Robot joint connecting device for test bed and assembling methodTechnical Field
The invention relates to the technical field of robots, in particular to a robot joint connection device for a test bed and an assembly method.
Background
The cooperative robot is an object of important development of a plurality of enterprises due to high accuracy and high safety. In the development process of the collaborative robot, not only various tests are required to be carried out on the assembled state of the robot, but also each joint of the robot is detached to carry out independent tests, including tests of repeated positioning accuracy of the joint, torque calibration of a joint motor and the like, and in the tests, the joint motor is required to be fixed on a test bed through a connecting device to carry out the tests. In order to improve efficiency, a plurality of groups of joints are often tested at the same time, and each joint is provided with a group of connecting devices, so that the requirements on light weight and small scale are met on the one hand for basic structural members such as the connecting devices, and on the other hand, the connecting devices have the characteristics of convenience and flexibility in installation and the like as much as possible.
The existing bearing seat support system is basically integrally connected, and a connecting device cannot be detached independently to other platforms, so that only one test content can be served.
On the other hand, the existing connection mode basically leads to the installation direction of the motor shaft to be basically horizontal, and the flexible arrangement requirement in space cannot be met.
For example, in the prior art, a piece to be tested such as a motor of a field torque calibration device (CN 106197843 a) is connected to an integrated bearing seat system, and there is no separate connection device that can be easily disassembled and assembled.
In another prior art, a driving motor, a torque sensor and a motor to be tested of an IBS motor torque test board (CN 205719354U) are coaxially connected in sequence, and there is no separate connection device capable of being easily disassembled and assembled, if a piece to be tested is to be placed on another platform for testing or the testing content is changed, a new test connection device is designed, the installation direction of a motor shaft is basically horizontal, and the flexible placing requirement in space cannot be met.
Disclosure of Invention
In view of the above, the present invention is directed to a robot joint device for a test stand and an assembling method thereof, which have two mounting modes, and meet the requirement of horizontal or vertical mounting of a motor shaft.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a robotic articulating device for a test bench, comprising:
a base plate detachably connected to the table top of the test stand;
a connection plate detachably connected directly or indirectly to the substrate; wherein,,
the robot joint is detachably connected to the connection plate, which is vertically arranged such that a motor shaft of the robot joint is arranged in a first direction, or which is horizontally arranged such that a motor shaft of the robot joint is arranged in a second direction.
The robot joint connecting device for the test bed is characterized in that the robot joint is detachably and fixedly connected with the connecting plate.
The robot joint device for the test stand, wherein the first direction and the second direction are different directions.
The robot joint device for the test stand is characterized in that the first direction is a vertical direction, and the second direction is a horizontal direction.
The robot joint connection device for the test bed, wherein the upper surface of the base plate is provided with a plurality of first fixing holes and a plurality of second fixing holes, and each of two sides of the first fixing holes is provided with a plurality of second fixing holes;
the side surface of each side plate is provided with an adjacent A surface and an adjacent B surface, a plurality of A surface fixing holes matched with the second fixing holes are formed in the A surface, a plurality of B surface fixing holes matched with the second fixing holes are formed in the B surface, and a C surface opposite to the A surface is further arranged on the side surface of each side plate;
the two sides of the connecting plate are detachably and fixedly connected with the C surfaces of the two side plates respectively.
The robot joint device for a test stand as described above, wherein the connection plate is operatively arranged vertically or horizontally by the side plate.
The robot joint device for a test stand, further comprising: and two ends of the backboard are detachably and fixedly connected with the two side plates respectively.
The robot joint connection device for the test bed is characterized in that the backboard is provided with backboard fixing holes matched with the first fixing holes.
The robot joint connecting device for the test bed, wherein the backboard is detachably and fixedly connected with the connecting plate.
The robot joint connection device for the test stand comprises a plurality of first fixing holes, wherein the first fixing holes are sequentially arranged along a first direction, and the second fixing holes on each of two sides of the first fixing holes are sequentially arranged along a second direction perpendicular to the first direction.
The robot joint connecting device for the test bed, wherein a plurality of half-opening counter bores are formed in the direction of the side surface of each of the two sides of the substrate to the center of the substrate; and the plurality of half-opening counter bores are positioned at the second fixing holes.
The robot joint connecting device for the test bed is characterized in that the robot joint to be tested is arranged on the connecting plate.
The robot joint device for the test stand, wherein the connecting plates are vertically arranged or horizontally arranged.
A method of assembly, wherein the robotic articulation device for a test stand of any one of the preceding claims is adapted, the method of assembly comprising:
the base plate is horizontally arranged;
the A surfaces of the two side plates are fixedly connected with two sides of the upper surface of the substrate respectively;
the backboard is vertically arranged, and two ends of the backboard are fixedly connected with the two side boards respectively;
the backboard is fixedly connected with the substrate;
the connecting plates are horizontally arranged, and the lower surfaces of the connecting plates are fixedly connected with the two side plates and the backboard respectively.
A method of assembly, wherein the robotic articulation device for a test stand of any one of the preceding claims is adapted, the method of assembly comprising:
the base plate is horizontally arranged;
the B surfaces of the two side plates are fixedly connected with two sides of the upper surface of the substrate respectively;
the backboard is horizontally arranged, and two ends of the backboard are fixedly connected with the two side boards respectively;
the connecting plates are vertically arranged and are fixedly connected with the two side plates and the backboard respectively;
the connecting plate is fixedly connected with the base plate.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) The invention realizes the fixed connection of the robot joint and the test bed, has the advantages of light equipment and strong universality, has two assembly and installation modes, and can be connected with the robot joint in a height-variable and angle-variable manner.
Drawings
Fig. 1 is a schematic view of a base plate of a robotic articulation device for a test stand in accordance with the present invention.
Fig. 2 to 5 are schematic views showing a first mounting manner of the robot joint device for a test stand according to the present invention.
Fig. 6 to 9 are schematic views showing a second mounting manner of the robot joint device for a test stand according to the present invention.
Fig. 10 is a schematic view of a side plate of the robotic articulation device for a test stand of the present invention.
In the accompanying drawings: 1. a substrate; 11. a first fixing hole; 12. a second fixing hole; 13. a half-open counterbore 13; 2. a side plate; A. a surface; B. a surface B; C. a C surface; 3. a connecting plate; 4. a back plate; 5. and the robot joint to be tested.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "transverse," "vertical," and the like are used for convenience in describing the present invention based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the device or element to be referred to must have a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, "horizontal" and "vertical" are used to describe a general positional relationship, and are not strictly "horizontal" or "vertical".
Referring to fig. 1 to 10, there is shown a robot articulation device for a test stand of a preferred embodiment, comprising: the device comprises a base plate 1, side plates 2 and a connecting plate 3, wherein a plurality of first fixing holes 11 and a plurality of second fixing holes 12 are formed in the upper surface of the base plate 1, and each of two sides of the first fixing holes 11 is provided with a plurality of second fixing holes 12; the side surface of each side plate 2 is provided with an adjacent A surface and a B surface, the A surface is provided with a plurality of A surface fixing holes 21 matched with the second fixing holes 12, the B surface is provided with a plurality of B surface fixing holes 22 matched with the second fixing holes 12, and the side surface of each side plate 2 is also provided with a C surface opposite to the A surface; two sides of the connecting plate 3 are detachably and fixedly connected with the C surfaces of the two side plates 2 respectively.
Further, as a preferred embodiment, the method further comprises: and the two ends of the backboard 4 are detachably and fixedly connected with the two side plates 2 respectively.
The first fixing hole 11 on the substrate 1 is used for being connected with the connecting plate 3 or the backboard 4, and the actual situation is determined according to the arrangement positions of the connecting plate 3 and the backboard 4.
The first fixing hole 12 on the base plate 1 is used for being connected with the side plate 2, in particular, the first fixing hole can be connected with the surface A or the surface B of the side plate 2, and the actual situation is determined according to the arrangement positions of the connecting plate 3 and the back plate 4.
Further, as a preferred embodiment, the back plate 4 is provided with a back plate fixing hole matched with the first fixing hole 11.
Specifically, when the back plate 4 is vertically arranged, the back plate 4 is fixedly connected with the back plate fixing hole through the first fixing hole 11.
Further, as a preferred embodiment, the back plate 4 is detachably and fixedly connected with the connecting plate 3.
On the other hand, as a preferred embodiment, the connecting plate 3 is provided with a connecting plate fixing hole matched with the first fixing hole 11.
Specifically, when the connection plate 3 is vertically arranged, the connection plate 3 is fixedly connected through the first fixing hole 11 and the connection plate fixing hole.
Further, as a preferred embodiment, the plurality of first fixing holes 11 are sequentially arranged in the first direction, and the second fixing holes 12 on each of both sides of the plurality of first fixing holes 11 are sequentially arranged in the second direction perpendicular to the first direction.
Further, as a preferred embodiment, a plurality of half-open counter bores 13 are formed in the direction from the side surface of each of the two sides of the substrate 1 to the center of the substrate 1; a plurality of half-open counter bores 13 are located at the second fixing hole 12.
In particular, the half-open counterbore 13 facilitates tightening the fastening bolts from top to bottom when connecting various test platforms.
Further, as a preferred embodiment, the robot joint 5 to be measured is mounted on the connection plate 3.
Further, as a preferred embodiment, the connection plates 3 are arranged vertically or horizontally.
Further, as a preferred embodiment, the various holes are connected by a fixing member. Preferably, the fixing member is a bolt. Preferably, the various holes are screw holes.
The invention also provides an assembly method, in which the connection plates 3 are arranged horizontally,
referring to fig. 1 to 5, the assembling method specifically includes:
the substrate 1 is arranged horizontally; the A surfaces of the two side plates 2 are fixedly connected with two sides of the upper surface of the base plate 1 respectively; the backboard 4 is vertically arranged, and two ends of the backboard 4 are fixedly connected with the two side plates 2 respectively; the backboard 4 is fixedly connected with the base plate 1; the connecting plate 3 is horizontally arranged, and the lower surface of the connecting plate 3 is fixedly connected with the two side plates 2 and the backboard 1 respectively.
Specifically, the a-plane fixing holes of the a-planes of the two side plates 2 are aligned with and connected by bolts to the second fixing holes 12 of the upper surface of the base plate 1.
Specifically, the back plate fixing holes of the back plate 4 are aligned with the first fixing holes 11 of the upper surface of the substrate 1 and are connected by bolts.
Since the connection plate 3 is arranged vertically, the output shaft of the robot joint 5 to be measured is also arranged vertically.
The invention also provides another assembly method, in which the connecting plate 3 is arranged vertically, as shown in fig. 1, 6 to 9, and the assembly method specifically comprises:
the substrate 1 is arranged horizontally; the B surfaces of the two side plates 2 are fixedly connected with two sides of the upper surface of the base plate 1 respectively; the backboard 4 is horizontally arranged, and two ends of the backboard 4 are fixedly connected with the two side plates 2 respectively; the connecting plates 3 are vertically arranged, and the connecting plates 3 are fixedly connected with the two side plates 2 and the back plate 4 respectively; the connecting plate 3 is fixedly connected with the base plate 1.
Specifically, the B-side fixing holes of the B-side of the side plate 2 are aligned with and connected by bolts to the second fixing holes 12 of the upper surface of the base plate 1.
Specifically, the connection plate fixing holes of the connection plate 3 are aligned with and connected by bolts to the first fixing holes 11 of the upper surface of the base plate 1.
As the connecting plate 3 is arranged horizontally, the output shaft of the robot joint 5 to be measured is also arranged horizontally.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.