Robot joint vibration detection device

Abstract

This utility model relates to the field of robot testing equipment technology, and discloses a robot joint vibration testing device, including a support platform, a first drive mechanism and a testing mechanism disposed on the support platform, a first rotating block rotatably mounted on the upper end of the support platform, a U-shaped frame fixed to the upper end of the first rotating block, a rotating arm rotatably mounted on the U-shaped frame, a third vibration monitoring mechanism disposed on the rotating arm, a second rotating block fixed to the upper end of the rotating arm, and a second vibration monitoring mechanism disposed on the second rotating block. This utility model, through a multi-degree-of-freedom drive mechanism and an eccentric simulation mechanism, enables the device itself to simulate the multidimensional composite motion and eccentric working conditions of robot joints, and utilizes multiple sets of vibration sensors arranged on the base, output end, and eccentric transmission link to synchronously collect vibration signals. It has the advantages of comprehensive detection dimensions, the ability to simulate eccentric loads, and high data reliability.

Description

Technical Field

[0001] This utility model relates to the field of robot testing equipment technology, specifically a robot joint vibration testing device. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, industrial robots are increasingly widely used in the production and manufacturing field. As the core moving parts of a robot, the joints directly affect its positioning accuracy, operational stability, and service life. In actual use, joint transmission systems (such as reducers and bearings) may experience abnormal vibrations due to long-term wear, assembly errors, or load changes. If these vibrations are not detected and addressed in a timely manner, they can lead to a decline in robot performance or even malfunction and shutdown.

[0003] Currently, most existing robot joint vibration detection devices use single-point or unidirectional vibration sensors for detection, resulting in a limited detection dimension and difficulty in comprehensively simulating the multi-degree-of-freedom composite motion of joints under actual working conditions. Furthermore, traditional detection equipment often only measures a specific posture or motion trajectory of the joint, failing to dynamically monitor the vibration characteristics at different positions and under different stress states while the joint rotates, leading to significant deviations between the detection results and actual operating conditions. In addition, existing devices generally lack the ability to simulate eccentric loads on joints and to acquire synchronous vibration data from multiple locations, resulting in low detection efficiency and failing to meet the demands for high-precision, high-efficiency robot joint quality inspection. Utility Model Content

[0004] The purpose of this invention is to provide a robot joint vibration detection device, which has the ability to monitor vibration in multiple dimensions and multiple positions simultaneously. It can simulate joint eccentric load conditions, and has the advantages of wide detection coverage and high data reliability, thus solving the problems in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A robot joint vibration detection device, the device itself constitutes a simulated robot joint, including a support platform, a first drive mechanism set on the support platform, a detection mechanism set on the upper part of the support platform, a first rotating block set on the upper part of the support platform, a U-shaped frame fixed to the upper part of the first rotating block, rotating arms rotatably installed on the inner walls of both sides of the U-shaped frame, a third vibration monitoring mechanism set on the rotating arms, a second rotating block fixed to the upper part of the rotating arms, a second vibration monitoring mechanism fixed to the side wall of the second rotating block, a first fixed block fixed to the upper part of the second rotating block, and a fixed arm fixed to the side wall of the first fixed block. A third motor is fixedly connected to one side of the rotating arm, and the output shaft of the third motor passes through one side of the U-shaped frame and is fixedly connected to the rotating shaft of the rotating arm; A second motor is fixedly connected to the other side of the rotating arm. The output shaft of the second motor passes through a through hole opened on the other side wall of the U-shaped frame and the wall of the rotating arm, and rotates with the through hole. An eccentric block is fixedly connected to the end of the output shaft of the second motor. An eccentric shaft is fixedly connected to the end of the eccentric block near the third motor. A movable block is rotatably installed on the outer peripheral wall of the eccentric shaft. The upper end of the movable block is hinged to the lower end of the second rotating block. The outer peripheral wall of the first rotating block is equipped with a first vibration monitoring mechanism, and a controller is installed on the support platform.

[0006] Preferably, the first drive mechanism includes a first motor fixed to the side wall of the support platform, a worm gear rotatably mounted on the inner walls of both sides of the support platform, and a worm wheel fixed to the lower end of the first rotating block; the output shaft of the first motor is fixed to one end of the rotating shaft of the worm gear, and the worm wheel meshes with the worm gear.

[0007] It is worth noting that the worm gear transmission has a self-locking characteristic, which enables the first rotating block to remain stably stationary at any rotation angle, avoiding changes in the detection posture due to external forces or vibrations, and ensuring the positioning accuracy of the simulated joint during the detection process.

[0008] Preferably, the detection mechanism includes two brackets fixed to the upper end of the support platform, a rotating column rotatably installed between the two brackets, a second fixed cylinder fixed to the outer peripheral wall of the rotating column, a pressure sensor and a spring fixed to the lower end of the second fixed cylinder, and a second arc-shaped block fixed to the lower end of the spring.

[0009] It is worth noting that the testing mechanism makes elastic contact with the outer wall of the rotating arm or U-shaped frame through the second arc-shaped block. The pressure sensor can collect the contact pressure value in real time, thereby dynamically monitoring the pressure changes caused by radial runout or contour deviation during joint rotation, and indirectly reflecting the vibration and running stability of the joint.

[0010] Preferably, the first vibration monitoring mechanism includes a plurality of first vibration sensors fixed to the outer peripheral wall of the first rotating block and a first arc-shaped block fixed between two adjacent first vibration sensors.

[0011] It is worth noting that multiple first vibration sensors are evenly distributed along the circumference of the first rotating block, which can comprehensively detect multi-directional vibration signals of the first rotating block when it rotates and is loaded. The first arc-shaped block not only serves as a fixed support, but also acts as a counterweight to optimize the moment of inertia.

[0012] Preferably, the second vibration monitoring mechanism includes at least one fixed column fixed to the side wall of the second rotating block, a first fixed cylinder fixed to the outer peripheral wall of the fixed column, and a second vibration sensor fixed to the side wall of the first fixed cylinder.

[0013] Preferably, the third vibration monitoring mechanism includes a movable component and a connecting column disposed on the side wall of the movable end of the movable component, a second fixed block fixed to the end of the connecting column away from the movable component, a sliding column rotatably mounted through one side of the second fixed block, and two limiting rings fixed to the outer peripheral wall of the sliding column; a limiting groove is opened through one side of the movable block, the sliding column is slidably disposed on the inner wall of the limiting groove, the ends of the two limiting rings that are close to each other are respectively attached to the two sides of the movable block, and a third vibration sensor is fixedly connected to the side wall of the limiting ring.

[0014] Preferably, the moving component includes a fixed seat and a bearing seat fixed to the side wall of the movable block, a lead screw rotatably mounted on the fixed seat and the bearing seat, a fourth motor fixed to the lower end of the fixed seat, and a threaded sleeve block threaded to the outer peripheral wall of the lead screw. The side wall of the threaded sleeve block is fixed to the side wall of the connecting column, and the output shaft of the fourth motor is fixed to the lower end of the lead screw.

[0015] It is worth noting that the third vibration monitoring mechanism drives the sliding column to slide along the limiting groove of the movable block through the moving component, thereby changing the relative position between the third vibration sensor and the movable block. This enables the collection of vibration data of the movable block at different eccentric angles and different height positions, realizing multi-point and multi-trajectory vibration monitoring during the joint eccentric movement.

[0016] Preferably, at least one fourth vibration sensor is fixed to the side wall of the first fixing block.

[0017] It is worth noting that the fourth vibration sensor is set on the side wall of the first fixed block and directly contacts the fixed part or connecting arm of the simulated joint. It can simultaneously monitor the axial and radial vibration of the joint output end. Together with the first, second and third vibration monitoring mechanisms, it forms a multi-dimensional vibration detection network covering the joint input end, output end and intermediate transmission links.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This utility model sets up a first driving mechanism to drive the first rotating block and the U-shaped frame to rotate as a whole, and sets up a third motor to drive the rotating arm to swing around the U-shaped frame. Combined with the second rotating block and the fixed arm, it realizes the simulation of multi-degree-of-freedom composite motion of the device itself (simulated joint) in space, which solves the problem that the existing device cannot fully simulate the actual working conditions of the joint, and makes the test results closer to the real operating state. 2. By setting up a second motor, an eccentric block, an eccentric shaft and a movable block, this utility model actively applies a controllable eccentric load during joint movement. Combined with the sliding engagement of the sliding column and the limiting groove in the third vibration monitoring mechanism and the position adjustment of the third vibration sensor, it can accurately simulate the vibration response of the joint when subjected to radial unbalanced force, solve the problem that traditional detection devices lack eccentric force simulation function, and improve the comprehensiveness and rigor of detection. 3. This utility model constructs a full-link multi-point synchronous acquisition system from the base to the joint output end by setting multiple first vibration sensors on the outer peripheral wall of the first rotating block, setting a second vibration sensor on the side wall of the second rotating block, setting a third vibration sensor on the side wall of the limiting ring of the movable block, and setting a fourth vibration sensor on the side wall of the first fixed block. This solves the problem of insufficient detection data from a single sensor and provides rich multi-dimensional data support for the analysis of joint vibration characteristics. Attached Figure Description

[0019] Figure 1 The diagram shown is a three-dimensional structural schematic of this utility model; Figure 2 The diagram shown is a three-dimensional structural schematic of the first driving mechanism, the first rotating block, and the first vibration monitoring mechanism of this utility model. Figure 3 The diagram shown is a three-dimensional structural schematic of the second vibration monitoring mechanism of this utility model; Figure 4 The diagram shown is a three-dimensional structural schematic of the moving component of the third vibration monitoring mechanism of this utility model. Figure 5 The diagram shown is a three-dimensional structural schematic of the sliding column of this utility model; Figure 6 The diagram shown is a three-dimensional structural schematic of the fourth vibration sensor of this utility model. Figure 7 The diagram shown is a three-dimensional structural schematic of the testing mechanism of this utility model.

[0020] Reference numerals: 1. Support platform; 2. First drive mechanism; 201. First motor; 202. Worm gear; 203. Worm wheel; 3. Controller; 4. First rotating block; 401. First vibration sensor; 402. First arc-shaped block; 5. U-shaped frame; 6. Rotating arm; 601. Second motor; 602. Eccentric block; 603. Eccentric shaft; 604. Movable block; 605. Limiting groove; 7. Third motor; 8. Second rotating block; 801. Fixed column; 802. First fixed... 803. Cylinder; 9. Second vibration sensor; 10. First fixing block; 11. Fixing arm; 12. Fixing seat; 13. Bearing seat; 14. Lead screw; 15. Fourth motor; 16. Threaded sleeve block; 17. Connecting column; 18. Second fixing block; 19. Sliding column; 20. Limiting ring; 21. Third vibration sensor; 22. Fourth vibration sensor; 23. Bracket; 24. Rotating column; 25. Second fixing cylinder; 26. Pressure sensor; 27. Spring; 28. Second arc-shaped block. Detailed Implementation

[0021] 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.

[0022] To address the shortcomings of existing technologies, such as limited detection dimensions, inability to simulate complex motions and eccentric forces, and low detection efficiency, the following technical solution is proposed. Please refer to [link / reference needed]. Figures 1-7 ; A robot joint vibration detection device, the device itself constitutes a simulated robot joint, including a support platform 1, a first drive mechanism 2 disposed on the support platform 1, a detection mechanism disposed on the upper end of the support platform 1, a first rotating block 4 disposed on the upper end of the support platform 1, a U-shaped frame 5 fixed to the upper end of the first rotating block 4, rotating arms 6 rotatably mounted on the inner walls of both sides of the U-shaped frame 5, a third vibration monitoring mechanism disposed on the rotating arms 6, a second rotating block 8 fixed to the upper end of the rotating arms 6, a second vibration monitoring mechanism fixed to the side wall of the second rotating block 8, a first fixing block 9 fixed to the upper end of the second rotating block 8, and a fixing arm 10 fixed to the side wall of the first fixing block 9. A third motor 7 is fixedly connected to one side of the rotating arm 6. The output shaft of the third motor 7 passes through one side of the U-shaped frame 5 and is fixedly connected to the rotating shaft of the rotating arm 6. A second motor 601 is fixedly connected to the other side of the rotating arm 6. The output shaft of the second motor 601 passes through the through hole opened on the other side wall of the U-shaped frame 5 and the wall of the rotating arm 6, and rotates with the through hole. An eccentric block 602 is fixedly connected to the end of the output shaft of the second motor 601. An eccentric shaft 603 is fixedly connected to the end of the eccentric block 602 near the third motor 7. A movable block 604 is rotatably installed on the outer peripheral wall of the eccentric shaft 603. The upper end of the movable block 604 is hinged to the lower end of the second rotating block 8. The outer peripheral wall of the first rotating block 4 is provided with a first vibration monitoring mechanism, and the support platform 1 is provided with a controller 3.

[0023] In this embodiment, specifically, the first driving mechanism 2 includes a first motor 201 fixed to the side wall of the support platform 1, a worm 202 rotatably mounted on the inner walls of both sides of the support platform 1, and a worm wheel 203 fixed to the lower end of the first rotating block 4; the output shaft of the first motor 201 is fixed to one end of the rotating shaft of the worm 202, and the worm wheel 203 meshes with the worm 202.

[0024] In this embodiment, specifically, the detection mechanism includes two brackets 22 fixed to the upper end of the support platform 1, a rotating column 23 rotatably installed between the two brackets 22, a second fixed cylinder 24 fixed to the outer peripheral wall of the rotating column 23, a pressure sensor 25 and a spring 26 fixed to the lower end of the second fixed cylinder 24, and a second arc-shaped block 27 fixed to the lower end of the spring 26.

[0025] In this embodiment, specifically, the first vibration monitoring mechanism includes a plurality of first vibration sensors 401 fixed to the outer peripheral wall of the first rotating block 4 and a first arc-shaped block 402 fixed between two adjacent first vibration sensors 401.

[0026] In this embodiment, specifically, the second vibration monitoring mechanism includes at least one fixed column 801 fixed to the side wall of the second rotating block 8, a first fixed cylinder 802 fixed to the outer peripheral wall of the fixed column 801, and a second vibration sensor 803 fixed to the side wall of the first fixed cylinder 802.

[0027] In this embodiment, specifically, the third vibration monitoring mechanism includes a movable component and a connecting column 16 disposed on the side wall of the movable end of the movable component, a second fixed block 17 fixed to the end of the connecting column 16 away from the movable component, a sliding column 18 rotatably mounted on one side of the second fixed block 17, and two limiting rings 19 fixed to the outer peripheral wall of the sliding column 18; a limiting groove 605 is opened through one side of the movable block 604, the sliding column 18 is slidably disposed on the inner wall of the limiting groove 605, and the ends of the two limiting rings 19 that are close to each other are respectively attached to the two sides of the movable block 604, and a third vibration sensor 20 is fixedly connected to the side wall of the limiting ring 19.

[0028] In this embodiment, specifically, the moving component includes a fixed seat 11 and a bearing seat 12 fixed to the side wall of the movable block 604, a lead screw 13 rotatably mounted on the fixed seat 11 and the bearing seat 12, a fourth motor 14 fixed to the lower end of the fixed seat 11, and a threaded sleeve 15 threaded to the outer peripheral wall of the lead screw 13. The side wall of the threaded sleeve 15 is fixed to the side wall of the connecting column 16, and the output shaft of the fourth motor 14 is fixed to the lower end of the lead screw 13.

[0029] In this embodiment, specifically, at least one fourth vibration sensor 21 is fixedly connected to the side wall of the first fixing block 9.

[0030] Working principle: When in use, the device itself constitutes a complete robot joint detection object. After the controller 3 is started, it controls the operation of each drive motor according to the preset program. First, the first motor 201 in the first drive mechanism 2 drives the worm gear 202 to rotate. The worm gear 202 drives the worm wheel 203 and the first rotating block 4 to rotate around the vertical axis, thereby driving the U-shaped frame 5 and all its components to perform horizontal rotational motion, simulating the rotational degrees of freedom of the robot joint. At this time, multiple first vibration sensors 401 on the outer peripheral wall of the first rotating block 4 collect vibration signals in real time during the rotation of the base. The first arc-shaped block 402 plays a role in fixing and counterweighting the sensors. Meanwhile, the third motor 7 drives the rotating arm 6 to pitch and swing around the hinge axis of the U-shaped frame 5, causing the second rotating block 8, the first fixed block 9, and the fixed arm 10 to swing in the vertical plane, simulating the pitch degree of freedom of the joint. The second vibration sensor 803 in the second vibration monitoring mechanism is fixed to the side wall of the second rotating block 8 through the fixed column 801 and the first fixed cylinder 802, and monitors the vibration near the joint output end in real time; the fourth vibration sensor 21 on the side wall of the first fixed block 9 directly detects the vibration at the joint connecting arm. When it is necessary to simulate the vibration characteristics of a joint under eccentric load, the controller 3 starts the second motor 601. The second motor 601 drives the eccentric block 602 to rotate, the eccentric block 602 drives the eccentric shaft 603 to perform circular motion, and the eccentric shaft 603 in turn drives the movable block 604 to oscillate periodically relative to the rotating arm 6. Since the upper end of the movable block 604 is hinged to the lower end of the second rotating block 8, the oscillation of the movable block 604 will apply a periodic eccentric torque to the second rotating block 8, thereby simulating the eccentric vibration condition of the joint caused by uneven load or assembly deviation during actual operation. During the eccentricity simulation, the third vibration monitoring mechanism works synchronously, turning on the fourth motor 14 in the moving component to drive the lead screw 13 to rotate. The lead screw 13 drives the threaded sleeve block 15 and the connecting column 16 to move in the vertical direction, and then drives the sliding column 18 to slide along the limiting groove 605 on the movable block 604 through the second fixed block 17. The two limiting rings 19 are clamped on both sides of the movable block 604. The third vibration sensor 20, which is fixed to its side wall, moves to different positions with the sliding column 18 to collect the vibration signals of the movable block 604 at different eccentric angles and different points of action. In addition, the second arc-shaped block 27 in the detection mechanism is always elastically pressed against the outer wall of the rotating arm 6 or the U-shaped frame 5 under the action of the spring 26. When the joint movement produces radial runout, the second arc-shaped block 27 transmits the displacement change to the pressure sensor 25 through the spring 26. The pressure sensor 25 outputs a dynamic pressure waveform as an auxiliary basis for judging the smoothness of joint operation. All sensors, including the first vibration sensor 401, the second vibration sensor 803, the third vibration sensor 20, the fourth vibration sensor 21, and the pressure sensor 25, are electrically connected to the controller 3. The controller 3 synchronously collects and processes the signals from each channel to generate multidimensional vibration characteristic curves of the joint under different motion postures and different eccentric loads. After the test is completed, controller 3 stops all motors, thus completing the entire self-test process.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A robot joint vibration detection device, characterized in that, The device itself constitutes a simulated robot joint, including a support platform (1), a first drive mechanism (2) set on the support platform (1), a detection mechanism set on the upper end of the support platform (1), a first rotating block (4) set on the upper end of the support platform (1), a U-shaped frame (5) fixed to the upper end of the first rotating block (4), a rotating arm (6) rotatably installed on the inner walls of both sides of the U-shaped frame (5), a third vibration monitoring mechanism set on the rotating arm (6), a second rotating block (8) fixed to the upper end of the rotating arm (6), a second vibration monitoring mechanism fixed to the side wall of the second rotating block (8), a first fixed block (9) fixed to the upper end of the second rotating block (8), and a fixed arm (10) fixed to the side wall of the first fixed block (9). A third motor (7) is fixedly connected to one side of the rotating arm (6). The output shaft of the third motor (7) passes through one side of the U-shaped frame (5) and is fixedly connected to the rotating shaft of the rotating arm (6). A second motor (601) is fixedly connected to the other side of the rotating arm (6). The output shaft of the second motor (601) passes through the through hole opened on the other side wall of the U-shaped frame (5) and the wall of the rotating arm (6), and rotates with the through hole. An eccentric block (602) is fixedly connected to the end of the output shaft of the second motor (601). An eccentric shaft (603) is fixedly connected to the end of the eccentric block (602) near the third motor (7). A movable block (604) is rotatably installed on the outer peripheral wall of the eccentric shaft (603). The upper end of the movable block (604) is hinged to the lower end of the second rotating block (8). The outer peripheral wall of the first rotating block (4) is provided with a first vibration monitoring mechanism, and the support platform (1) is provided with a controller (3).

2. The robot joint vibration detection device according to claim 1, characterized in that, The first drive mechanism (2) includes a first motor (201) fixed to the side wall of the support platform (1), a worm (202) rotatably mounted on the inner walls of both sides of the support platform (1), and a worm wheel (203) fixed to the lower end of the first rotating block (4); the output shaft of the first motor (201) is fixed to one end of the rotating shaft of the worm (202), and the worm wheel (203) meshes with the worm (202).

3. The robot joint vibration detection device according to claim 1, characterized in that, The testing mechanism includes two brackets (22) fixed to the upper end of the support platform (1), a rotating column (23) rotatably installed between the two brackets (22), a second fixed cylinder (24) fixed to the outer peripheral wall of the rotating column (23), a pressure sensor (25) and a spring (26) fixed to the lower end of the second fixed cylinder (24), and a second arc-shaped block (27) fixed to the lower end of the spring (26).

4. The robot joint vibration detection device according to claim 1, characterized in that, The first vibration monitoring mechanism includes a plurality of first vibration sensors (401) fixed to the outer peripheral wall of the first rotating block (4) and a first arc-shaped block (402) fixed between two adjacent first vibration sensors (401).

5. The robot joint vibration detection device according to claim 1, characterized in that, The second vibration monitoring mechanism includes at least one fixed column (801) fixed to the side wall of the second rotating block (8), a first fixed cylinder (802) fixed to the outer peripheral wall of the fixed column (801), and a second vibration sensor (803) fixed to the side wall of the first fixed cylinder (802).

6. The robot joint vibration detection device according to claim 1, characterized in that, The third vibration monitoring mechanism includes a movable component and a connecting column (16) disposed on the side wall of the movable end of the movable component, a second fixed block (17) fixed to the end of the connecting column (16) away from the movable component, a sliding column (18) rotatably mounted on one side of the second fixed block (17) and two limiting rings (19) fixed to the outer peripheral wall of the sliding column (18); a limiting groove (605) is opened through one side of the movable block (604), the sliding column (18) is slidably disposed on the inner wall of the limiting groove (605), the ends of the two limiting rings (19) that are close to each other are respectively attached to the two sides of the movable block (604), and a third vibration sensor (20) is fixedly connected to the side wall of the limiting ring (19).

7. The robot joint vibration detection device according to claim 6, characterized in that, The movable component includes a fixed seat (11) and a bearing seat (12) fixed to the side wall of the movable block (604), a lead screw (13) rotatably mounted on the fixed seat (11) and the bearing seat (12), a fourth motor (14) fixed to the lower end of the fixed seat (11), and a threaded sleeve (15) threaded to the outer peripheral wall of the lead screw (13). The side wall of the threaded sleeve (15) is fixed to the side wall of the connecting column (16), and the output shaft of the fourth motor (14) is fixed to the lower end of the lead screw (13).

8. The robot joint vibration detection device according to claim 1, characterized in that, At least one fourth vibration sensor (21) is fixed to the side wall of the first fixed block (9).

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