Joint actuator off-line detection device and apparatus

Abstract

The utility model discloses a joint executor off-line detection device and equipment. Specifically, joint executor off-line detection device includes workstation, and workpiece clamping assembly and off-line detection subassembly on it. Workpiece clamping assembly has movable sliding platform, is equipped with workpiece positioning clamping frock, workpiece mobile clamping frock and butt joint axle on it, can realize automatic clamping, positioning and power on of workpiece. Off-line detection subassembly includes the rotating shaft that is driven by servo motor, is equipped with transmission brake mechanism, torque detection mechanism, angle detection mechanism and product brake mechanism in proper order on the rotating shaft, is used for butt joint and applies load to the joint executor of measuring, and the output torque and rotation angle of accurate detection are measured simultaneously. Joint executor off-line detection equipment integrates above -mentioned device, and includes integrated test system of host computer, PLC and program control power, realizes the automation of detection process, and the structure is reasonable, and butt joint is accurate, can efficiently, reliably complete the off-line performance detection of joint executor.

Description

Technical Field

[0001] This utility model belongs to the field of joint actuator testing technology, specifically a joint actuator off-line testing device and equipment. Background Technology

[0002] Robotic actuators are the core power components of a robot system, integrating servo motors, high-precision reducers, brakes, and sensors. They are responsible for converting electrical energy into precise mechanical motion. Their performance parameters, such as output torque, rotational angle accuracy, backlash, efficiency, and brake holding capability, directly determine the robot's overall motion accuracy, dynamic response, load capacity, and overall reliability. In high-end fields such as industrial robots, service robots, and even humanoid robots, the performance consistency and long-term durability of actuators are key indicators for evaluating their quality and reliability.

[0003] With the rapid development of industries such as humanoid robots and collaborative robots, more stringent technical requirements have been placed on articulated actuators, including lightweight design, high power density, low backlash, and high reverse drive efficiency. Traditional industrial-grade planetary reducers are no longer sufficient to fully meet the specific needs of these cutting-edge applications in terms of weight and backlash control. This trend makes the end-of-line (EOL) testing of articulated actuators before they leave the factory crucial. Comprehensive and accurate EOL testing can screen out defective products, ensure the performance consistency of products leaving the factory, and provide reliable data support for iterative product optimization.

[0004] However, the following problems are commonly found in the current industry's testing of joint actuators before they are put into operation: (1) Low level of automation: Many testing stations still rely on manual clamping, docking and testing operations, which is not only inefficient, but also prone to errors due to human factors, resulting in poor consistency of test results; (2) Single testing items: Some testing equipment has a single function and can only perform a specific performance test (such as torque or speed). It cannot complete comprehensive performance tests including load performance, angle accuracy, and brake braking in one station, resulting in a complicated testing process and occupying a large production line space. (3) Inaccurate load simulation: When a load needs to be applied for testing, the traditional loading method may not be able to accurately and stably simulate the real working conditions of the joint actuator, affecting the accuracy of torque and angle detection data; (4) Insufficient docking accuracy and safety: If there is a deviation in the mechanical docking between the testing equipment and the actuator output shaft, it will not only affect the test results, but may also damage the product; at the same time, the safety protection measures during the test are insufficient, which poses a certain risk.

[0005] Therefore, there is an urgent need for an integrated, automated, high-precision, and safe joint actuator off-line testing device and equipment to solve the above pain points and meet the needs of modern high-efficiency and high-quality production. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a joint actuator offline detection device and equipment that can meet the usage requirements of joint actuator offline detection and effectively improve detection efficiency and accuracy.

[0007] To achieve the above objectives, this utility model provides the following technical solution: This utility model first proposes a joint actuator offline detection device, including a workbench, on which a workpiece clamping assembly and an offline detection assembly are installed; The workpiece clamping assembly includes a sliding platform movable along a first linear guide rail. The sliding platform is equipped with a workpiece positioning and clamping fixture for mounting the joint actuator under test, a workpiece moving and clamping fixture corresponding to the workpiece positioning and clamping fixture, and a docking shaft connected to the output shaft of the joint actuator under test. The workpiece moving and clamping fixture can move relative to the workpiece positioning and clamping fixture in a direction parallel to the first linear guide rail and is used to control the power supply to and from the joint actuator under test. The offline detection component includes a rotating shaft parallel to the first linear guide rail. The input end of the rotating shaft is connected to a servo motor, and the output end has a docking head for docking with the docking shaft to apply a load to the joint actuator under test. Along the direction from the servo motor to the docking head, the rotating shaft is sequentially equipped with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism, and a product brake mechanism. The servo motor drives the rotating shaft to rotate and apply a load to the joint actuator under test. The torque detection mechanism detects the output torque of the joint actuator under test, and the angle detection mechanism detects the rotation angle of the output shaft of the joint actuator under test. The transmission brake mechanism clamps or stops the rotating shaft, and the product brake mechanism clamps the docking shaft.

[0008] Furthermore, the first linear guide rail is mounted on the worktable, and the worktable is provided with a first drive mechanism for driving the sliding platform to move along the first linear guide rail.

[0009] Furthermore, the workbench is also equipped with contact sensors located at both ends of the first linear guide rail to control the positions of the two ends of the sliding platform as it moves along the first linear guide rail.

[0010] Furthermore, the sliding platform is provided with a second linear guide rail parallel to the first linear guide rail, the workpiece moving clamping fixture is slidably mounted on the second linear guide rail, and the sliding platform is provided with a second driving mechanism for driving the workpiece moving clamping fixture to move relative to the workpiece positioning clamping fixture.

[0011] Furthermore, the second drive mechanism adopts a push-pull quick clamp, and the push head of the push-pull quick clamp abuts against the side of the workpiece moving clamping fixture facing away from the workpiece positioning clamping fixture.

[0012] Furthermore, the workpiece moving clamping fixture has a power connection component on one side facing the workpiece positioning clamping fixture, which is connected to the control circuit board of the joint actuator to be tested.

[0013] Furthermore, the end of the docking shaft is provided with a connector, and the end face of the docking end is provided with a docking groove that is inserted and mated with the connector.

[0014] Furthermore, the offline inspection component also includes a barcode scanner, and the workbench is provided with a barcode scanner placement station on the side near the workpiece clamping component for placing the barcode scanner.

[0015] This utility model also proposes a joint actuator offline testing device, including a frame on which an integrated testing system and the joint actuator offline testing device described above are mounted. The integrated testing system includes a host computer, a PLC controller, and a programmable power supply. The programmable power supply is connected to a power connection component on the workpiece moving clamping fixture to supply power to the joint actuator under test. The PLC controller is electrically connected to the servo motor to control the load applied to the joint actuator under test by the offline testing component. The host computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism.

[0016] Furthermore, the integrated testing system also includes a control panel and a display mounted on the rack, the display being used to show the testing status and results of the joint actuator under test.

[0017] The beneficial effects of this utility model are as follows: This utility model discloses a joint actuator offline testing device. By integrating a workpiece clamping assembly and an offline testing assembly, it achieves efficient and accurate offline testing of joint actuators. Specifically, the workpiece clamping assembly employs a movable sliding platform and a workpiece moving clamping fixture, facilitating rapid clamping and positioning of the joint actuator under test, and automatically controlling its power supply, thus improving the degree of automation. The offline testing assembly applies a load to the rotating shaft via a servo motor, simulating real working conditions. Simultaneously, it utilizes torque and angle detection mechanisms to accurately measure the output torque and rotation angle of the joint actuator, ensuring the reliability of performance parameter testing. The transmission brake mechanism and product brake mechanism are used to stabilize the rotating shaft and docking shaft, respectively, enhancing the safety and stability of the testing process. In summary, this utility model's joint actuator offline testing device has a reasonable structure and accurate alignment, greatly improving testing efficiency and accuracy, and meeting the requirements for offline testing of joint actuators. Attached Figure Description

[0018] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the joint actuator offline testing equipment of this utility model; Figure 2 This is a schematic diagram of the integration test system. Figure 3 A schematic diagram of the joint actuator offline testing device; Figure 4 for Figure 3 Top view; Figure 5 for Figure 3 AA section view; Figure 6 This is a schematic diagram of the structure of Embodiment 2 of the joint actuator offline testing equipment of this utility model; Figure 7 This is an isometric view of the joint actuator offline testing equipment in this embodiment; Figure 8 for Figure 7 Enlarged view of region B.

[0019] Explanation of reference numerals in the attached figures: 1-Actuator under test; 10-Frame; 11-Control panel; 12-Display; 20-Worktable; 21-Sliding platform; 22-First linear guide; 23-Servo electric cylinder; 24-Contact sensor; 25-Workpiece positioning and clamping fixture; 26-Workpiece moving and clamping fixture; 27-Power connection assembly; 28-Second linear guide; 29-Push-pull quick clamp; 30-Mating shaft; 301-Mating joint; 31-Rotating shaft; 311 - Stop hole; 32- Servo motor; 33- Dating end; 34- Transmission brake mechanism; 341- Mounting base; 342- Stop cylinder; 343- Fixed base; 344- Movable base; 345- Spring; 346- Three-jaw chuck; 35- Torque detection mechanism; 36- Angle detection mechanism; 37- Product brake mechanism; 371- Clamping cylinder; 372- Gripper; 38- Barcode scanner; 39- Barcode scanner placement station; 40- Diaphragm coupling. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0021] Example 1

[0022] like Figure 1 As shown, the joint actuator offline testing equipment of this embodiment includes a frame 10, an integrated testing system mounted on the frame 10, and a joint actuator offline testing device.

[0023] like Figure 2 As shown, the integrated testing system includes a host computer, a PLC controller, and a programmable power supply. The programmable power supply is connected to the power connection component 27 on the workpiece moving clamping fixture 26 and is used to supply power to the joint actuator 1 under test. The PLC controller is electrically connected to the servo motor 32 and is used to control the load applied to the joint actuator 1 by the offline detection component. The host computer is used to collect and process the data detected by the torque detection mechanism 35 and the angle detection mechanism 36, and to determine whether the data is qualified. A control panel 11 and a display 12 are also installed on the frame 10. The display 12 is used to display the detection status and results of the joint actuator 1 under test in real time.

[0024] like Figure 3-5 As shown, the joint actuator offline detection device includes a worktable 20, on which a workpiece clamping assembly and an offline detection assembly are installed.

[0025] The workpiece clamping assembly includes a sliding platform 21 mounted on a worktable 20 via a first linear guide rail 22. The worktable 20 is equipped with a first drive mechanism for moving the sliding platform 21 along the first linear guide rail 22. In this embodiment, the first drive mechanism is a servo electric cylinder 23 mounted on the worktable 20. The worktable 20 is also equipped with contact sensors 24 located at both ends of the first linear guide rail 22 to limit the travel of the sliding platform 21. The sliding platform 21 is equipped with a workpiece positioning and clamping fixture 25 for mounting the joint actuator 1 under test, a workpiece moving and clamping fixture 26 corresponding to the workpiece positioning and clamping fixture 25, and a docking shaft 30 connected to the output shaft of the joint actuator 1 under test. The end of the docking shaft 30 is provided with a coupling joint 301. In this embodiment, the workpiece positioning and clamping fixture 25 is detachably mounted on the worktable 20. Therefore, when performing offline testing on joint actuators of different models and sizes, only the corresponding workpiece positioning and clamping fixture 25 and docking shaft 30 need to be replaced.

[0026] In this embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving clamping fixture 26 is slidably mounted on the second linear guide rail 28. The sliding platform 21 is also provided with a second driving mechanism for driving the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25. In this embodiment, the second driving mechanism is a push-pull quick clamp 29, whose push head abuts against the side of the workpiece moving clamping fixture 26 facing away from the workpiece positioning clamping fixture 25. Thus, the push-pull quick clamp 29 can be used to drive the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25 along the second linear guide rail 28. The side of the workpiece moving clamping fixture 26 facing the workpiece positioning clamping fixture 25 is provided with a power connection component 27 that interfaces with the control circuit board of the joint actuator 1 under test, for controlling the power supply to the joint actuator 1 under test.

[0027] The offline detection assembly includes a rotating shaft 31 mounted on a workbench 20 via a bearing housing and parallel to the first linear guide rail 22. A servo motor 32 is connected to the input end of the rotating shaft 31, and a docking end 33 is provided at the output end for docking with a docking connector 301 of the docking shaft 30. The end face of the docking end 33 has a docking groove for inserting into the docking connector 301. In this embodiment, the docking connector 301 is a regular hexagonal prism, and the docking groove is a matching regular hexagonal slot. A transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36, and a product brake mechanism 37 are sequentially arranged on the rotating shaft 31 along the direction from the servo motor 32 to the docking end 33. The servo motor 32 drives the rotating shaft 31 to rotate in order to apply a load to the joint actuator 1 under test. The torque detection mechanism 35 uses a torque sensor to detect the output torque of the joint actuator 1 under test. The angle detection mechanism 36 uses a grating angle encoder to detect the rotation angle of the output shaft of the joint actuator 1 under test. The transmission brake mechanism 34 is used to clamp or stop the rotating shaft 31 during test intervals. The product brake mechanism (not shown in the figure) is used to clamp the docking shaft 30 in specific test items. In this embodiment, the transmission brake mechanism 34 includes a stop cylinder 342 mounted on the workbench 10 via a mounting base 341. A fixed seat 343 and a movable seat 344 are sleeved on the piston rod of the stop cylinder 342, and a spring 345 is provided between the fixed seat 343 and the movable seat 344. The rotating shaft 31 is sleeved with a stop hole 311 that is coaxial with the piston rod of the stop cylinder 342 and radially penetrates both ends of it.

[0028] In addition, a barcode scanner placement station 39 is provided on the side of the workbench 20 near the workpiece clamping assembly, for placing barcode scanners 38 for collecting information from the product.

[0029] Example 2

[0030] like Figure 6 As shown, the joint actuator offline testing equipment of this embodiment includes a frame 10, an integrated testing system mounted on the frame 10, and a joint actuator offline testing device.

[0031] like Figure 7 As shown, the joint actuator offline detection device includes a worktable 20, on which a workpiece clamping assembly and an offline detection assembly are installed.

[0032] The workpiece clamping assembly includes a sliding platform 21 mounted on a worktable 20 via a first linear guide rail 22. The worktable 20 is equipped with a first drive mechanism (in the figure) for driving the sliding platform 21 to move along the first linear guide rail 22. The worktable 20 is also equipped with contact sensors 24 located at both ends of the first linear guide rail 22 to limit the travel of the sliding platform 21. The sliding platform 21 is equipped with a workpiece positioning and clamping fixture 25 for mounting the joint actuator 1 under test, a workpiece moving and clamping fixture 26 corresponding to the workpiece positioning and clamping fixture 25, and a docking shaft 30 connected to the output shaft of the joint actuator 1 under test. The end of the docking shaft 30 is provided with a coupling joint 301.

[0033] In this embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving clamping fixture 26 is slidably mounted on the second linear guide rail 28. The sliding platform 21 is also provided with a second driving mechanism for driving the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25. In this embodiment, the second driving mechanism is a push-pull quick clamp 29, whose push head abuts against the side of the workpiece moving clamping fixture 26 facing away from the workpiece positioning clamping fixture 25. The side of the workpiece moving clamping fixture 26 facing the workpiece positioning clamping fixture 25 is provided with a power connection component 27 that interfaces with the control circuit board of the joint actuator 1 under test, for controlling the power supply to the joint actuator 1 under test.

[0034] The offline detection assembly includes a rotating shaft 31 mounted on a workbench 20 via a bearing housing and parallel to the first linear guide rail 22. A servo motor 32 is connected to the input end of the rotating shaft 31, and a docking end 33 is provided at the output end for docking with a docking connector 301 of the docking shaft 30. The end face of the docking end 33 has a docking groove for inserting into the docking connector 301. In this embodiment, the docking connector 301 is a regular hexagonal prism, and the docking groove is a matching regular hexagonal slot. A transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36, and a product brake mechanism 37 are sequentially arranged on the rotating shaft 31 along the direction from the servo motor 32 to the docking end 33. The servo motor 32 drives the rotating shaft 31 to rotate in order to apply a load to the joint actuator 1 under test. The torque detection mechanism 35 uses a torque sensor to detect the output torque of the joint actuator 1 under test. The angle detection mechanism 36 uses a grating angle encoder to detect the rotation angle of the output shaft of the joint actuator 1 under test. The transmission brake mechanism 34 employs a pneumatic three-jaw chuck 346, used to clamp or stop the rotating shaft 31 during test intervals. Figure 8 As shown, the product's brake mechanism 37 is composed of a clamping cylinder 371 driving a pair of grippers 372, used to clamp the docking shaft 30 in specific test items (such as holding torque test).

[0035] In this embodiment, transmission mechanisms are respectively provided between the servo motor 32 and the transmission brake mechanism 34, between the transmission brake mechanism 34 and the torque detection mechanism 35, and between the torque detection mechanism 35 and the angle detection mechanism 36. The transmission mechanisms adopt diaphragm couplings 40.

[0036] Other specific implementation methods in this embodiment are the same as or equivalent to those in Embodiment 1, and will not be described again.

[0037] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A joint actuator offline detection device, characterized in that: Includes a workbench, on which a workpiece clamping assembly and an offline detection assembly are mounted; The workpiece clamping assembly includes a sliding platform movable along a first linear guide rail. The sliding platform is equipped with a workpiece positioning and clamping fixture for mounting the joint actuator under test, a workpiece moving and clamping fixture corresponding to the workpiece positioning and clamping fixture, and a docking shaft connected to the output shaft of the joint actuator under test. The workpiece moving and clamping fixture can move relative to the workpiece positioning and clamping fixture in a direction parallel to the first linear guide rail and is used to control the power supply to and from the joint actuator under test. The offline detection component includes a rotating shaft parallel to the first linear guide rail. The input end of the rotating shaft is connected to a servo motor, and the output end has a docking head for docking with the docking shaft to apply a load to the joint actuator under test. Along the direction from the servo motor to the docking head, the rotating shaft is sequentially equipped with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism, and a product brake mechanism. The servo motor drives the rotating shaft to rotate and apply a load to the joint actuator under test. The torque detection mechanism detects the output torque of the joint actuator under test, and the angle detection mechanism detects the rotation angle of the output shaft of the joint actuator under test. The transmission brake mechanism clamps or stops the rotating shaft, and the product brake mechanism clamps the docking shaft.

2. The joint actuator offline detection device according to claim 1, characterized in that: The first linear guide rail is mounted on the worktable, and the worktable is provided with a first drive mechanism for driving the sliding platform to move along the first linear guide rail.

3. The joint actuator offline detection device according to claim 2, characterized in that: The workbench is also equipped with contact sensors located at both ends of the first linear guide rail to control the positions of the sliding platform at both ends as it moves along the first linear guide rail.

4. The joint actuator offline detection device according to claim 1, characterized in that: The sliding platform is provided with a second linear guide rail parallel to the first linear guide rail. The workpiece moving clamping fixture is slidably mounted on the second linear guide rail. The sliding platform is also provided with a second driving mechanism for driving the workpiece moving clamping fixture to move relative to the workpiece positioning clamping fixture.

5. The joint actuator offline detection device according to claim 4, characterized in that: The second drive mechanism adopts a push-pull quick clamp, and the push head of the push-pull quick clamp abuts against the side of the workpiece moving clamping fixture facing away from the workpiece positioning clamping fixture.

6. The joint actuator offline detection device according to claim 1, characterized in that: The workpiece moving clamping fixture has a power connection component on one side facing the workpiece positioning clamping fixture, which is connected to the control circuit board of the joint actuator to be tested.

7. The joint actuator offline detection device according to claim 1, characterized in that: The end of the docking shaft is provided with a connector, and the end face of the docking end is provided with a docking groove that is inserted and mated with the connector.

8. The joint actuator offline detection device according to claim 1, characterized in that: The offline inspection component also includes a barcode scanner, and the workbench is provided with a barcode scanner placement station on the side near the workpiece clamping component for placing the barcode scanner.

9. A joint actuator offline testing device, characterized in that: The device includes a frame on which an integrated testing system and a joint actuator offline detection device as described in any one of claims 1-8 are mounted. The integrated testing system includes a host computer, a PLC controller, and a programmable power supply. The programmable power supply is connected to an electrical connection component on the workpiece moving clamping fixture to supply power to the joint actuator under test. The PLC controller is electrically connected to the servo motor to control the load applied to the joint actuator under test by the offline detection component. The host computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism.

10. The joint actuator offline testing device according to claim 9, characterized in that: The integrated testing system also includes a control panel and a display mounted on the rack, the display being used to show the testing status and results of the joint actuator under test.

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