基于机械臂的计算机转轴力学性能检测系统研究

Dynamic Performance Testing System of Laptop Hinge Based on Industrial Robot

笔记本电脑显示屏转轴结构的力学性能检测,是电脑整机结构研发阶段关键的标准化测试。本文以双铰链型结构的笔记本电脑转轴为具体待测对象,提出了一种基于工业机械臂和动态力传感器技术的转轴力学性能检测新方案。该方案应用机械臂的灵活空间运动能力带动实现待测笔记本电脑屏幕部件与转轴结构的往复开合运动,通过构建与待测转轴翻转运动特点相一致的机械臂末端工具运动模型,实现了完全拟人化操作的单手指推动式运动轨迹。进一步,采用转轴扭矩测试的简化模型,通过对末端工具推力的实时测量计算,实现对扭矩的动态测试。实验结果表明,本文所提方法有效、实用。

The mechanical properties of the hinge structure are the key standardized test requirements in the R&D of the laptop.In this paper,a laptop hinge with double hinge structure is taken as the test target,and a new system for mechanical performance detection of the hinge based on industrial robot and Force /Torque sensor technology is proposed.The scheme uses the space motion capability of the robot to drive the opening and closing motion of the screen component and the rotating shaft,and achieves a fully anthropomorphic single - finger push operation by constructing the motion model consistent with the rotating motion characteristics of the hinge.Further,a simplified model of the hinge torque test is adopted,and the dynamic test of the hinge torque is realized by real - time measurement and calculation of the finger tool.The experimental results show that the proposed method is effective and practical.