A robot joint module repeat positioning accuracy testing device

Abstract

The utility model discloses a kind of robot joint module repeated positioning accuracy testing device, including the base of horizontal arrangement;Rigid base is provided with fixed bracket, and the joint module to be tested to be tested is clamped on fixed bracket;The output end of the joint module to be tested is connected with load simulation mechanism, and the output end of the joint module to be tested is connected with rigid coupling;The other end of rigid coupling is connected with the round grating encoder coaxially arranged with the joint module to be tested, and the lower portion of round grating encoder is provided with the encoder bracket connected with rigid base;The output end of round grating encoder is connected with data acquisition and processing control board.The utility model has the advantages of simple structure, convenient installation, convenient to use, low in cost, accurate detection result, can simulate actual load working condition.

Description

Technical Field

[0001] This utility model relates to the field of robot testing technology, and more specifically to a device for testing the repeatability and positioning accuracy of robot joint modules. Background Technology

[0002] Robot joint modules are the core moving parts of a robot, equivalent to the robot's "joints + muscles + nerves." They highly integrate key components such as power sources, transmission mechanisms, sensors, and controllers to achieve precise mechanical motion control. Therefore, the performance level of high-end equipment such as humanoid robots and collaborative robots depends on the motion accuracy of their core moving parts—joint modules.

[0003] Repeatability is one of the most critical technical indicators for measuring the motion accuracy of joint modules. Currently, common testing methods often employ laser trackers or coordinate measuring machines (CMMs). However, laser trackers are expensive, have demanding environmental requirements, and are complex to operate; CMMs have low single-test efficiency, are bulky, and costly. Alternatively, lower-cost precision scales can be used for testing, but their installation requirements are extremely high, needing strict alignment with the joint axis, and the testing accuracy is relatively low.

[0004] Therefore, there is an urgent need for a test device for the repeatability and accuracy of robot joint modules. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a test device for the repeatability positioning accuracy of robot joint modules, so as to solve the problems in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows.

[0007] A test device for repeatability positioning accuracy of a robot joint module includes a horizontally positioned base; a fixed bracket is mounted on the rigid base, and a joint module to be tested is clamped on the fixed bracket; the output end of the joint module to be tested is connected to a load simulation mechanism, and the output end of the joint module to be tested is also connected to a rigid coupling; the other end of the rigid coupling is connected to a circular grating encoder coaxially arranged with the joint module to be tested, and an encoder bracket connected to the rigid base is located below the circular grating encoder; the output end of the circular grating encoder is connected to a data acquisition and processing control board.

[0008] To further optimize the technical solution, the base is a rigid base, and the corners of the bottom surface of the rigid base are all equipped with feet.

[0009] To further optimize the technical solution, a temperature-insulating and vibration-damping platform is provided below the base, and the top of the temperature-insulating and vibration-damping platform is connected to the bottom surface of the support leg on the base.

[0010] To further optimize the technical solution, the load simulation mechanism is a simulation mechanism that can simulate inertial load and torque load, and the load simulation mechanism is detachably connected to the output end of the joint module under test through a flange.

[0011] To further optimize the technical solution, the rigid coupling is a diaphragm coupling.

[0012] To further optimize the technical solution, the circular grating encoder is a 21-bit resolution multi-turn absolute position encoder.

[0013] Due to the adoption of the above technical solutions, the technical progress achieved by this utility model is as follows.

[0014] This invention provides a robot joint module repeatability positioning accuracy testing device. It employs a high-precision circular grating encoder as the direct measurement reference and directly connects via a rigid coupling, avoiding transmission chain errors, ensuring coaxiality, and guaranteeing the authenticity and extremely high accuracy of the measurement data. A load simulation mechanism can easily simulate various load conditions of the joint module under test in practical applications. The rigid base and temperature- and vibration-damping platform reduce the influence of the external environment on the test results, increasing the accuracy of the results. This invention has the advantages of simple structure, convenient installation, easy use, low cost, accurate test results, and the ability to simulate actual load conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; The components include: 1. base, 11. support legs, 2. fixed bracket, 3. joint module to be tested, 4. load simulation mechanism, 5. rigid coupling, 6. circular grating encoder, 7. encoder bracket, 8. data acquisition and processing control board, and 9. temperature and vibration isolation platform. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] A test device for repeatability positioning accuracy of robot joint modules, combined with Figure 1 As shown, it includes a base 1, a fixed bracket 2, a joint module to be tested 3, a load simulation mechanism 4, a rigid coupling 5, a circular grating encoder 6, an encoder bracket 7, a data acquisition and processing control board 8, and a temperature and vibration isolation platform 9.

[0018] The base 1 is a rigid base 1, which is horizontally set. The corners of the bottom surface of the rigid base 1 are equipped with feet 11, and the feet 11 are rigid feet.

[0019] A thermal insulation and vibration isolation platform 9 is installed below the base 1. The thermal insulation and vibration isolation platform 9 adopts a honeycomb structure or metal composite material (such as aluminum alloy or stainless steel) to balance lightweight and high rigidity. The top of the thermal insulation and vibration isolation platform 9 is connected to the bottom end face of the support leg 11 on the base 1 to isolate the interference of environmental vibration and temperature fluctuation on the test results and increase the accuracy of the test results.

[0020] A fixed bracket 2 is provided on the rigid base 1 for clamping the joint module 3 to be tested; one end of the joint module 3 to be tested is clamped on the fixed bracket 2.

[0021] The output end of the joint module 3 under test is connected to a load simulation mechanism 4, and the load simulation mechanism 4 is detachably connected to the output end of the joint module 3 under test via a flange. The load simulation mechanism 4 is a mechanical load simulation mechanism, which simulates inertial load and torque load by installing an inertial disk or a set of weights. The load simulation mechanism 4 is used to apply inertial and torque loads to the output end of the joint module 3 under test to simulate real working conditions.

[0022] The output end of the joint module 3 under test is connected to a rigid coupling 5, which is a diaphragm coupling; it can transmit torque and compensate for minor radial, angular and axial deviations, further protecting the high-precision encoder.

[0023] The other end of the rigid coupling 5 is connected to a circular grating encoder 6, which is a 21-bit resolution multi-turn absolute position encoder with very high precision. The circular grating encoder 6 is coaxially arranged with the joint module 3 under test, and the two are directly connected by the rigid coupling 5, which facilitates direct measurement of the true angular position of the output shaft of the joint module 3 under test.

[0024] The circular grating encoder 6 is provided with an encoder bracket 7 connected to the rigid base 1 below it. The encoder bracket 7 is connected to the base by bolts, and the circular grating encoder 6 and the encoder bracket 7 are fixedly connected by bolts, etc., so as to support and position the circular grating encoder 6.

[0025] The output of the circular encoder 6 is connected to a data acquisition and processing control board 8. The data acquisition and processing control board 8 can use a PCI-1716, a 16-bit high-resolution multi-functional data acquisition card capable of accurately acquiring signals and featuring automatic calibration. It employs a PCI 2.2 bus interface, providing high-speed data transmission capabilities to ensure the real-time performance and accuracy of data acquisition. The circular encoder 6 transmits the measured angle data to the data acquisition and processing control board 8 in real time. The data acquisition and processing control board 8 calculates and analyzes the data, ultimately obtaining the repeatability accuracy value.

[0026] In practical use, the load simulation mechanism 4 is first installed on the joint module 3 under test. Then, the joint module 3 moves to the target position according to the command and repeats the movement. Due to the action of the rigid coupling 5, the circular grating encoder 6 can detect the actual angle value after each movement of the joint module 3 into position and when it is stable. The circular grating encoder 6 sends the detected data to the data acquisition and processing control board 8. After collecting enough data (such as repeating the movement 30 times), the data acquisition and processing control board 8 automatically calculates the standard deviation σ and gives the repeatability positioning accuracy R=±3σ.

Claims

1. A robot joint module repeatability accuracy testing device, characterized in that: The system includes a horizontally positioned base (1); a fixed bracket (2) is provided on the base (1), and a test joint module (3) is clamped on the fixed bracket (2); the output end of the test joint module (3) is connected to a load simulation mechanism (4), and the output end of the test joint module (3) is connected to a rigid coupling (5); the other end of the rigid coupling (5) is connected to a circular grating encoder (6) coaxially arranged with the test joint module (3), and an encoder bracket (7) connected to the base (1) is provided below the circular grating encoder (6); the output end of the circular grating encoder (6) is connected to a data acquisition and processing control board (8).

2. The robot joint module repeatability and accuracy testing device according to claim 1, wherein: The base (1) is a rigid base (1), and the corners of the bottom end face of the rigid base (1) are all equipped with feet (11).

3. The robot joint module repeatability and accuracy testing device of claim 1, wherein: A temperature-insulating and vibration-damping platform (9) is provided below the base (1), and the top of the temperature-insulating and vibration-damping platform (9) is connected to the bottom surface of the support leg (11) on the base (1).

4. The robot joint module repeatability and accuracy testing device of claim 1, wherein: The load simulation mechanism (4) is a simulation mechanism that can simulate inertial load and torque load, and the load simulation mechanism (4) is detachably connected to the output end of the joint module (3) under test through a flange.

5. The robot joint module repeatability and accuracy testing device of claim 1, wherein: The rigid coupling (5) is a diaphragm coupling.

6. The robot joint module repeatability and accuracy testing device of claim 1, wherein: The circular grating encoder (6) is a 21-bit resolution multi-turn absolute position encoder.

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