Manipulator high and low temperature testing device

Abstract

The utility model discloses a high and low temperature testing device for a manipulator, which comprises a testboard, the top of the testboard is provided with a measuring and moving mechanism capable of horizontally moving, the measuring and moving mechanism comprises a clamp assembly for locking and hanging the manipulator, and the clamp assembly comprises a motor and a hanging frame arranged at the output end of the motor; a plurality of clamp structures are hinged to the hanging frame, and the mechanical arms are locked on the clamp structures. The device further comprises a cold medium groove and a hot medium groove which are matched with the displacement measuring mechanism, in the testing process, the mechanical arm is soaked in the cold medium groove to be subjected to cold soaking, the displacement measuring mechanism moves into the hot medium groove to be subjected to hot soaking, automatic testing is achieved in the mode, the testing efficiency is improved, and the testing safety is improved.

Description

Technical Field

[0001] This utility model belongs to the field of high and low temperature testing technology for robotic arms, and particularly relates to a high and low temperature testing device for robotic arms. Background Technology

[0002] A robotic arm is a mechanical device frequently used in industry for grasping materials. The most common type is the cylinder robotic arm, such as a double-claw cylinder or a multi-claw cylinder. During operation, robotic arms often need to move materials from low-temperature or high-temperature environments to high-temperature or low-temperature environments (such as grasping materials from liquid nitrogen). Furthermore, the long operating time and frequent operation in high and low temperature environments place high demands on the performance of robotic arms.

[0003] This means that robotic arms need to be able to withstand frequent high and low temperature operations before being put into production. Therefore, robotic arms used in production often need to undergo high and low temperature resistance tests.

[0004] The current testing principle is as follows: the gripper of the robotic arm is immersed in a low-temperature (or high-temperature) environment and then immersed in a high-temperature (or low-temperature) environment. After repeated testing, it is determined whether the robotic arm can still work normally. During the testing process, for unqualified robotic arms, because they cannot tolerate high and low temperatures, the gripper will deform or loosen and will be unable to hold materials stably after the test.

[0005] The current testing method is as follows: after the operator uses a hanger to hang a certain number of robotic arms, they are immersed in a low-temperature medium (or a high-temperature medium) and then immersed in a high-temperature (or low-temperature) medium. After repeating this operation a certain number of times, the robotic arms are installed on the equipment for material handling testing.

[0006] Clearly, the drawbacks of the above method are as follows: the testing process often requires repeated immersion in high and low temperature media, resulting in a complex operation. Relying entirely on manual operation is not only inefficient but also unsafe. For example, after immersion in high and low temperatures, if the operator's hands or limbs accidentally touch the testing grippers, they are highly susceptible to burns from either the high or low temperature, making the operation quite risky. Utility Model Content

[0007] Based on the above background, the purpose of this utility model is to provide a high and low temperature testing device for robotic arms.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A high and low temperature testing device for a robotic arm includes a test platform. A horizontally movable measuring mechanism is installed on the top of the test platform. The measuring mechanism includes a clamping assembly for locking the robotic arm. The clamping assembly includes a motor and a bracket installed at the output end of the motor.

[0010] Several clamping structures are hinged to the hanger, and the robotic arm is locked to the clamping structures;

[0011] It also includes a cold medium tank and a hot medium tank that work in conjunction with the measuring and moving mechanism. During the test, the robotic arm is immersed in the cold medium tank for cold immersion, and the measuring and moving mechanism is moved into the hot medium tank for hot immersion.

[0012] Preferably, the motor is a dual-shaft motor, and a bracket is fixedly installed on each of the two output shafts of the dual-shaft motor;

[0013] A lifting cylinder is fixedly installed at the bottom of the dual-axis motor, and the clamp assembly is raised and lowered by the lifting cylinder.

[0014] Preferably, a cylinder base is fixedly installed at the bottom of the lifting cylinder, and a plurality of guide rails that are slidably connected to the cylinder base are fixedly installed at the bottom of the dual-axis motor.

[0015] The bottom of the cylinder base is fixed with a movable seat structure that rolls and slides on the test bench.

[0016] Preferably, the movable seat structure includes a movable seat fixedly installed at the bottom of the cylinder base;

[0017] A roller bracket is fixedly installed at the bottom of the movable seat, and rollers are rotatably connected to both ends of the roller bracket.

[0018] The test bench has track grooves for limiting rolling pulleys on both sides of its top.

[0019] Preferably, the measuring mechanism further includes a lead screw motor installed at the end of the test bench, the lead screw motor being equipped with a lead screw that is threadedly connected to a moving seat;

[0020] The test bench is equipped with lead screw bearings that rotatably connect to the lead screw at both ends.

[0021] Preferably, the bracket is ring-shaped;

[0022] A cross bracket is fixedly installed at the center of the bracket, and the cross bracket is installed on the output shaft of the dual-axis motor.

[0023] The clamp structure is hinged to the bracket by a pin.

[0024] Preferably, the clamp structure includes a hinged arm hinged to the hanger, a clamp plate hinged to the lower end of the hinged arm, and a pair of locking bolts threaded to the lower end of the clamp plate.

[0025] The lower end of the robotic arm is locked by the screw head of the locking bolt;

[0026] A vertical baffle is fixedly connected to the upper end of the clamping plate, and the top of the robot arm is blocked by the bottom of the vertical baffle.

[0027] Preferably, a pair of hot medium tanks spaced apart on both sides are provided on the front side of the top of the test bench, and a pair of cold medium tanks spaced apart on both sides are provided on the rear side of the top of the test bench.

[0028] Preferably, the bottoms of the hot medium tank and the cold medium tank are both fixedly installed on the top of the test bench by a support rod.

[0029] This utility model has the following beneficial effects:

[0030] 1. The system allows a robotic arm to be immersed in a low-temperature medium, then moved to a location in a high-temperature medium, and then moved in the opposite direction. This cycle is repeated a specific number of times to complete the test. This automated testing method not only improves testing efficiency but also increases testing safety.

[0031] 2. The device disclosed in this utility model fully automates the testing operation. During operation, a certain number of robotic arms are immersed in either a cold or hot medium, and then immersed in the hot or cold medium. Furthermore, through structures such as lead screws and rollers, they can move flexibly and freely back and forth between the cold and hot media to complete the experiment.

[0032] 3. The test requires less manual intervention, which greatly improves the safety of the test and increases the efficiency of the test, thus greatly reducing the technical drawbacks of the large workload of manual testing. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present utility model;

[0035] Figure 2 This is a schematic diagram of the structure of the hanging bracket in an embodiment of this utility model;

[0036] Figure 3 This is a schematic diagram of the fixture structure in an embodiment of the present utility model;

[0037] Figure 4 This is a schematic diagram of the movable seat structure in an embodiment of the present utility model;

[0038] Figure 5 This is a schematic diagram of the clamping structure locking double-jaw cylinder in the embodiment of this utility model;

[0039] Figure 6 This is a schematic diagram of the structure of the roller pulley in an embodiment of this utility model;

[0040] Figure 7 This is an embodiment of the present utility model. Figure 1 Top view in the middle;

[0041] Figure 8 This is an embodiment of the present utility model. Figure 1 The front view in the middle;

[0042] Figure 9 This is a schematic diagram of the structure of the locking screw fixing the circular pressure plate in an embodiment of this utility model.

[0043] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0046] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0047] Example 1

[0048] like Figure 1-9As shown, a high and low temperature testing device for a robotic arm includes a test platform 1. A horizontally movable measuring mechanism is mounted on the top of the test platform 1. This mechanism, capable of horizontal reciprocating movement, moves the robotic arm (a double-claw cylinder A). For example, after immersing in a low-temperature medium, the robotic arm moves to a location where it is immersed in a high-temperature medium, then moves in the opposite direction. This cycle is repeated a specific number of times to complete the test. This method achieves automated testing, improving both testing efficiency and safety.

[0049] Specifically, the measuring and moving mechanism includes a clamping assembly 46 for the locking manipulator. The clamping assembly 46 includes a motor, which is a publicly disclosed dual-axis motor 45. Similar to existing dual-axis motors 45, the output shafts at both ends of the dual-axis motor 45 can drive the following hanger 461 in both forward and reverse rotation. Specifically, hangers 461 are fixedly mounted on the two output shafts of the dual-axis motor 45. The hanger 461 is annular in shape; a cross bracket 4611 is fixedly mounted at the center of the hanger 461, and the cross bracket 4611 is mounted on the output shaft of the dual-axis motor 45.

[0050] Several clamping structures are hinged on the hanger 461, and the robotic arm is locked onto the clamping structures.

[0051] In actual operation, the operator clamps the robotic arm onto the fixture structure and selects the corresponding model of dual-axis motor 45 according to the overall weight of the robotic arm, the hanger 461, and the fixture structure to ensure that the dual-axis motor has sufficient power to drive the hanger 461 carrying the robotic arm to rotate.

[0052] The clamping structure is used to clamp the robotic arm (double-jaw cylinder A). Specifically, the clamping structure is hinged to the bracket 461 via a pin. The clamping structure includes a hinged arm 462 (the upper end is hinged via a pin) hinged to the bracket 461. The lower end of the hinged arm 462 is hinged to a clamping plate 463 (similarly hinged via a pin). The lower end of the clamping plate 463 is threaded with a pair of locking bolts 464. The lower end of the robotic arm is locked by the screw heads of the locking bolts 464.

[0053] Meanwhile, a vertical baffle is fixedly connected to the upper end of the clamping plate 463, and the top of the robot arm is blocked by the bottom of the vertical baffle.

[0054] The locking method is as follows: the top of the cylinder of the double-jaw cylinder A is pressed against the bottom of the vertical baffle. At this time, the two jaws of the double-jaw cylinder A hang down through the space between a pair of locking bolts 464. The bottom of the cylinder is supported on a pair of locking bolts 464. The operator turns the locking bolts 464 inward until the screw head (the cross-section of the screw head is larger than the cross-section of the bolt shank) is pressed against the bottom edge of the cylinder.

[0055] In actual operation, in order to increase the resistance and extrusion stability of the locking bolt 464, the screw head (hexagon) of the locking bolt 464 is made of a circular pressure plate 4641 with a larger cross section (the screw head is cut off and the circular pressure plate 4641 is welded on. To facilitate tightening, a hexagonal hole can be made on the circular pressure plate 4641). The circular pressure plate 4641 is used for extrusion.

[0056] During operation, after all the robotic arms (double-jaw cylinder A) are locked in the above manner (in actual operation, double-jaw cylinder A can be firmly pressed down by the above method and is not easy to loosen; after subsequent testing, the material can be quickly unloaded by loosening the bolts).

[0057] During operation, when the entire device moves to the location of the cold medium tank 2 or the hot medium tank 3, all the robotic arms are gradually immersed in the cold or hot medium under the drive of the motor. Since the clamping structure is hinged, under the action of gravity, all the clamping structures and the double-jaw cylinder A on the clamping structure remain in a downward posture. That is, during the rotation of the hanging bracket 461, the clamping structure in the hinged state and the grippers of the double-jaw cylinder A always remain in a downward posture and are immersed in the cold or hot medium. In this way, multiple robotic arms are subjected to cold and hot immersion treatment at one time.

[0058] Then continue to move to the location of the hot medium tank 3 or the cold medium tank 2 to continue the soaking operation.

[0059] Example 2

[0060] like Figure 1-9 As shown, in this embodiment, based on the structure of embodiment 1, a lifting cylinder 47 (the cylinder piston rod is fixedly installed at the bottom center of the dual-axis motor 45) is fixedly installed at the bottom, and the lifting clamp assembly 46 is raised and lowered by the lifting cylinder 47.

[0061] Specifically, a cylinder base 481 is fixedly installed at the bottom of the lifting cylinder 47, and several guide rails 471 that are slidably connected to the cylinder base 481 are fixedly installed at the bottom of the dual-axis motor 45. The bottom of the cylinder base 481 is fixedly equipped with a movable seat structure that rolls and slides on the test bench 1.

[0062] When the entire device moves close to the location of the hot medium tank 3 or the cold medium tank 2, before or after soaking, the hanging bracket 461 is raised by the lifting cylinder 47. For example, after cold soaking, the hanging bracket 461 is raised by the lifting cylinder 47 and then moved into the hot medium tank 3 for hot soaking.

[0063] Example 3

[0064] like Figure 1-9As shown, based on the structure of embodiment 2, the above-mentioned movable seat structure includes a movable seat 48 fixedly installed at the bottom of the cylinder base 481; a roller bracket 49 is fixedly installed at the bottom of the movable seat 48, and rollers 491 are rotatably connected to both ends of the roller bracket 49; and track grooves 11 for limiting the rolling rollers 491 are opened on both sides of the top of the test platform 1.

[0065] Similar to existing lead screw drive structures, the measuring and moving mechanism also includes a lead screw motor 44 installed at the end of the test bench 1 (similar to existing methods, the lead screw motor 44 has a motor support installed at its bottom), and the lead screw motor is equipped with a lead screw 43 that is threadedly connected to a moving seat 48. At the same time, lead screw bearings 42 that are rotatably connected to the lead screw are installed at both ends of the test bench 1.

[0066] During operation, the ball screw motor 44 drives the moving seat 48 structure back and forth, thereby enabling the hanging frame 461 to move all the tested robotic arms to the designated position for hot and cold immersion.

[0067] Example 4

[0068] like Figure 1-9 As shown, in order to achieve cold and hot immersion treatment, this embodiment, based on the structure of embodiment 3, further includes a cold medium tank 2 and a hot medium tank 3 that cooperate with the measuring and moving mechanism. During the test, the robot arm is immersed in the cold medium tank 2 for cold immersion, and the measuring and moving mechanism moves to the hot medium tank 3 for hot immersion.

[0069] Specifically, a pair of hot medium tanks 3 are provided on the front top of the test bench 1, with the left and right sides spaced apart, and a pair of cold medium tanks 2 are provided on the rear top of the test bench 1, with the left and right sides spaced apart.

[0070] The bottoms of the hot medium tank 3 and the cold medium tank 2 are both fixedly installed on the top of the test bench 1 by a support rod.

[0071] The hot medium tank 3 / cold medium tank 2 contains hot media such as high temperature water, low temperature water, or high temperature oil, low temperature liquid nitrogen, etc.

[0072] After the hanger 461 carrying the test robot moves to the location of the hot medium tank 3 / cold medium tank 2, the immersion test is carried out in the manner described above.

[0073] Example 5

[0074] like Figure 1-9As shown, in this embodiment, based on the structure of embodiment 4, according to the existing method, the hot medium tank 3 and the cold medium tank 2 are respectively connected to a circulating medium inlet pipe and a circulating medium outlet pipe (not shown in the figure), and according to the existing feeding method (structure), the circulating medium inlet pipe and the circulating medium outlet pipe are connected to a hot medium feeding tank or a cold medium feeding tank, so that hot and cold medium are introduced into the hot medium tank 3 and the cold medium tank 2.

[0075] Introducing hot or cold media into the tank is a conventional method disclosed in existing technology.

[0076] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A high and low temperature testing device for a robotic arm, characterized in that, The device includes a test bench, on the top of which is a horizontally movable measuring mechanism. The measuring mechanism includes a clamping assembly for a locking manipulator, and the clamping assembly includes a motor and a bracket installed at the output end of the motor. Several clamping structures are hinged to the hanger, and the robotic arm is locked to the clamping structures; It also includes a cold medium tank and a hot medium tank that work in conjunction with the measuring and moving mechanism. During the test, the robotic arm is immersed in the cold medium tank for cold immersion, and the measuring and moving mechanism is moved into the hot medium tank for hot immersion.

2. The high and low temperature testing device for robotic arms according to claim 1, characterized in that, The motor is a dual-shaft motor, and brackets are fixedly installed on the two output shafts of the dual-shaft motor respectively. A lifting cylinder is fixedly installed at the bottom of the dual-axis motor, and the clamp assembly is raised and lowered by the lifting cylinder.

3. The high and low temperature testing device for robotic arms according to claim 2, characterized in that, The bottom of the lifting cylinder is fixedly mounted with a cylinder base, and the bottom of the dual-axis motor is fixedly mounted with several guide rails that are slidably connected to the cylinder base. The bottom of the cylinder base is fixed with a movable seat structure that rolls and slides on the test bench.

4. The high and low temperature testing device for robotic arms according to claim 3, characterized in that, The movable seat structure includes a movable seat that is fixedly installed at the bottom of the cylinder base; A roller bracket is fixedly installed at the bottom of the movable seat, and rollers are rotatably connected to both ends of the roller bracket. The test bench has track grooves for limiting rolling pulleys on both sides of its top.

5. The high and low temperature testing device for robotic arms according to claim 4, characterized in that, The measuring mechanism also includes a lead screw motor installed at the end of the test bench, and the lead screw motor is equipped with a lead screw connected to a moving seat. The test bench is equipped with lead screw bearings that rotatably connect to the lead screw at both ends.

6. The high and low temperature testing device for robotic arms according to claim 2, characterized in that, The bracket is ring-shaped; A cross bracket is fixedly installed at the center of the bracket, and the cross bracket is installed on the output shaft of the dual-axis motor. The clamp structure is hinged to the bracket by a pin.

7. The high and low temperature testing device for a robotic arm according to claim 6, characterized in that, The clamp structure includes a hinged arm hinged to the bracket, a clamp plate hinged to the lower end of the hinged arm, and a pair of locking bolts threaded to the lower end of the clamp plate. The lower end of the robotic arm is locked by the screw head of the locking bolt; A vertical baffle is fixedly connected to the upper end of the clamping plate, and the top of the robot arm is blocked by the bottom of the vertical baffle.

8. The high and low temperature testing device for robotic arms according to claim 2, characterized in that, The test bench has a pair of hot medium tanks spaced apart on both sides on the front top side and a pair of cold medium tanks spaced apart on both sides on the rear top side.

9. The high and low temperature testing device for a robotic arm according to claim 8, characterized in that, The bottoms of the hot medium tank and the cold medium tank are both fixedly installed on the top of the test bench by support rods.

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