CN112706192A - Intelligent mechanical arm dynamic positioning test platform - Google Patents
Intelligent mechanical arm dynamic positioning test platform Download PDFInfo
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- CN112706192A CN112706192A CN202110036353.7A CN202110036353A CN112706192A CN 112706192 A CN112706192 A CN 112706192A CN 202110036353 A CN202110036353 A CN 202110036353A CN 112706192 A CN112706192 A CN 112706192A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses an intelligent mechanical arm dynamic positioning test platform, which comprises a test platform, wherein an annular containing cavity with an upward opening is arranged in the test platform, a test block is arranged on the upper end surface of the test platform and is placed on the inner side of the circular wall in the containing cavity, a positioning block is fixedly arranged on the left side of the upper end surface of the test block, a test mechanical arm is arranged on the left upper side of the test platform, and a rotating base is arranged in the containing cavity in a vertically sliding manner. Has better display effect.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to an intelligent mechanical arm dynamic positioning test platform.
Background
In modern industry, can use the arm to replace the workman to carry out the work of high accuracy, high load, high speed, modern arm's ability is more and more powerful, not only can operate static problem, still has dynamic positioning ability a bit, can fix a position and operate the object of high-speed removal, and the test platform to the arm now generally all can only carry out static test, can not carry out the detection of arm dynamic positioning ability well. The invention discloses a dynamic positioning test platform for an intelligent mechanical arm, which can solve the problems.
Disclosure of Invention
In order to solve the problems, the present example designs an intelligent mechanical arm dynamic positioning test platform, which comprises a test platform, wherein an annular containing cavity with an upward opening is arranged in the test platform, a test block is arranged on the upper end surface of the test platform and on the inner side of a circular wall in the containing cavity, a positioning block is fixedly arranged on the left side of the upper end surface of the test block, a test mechanical arm is arranged on the upper left side of the test platform, a rotating base is arranged in the containing cavity in a vertically sliding manner, a rotating drum is arranged in the upper end surface of the rotating base in a rotating manner, an annular clamping power cavity is arranged on the upper side in the rotating drum, an annular clamping gear ring cavity is communicated with the lower wall of the clamping power cavity and on one side away from the test block, a clamping gear ring is arranged in the clamping gear ring cavity in a rotating manner, a clamping rotating ring is arranged on the upper end, the front side, the rear side, the left side and the right side of the inner wall of the clamping rotating ring are respectively and fixedly provided with a wedge block, the front side, the rear side, the left side and the right side of the inner wall of the clamping power cavity are respectively communicated with a clamping block cavity with an inward opening, the clamping block cavity can be internally provided with a clamping block which slides towards the direction far away from the test block, one end surface of the clamping block far away from the test block is abutted against one end surface of the wedge block close to the test block, a rotating gear ring is fixedly arranged in the outer circle surface of the rotating drum and at the lower side of the clamping motor, the left side of the outer circle wall of the containing cavity is communicated with a lifting cavity, the lifting cavity is internally provided with a lifting plate which can slide up and down, the right end surface of the lifting plate is fixedly connected with the outer circle surface of the rotating base, a moving slide block cavity with an upward opening is arranged in the lifting plate, the lifting plate is characterized in that a rotating gear shaft is rotatably arranged in the upper end face of the movable sliding block, a rotating gear is fixedly arranged on the outer circular face of the upper end of the rotating gear shaft, the rotating gear can be meshed with the rotating gear ring, a centrifugal wheel cavity is arranged in the lifting plate and on the left side of the cavity of the movable sliding block, a centrifugal wheel shaft is rotatably arranged between the left wall and the right wall of the centrifugal wheel cavity, and a centrifugal wheel is fixedly arranged on the outer circular face of the centrifugal wheel shaft.
Preferably, the lower end faces of the clamping blocks at the front, the rear, the left and the right sides are respectively and fixedly provided with a reset block at one side far away from the testing block, the reset block is close to one end face of the testing block and fixedly connected with a clamping reset spring between the inner wall of the clamping power cavity, the rotary drum is internally communicated with the inner circular wall of the clamping gear ring cavity at the left lower side of the clamping power cavity and is provided with a driving gear cavity, a driving gear shaft is rotatably arranged between the upper wall and the lower wall of the driving gear cavity, a power gear ring is fixedly arranged in the inner circular surface of the clamping gear ring, a driving gear meshed with the power gear ring is fixedly arranged on the outer circular surface of the driving gear shaft, a clamping motor is fixedly arranged in the lower wall of.
Preferably, a lifting screw is rotatably arranged on the left side in the lower wall of the lifting cavity, the lifting screw is in threaded connection with the lifting plate, a lifting motor is fixedly arranged on the left side in the lower wall of the lifting cavity, and the lower end of the lifting screw is in power connection with the upper end face of the lifting motor.
Preferably, a centrifugal block cavity with an upward opening is formed in the centrifugal wheel, a centrifugal block is arranged in the centrifugal block cavity and can slide up and down, a centrifugal block spring is fixedly connected between the lower end face of the centrifugal block and the lower wall of the centrifugal block cavity, and a pull rope is fixedly connected between the lower end face of the centrifugal block and the right end face of the movable sliding block.
Preferably, a bevel gear cavity is formed in the movable sliding block, a driving shaft is arranged between the left wall and the right wall of the movable sliding block in a rotating mode, a spline shaft sleeve is arranged between the left wall and the right wall of the bevel gear cavity in a rotating mode, the driving shaft penetrates through the bevel gear cavity and is connected with splines between the spline shaft sleeves in a spline mode, a driving bevel gear is fixedly arranged on the outer circular surface of the spline shaft sleeve, and a driven bevel gear meshed with the driving bevel gear is fixedly arranged on the lower end face of the lower end of the rotating gear shaft and extends into the.
Preferably, a gear cavity is formed in the lifting plate between the movable sliding block cavity and the centrifugal wheel cavity, the left end of the driving shaft extends into the gear cavity, a driving gear is fixedly arranged on the outer circular surface of the gear cavity, the right end of the centrifugal wheel shaft extends into the gear cavity, a driven gear meshed with the driving gear is fixedly arranged on the outer circular surface of the gear cavity, a power motor is fixedly arranged on the inner upper side of the left wall of the gear cavity, and the left end of the driving shaft is in power connection with the right end face of the power motor.
The invention has the beneficial effects that: the invention can clamp and lift the test block to a certain height, is convenient for testing the mechanical arm, enables the test block to rotate at high speed through an ingenious structure, can automatically separate the rotating power, enables the test block to rotate for a certain time by utilizing inertia, enables the positioning block on the test block to rotate along with the test block, enables the test mechanical arm to stop rotating through dynamic positioning and clamping of the positioning block, can well test the dynamic positioning capability of the mechanical arm, and has better display effect.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure a-a in fig. 1.
Fig. 3 is an enlarged schematic view of B in fig. 1.
Fig. 4 is an enlarged schematic view of C in fig. 1.
Fig. 5 is an enlarged schematic view of D in fig. 1.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The invention relates to an intelligent mechanical arm dynamic positioning test platform, which comprises a test platform 11, wherein an annular containing cavity 13 with an upward opening is arranged in the test platform 11, a test block 15 is arranged on the upper end surface of the test platform 11 and on the inner side of the inner circular wall of the containing cavity 13, a positioning block 16 is fixedly arranged on the left side of the upper end surface of the test block 15, a test mechanical arm 17 is arranged on the upper left side of the test platform 11, a rotating base 18 is arranged in the containing cavity 13 in a vertically sliding manner, a rotating drum 19 is rotatably arranged in the upper end surface of the rotating base 18, an annular clamping power cavity 26 is arranged on the upper side in the rotating drum 19, an annular clamping gear ring cavity 33 is communicated with the lower wall of the clamping power cavity 26 and is arranged on one side far away from the test block 15, a clamping gear ring 32 is rotatably arranged in the clamping gear ring cavity 33, a clamping rotating ring 27 is fixedly arranged on the, the front, rear, left and right sides of the inner wall of the clamping rotating ring 27 are respectively fixedly provided with a wedge block 28, the front, rear, left and right sides of the inner wall of the clamping power cavity 26 are respectively communicated with a clamping block cavity 30 with an inward opening, the clamping block cavity 30 can be provided with a clamping block 29 which can slide towards the direction far away from the test block 15, one end surface of the clamping block 29 far away from the test block 15 is abutted against one end surface of the wedge block 28 near the test block 15, the outer circular surface of the rotating cylinder 19 is fixedly provided with a rotating gear ring 20 at the lower side of the clamping motor 31, the left side of the outer circular wall of the accommodating cavity 13 is communicated with a lifting cavity 14, the lifting cavity 14 is provided with a lifting plate 21 which can slide up and down, the right end surface of the lifting plate 21 is fixedly connected with the outer circular surface of the rotating base 18, a moving slide block cavity 40 with an upward opening is arranged in the lifting plate 21, a movable spring 43 is fixedly connected between the right end face of the movable slider 41 and the right wall of the movable slider cavity 40, a rotating gear shaft 39 is rotatably arranged in the upper end face of the movable slider 41, a rotating gear 23 is fixedly arranged on the outer circular face of the upper end of the rotating gear shaft 39, the rotating gear 23 can be meshed with the rotating gear ring 20, a centrifugal wheel cavity 54 is arranged in the lifting plate 21 and on the left side of the movable slider cavity 40, a centrifugal wheel shaft 53 is rotatably arranged between the left wall and the right wall of the centrifugal wheel cavity 54, and a centrifugal wheel 62 is fixedly arranged on the outer circular face of the centrifugal wheel shaft 53.
Beneficially, a reset block 37 is fixedly arranged on one side of the lower end surface of the clamping block 29 away from the testing block 15 on the front, back, left and right sides, respectively, a reset spring 38 is fixedly connected between one end surface of the reset block 37 close to the testing block 15 and the inner circular wall of the clamping power cavity 26, a driving gear cavity 34 is arranged in the rotary drum 19 and communicated with the inner circular wall of the clamping gear cavity 33 on the left lower side of the clamping power cavity 26, a driving gear shaft 35 is rotatably arranged between the upper and lower walls of the driving gear cavity 34, a power gear ring 61 is fixedly arranged in the inner circular surface of the clamping gear ring 32, a driving gear 36 meshed with the power gear ring 61 is fixedly arranged on the outer circular surface of the driving gear shaft 35, a clamping motor 31 is fixedly arranged in the lower wall of the driving gear cavity 34, and the lower end of the driving.
Beneficially, a lifting screw 24 is rotatably arranged at the left side in the lower wall of the lifting cavity 14, the lifting screw 24 is in threaded connection with the lifting plate 21, a lifting motor 25 is fixedly arranged at the left side in the lower wall of the lifting cavity 14, and the lower end of the lifting screw 24 is in power connection with the upper end face of the lifting motor 25.
Beneficially, a centrifugal block cavity 55 with an upward opening is formed in the centrifugal wheel 62, a centrifugal block 60 is arranged in the centrifugal block cavity 55 and can slide up and down, a centrifugal block spring 59 is fixedly connected between the lower end surface of the centrifugal block 60 and the lower wall of the centrifugal block cavity 55, and a pull rope 46 is fixedly connected between the lower end surface of the centrifugal block 60 and the right end surface of the movable sliding block 41.
Beneficially, a bevel gear cavity 42 is formed in the movable slider 41, a driving shaft 44 is rotatably disposed between the left wall and the right wall of the movable slider cavity 40, a spline shaft sleeve 47 is rotatably disposed between the left wall and the right wall of the bevel gear cavity 42, the driving shaft 44 passes through the bevel gear cavity 42 and is in spline connection with the spline shaft sleeve 47, a driving bevel gear 48 is fixedly disposed on an outer circumferential surface of the spline shaft sleeve 47, the lower end of the rotating gear shaft 39 extends into the bevel gear cavity 42, and a driven bevel gear 45 engaged with the driving bevel gear 48 is fixedly disposed on a lower end surface of the rotating gear shaft.
Beneficially, a gear cavity 49 is provided in the lifting plate 21 and between the moving block cavity 40 and the centrifugal wheel cavity 54, the left end of the driving shaft 44 extends into the gear cavity 49, a driving gear 50 is fixedly provided on the outer circumferential surface, the right end of the centrifugal wheel shaft 53 extends into the gear cavity 49, a driven gear 52 engaged with the driving gear 50 is fixedly provided on the outer circumferential surface, a power motor 51 is fixedly provided on the upper inner side of the left wall of the gear cavity 49, and the left end of the driving shaft 44 is dynamically connected to the right end surface of the power motor 51.
The use steps herein are described in detail below with reference to fig. 1-5:
in the initial state, the rotating base 18 is located at the lower limit position, the lifting plate 21 is located at the lower limit position, the movable slider 41 is located at the left limit position, the centrifugal block 60 is accommodated in the centrifugal block cavity 55 to the maximum extent, and the pull rope 46 is in a tensioned state.
When the device works, the lifting motor 25 is started, the lifting screw 24 is driven to rotate through power connection, the lifting plate 21 is driven to move upwards through threaded connection, the rotating base 18 is driven to move upwards, the rotary drum 19 is driven to move upwards, when the clamping block 29 and the test block 15 are at the same height, the clamping motor 31 is started, the driving gear shaft 35 is driven to rotate through power connection, the driving gear 36 is driven to rotate, the power gear ring 61 is driven to rotate through gear meshing, the clamping gear ring 32 is driven to rotate, the clamping rotary ring 27 is driven to rotate, the wedge block 28 is driven to rotate, as the inner circular surface of the wedge block 28 is abutted against one end surface of the clamping block 29, which is far away from the test block 15, the clamping block 29 is driven to move towards the direction close to the test block 15, the reset block 37 is driven to move towards the direction close to the test block 15, and the clamping reset spring 38 is compressed, so, at this time, the clamping motor 31 is turned off, then the lifting motor 25 continues to drive the lifting screw 24 to rotate through the power connection, the rotary drum 19 is driven to move upwards and drive the clamping block 29 to move upwards through the transmission, further the test block 15 is driven to move upwards and drive the positioning block 16 to move upwards, after the lifting screw rises to a certain height, the lifting motor 25 is stopped, then the power motor 51 is started, the driving shaft 44 is driven to rotate and drive the driving gear 50 to rotate through the power connection, further the driven gear 52 is driven to rotate and drive the centrifugal wheel shaft 53 to rotate through gear meshing, further the centrifugal wheel 62 is driven to rotate and drive the centrifugal block 60 to rotate, further the centrifugal block 60 moves in the direction away from the centrifugal wheel shaft 53 due to the centrifugal force and stretches the centrifugal block spring 59, further the moving slide block 41 is driven to move rightwards through the pull rope 46 and compresses the moving spring 43, further, when the moving slide block 41 moves to the right limit position, the rotating gear 23 is engaged with the rotating gear ring 20, and simultaneously the driving shaft 44 rotates to drive the spline shaft sleeve 47 to rotate and drive the driving bevel gear 48 to rotate, and further the driven bevel gear 45 is driven to rotate and drive the rotating gear shaft 39 to rotate through gear engagement, and further the rotating gear 23 is driven to rotate and drive the rotating gear ring 20 to rotate through gear engagement, and further the rotating drum 19 is driven to rotate and drive the clamping block 29 to rotate, and further the testing block 15 is driven to rotate and drive the positioning block 16 to rotate, after rotating to a certain speed, the power motor 51 is stopped, so that the centrifugal wheel 62 stops rotating, the centrifugal block 60 is retracted into the centrifugal block cavity 55 by the elastic force of the centrifugal block spring 59, and further the pulling rope 46 becomes loose, the moving slide block 41 moves to the left due to the elastic force of the moving spring 43 and drives the rotating gear shaft 39 to move to the left, and, at this time, the drum 19 is still rotated by inertia, and then the test arm 17 is started to clamp the positioning block 16 by the chuck jaws in a state where the positioning block 16 is rotated at a high speed by dynamically capturing the position of the positioning block 16, thereby completing the test.
The invention has the beneficial effects that: the invention can clamp and lift the test block to a certain height, is convenient for testing the mechanical arm, enables the test block to rotate at high speed through an ingenious structure, can automatically separate the rotating power, enables the test block to rotate for a certain time by utilizing inertia, enables the positioning block on the test block to rotate along with the test block, enables the test mechanical arm to stop rotating through dynamic positioning and clamping of the positioning block, can well test the dynamic positioning capability of the mechanical arm, and has better display effect.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (6)
1. The utility model provides an intelligent mechanical arm dynamic positioning test platform, includes test platform, its characterized in that: an annular containing cavity with an upward opening is arranged in the test platform, a test block is arranged on the upper end face of the test platform and on the inner side of a circular wall in the containing cavity, a positioning block is fixedly arranged on the left side of the upper end face of the test block, a test mechanical arm is arranged on the upper left side of the test platform, a rotating base is arranged in the containing cavity in a vertically sliding manner, a rotating drum is rotatably arranged in the upper end face of the rotating base, an annular clamping power cavity is arranged on the inner upper side of the rotating drum, an annular clamping gear ring cavity is communicated with the lower wall of the clamping power cavity and on one side away from the test block, a clamping gear ring is rotatably arranged in the clamping gear ring cavity, a clamping rotating ring is fixedly arranged on the upper end face of the clamping gear ring and in the clamping power cavity, wedge blocks are respectively fixedly arranged on the front side, the rear side, the left side, the right, the clamping block cavity can be internally and closely spaced with a clamping block which is slidably arranged along the direction of the test block, the clamping block is far away from one end face of the test block and is close to the wedge block to be offset between one end face of the test block, a rotary gear ring is fixedly arranged in the outer cylindrical face of the rotary drum and at the lower side of the clamping motor, a lifting cavity is communicated with the left side of the outer cylindrical wall of the containing cavity, a lifting plate is arranged in the lifting cavity in a vertically sliding manner, the right end face of the lifting plate is fixedly connected with the outer cylindrical face of the rotary base, a movable slider cavity with an upward opening is arranged in the lifting plate, a movable slider is arranged in the movable slider cavity in a horizontally sliding manner, a movable spring is fixedly connected between the right end face of the movable slider and the right wall of the movable slider cavity, a rotary gear shaft is arranged in the upper end face of the movable, the rotating gear and the rotating gear ring can be meshed, a centrifugal wheel cavity is arranged in the lifting plate and on the left side of the movable sliding block cavity, a centrifugal wheel shaft is rotatably arranged between the left wall and the right wall of the centrifugal wheel cavity, and a centrifugal wheel is fixedly arranged on the outer circular surface of the centrifugal wheel shaft.
2. The intelligent mechanical arm dynamic positioning test platform as claimed in claim 1, wherein: the clamping device comprises a clamping block, a rotary drum, a clamping gear ring, a clamping motor and a clamping motor, wherein the clamping block is arranged in the clamping power cavity, the clamping block is arranged in the rotary drum, the clamping block is arranged in the clamping power cavity, the clamping block is arranged in the rotary drum, the clamping block is arranged in the clamping power cavity, the clamping block.
3. The intelligent mechanical arm dynamic positioning test platform as claimed in claim 1, wherein: the left side rotates in the lift chamber lower wall and is equipped with the lifting screw, lifting screw with threaded connection between the lifter plate, the fixed elevator motor that is equipped with in left side in the lift chamber lower wall, lifting screw lower extreme power connect in the elevator motor up end.
4. The intelligent mechanical arm dynamic positioning test platform as claimed in claim 1, wherein: the centrifugal wheel is internally provided with a centrifugal block cavity with an upward opening, a centrifugal block is arranged in the centrifugal block cavity in an up-down sliding mode, a centrifugal block spring is fixedly connected between the lower end face of the centrifugal block and the lower wall of the centrifugal block cavity, and a pull rope is fixedly connected between the lower end face of the centrifugal block and the right end face of the movable sliding block.
5. The intelligent mechanical arm dynamic positioning test platform as claimed in claim 1, wherein: the bevel gear transmission mechanism is characterized in that a bevel gear cavity is arranged in the movable sliding block, a driving shaft is arranged between the left wall and the right wall of the movable sliding block cavity in a rotating mode, a spline shaft sleeve is arranged between the left wall and the right wall of the bevel gear cavity in a rotating mode, the driving shaft penetrates through the bevel gear cavity and is in spline connection with the spline shaft sleeve, a driving bevel gear is fixedly arranged on the outer circular surface of the spline shaft sleeve, and a driven bevel gear meshed with the driving bevel gear is fixedly arranged on the lower end surface of the lower end of.
6. The intelligent mechanical arm dynamic positioning test platform as claimed in claim 5, wherein: the lifting plate is internally provided with a gear cavity between the movable sliding block cavity and the centrifugal wheel cavity, the left end of the driving shaft extends to a driving gear fixedly arranged in the gear cavity and on the outer circular surface, the right end of the centrifugal wheel shaft extends to a driven gear fixedly arranged in the gear cavity and on the outer circular surface and meshed with the driving gear, a power motor is fixedly arranged on the upper side in the left wall of the gear cavity, and the left end of the driving shaft is in power connection with the right end face of the power motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110036353.7A CN112706192A (en) | 2021-01-12 | 2021-01-12 | Intelligent mechanical arm dynamic positioning test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110036353.7A CN112706192A (en) | 2021-01-12 | 2021-01-12 | Intelligent mechanical arm dynamic positioning test platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112706192A true CN112706192A (en) | 2021-04-27 |
Family
ID=75548860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110036353.7A Withdrawn CN112706192A (en) | 2021-01-12 | 2021-01-12 | Intelligent mechanical arm dynamic positioning test platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112706192A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681253A (en) * | 2024-02-02 | 2024-03-12 | 武汉软件工程职业学院(武汉开放大学) | Performance test device for intelligent robot manufacturing |
-
2021
- 2021-01-12 CN CN202110036353.7A patent/CN112706192A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681253A (en) * | 2024-02-02 | 2024-03-12 | 武汉软件工程职业学院(武汉开放大学) | Performance test device for intelligent robot manufacturing |
| CN117681253B (en) * | 2024-02-02 | 2024-04-26 | 武汉软件工程职业学院(武汉开放大学) | Performance test device for intelligent robot manufacturing |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210427 |
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| WW01 | Invention patent application withdrawn after publication |