft of the second lifting mechanism is connected to a side of the first sub-bracket away from the second sub-bracket.
3. The mechanical arm fatigue testing device according to claim 1, wherein: The second fixing assembly further includes at least one auxiliary bracket, one end of which is fixed to the base and the other end of which is fixed to the supporting portion.
4. The mechanical arm fatigue testing device according to any one of claims 1 to 3, characterized in that: The base is provided with a plurality of mounting holes, and the support portion is embedded in the matching mounting holes through a connecting piece to fix the support portion to the base.
5. The mechanical arm fatigue testing device according to claim 1, wherein: The first positioning plate is provided with a plurality of first through holes.
6. The mechanical arm fatigue testing device according to claim 5, characterized in that: A combination of the plurality of first through-holes forms circles with different diameters.
7. The mechanical arm fatigue testing device according to claim 5 or 6, characterized in that: The second positioning plate is provided with a plurality of second through holes.
8. The mechanical arm fatigue testing device according to claim 1, wherein: The first lifting mechanism includes a first driving portion having a first telescopic shaft, and an end portion of the first telescopic shaft is connected to the bracket through a connecting component; The second lifting mechanism includes a second driving portion having a second telescopic shaft, and an end portion of the second telescopic shaft is connected to the bracket through a connecting component.
9. The mechanical arm fatigue testing device according to claim 1, wherein: The robotic arm includes a body made of carbon fiber material, one end of which is provided with a first connecting portion, and the other end opposite to the one end is provided with a second connecting portion, and the first connecting portion and the second connecting portion are respectively made of metal material.
10. The mechanical arm fatigue testing device according to claim 9, wherein: At least one flat portion is provided in each of the two side ends of the body. The flat portion has a through hole extending in the radial direction of the body. The flat portion is used to match the platform on the side of the first connecting portion or the platform on the side of the second connecting portion.