Experiment device capable of simulating variable loads and variable inertia of industrial robot joint

Abstract

The invention discloses an experiment device capable of simulating variable loads and variable inertia of an industrial robot joint. The device comprises a work table face, an input servo motor, a planetary gear speed reducer, a first coupler, a dynamic torque sensor, a second coupler, an angle sensor, a double bearing support, a variable inertia rod arm, a third coupler, a rotating shaft, a masssliding block, a positioning bolt, a hysteresis dynamometer, a first supporting base, a second supporting base and a third supporting base. An output shaft of the input servo motor is sequentially connected with the planetary gear speed reducer, the first coupler, the dynamic torque sensor, the second coupler, the angle sensor, the rotating shaft, the third coupler, and the hysteresis dynamometerwhich are sequentially distributed along one straight line. Inertial static changes are integrated, the inertia and the loads can vary, a load control system can meet multiple complex load conditions,and the joint motion condition can be simply simulated.

Description

technical field [0001] The invention relates to the field of joint servo control system testing, to the field of experimental devices for variable load and variable inertia, and more specifically, to an experimental device for simulating industrial robot joints with variable load and variable inertia. Background technique [0002] At present, the experiment of servo motor control algorithm directly on the joints of industrial robots needs to overcome many technical difficulties. For individual research on the mechanical part of industrial robots, the cost is expensive, so the research is mostly limited to the software simulation stage and semi-simulation stage. In order to evaluate the control algorithm in an effective experiment, the joint working condition of the simulated robot is a joint, which is mainly a process of variable load and variable inertia. [0003] The loading methods generally adopted by the existing load simulation devices are mechanical loading, electroma...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the defects of the existing load simulation device, such as the difficulty of disassembling and assembling during the variable inertia process, the lack of real-time load change and the same device does not have the functions of variable load and variable inertia at the same time, and proposes a method that can simulate the joint variable load of industrial robots. The experimental device with variable inertia can integrate the static change of inertia, the real-time change of load loading, and briefly simulate the joint motion conditions of industrial robots

Images