CN118258599A - Tendon driving joint module testing device and method - Google Patents
Tendon driving joint module testing device and method Download PDFInfo
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- CN118258599A CN118258599A CN202410439086.1A CN202410439086A CN118258599A CN 118258599 A CN118258599 A CN 118258599A CN 202410439086 A CN202410439086 A CN 202410439086A CN 118258599 A CN118258599 A CN 118258599A
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- 238000012360 testing method Methods 0.000 title claims abstract description 105
- 210000002435 tendon Anatomy 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims description 8
- 239000006247 magnetic powder Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Abstract
The invention discloses a tendon driving joint module testing device and a tendon driving joint module testing method, wherein the tendon driving joint module testing device comprises a bracket, and an upper testing mechanism and a lower testing mechanism which are installed on the bracket in a lifting mode; the upper testing mechanism is arranged above the lower testing mechanism and is provided with an upper coupler connected with one rotating shaft of the joint to be tested; the lower testing mechanism is provided with a lower coupler connected with the other rotating shaft of the joint to be tested, the lower coupler and the upper coupler are arranged in a staggered manner, and the lower coupler is of a structure capable of transversely moving; after the scheme is adopted, the performance of the fixed joint can be tested, the performance of the movable joint can be measured in a following mode, and the adjustment can be carried out according to the size and the movement range of the high-torque joint module, so that the universal joint has certain universal performance.
Description
Technical Field
The invention relates to the technical field of tendon-driven joint module testing, in particular to a tendon-driven joint module testing device and method.
Background
The high-torque joint module of the tendon-driven mechanical arm plays a key role in the tendon-driven robot, and the performance of the high-torque joint module directly determines the comprehensive performance of the whole robot system. The joint model is essentially a multivariable, strongly coupled, nonlinear, time-varying complex system. Because the robot needs to bear variable joint loads under different poses and is influenced by friction nonlinearity and other strong interference factors, the robot is controlled by only relying on a group of control parameters which are adjusted in advance, and satisfactory dynamic and static performance indexes are difficult to achieve.
Accurate testing of dynamic and static performance parameters of the high-torque joint module can provide accurate comprehensive performance assessment for the high-torque joint module, and experimental basis is provided for improving effect of a control algorithm, so that the robot can better meet design requirements. Because the positioning accuracy requirement of the high-torque joint module is high and the input torque of the joint is larger, a test system capable of testing the motion performance of the high-accuracy high-torque joint needs to be designed.
The traditional modularized joint test platform mainly comprises a magnetic powder brake, a torque sensor gear speed increaser, an encoder and the like, and the specific connection mode is as follows: the joint output end is connected with the input shaft of the gear speed increaser through an intermediate transition shaft and a diaphragm coupler, the encoder is connected on the intermediate transition shaft, then the output shaft of the gear speed increaser is connected with the moment sensor, and finally the tail end of the moment sensor is connected with the magnetic powder brake.
However, the conventional modular joint test platform has poor expansibility, only the modular joint with a single axis can be measured, and the design of the conventional joint module test platform may not be easily adapted for the high-torque joint module having both axes and having a relative motion between the axes, especially when the high-torque joint module has different sizes, loading capacities or motion ranges, the test platform needs to be redesigned or modified, which limits the expansibility of the conventional test platform.
Disclosure of Invention
The invention aims to provide a tendon driving joint module testing device and a tendon driving joint module testing method, which can be used for testing the performance of a fixed joint, simultaneously measuring the performance of a movable joint in a following way, and adjusting according to the size and the movement range of a high-torque joint module, and have certain general performance.
In order to solve the technical problems, the invention provides a tendon driving joint module testing device, which comprises a bracket, and an upper testing mechanism and a lower testing mechanism which are arranged on the bracket in a lifting manner; the upper testing mechanism is arranged above the lower testing mechanism and is provided with an upper coupler connected with one rotating shaft of the joint to be tested; the lower testing mechanism is provided with a lower coupler connected with the other rotating shaft of the joint to be tested, the lower coupler and the upper coupler are arranged in a staggered mode, and the lower coupler is of a structure capable of moving transversely.
In one embodiment, the upper testing mechanism comprises an upper bottom plate, an upper magnetic powder brake, an upper torque sensor, an upper double-shaft motor and an upper gear speed increaser, wherein the upper magnetic powder brake, the upper torque sensor, the upper double-shaft motor and the upper gear speed increaser are arranged on the upper bottom plate; the upper bottom plate is connected with the bracket in a lifting controllable manner; an output shaft of the upper magnetic powder brake is connected with one end of the upper torque sensor; the other end of the upper torque sensor is connected with a rotating shaft of the upper double-shaft motor; the other rotating shaft of the upper double-shaft motor is connected with the input end of the upper gear speed increaser; the output end of the upper gear speed increaser is coaxially connected with the upper coupler.
In one embodiment, the support is provided with a vertically arranged screw rod, and the screw rod is in transmission connection with the upper bottom plate.
In one embodiment, the lower testing mechanism comprises a lower bottom plate, a lower magnetic powder brake arranged on the lower bottom plate, a lower torque sensor, a lower double-shaft motor and a lower gear speed increaser; the lower bottom plate is connected with the bracket in a lifting controllable manner; an output shaft of the lower magnetic powder brake is connected with one end of the lower moment sensor; the other end of the lower torque sensor is connected with a rotating shaft of the lower double-shaft motor; the other rotating shaft of the lower double-shaft motor is connected with the input end of the lower gear speed increaser; the output end of the lower gear speed increaser is coaxially connected with the lower coupler.
In one embodiment, the lower test mechanism further comprises a lower lifting base, wherein the lower lifting base is connected with the support in a lifting controllable manner, and the lower bottom plate is arranged on the lower lifting base.
In one embodiment, the upper surface of the lower lifting base is provided with a lower straight guide rail, and the lower bottom plate is slidably mounted on the lower straight guide rail.
In one embodiment, the lower lifting base is vertically slidably mounted on the bracket; the lower test mechanism further comprises a scissor type lifter, wherein the scissor type lifter is arranged below the lower lifting base and is used for driving the lower lifting base to move up and down.
In order to solve the technical problems, the invention also provides an application method of the tendon-driven joint module testing device, which comprises the following steps:
S1, moving the lower testing mechanism to the lowest position;
S2, placing the joint to be tested into the tendon-driven joint module testing device, and adjusting the position of the upper testing mechanism so that the upper coupler is connected with one rotating shaft of the joint to be tested;
S3, controlling the lower testing mechanism to rise and transversely moving the lower testing mechanism so that the lower coupler is connected with the other rotating shaft of the joint to be tested;
s4, controlling the joint to be tested to rotate according to a set instruction, and measuring performance indexes of the joint to be tested through the upper test mechanism and the lower test mechanism.
The beneficial effects of the invention are as follows:
1. The invention is updated and transformed on the basis of the traditional test platform, and meets the test of the performance of the high-torque joint module of the tendon driving mechanical arm, so that the application range of the test system is wider.
2. The invention can adjust the positions of the upper test mechanism and the lower test mechanism according to the scale and the size of the joint to be tested, and has high flexibility.
3. The lower test mechanism can move in a plane along with the joint, so that dynamic measurement is realized, and the working requirements under some complex working conditions are met.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;
FIG. 2 is a rear view of FIG. 1;
FIG. 3 is a schematic diagram of the upper test mechanism of FIG. 1;
FIG. 4 is a schematic diagram of the lower test mechanism of FIG. 1;
FIG. 5 is a schematic view of the application state of FIG. 1;
fig. 6 is an enlarged schematic view of the joint to be tested of fig. 5.
The reference numerals are as follows:
10. A bracket;
20. An upper test mechanism; 21. an upper coupling; 22. an upper base plate; 23. an upper magnetic powder brake; 24. an upper torque sensor; 25. an upper biaxial motor; 26. an upper gear speed increaser; 27. a screw rod;
30. a lower test mechanism; 31. a lower coupling; 32. a lower base plate; 33. a lower magnetic powder brake; 34. a lower torque sensor; 35. a lower biaxial motor; 36. a lower gear speed increaser; 37. a lower lifting base; 38. a scissor lift; 39. a lower straight guide rail;
40. A joint to be measured; 41. and (3) rotating the shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a tendon-driven joint module testing device and a tendon-driven joint module testing method, which are implemented as shown in fig. 1 to 6, and comprise a bracket 10, and an upper testing mechanism 20 and a lower testing mechanism 30 which are installed on the bracket 10 in a lifting manner; the upper testing mechanism 20 is arranged above the lower testing mechanism 30, and the upper testing mechanism 20 is provided with an upper coupler 21 connected with one rotating shaft 41 of the joint 40 to be tested; the lower test mechanism 30 is provided with a lower coupler 31 connected with the other rotary shaft 41 of the joint 40 to be tested, the lower coupler 31 and the upper coupler 21 are arranged in a staggered manner, and the lower coupler 31 is of a structure capable of transversely moving.
In order to better explain the application mode of the tendon-driven joint module testing device, the invention also provides an application method of the tendon-driven joint module testing device, which applies the tendon-driven joint module testing device, and the method comprises the following steps:
s1, moving the lower testing mechanism 30 to the lowest position;
S2, placing the joint 40 to be tested into a tendon-driven joint module testing device, and adjusting the position of the upper testing mechanism 20 so that the upper coupler 21 is connected with one of the rotating shafts 41 of the joint 40 to be tested;
S3, controlling the lower testing mechanism 30 to rise and transversely moving the lower testing mechanism 30 so that the lower coupler 31 is connected with the other rotating shaft 41 of the joint 40 to be tested;
s4, controlling the joint 40 to be tested to rotate according to a set instruction, and measuring the performance index of the joint 40 to be tested through the upper test mechanism 20 and the lower test mechanism 30.
After the scheme is adopted, the device has at least the following beneficial effects:
1. The invention is updated and transformed on the basis of the traditional test platform, and meets the test of the performance of the high-torque joint module of the tendon driving mechanical arm, so that the application range of the test system is wider.
2. The invention can adjust the positions of the upper test mechanism 20 and the lower test mechanism 30 according to the scale and the size of the joint to be tested, and has high flexibility.
3. The lower test mechanism 30 can move in a plane along with the joint, so that dynamic measurement is realized, and the working requirements under some complex working conditions are met.
As shown in fig. 1 to 3, this embodiment provides an upper test mechanism 20 including an upper base plate 22, an upper magnetic powder brake 23 provided on the upper base plate 22, an upper torque sensor 24, an upper biaxial motor 25, and an upper gear speed increaser 26; the upper bottom plate 22 is connected with the bracket 10 in a lifting controllable manner; an output shaft of the upper magnetic powder brake 23 is connected with one end of the upper torque sensor 24; the other end of the upper torque sensor 24 is connected with a rotating shaft of an upper double-shaft motor 25; the other rotating shaft of the upper double-shaft motor 25 is connected with the input end of the upper gear speed increaser 26; the output end of the upper gear speed increaser 26 is coaxially connected with the upper coupling 21.
After this arrangement, once the joint 40 to be tested rotates, a corresponding force is transmitted to the upper torque sensor 24, so as to monitor the performance index parameter of one of the rotation shafts 41 of the joint 40 to be tested.
In addition, the embodiment is provided with a vertically arranged screw rod 27 on the bracket 10, and the screw rod 27 is in transmission connection with the upper bottom plate 22.
In this arrangement, once the control screw 27 is rotated, the lifting control of the upper base plate 22, that is, the lifting movement control of the upper test mechanism 20 can be realized.
As shown in fig. 1 and 4, this embodiment provides that the lower test mechanism 30 includes a lower base plate 32, a lower magnetic powder brake 33 provided on the lower base plate 32, a lower torque sensor 34, a lower biaxial motor 35, and a lower gear speed increaser 36; the lower bottom plate 32 is connected with the bracket 10 in a lifting controllable manner; an output shaft of the lower magnetic powder brake 33 is connected with one end of the lower torque sensor 34; the other end of the lower torque sensor 34 is connected with a rotating shaft of a lower double-shaft motor 35; the other rotating shaft of the lower double-shaft motor 35 is connected with the input end of the lower gear speed increaser 36; the output end of the lower gear speed increaser 36 is coaxially connected with the lower coupling 31.
After this arrangement, once the joint 40 to be tested rotates, a corresponding force is transmitted to the lower torque sensor 34, so as to monitor the performance index parameter of the other rotating shaft 41 of the joint 40 to be tested.
As shown in fig. 1 and 4, the lower test mechanism 30 further includes a lower lifting base 37, the lower lifting base 37 is connected to the stand 10 in a lifting controllable manner, and the lower lifting base 37 is provided with a lower bottom plate 32; specifically, this embodiment provides that the lower lifting base 37 is vertically slidably mounted on the bracket 10; the lower test mechanism 30 further includes a scissor lift 38, where the scissor lift 38 is disposed below the lower lifting base 37, and the scissor lift 38 is configured to drive the lower lifting base 37 to move up and down.
After the arrangement, the scissor lift 38 can push the lower lifting base 37 to move up and down, so that the whole lifting movement control of the lower testing mechanism 30 is realized.
As shown in fig. 1 and 4, this embodiment provides that the upper surface of the lower lifting base 37 is provided with a lower straight rail 39, and the lower base plate 32 is slidably mounted on the lower straight rail 39.
With this arrangement, all of the components on the lower floor 32 are movable laterally, and since the lower coupling 31 is disposed on the lower floor 32, the lower coupling 31 is movable laterally along the lower straight rail 39 once the joint 40 to be tested applies a lateral force to the lower coupling 31.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. A tendon-driven joint module testing device and method are characterized in that,
Comprises a bracket, an upper test mechanism and a lower test mechanism which are arranged on the bracket in a lifting manner;
The upper testing mechanism is arranged above the lower testing mechanism and is provided with an upper coupler connected with one rotating shaft of the joint to be tested;
The lower testing mechanism is provided with a lower coupler connected with the other rotating shaft of the joint to be tested, the lower coupler and the upper coupler are arranged in a staggered mode, and the lower coupler is of a structure capable of moving transversely.
2. The tendon driven joint module testing device of claim 1, wherein,
The upper testing mechanism comprises an upper bottom plate, an upper magnetic powder brake, an upper torque sensor, an upper double-shaft motor and an upper gear speed increaser, wherein the upper magnetic powder brake, the upper torque sensor, the upper double-shaft motor and the upper gear speed increaser are arranged on the upper bottom plate;
the upper bottom plate is connected with the bracket in a lifting controllable manner;
an output shaft of the upper magnetic powder brake is connected with one end of the upper torque sensor;
the other end of the upper torque sensor is connected with a rotating shaft of the upper double-shaft motor;
the other rotating shaft of the upper double-shaft motor is connected with the input end of the upper gear speed increaser;
The output end of the upper gear speed increaser is coaxially connected with the upper coupler.
3. The tendon driven joint module testing device of claim 2, wherein,
The support is provided with a vertically arranged screw rod, and the screw rod is in transmission connection with the upper bottom plate.
4. The tendon driven joint module testing device of claim 1, wherein,
The lower testing mechanism comprises a lower bottom plate, a lower magnetic powder brake, a lower moment sensor, a lower double-shaft motor and a lower gear speed increaser, wherein the lower magnetic powder brake, the lower moment sensor, the lower double-shaft motor and the lower gear speed increaser are arranged on the lower bottom plate;
the lower bottom plate is connected with the bracket in a lifting controllable manner;
an output shaft of the lower magnetic powder brake is connected with one end of the lower moment sensor;
the other end of the lower torque sensor is connected with a rotating shaft of the lower double-shaft motor;
the other rotating shaft of the lower double-shaft motor is connected with the input end of the lower gear speed increaser;
The output end of the lower gear speed increaser is coaxially connected with the lower coupler.
5. The tendon driven joint module testing device of claim 4, wherein,
The lower test mechanism further comprises a lower lifting base, the lower lifting base is connected with the support in a lifting controllable mode, and the lower lifting base is provided with a lower bottom plate.
6. The tendon driven joint module testing device of claim 5, wherein,
The upper surface of lower part lifting base is equipped with lower part straight guide rail, lower part bottom plate slidable mounting in on the straight guide rail of lower part.
7. The tendon driven joint module testing device of claim 5, wherein,
The lower lifting base is vertically and slidably arranged on the bracket;
The lower test mechanism further comprises a scissor type lifter, wherein the scissor type lifter is arranged below the lower lifting base and is used for driving the lower lifting base to move up and down.
8. The method for applying the tendon-driven joint module testing device according to any one of claims 1 to 7, characterized in that,
S1, moving the lower testing mechanism to the lowest position;
S2, placing the joint to be tested into the tendon-driven joint module testing device, and adjusting the position of the upper testing mechanism so that the upper coupler is connected with one rotating shaft of the joint to be tested;
S3, controlling the lower testing mechanism to rise and transversely moving the lower testing mechanism so that the lower coupler is connected with the other rotating shaft of the joint to be tested;
s4, controlling the joint to be tested to rotate according to a set instruction, and measuring performance indexes of the joint to be tested through the upper test mechanism and the lower test mechanism.
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| Publication Number | Publication Date |
|---|---|
| CN118258599A true CN118258599A (en) | 2024-06-28 |
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