CN114559468A - Industrial robot connecting rod rigidity testing arrangement - Google Patents
Industrial robot connecting rod rigidity testing arrangement Download PDFInfo
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- CN114559468A CN114559468A CN202210285228.4A CN202210285228A CN114559468A CN 114559468 A CN114559468 A CN 114559468A CN 202210285228 A CN202210285228 A CN 202210285228A CN 114559468 A CN114559468 A CN 114559468A
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- 238000012360 testing method Methods 0.000 title claims abstract description 34
- 230000006835 compression Effects 0.000 claims abstract description 10
- 238000007906 compression Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 10
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- 238000005056 compaction Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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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- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a rigidity testing device for a connecting rod of an industrial robot, which belongs to the technical field of performance testing of industrial robots, and comprises a first bottom plate, a control cabinet and the industrial robot, wherein the industrial robot comprises a rotating supporting seat, a first horizontal connecting rod and a second horizontal connecting rod, the rotating supporting seat is installed in the first bottom plate, and a compression structure fixes and limits the rotating supporting seat in the compression structure; the first horizontal connecting rod is connected with an adjusting type clamping structure for limiting the connecting rod of the industrial robot, and the tail end of the second horizontal connecting rod is connected with a rigidity measuring assembly for rigidity testing; through the mode, the rigidity detection can be performed on the multiple connecting rods one by one, the rigidity of each connecting rod can be mastered conveniently, and the performance detection result is more complete; the unidirectional force is applied simply in the test of degree, and the test cost is low.
Description
Technical Field
The invention relates to the technical field of performance testing of industrial robots, in particular to a device for testing rigidity of a connecting rod of an industrial robot.
Background
The industrial robot is a multi-joint mechanical arm or a multi-degree-of-freedom machine device oriented to the industrial field, the rigidity of a connecting rod of the robot refers to the capability of the connecting rod of the robot to resist deformation under the action of external force, the rigidity of the connecting rod of the robot is an important performance index of the industrial robot, and the rigidity of the connecting rod of the robot not only determines the positioning precision of the industrial robot under load, but also influences the dynamic characteristic of the body structure of the robot.
The rigidity of the connecting rod of the existing industrial robot can only detect the rigidity at the tail end, and the rigidity detection of the multiple connecting rods one by one cannot be carried out.
Based on the above, the invention designs a device for testing the rigidity of the connecting rod of the industrial robot to solve the problems.
Disclosure of Invention
Solves the technical problem
Aiming at the defects in the prior art, the invention provides a connecting rod rigidity testing device for an industrial robot.
Technical scheme
In order to realize the purpose, the invention is realized by the following technical scheme:
a rigidity testing device for a connecting rod of an industrial robot comprises a rigidity measuring assembly, wherein the rigidity measuring assembly is installed on the industrial robot, the industrial robot comprises a rotating supporting seat, a first horizontal connecting rod and a second horizontal connecting rod, the rotating supporting seat is connected with the first horizontal connecting rod through a driving motor, the first horizontal connecting rod is connected with the second horizontal connecting rod through the driving motor, a compaction structure is connected with a first bottom plate, the rotating supporting seat is installed in the first bottom plate, one side of the first bottom plate is connected with a control cabinet, and the rotating supporting seat is fixedly limited in the compaction structure through the compaction structure;
the first horizontal connecting rod is connected with an adjusting type clamping structure used for limiting the connecting rod of the industrial robot, the adjusting type clamping structure comprises a straight arc-shaped plate, a first circular ring, a first supporting plate, a second circular ring, a straight supporting seat, a first U-shaped plate, a second U-shaped plate, a locking bolt, inserting holes, springs, inserting rods and straight blocks, the lower side of the end part of the second U-shaped plate is in threaded connection with the locking bolt through a threaded sleeve, the first circular ring is fixed on the side wall of the second U-shaped plate close to the rotating supporting seat, the first circular ring slides in an equidistant mode through a movable straight groove and is provided with the straight arc-shaped plate, the inner wall of the straight arc-shaped plate is in fit sliding connection with the inner wall of the rotating supporting seat, the second circular ring is arranged at the top of the straight arc-shaped plate, two groups of same inserting holes are formed in the upper end of the side wall of the straight arc-shaped plate in the vertical direction, the outer wall of the straight block is fixed with the inserting rods, and the springs are fixed between the inner wall of the upright position of the inserting rods and the outer wall of the straight blocks, a straight supporting seat is arranged at the top of the second U-shaped plate, a first supporting plate and a second supporting plate are respectively fixed on two side walls of the straight supporting seat, and a first U-shaped plate is rotatably arranged at the upper end of the straight supporting seat through a bearing;
and the tail end of the second horizontal connecting rod is connected with a rigidity measuring component for rigidity testing.
Furthermore, when adjusting formula joint structure and installing on industrial robot the laminating contact of second U shaped plate inner wall and first horizontal connecting rod outer wall, when locking bolt screws up the laminating contact of locking bolt inner end and first horizontal connecting rod outer wall.
Furthermore, when the first U-shaped plate rotates to be in contact with the second supporting plate in an attaching mode, the inner wall of the first U-shaped plate is in contact with the outer wall of the second horizontal connecting rod in an attaching mode.
Furthermore, the inserted bar inner end and upper end the jack when pegging graft straight arc bottom is higher than the rotation supporting seat top, inserted bar inner end and lower extreme the jack when pegging graft straight arc inner wall with rotate the laminating contact of supporting seat outer wall.
Still further, compact structure includes first pneumatic cylinder, mounting bracket, limit guide, first switching-over valve, straight board, arc, straight clamp plate and spacing spout, first bottom plate top department is seted up in spacing slot, first bottom plate top is located to mounting bracket, limit guide and first switching-over valve, install first pneumatic cylinder in the mounting hole of mounting bracket, the flexible end of first pneumatic cylinder is fixed with straight board, straight board bottom is fixed with the arc, the arc both ends are fixed with straight clamp plate, the arc bottom seted up with the spacing gliding limit chute of limit guide, the oil liquid pipe and the first switching-over valve of first pneumatic cylinder are connected.
Furthermore, the mounting seat of the industrial robot is inserted into the limiting slot.
Furthermore, the telescopic end of the first hydraulic cylinder extends, and the rear arc-shaped plate and the straight pressing plate move to the top of the mounting seat of the industrial robot.
Furthermore, the control cabinet comprises a controller and a hydraulic station, the controller of the control cabinet is electrically connected with the first reversing valve and the rigidity measuring component, and the hydraulic station of the control cabinet is communicated and connected with the first reversing valve and the rigidity measuring component.
Advantageous effects
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the invention can carry out rigidity detection on the multiple connecting rods one by one, is beneficial to mastering the rigidity of each connecting rod, and has more comprehensive performance detection result.
2. The rigidity test of the invention has simple unidirectional force application and low test cost.
3. The industrial robot is convenient to assemble and disassemble quickly, the difficulty of mounting the industrial robot on the first bottom plate is reduced, and the working strength is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present 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. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a perspective view of a main structure of a device for testing rigidity of a connecting rod of an industrial robot, according to the present invention;
FIG. 2 is a front view of a connecting rod rigidity testing device of an industrial robot, according to the present invention;
FIG. 3 is a left side view of the structure of the present invention;
FIG. 4 is a perspective view of the present invention;
FIG. 5 is a third structural perspective view of the present invention;
FIG. 6 is a schematic view of an adjustable clamping mechanism according to the present invention;
FIG. 7 is a schematic view of the compression configuration of the present invention;
fig. 8 is an enlarged view of the structure at a in fig. 5.
The reference numerals in the drawings denote:
1. a first base plate;
2. a control cabinet;
3. a compression structure; 31. a first hydraulic cylinder; 32. a mounting frame; 33. limiting a guide rail; 34. a first direction changing valve; 35. a straight plate; 36. an arc-shaped plate; 37. a straight pressing plate; 38. a limiting chute; 39. limiting slots;
4. an adjustable clamping structure; 41. a straight arc plate; 42. a first circular ring; 43. a first support plate; 44. a second support plate; 45. a second circular ring; 46. a straight support base; 47. a first U-shaped plate; 48. a second U-shaped plate; 49. locking the bolt; 410. a jack; 411. a spring; 412. inserting a rod; 413. straightening;
5. an industrial robot; 51. rotating the supporting seat; 52. a first horizontal link; 53. a second horizontal link;
6. a stiffness measurement assembly; 61. a second directional control valve; 62. a second cylinder; 63. a second base plate; 64. a first fixed pulley; 65. an electronic pressure gauge; 66. a flange plate; 67. a third fixed pulley; 68. fixing the supporting seat; 69. a second fixed pulley; 610. a fourth fixed pulley; 611. a steel cord.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention will be further described with reference to the following examples.
Example 1
As shown in fig. 1, 2, 3, 4 and 5, an industrial robot connecting rod rigidity testing device comprises a first base plate 1, a control cabinet 2 and an industrial robot 5, wherein the industrial robot 5 comprises a rotary supporting seat 51, a first horizontal connecting rod 52 and a second horizontal connecting rod 53, the rotary supporting seat 51 is connected with the first horizontal connecting rod 52 through a driving motor, the first horizontal connecting rod 52 is connected with the second horizontal connecting rod 53 through the driving motor, the first base plate 1 is connected with a compression structure 3, the rotary supporting seat 51 is installed in the first base plate 1, and the compression structure 3 fixes and limits the rotary supporting seat 51 in the compression structure 3;
the first horizontal connecting rod 52 is connected with an adjusting type clamping structure 4 for limiting a connecting rod of an industrial robot 5, the adjusting type clamping structure 4 comprises a straight arc-shaped plate 41, a first circular ring 42, a first supporting plate 43, a second circular ring 45, a straight supporting seat 46, a first U-shaped plate 47, a second U-shaped plate 48, a locking bolt 49, a jack 410, a spring 411, an inserting rod 412 and a straight block 413, the lower side of the end part of the second U-shaped plate 48 is in threaded connection with the locking bolt 49 through a threaded sleeve, the side wall of the second U-shaped plate 48 close to a rotating supporting seat 51 is fixedly provided with the first circular ring 42, the first circular ring 42 is provided with the straight arc-shaped plate 41 through a movable straight groove in an equidistant sliding mode, the inner wall of the straight arc-shaped plate 41 is in an attached sliding connection with the inner wall of the rotating supporting seat 51, the second circular ring 45 is arranged at the top of the straight arc-shaped plate 41, two groups of jacks 410 are arranged at the upper ends of the side walls of the straight arc-shaped plate 41 in the vertical direction, the straight block 413 is fixedly provided with the inserting rod 412, a spring 411 is fixed between the inner wall of the upright position of the inserted link 412 and the outer wall of the straight block 413, a straight supporting seat 46 is arranged at the top of the second U-shaped plate 48, a first supporting plate 43 and a second supporting plate 44 are respectively fixed on two side walls of the straight supporting seat 46, a first U-shaped plate 47 is rotated at the upper end of the straight supporting seat 46 through a bearing, the inner wall of the second U-shaped plate 48 is in contact with the outer wall of the first horizontal connecting rod 52 when the adjustable clamping structure 4 is installed on the industrial robot 5, the inner end of the locking bolt 49 is in contact with the outer wall of the first horizontal connecting rod 52 when the locking bolt 49 is screwed down, the inner wall of the first U-shaped plate 47 is in contact with the outer wall of the second horizontal connecting rod 53 when the first U-shaped plate 47 is rotated to be in contact with the second supporting plate 44, the bottom of the straight arc-shaped plate 41 is higher than the top of the rotary supporting seat 51 when the inner end of the inserted link 412 is inserted with the insertion hole 410, and the inner wall of the straight plate 41 is in contact with the outer wall of the rotary supporting seat 51 when the inner end of the insertion hole 410 at the lower end of the inserted link 412 is inserted link;
when the rigidity of the second horizontal connecting rod 53 is tested, the inserting rod 412 is pulled outwards, after the inserting rod 412 is separated from the inserting hole 410, the second circular ring 45 is pushed downwards, the second circular ring 45 is pushed to the position where the straight arc-shaped plate 41 moves to the outer side of the rotary supporting seat 51, then the spring 411 drives the inserting rod 412 to be inserted into the inserting hole 410 at the upper end, the straight arc-shaped plate 41, the first circular ring 42 and the second U-shaped plate 48 are matched to horizontally limit the first horizontal connecting rod 52, then the first U-shaped plate 47 is rotated to be in contact with the first supporting plate 43, the control cabinet 2 energizes the electronic pressure gauge 65 and the second reversing valve 61, the rigidity measuring component 6 pulls the second horizontal connecting rod 53, and the pulling force value monitored by the electronic pressure gauge 65 when the second horizontal connecting rod 53 rotates is the rigidity value of the second horizontal connecting rod 53; when the rigidity of the first horizontal connecting rod 52 is tested, the inserting rod 412 is pulled outwards, after the inserting rod 412 is separated from the inserting hole 410, the second circular ring 45 is pushed upwards, the second circular ring 45 is pushed to the position where the straight arc-shaped plate 41 moves to the outer side of the rotating supporting seat 51, then the spring 411 drives the inserting rod 412 to be inserted into the inserting hole 410 at the lower end, the first U-shaped plate 47 is rotated to be in contact with the second supporting plate 44, the first U-shaped plate 47 rotates to be in contact with the second base plate 63 in an attaching mode, the first horizontal connecting rod 52 and the second horizontal connecting rod 53 are stably arranged, the rigidity measuring assembly 6 pulls the first horizontal connecting rod 52, the pulling force value monitored by the electronic pressure gauge 65 when the first horizontal connecting rod 52 rotates is the rigidity value of the first horizontal connecting rod 52, the rigidity detection can be carried out on multiple connecting rods one by one, the rigidity detection of the multiple connecting rods can be favorably mastered, and the performance detection result is more comprehensive.
The tail end of the second horizontal connecting rod 53 is connected with a rigidity measuring component 6 for rigidity testing.
Example 2
Example 2 is a further modification to example 1.
As shown in fig. 1, 2, 3, 4, 5, 7 and 8, the pressing structure 3 includes a first hydraulic cylinder 31, a mounting frame 32, a limit guide rail 33, a first direction valve 34, a straight plate 35, an arc plate 36, a straight pressing plate 37 and a limit sliding groove 38, the limit sliding groove 39 is opened at the top of the first base plate 1, the mounting frame 32, the limit guide rail 33 and the first direction valve 34 are arranged at the top of the first base plate 1, the first hydraulic cylinder 31 is installed in a mounting hole of the mounting frame 32, the straight plate 35 is fixed at a telescopic end of the first hydraulic cylinder 31, the arc plate 36 is fixed at the bottom of the straight plate 35, the straight pressing plate 37 is fixed at two ends of the arc plate 36, the limit sliding groove 38 which is limited and slides with the limit guide rail 33 is opened at the bottom of the arc plate 36, an oil pipe of the first hydraulic cylinder 31 is connected with the first direction valve 34, a mounting seat of the industrial robot 5 is inserted into the limit sliding groove 39, the arc plate 36 and the straight pressing plate 37 move to the top of the mounting seat of the industrial robot 5 after the telescopic end of the first hydraulic cylinder 31 extends, the control cabinet 2 comprises a controller and a hydraulic station, the controller of the control cabinet 2 is electrically connected with the first reversing valve 34 and the rigidity measuring assembly 6, and the hydraulic station of the control cabinet 2 is communicated and connected with the first reversing valve 34 and the rigidity measuring assembly 6.
Spacing slot 39 carries out horizontal spacing to industrial robot 5, switch board 2 starts first pneumatic cylinder 31 through first switching-over valve 34, first pneumatic cylinder 31 promotes straight board 35 and removes, straight board 35 promotes the removal of arc 36, arc 36 promotes straight clamp plate 37 and removes, arc 36 and straight clamp plate 37 remove to industrial robot 5's mount pad top on, arc 36 and straight clamp plate 37 carry out vertical spacing to industrial robot 5, make things convenient for industrial robot 5 to install on first bottom plate 1, industrial robot 5 conveniently carries out fast loading and unloading, reduce the degree of difficulty that industrial robot 5 installed on first bottom plate 1, alleviate working strength.
Example 3
Example 3 is a further modification to example 2.
As shown in fig. 1, 2, 3, 4 and 5, the rigidity measuring assembly 6 includes a second directional valve 61, a second cylinder 62, a second base plate 63, a first fixed pulley 64, an electronic pressure gauge 65, a flange 66, a third fixed pulley 67, a fixed support 68, a second fixed pulley 69, a fourth fixed pulley 610 and a steel cable 611, the first fixed pulley 64, the second fixed pulley 69, the fixed support 68 and the second cylinder 62 are fixed on the top of the second base plate 63, the third fixed pulley 67 and the fourth fixed pulley 610 are fixed on the top of the fixed support 68 from front to back, the flange 66 is fixedly installed on the end of the second horizontal link 53, the flange 66 is connected with the electronic pressure gauge 65 through a hook, the electronic pressure gauge 65 is connected with one end of the steel cable 611 through a hook, the other end of the steel cable 611 is connected with the top of the telescopic end of the second cylinder 62 along the outer edges of the first fixed pulley 64, the second fixed pulley 69, the third fixed pulley 67 and the fourth fixed pulley 610, an oil liquid pipe of the second cylinder 62 is connected with the second reversing valve 61, a controller of the control cabinet 2 is electrically connected with the second reversing valve 61 and the electronic pressure gauge 65, and a hydraulic station of the control cabinet 2 is communicated and connected with the second reversing valve 61.
Hydraulic oil in the control cabinet 2 enters the second air cylinder 62 through the second reversing valve 61, the second air cylinder 62 generates tension, the second air cylinder 62 pulls the steel rope 611 to move, the steel rope 611 drives the electronic pressure gauge 65 to pull under the action of the first fixed pulley 64, the second fixed pulley 69, the third fixed pulley 67 and the fourth fixed pulley 610, and then the second horizontal connecting rod 53 is pulled through the flange 66, so that unidirectional force is applied in the rigidity test simply, and the test cost is low.
During use, the industrial robot 5 is inserted into the limiting slot 39 of the compression structure 3, the limiting slot 39 horizontally limits the industrial robot 5, the control cabinet 2 starts the first hydraulic cylinder 31 through the first reversing valve 34, the first hydraulic cylinder 31 pushes the straight plate 35 to move, the straight plate 35 pushes the arc plate 36 to move, the arc plate 36 pushes the straight pressing plate 37 to move, the arc plate 36 and the straight pressing plate 37 move to the top of the mounting seat of the industrial robot 5, the arc plate 36 and the straight pressing plate 37 vertically limit the industrial robot 5, the industrial robot 5 is conveniently mounted on the first bottom plate 1, the industrial robot 5 is convenient to rapidly assemble and disassemble, the difficulty of mounting the industrial robot 5 on the first bottom plate 1 is reduced, and the working strength is reduced; connecting a flange 66 with the tail end of an industrial robot 5, respectively connecting an electronic pressure gauge 65 with the flange 66 and a steel rope 611, then inserting a second U-shaped plate 48 of an adjustable clamping structure 4 outside a first horizontal connecting rod 52, enabling the inner wall of a straight arc-shaped plate 41 to be flush with the outer wall of a rotary supporting seat 51, then well contacting a locking bolt 49 with the first horizontal connecting rod 52 to realize the fixation of the second U-shaped plate 48, when testing the rigidity of a second horizontal connecting rod 53, pulling an inserting rod 412 outwards, after the inserting rod 412 is separated from an inserting hole 410, pushing a second circular ring 45 downwards, pushing the second circular ring 45 to move the straight arc-shaped plate 41 to the outer side of the rotary supporting seat 51, then driving the inserting rod 412 to be inserted into the inserting hole 410 at the upper end by a spring 411, enabling the straight arc-shaped plate 41, the first circular ring 42 and the second U-shaped plate 48 to be matched to realize the horizontal limiting of the first horizontal connecting rod 52, then rotating the first U-shaped plate 47 to be contacted with a first supporting plate 43, the control cabinet 2 is used for electrifying the electronic pressure gauge 65 and the second reversing valve 61, hydraulic oil in the control cabinet 2 enters the second air cylinder 62 through the second reversing valve 61, the second air cylinder 62 generates tension, the second air cylinder 62 pulls the steel rope 611 to move, the steel rope 611 drives the electronic pressure gauge 65 to pull under the action of the first fixed pulley 64, the second fixed pulley 69, the third fixed pulley 67 and the fourth fixed pulley 610, and then the second horizontal connecting rod 53 is pulled through the flange 66, so that the unidirectional force is applied in the rigidity test simply, the test cost is low, and the tension value monitored by the electronic pressure gauge 65 is the rigidity value of the second horizontal connecting rod 53 when the second horizontal connecting rod 53 rotates; when the rigidity of the first horizontal connecting rod 52 is tested, the inserting rod 412 is pulled outwards, after the inserting rod 412 is separated from the inserting hole 410, the second circular ring 45 is pushed upwards, the second circular ring 45 is pushed to the position where the straight arc-shaped plate 41 moves to the outer side of the rotating supporting seat 51, then the spring 411 drives the inserting rod 412 to be inserted into the inserting hole 410 at the lower end, the first U-shaped plate 47 rotates to be contacted with the second supporting plate 44, the first U-shaped plate 47 rotates to the second bottom plate 63 to be contacted with the second bottom plate in an attaching manner, the first horizontal connecting rod 52 and the second horizontal connecting rod 53 are stably arranged, the control cabinet 2 is electrified to the electronic pressure gauge 65 and the second reversing valve 61, hydraulic oil in the control cabinet 2 enters the second air cylinder 62 through the second reversing valve 61, the second air cylinder 62 generates pulling force, the second air cylinder 62 pulls the steel rope 611 to move, the first fixed pulley 64, the second fixed pulley 69, the third fixed pulley 67 and the fourth fixed pulley 610 drive the electronic pressure gauge 65 to be pulled, and then the flange 66 pulls the first horizontal connecting rod 52, and the pulling force value monitored by the electronic pressure gauge 65 when the first horizontal connecting rod 52 rotates is the rigidity value of the first horizontal connecting rod 52, so that rigidity detection can be performed on a plurality of connecting rods one by one, the rigidity of each connecting rod can be mastered conveniently, and the performance detection result is more comprehensive.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides an industrial robot connecting rod rigidity testing arrangement, includes rigidity measuring subassembly (6), rigidity measuring subassembly (6) are installed on industrial robot (5), industrial robot (5) are including rotating supporting seat (51), first horizontal connecting rod (52) and second horizontal connecting rod (53), it is connected with first horizontal connecting rod (52) through driving motor to rotate supporting seat (51), first horizontal connecting rod (52) are connected with second horizontal connecting rod (53) through driving motor, rotate in supporting seat (51) installation first bottom plate (1), first bottom plate (1) one side is connected with switch board (2), its characterized in that:
the first bottom plate (1) is connected with a compression structure (3), and the compression structure (3) is used for fixing and limiting the rotary supporting seat (51) in the first bottom plate (1);
the first horizontal connecting rod (52) is connected with an adjustable clamping structure (4) for limiting the connecting rod of the industrial robot (5);
and the tail end of the second horizontal connecting rod (53) is connected with a rigidity measuring component (6) for rigidity testing.
2. The industrial robot connecting rod stiffness testing device according to claim 1, wherein the adjustable clamping structure (4) comprises a straight arc-shaped plate (41), a first ring (42), a first supporting plate (43), a second ring (45), a straight supporting seat (46), a first U-shaped plate (47), a second U-shaped plate (48), a locking bolt (49), a jack (410), a spring (411), an inserting rod (412) and a straight block (413), wherein the lower side of the end part of the second U-shaped plate (48) is in threaded connection with the locking bolt (49) through a threaded sleeve, the first ring (42) is fixed on the side wall of the second U-shaped plate (48) close to the rotating supporting seat (51), the straight arc-shaped plate (41) slides in the first ring (42) through a movable straight groove at equal intervals, and the inner wall of the straight arc-shaped plate (41) is in fit and sliding connection with the inner wall of the rotating supporting seat (51), there is second ring (45) straight arc (41) top, a set of straight arc (41) lateral wall upper end seted up two sets of the same jack (410) in vertical direction, straight piece (413) outer wall is fixed with inserted bar (412), inserted bar (412) upright position inner wall and straight piece (413) outer wall between be fixed with spring (411), there is straight supporting seat (46) second U-shaped plate (48) top, straight supporting seat (46) both sides wall is fixed with first backup pad (43) and second backup pad (44) respectively, it has first U-shaped plate (47) to rotate through the bearing on straight supporting seat (46).
3. The industrial robot connecting rod rigidity testing device according to claim 2, characterized in that when the adjusting clamping structure (4) is installed on the industrial robot (5), the inner wall of the second U-shaped plate (48) is in contact with the outer wall of the first horizontal connecting rod (52), and when the locking bolt (49) is tightened, the inner end of the locking bolt (49) is in contact with the outer wall of the first horizontal connecting rod (52).
4. An industrial robot connecting rod stiffness testing device according to claim 3, characterized in that the inner wall of the first U-shaped plate (47) is in abutting contact with the outer wall of the second horizontal connecting rod (53) when the first U-shaped plate (47) is rotated to be in abutting contact with the second support plate (44).
5. The industrial robot connecting rod rigidity testing device according to claim 4, characterized in that the bottom of the straight arc-shaped plate (41) is higher than the top of the rotating support seat (51) when the inner end of the inserting rod (412) is inserted into the inserting hole (410) at the upper end, and the inner wall of the straight arc-shaped plate (41) is in contact with the outer wall of the rotating support seat (51) when the inner end of the inserting rod (412) is inserted into the inserting hole (410) at the lower end.
6. The industrial robot connecting rod rigidity testing device according to any one of claims 2-5, wherein the pressing structure (3) comprises a first hydraulic cylinder (31), a mounting frame (32), a limiting guide rail (33), a first reversing valve (34), a straight plate (35), an arc-shaped plate (36), a straight pressing plate (37) and a limiting sliding groove (38), a limiting slot (39) is formed in the top of the first bottom plate (1), the mounting frame (32), the limiting guide rail (33) and the first reversing valve (34) are formed in the top of the first bottom plate (1), the first hydraulic cylinder (31) is installed in a mounting hole of the mounting frame (32), the straight plate (35) is fixed to an expansion end of the first hydraulic cylinder (31), the arc-shaped plate (36) is fixed to the bottom of the straight plate (35), the straight pressing plate (37) is fixed to two ends of the arc-shaped plate (36), the limiting sliding groove (38) limited to the limiting guide rail (33) is formed in the bottom of the arc-shaped plate (36) And the oil pipe of the first hydraulic cylinder (31) is connected with a first reversing valve (34).
7. The industrial robot connecting rod stiffness testing device according to claim 6, characterized in that the mounting seat of the industrial robot (5) is inserted in a retaining slot (39).
8. The industrial robot connecting rod stiffness testing device according to claim 7, characterized in that the telescopic end of the first hydraulic cylinder (31) extends the rear arc plate (36) and the straight pressing plate (37) to move on top of the mounting seat of the industrial robot (5).
9. The industrial robot connecting rod rigidity testing device according to claim 8, characterized in that the control cabinet (2) comprises a controller and a hydraulic station, the controller of the control cabinet (2) is electrically connected with the first reversing valve (34) and the rigidity measuring component (6), and the hydraulic station of the control cabinet (2) is connected with the first reversing valve (34) and the rigidity measuring component (6) in a communicating manner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210285228.4A CN114559468B (en) | 2022-03-22 | 2022-03-22 | Industrial robot connecting rod rigidity testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210285228.4A CN114559468B (en) | 2022-03-22 | 2022-03-22 | Industrial robot connecting rod rigidity testing device |
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| CN114559468A true CN114559468A (en) | 2022-05-31 |
| CN114559468B CN114559468B (en) | 2023-12-12 |
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| JPWO2015037701A1 (en) * | 2013-09-13 | 2017-03-02 | 日本電産サンキョー株式会社 | Industrial robot |
| CN107860570A (en) * | 2017-10-31 | 2018-03-30 | 华中科技大学无锡研究院 | A kind of industrial robot stiffness measurement loading device and measuring method |
| CN111958581A (en) * | 2020-09-21 | 2020-11-20 | 闫志伟 | Automatic change robotic arm drive mechanism |
| CN212123355U (en) * | 2020-01-09 | 2020-12-11 | 埃夫特智能装备股份有限公司 | Loading device for rigidity measurement of joint and whole machine of operation type industrial robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2015037701A1 (en) * | 2013-09-13 | 2017-03-02 | 日本電産サンキョー株式会社 | Industrial robot |
| DE102014216514B3 (en) * | 2014-08-20 | 2015-09-10 | Kuka Roboter Gmbh | Method for programming an industrial robot and associated industrial robots |
| CN107860570A (en) * | 2017-10-31 | 2018-03-30 | 华中科技大学无锡研究院 | A kind of industrial robot stiffness measurement loading device and measuring method |
| CN212123355U (en) * | 2020-01-09 | 2020-12-11 | 埃夫特智能装备股份有限公司 | Loading device for rigidity measurement of joint and whole machine of operation type industrial robot |
| CN111958581A (en) * | 2020-09-21 | 2020-11-20 | 闫志伟 | Automatic change robotic arm drive mechanism |
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