A robot joint module rapid comprehensive test platform

Abstract

The utility model discloses a kind of quick comprehensive test platform of robot joint module, including workbench, workbench two sides coaxial are equipped with load assembly for generating reverse torque and the positioning assembly for fixed joint module, positioning assembly is equipped with engagement assembly to opposite side, engagement assembly is coaxially connected between load assembly through two shaft couplings, torque sensor is connected between two shaft couplings;Positioning assembly includes first jaw, first rack and push cylinder, first jaw is installed on first rack, engagement assembly includes second jaw and second rack, second jaw is installed on second rack, first jaw tail is inserted into the several counterbores of joint module output end through several cylindrical pins to complete concentric connection, push cylinder promotes first rack, so that first jaw and second jaw are engaged after connection, to complete the coaxial connection of joint module and load assembly, the utility model, with the characteristics of convenient installation and high degree of automation.

Description

Technical Field

[0001] This utility model relates to the field of robot testing technology, specifically a rapid integrated testing platform for robot joint modules. Background Technology

[0002] In the current era of rapid industrial automation development, robot joint modules, as the core components for robots to achieve precise movement and flexible operation, directly determine the overall operating quality of the robot through their performance stability and reliability. To ensure that robot joint modules meet design standards before leaving the factory, comprehensive testing benches have become an indispensable key testing equipment in industrial production, and are widely used in the performance parameter testing, life assessment, and fault diagnosis of modules.

[0003] A published Chinese patent, publication number CN216050019U, discloses a testing device for a robotic arm joint module, including a base, a first detection mechanism, a second detection mechanism, a rotating component, and a swinging component disposed on the base; the first detection mechanism, the second detection mechanism, the rotating component, and the swinging component are connected in sequence, and a mass block is provided at the end of the swinging component away from the rotating component; during testing, the module to be tested is connected to the end of the first detection mechanism away from the second detection mechanism, and the swinging component and the mass block connected thereto move with the rotation of the rotating component; the first detection mechanism is used to detect the rotational speed and position information of the module to be tested, and the second detection mechanism is used to detect the torque applied to the module to be tested. The joint module testing device disclosed in this patent requires manual tightening of multiple screws to fix the fixed end of the joint module when testing each joint module. In addition, the output end of the joint module also needs to be connected to the first testing mechanism on the base through a coupling. This series of operations requires manual and repeated adjustment of the screw tightness and the coaxiality of the coupling at the output end of the joint module, resulting in excessively long installation time for a single joint module and greatly reducing the efficiency of the testing process.

[0004] Therefore, it is essential to design a rapid integrated testing platform for robot joint modules that is easy to install and highly automated. Utility Model Content

[0005] The purpose of this invention is to provide a rapid integrated testing platform for robot joint modules to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a rapid integrated test bench for robot joint modules, including a workbench, on both sides of the workbench are coaxially provided a load component for generating reverse torque and a positioning component for fixing the joint module, the positioning component is provided with a coupling component on the opposite side, the coupling component and the load component are coaxially connected through two couplings, and a torque sensor for collecting torque information is connected between the two couplings. The positioning assembly includes a first claw, a first frame, and a propulsion cylinder for moving the first frame. The first claw is mounted on the first frame. The engagement assembly includes a second claw and a second frame. The second claw is mounted on the second frame. The tail of the first claw is inserted into several countersunk holes at the output end of the joint module through several cylindrical pins to complete coaxial positioning and concentric connection. The propulsion cylinder pushes the first frame, so that the first claw and the second claw engage and connect to complete the coaxial connection between the joint module and the load assembly.

[0007] In one embodiment of the present invention, the first frame is provided with a fixing cylinder at the tail of the joint module, and a fixing disc is provided at the output end of the fixing cylinder. The fixing cylinder pushes the fixing disc to press against the tail of the joint module to stabilize the fixed end of the joint module.

[0008] In one embodiment of the present invention, a clamping cylinder is provided above the joint module on the first frame, and a clamping seat is provided below the joint module on the first frame. A clamping head is provided at the output end of the clamping cylinder. The clamping cylinder presses down the clamping head to cooperate with the clamping seat to clamp the side of the joint module.

[0009] In one embodiment of the present invention, a plurality of sliders are symmetrically arranged on both sides of the bottom of the first frame, and the worktable is provided with linear guide rails at the bottom of the sliders on both sides. The sliders are engaged on the linear guide rails and slide along the linear guide rails.

[0010] In one embodiment of the present invention, the worktable is provided with a photoelectric sensor at the engagement point of the first jaw and the second jaw for detecting whether the jaw teeth are in the meshing position.

[0011] In one embodiment of the present invention, the load assembly includes a servo motor and a third frame, the servo motor being mounted on one side of the third frame, and the third frame being fixed to the workbench.

[0012] In one embodiment of the present invention, a fourth frame is fixedly connected to the workbench below the torque sensor, and the torque sensor is mounted on the fourth frame.

[0013] In one embodiment of the present invention, the workbench is provided with limiting blocks on the left and right sides of the first frame to restrict the movement path of the first frame.

[0014] Compared with the prior art, the beneficial effects achieved by this utility model are: (1) By setting up a claw meshing structure with positioning components and engagement components, and combining the quick coaxial positioning design of cylindrical pin and countersunk hole, the connection method of coupling is replaced. While ensuring concentricity, the installation and positioning process of joint module is greatly simplified. Secondly, the automated docking mechanism driven by cylinder is promoted. Combined with the photoelectric sensor to accurately detect the meshing position between the claws, the manual judgment and adjustment links are reduced, the single installation time is significantly shortened, the turnover efficiency of the test bench is effectively improved, the manual operation is reduced, and the automation level of the test bench is improved. (2) By setting up a clamping cylinder and a fixing cylinder, the clamping cylinder drives the chuck to press down and cooperate with the clamping seat to clamp the joint module from the side, and the fixing cylinder pushes the fixing disc to extend forward and press the tail of the joint module, thus realizing the automated fixing and positioning of the joint module in the axial and radial directions, effectively improving the flow efficiency of the inspection process. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structural composition of this utility model; Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the first claw structure of this utility model; In the diagram: 10. Worktable; 11. Linear guide rail; 12. Limit block; 20. Load assembly; 21. Servo motor; 22. Third frame; 30. Joint module; 31. Countersunk hole; 40. Positioning assembly; 41. First jaw; 411. Cylindrical pin; 42. First frame; 421. Clamp; 422. Slider; 43. Push cylinder; 44. Fixing cylinder; 441. Fixing disc; 45. Clamping cylinder; 451. Chuck; 50. Engaging assembly; 51. Second jaw; 52. Second frame; 60. Coupling; 70. Torque sensor; 71. Fourth frame; 80. Photoelectric sensor. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0017] This utility model provides a technical solution: a rapid integrated testing platform for robot joint modules, including a worktable 10. Load components 20 for generating reverse torque and positioning components 40 for fixing joint modules 30 are coaxially arranged on both sides of the worktable 10. A coupling component 50 is provided on the opposite side of the positioning component 40. The coupling component 50 and the load component 20 are coaxially connected via two couplings 60. A torque sensor 70 for collecting torque information is connected between the two couplings 60. The coaxial arrangement of the load component 20, the torque sensor 70, and the coupling component 50 ensures the accuracy of reverse torque loading and torque information acquisition, simplifying the operation process while guaranteeing the reliability of the test data. The positioning assembly 40 includes a first jaw 41, a first frame 42, and a propulsion cylinder 43 for moving the first frame 42. The first jaw 41 is mounted on the first frame 42. The engagement assembly 50 includes a second jaw 51 and a second frame 52. The second jaw 51 is mounted on the second frame 52. The tail of the first jaw 41 is inserted into several countersunk holes 31 at the output end of the joint module 30 through several cylindrical pins 411 to complete coaxial positioning and concentric connection. The positioning structure in which several cylindrical pins 411 are inserted into the countersunk holes 31 one by one replaces the connection method of the coupling, which can quickly complete the coaxial docking between the output end of the joint module 30 and the first jaw 41, greatly shortening the installation time. The propulsion cylinder 43 pushes the first frame 42, causing the first jaw 41 and the second jaw 51 to mesh and connect, thus completing the coaxial connection between the joint module 30 and the load assembly 20. When the propulsion cylinder 43 pushes the first frame 42 to move, it applies thrust only along the axial direction, so that the first jaw 41 and the second jaw 51 are precisely meshed and connected. At the same time, the second jaw 51 is coaxially designed with the torque sensor 70 and the load assembly 20 through the coupling 60. Finally, a full-link coaxial connection is formed between the joint module 30, the first jaw 41, the second jaw 51, the coupling 60, the torque sensor 70, and the load assembly 20, which completely eliminates the interference of radial deviation on the test data, eliminates the need for repeated manual calibration of coaxiality, and greatly improves the test efficiency.

[0018] The first frame 42 is equipped with a fixing cylinder 44 at the tail of the joint module 30. The output end of the fixing cylinder 44 is equipped with a fixing disc 441. The fixing cylinder 44 pushes the fixing disc 441 to press the tail of the joint module 30 to stabilize the fixed end of the joint module 30. The fixing cylinder 44 can output stable pressure to drive the fixing disc 441 to accurately press the tail of the joint module 30 with a preset force value, replacing the traditional method of manually tightening multiple screws. This design not only shortens the installation time of the fixed end, but also ensures the consistency of the fixing force each time through air pressure regulation, avoiding the problem of module tilting caused by uneven screw tightness during manual operation. At the same time, the surface contact design between the fixing disc 441 and the tail of the joint module 30 can disperse pressure and prevent excessive local stress from damaging the module. The first frame 42 is located above the joint module 30 and is equipped with a clamping cylinder 45. The first frame 42 is located below the joint module 30 and is equipped with a clamping seat 421. The output end of the clamping cylinder 45 is equipped with a chuck 451. The clamping cylinder 45 presses down the chuck 451 to cooperate with the clamping seat 421 to clamp the side of the joint module 30. The clamping cylinder 45 drives the chuck 451 to press down, which cooperates with the clamping seat 421 below to form a clamping force, which firmly fixes the joint module 30 from the side and effectively limits the radial shaking of the module caused by torque loading during the test.

[0019] The first frame 42 has several sliders 422 symmetrically arranged on both sides of its bottom. The worktable 10 has linear guide rails 11 at the bottom of the sliders 422 on both sides. The sliders 422 are engaged on the linear guide rails 11 and slide along the linear guide rails 11. The sliders 422 on both sides of the bottom of the first frame 42 and the linear guide rails 11 of the worktable 10 form a precision sliding pair, which effectively constrains the degree of freedom of movement of the first frame 42 and avoids possible swaying or tilting during movement. The worktable 10 has limit blocks 12 on the left and right sides of the first frame 42 to limit the movement path of the first frame 42. The limit blocks 12 are set at the extreme positions of the movement path of the first frame 42 to prevent the first frame 42 from moving beyond its range, which would cause deformation of the teeth of the first chuck 41 and the second chuck 51 due to excessive meshing.

[0020] The workbench 10 is equipped with a photoelectric sensor 80 at the joint of the first jaw 41 and the second jaw 51 to detect whether the jaw teeth are in the meshing position. The photoelectric sensor 80 can monitor the meshing depth and alignment status of the jaw teeth in real time. Once it is detected that the jaw teeth are not in the meshing position, the control system drives the output end of the joint module 30 to rotate and adjust the meshing position to avoid misalignment of the jaw teeth and damage to the jaws.

[0021] The load assembly 20 includes a servo motor 21 and a third frame 22. The servo motor 21 is mounted on one side of the third frame 22, which is fixed to the worktable 10. The third frame 22 is rigidly connected to the worktable 10 by bolts and can withstand the radial and axial loads generated by the servo motor 21 during operation, avoiding coaxiality deviation caused by the position of the third frame 22. The output shaft of the servo motor 21 is connected to the torque sensor 70 through a coupling 60 and remains coaxial, ensuring no additional radial force during reverse torque transmission. A fourth frame 71 is fixedly connected to the worktable 10 below the torque sensor 70, and the torque sensor 70 is mounted on the fourth frame 71. The fourth frame 71 is rigidly connected to the worktable 10 by bolts, ensuring that the torque sensor 70 mounted on it is strictly coaxial with the servo motor 21 and the second chuck 51.

[0022] Working principle: The operator places the robot joint module 30 to be tested on the clamp 421, and inserts the countersunk hole 31 at the output end of the joint module 30 into the cylindrical pin 411 at the tail of the first claw 41 to complete the coaxial docking. Subsequently, the clamping cylinder 45 drives the chuck 451 to press down, cooperating with the clamping seat 421 to clamp the joint module 30 from the side, limiting its radial sway. At the same time, the fixing cylinder 44 pushes the fixing disc 441 to extend forward, pressing the fixed end of the module tail to achieve axial fixation. The propulsion cylinder 43 drives the first frame 42 to move along the linear guide rail 11 toward the engagement assembly 50. The first chuck 41 gradually approaches the second chuck 51. The photoelectric sensor 80 monitors the chuck meshing status in real time. If misalignment occurs, the control system controls the output end of the joint module 30 to rotate and adjust. When the first chuck 41 and the second chuck 51 are fully meshed and connected, they form a full-link coaxial connection with the servo motor 21 through the coupling 60, torque sensor 70 and coupling 60. After docking is completed, the servo motor 21 starts and applies reverse torque to the output end of the joint module 30 through the coupling 60 to simulate the actual working load. The torque sensor 70 collects the torque data in real time during the transmission process and transmits it to the control system for analysis to ensure that instantaneous torque fluctuations are captured. After the test is completed, the system controls each actuator to reset once, the push cylinder 43 drives the first frame 42 to move back to the position of the limit block 12, so that the first claw 41 and the second claw 51 separate, the clamping cylinder 45 and the fixing cylinder 44 retract, and the constraint on the joint module 30 is released.

[0023] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0024] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.

[0025] 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, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rapid integrated testing platform for robot joint modules, comprising a workbench (10), wherein a load assembly (20) for generating reverse torque and a positioning assembly (40) for fixing a joint module (30) are coaxially provided on both sides of the workbench (10), wherein a coupling assembly (50) is provided on one side of the positioning assembly (40), and the coupling assembly (50) and the load assembly (20) are coaxially connected by two couplings (60), wherein a torque sensor (70) for collecting torque information is connected between the two couplings (60). Its features are: The positioning component (40) includes a first claw (41), a first frame (42), and a propulsion cylinder (43) for moving the first frame (42). The first claw (41) is mounted on the first frame (42). The engagement component (50) includes a second claw (51) and a second frame (52). The second claw (51) is mounted on the second frame (52). The tail of the first claw (41) is inserted into several countersunk holes (31) at the output end of the joint module (30) through several cylindrical pins (411) to complete coaxial positioning and concentric connection. The propulsion cylinder (43) pushes the first frame (42) so that the first claw (41) and the second claw (51) mesh and connect to complete the coaxial connection between the joint module (30) and the load component (20).

2. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The first frame (42) has a fixed cylinder (44) at the tail of the joint module (30). The output end of the fixed cylinder (44) has a fixed disc (441). The fixed cylinder (44) pushes the fixed disc (441) to press the tail of the joint module (30) to stabilize the fixed end of the joint module (30).

3. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The first frame (42) is provided with a clamping cylinder (45) above the joint module (30), and a clamping seat (421) is provided below the joint module (30). The output end of the clamping cylinder (45) is provided with a chuck (451). The clamping cylinder (45) presses down the chuck (451) and the clamping seat (421) to clamp the side of the joint module (30).

4. The rapid integrated testing platform for robot joint modules according to claim 3, characterized in that: The first frame (42) has several sliders (422) symmetrically arranged on both sides of the bottom. The worktable (10) has linear guide rails (11) at the bottom of the sliders (422) on both sides. The sliders (422) are locked on the linear guide rails (11) and slide along the linear guide rails (11).

5. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The worktable (10) is provided with a photoelectric sensor (80) at the engagement point of the first jaw (41) and the second jaw (51) for detecting whether the jaw teeth are in the meshing position.

6. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The load assembly (20) includes a servo motor (21) and a third frame (22), the servo motor (21) being mounted on one side of the third frame (22), and the third frame (22) being fixed on the workbench (10).

7. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The workbench (10) has a fourth frame (71) fixedly connected below the torque sensor (70), and the torque sensor (70) is mounted on the fourth frame (71).

8. The rapid integrated testing platform for robot joint modules according to claim 1, characterized in that: The workbench (10) has limit blocks (12) on the left and right sides of the first frame (42) to restrict the movement path of the first frame (42).

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