阅读说明：本技术 一种射频测试机器人系统 (A kind of radio frequency testing robot system ) 是由 东君伟 冼育览 于 2019-09-04 设计创作，主要内容包括：本发明涉及一种射频测试机器人系统,机器人的旋转关节设置为中空结构,中空结构内配置滑环,线缆穿入旋转关节内部由滑环连接成联轴旋转结构进行内部走线以及电传输或信号传输,能有效避免两轴绕线,增加了射频测试机器人的使用灵活度和可靠性。(The present invention relates to a kind of radio frequency testing robot systems, the rotary joint of robot is set as hollow structure, slip ring is configured in hollow structure, cable penetrates inside rotary joint and connects into the internal cabling of shaft coupling rotational structure progress and electrical transmission or signal transmission by slip ring, two axis coilings can be effectively avoided, the flexibility in use and reliability of radio frequency testing robot are increased.)

1. a kind of radio frequency testing robot system, the bottom including robot, mounting robot for delivering radio-frequency antenna to be measured Plate and cable；The robot includes several rotary joints, and rotary joint includes rotary shaft, it is characterised in that: robot It is set as hollow structure inside rotary joint, configures slip ring in the hollow structure；Cable penetrates the hollow structure of rotary joint It is stretched out after carrying out internal cabling, the cable is to be docked two sections of cable segment of the cable segment penetrated and stretching by slip ring to form one Cable is docked by the slip ring and forms shaft coupling rotational structure and carry out electrical transmission and/or signal transmission by whole cable.

2. the system as claimed in claim 1, it is characterised in that: the robot includes several kinematic axis, including rotary joint Rotary shaft and other joints other kinematic axis；The end movement axis mounted antennas fixator of the robot, it is to be measured Radio-frequency antenna is installed on antenna holder, and the posture by adjusting robot realizes the survey of different angle antenna radiation characteristics Examination；The cable is radio-frequency cable and/or control cable.

3. the system as claimed in claim 1, it is characterised in that: the slip ring includes mandrel, the connector of mandrel outer layer and most The housing of outer layer, three form coaxial rings nested structure from the inside to the outside；The connector and the housing clamping engagement, it is internal to be formed The central shaft hole of slip ring, mandrel are set in central shaft hole along central axis；Mandrel is fixed on slip ring by insulating support support Central shaft hole inner wall；Connector is tubulose collet, and hollow heart is for accommodating mandrel；The housing is cannula-like, by tight The housing is connected in the rotary shaft of rotary joint by firmware, so that slip ring and rotary shaft be made to rotate synchronously.

4. system as claimed in claim 3, it is characterised in that: the slip ring further includes lantern ring；The both ends of slip ring are connecting pin, It is connected respectively with the connecting pin of two sections of cables；Rotationally connected between slip ring connecting pin and cable connecting pin by the lantern ring It connects to form the shaft coupling rotational structure；Mandrel inside cable connecting pin and docked between the mandrel inside slip ring carry out electrical transmission And/or signal transmission；The mandrel of slip ring includes the mandrel of two sections of docking；The terminal surface of mandrel is recessed inwardly or divides with extending forward The abutment shaft or docking axis hole of cooperation Xing Cheng be mutually inserted；The slip ring connecting pin of docking and the mandrel end inside cable connecting pin Between end, and/or, it is mating by being formed in abutment shaft insertion docking axis hole between the mandrel end of two sections of docking of slip ring, Therebetween electrical transmission and/or signal transmission are realized；Abutment shaft is contacted with docking axis hole rotation.

5. system as claimed in claim 4, it is characterised in that: the outer wall of cable connecting pin and slip ring connecting pin is provided with protrusion And/or card slot, lantern ring inner wall are correspondingly arranged card slot/protrusion, lantern ring is socketed in cable and slip ring connecting pin outer wall forms clamping and matches It closes；Slip ring connecting pin is formed by the end of the end of housing and connector respectively；Housing is locked in the outer wall of connector, the outer wall of connector At least one of pressing sleeve and bearing are additionally provided between the inner wall of housing；The pressing sleeve connects with the housing with described respectively Snap-fit between head, so that the housing be made to clamp；The bearing be set to housing inner wall and connector outer wall it Between；Bearing side is limited by the ring washer being arranged on connector outer wall；Bearing is held between pressing sleeve end and ring washer to limit And reduce friction；Cable connecting pin, which strips outer layer, forward extends out mandrel, and the mandrel of cable connecting pin, which is worn, is provided with cable pressure The cable and damper ends of the mandrel of cable connecting pin and back segment are packed tightly fixation by set, the pressing sleeve, and setting insulating support will in pressing sleeve Mandrel is supported in pressing sleeve inner wall.

6. the system as claimed in claim 1, it is characterised in that: the rotary joint includes S axis rotary joint, is by robot Rotary shaft S axis and the ontology rotatable engagement of robot formed, the configuration slip ring in the hollow structure of S axis rotary joint；Institute State whole cable from ontology penetrate the internal cabling of progress and by S axis it is protruding；The cable segment and S axis for being penetrated ontology by slip ring Two sections of cable segment docking of stretching form cable shaft coupling rotational structure, carry out electrical transmission and/or signal transmission.

7. the system as claimed in claim 1, it is characterised in that: the rotary joint includes T axis rotary joint, is by robot Rotary shaft T axis and the wrist rotatable engagement of robot formed, the configuration slip ring in the hollow structure of T axis rotary joint；Institute State whole cable from wrist penetrate the internal cabling of progress and by T axis it is protruding, to be connect with radio-frequency antenna to be measured；It will by slip ring The cable segment that wrist penetrates docks to form cable shaft coupling rotational structure with two sections of cable segment that T axis stretches out, carry out electrical transmission and/or Signal transmission.

8. the system as claimed in claim 1, it is characterised in that: the artificial multi-axis robot of machine, further includes being connected to S axis Other kinematic axis between T axis；The cable that S axis stretches out is guided by threading mechanism and is supported between other kinematic axis outside External cabling is separatedly carried out, is finally penetrated in wrist and T axis.

9. system as claimed in claim 8, it is characterised in that: the threading mechanism includes guiding tube and several guidance support Bar, guiding tube is fixed on the outside of other described kinematic axis to be arranged along the path of cable；Guidance support rod one end be fixed on guiding tube, One end supporting cable leaves on the outside of other described kinematic axis；Several guidance support rods are arranged along the length direction interval of guiding tube, It is connected between cable and guiding tube；Other described kinematic axis include one of L axis, R axis, U axis, B axle or a variety of.

10. system as claimed in claim 9, it is characterised in that: one end of the guidance they sup-port cable is bent to form Metallic channel, cable pass through metallic channel and are accommodated with limiting by metallic channel；Cable is slideably arranged in the conducting wire of guidance support rod In slot；The guidance support rod is lantern ring, and the opposite both ends of lantern ring are socketed on respectively outside cable and guiding tube；The guiding tube is Hard tubulose is rod-shaped；The guidance support rod is flat collar.

Technical field

The present invention relates to antenna measurement technical field, especially a kind of radio frequency testing robot system.

Background technique

Existing antenna darkroom test macro is carried out based on mechanical turntable, and for traditional passive antenna test request Design, the degree of automation is lower, can not well adapt to modern antennas test, the especially need of Active Arrays test It asks.Have using robot manipulation and test antenna, but when industrial machinery people of market needs shaft coupling to rotate at present can be directed at T- Axis axis and S-Axis axis generate coiling, break control cable (radio-frequency cable or supply lines).This restriction is wireless The design freedom of electrical measurement test system reduces the flexibility of reliability and deployment.

Summary of the invention

The technical problems to be solved by the present invention are: providing a kind of radio frequency testing robot system, solves existing radio frequency and survey The problem of try engine people's system coiling.

In order to solve the above technical problems, the present invention adopts the following technical scheme:

A kind of radio frequency testing robot system, the bottom plate including robot, mounting robot for delivering radio-frequency antenna to be measured And cable；The robot includes several rotary joints, and rotary joint includes rotary shaft, is set inside the rotary joint of robot It is set to hollow structure, configures slip ring in the hollow structure；After the hollow structure that cable penetrates rotary joint carries out internal cabling It stretches out, the cable is to be docked two sections of cable segment of the cable segment penetrated and stretching by slip ring to form a whole cable, by institute Slip ring is stated to dock cable to form shaft coupling rotational structure and carry out electrical transmission and/or signal transmission.

In some embodiments, the robot includes several kinematic axis, including the rotary shaft of rotary joint and other Other kinematic axis in joint；The end movement axis mounted antennas fixator of the robot, radio-frequency antenna to be measured are installed on day On line fixator, the posture by adjusting robot realizes the test of different angle antenna radiation characteristics；The cable is radio frequency Cable and/or control cable.

In some embodiments, the slip ring includes the connector and outermost housing of mandrel, mandrel outer layer, three Coaxial rings nested structure is formed from the inside to the outside；The connector and the housing clamping engagement, the internal central shaft hole for forming slip ring, Mandrel is set in central shaft hole along central axis；Mandrel is fixed on the central shaft hole inner wall of slip ring by insulating support support； Connector is tubulose collet, and hollow heart is for accommodating mandrel；The housing is cannula-like, is connected the housing by fastener It is connected in the rotary shaft of rotary joint, so that slip ring and rotary shaft be made to rotate synchronously.

In some embodiments, the slip ring further includes lantern ring；The both ends of slip ring be connecting pin, respectively with two sections of lines The connecting pin of cable is connected；It is rotationally connected between slip ring connecting pin and cable connecting pin by the lantern ring and forms the shaft coupling rotation Rotation structure；It mandrel inside cable connecting pin and is docked between the mandrel inside slip ring and carries out electrical transmission and/or signal and transmit；It is sliding The mandrel of ring includes the mandrel of two sections of docking；The terminal surface of mandrel, which is recessed inwardly or is respectively formed to be mutually inserted with extending forward, matches The abutment shaft or docking axis hole of conjunction；Between the slip ring connecting pin of docking and the mandrel end inside cable connecting pin, and/or, it is sliding Between the mandrel end of two sections of docking of ring, it is inserted into docking axis hole by abutment shaft and forms mating, realization electricity between the two Transmission and/or signal transmission；Abutment shaft is contacted with docking axis hole rotation.

In some embodiments, the outer wall of cable connecting pin and slip ring connecting pin is provided with protrusion and/or card slot, in lantern ring Wall is correspondingly arranged card slot/protrusion, and lantern ring is socketed in cable and slip ring connecting pin outer wall is formed and is engaged by clamping；Slip ring connecting pin difference It is formed by the end of housing and the end of connector；Housing is locked between the outer wall of connector, the outer wall of connector and the inner wall of housing It is additionally provided at least one of pressing sleeve and bearing；The pressing sleeve snap-fit between the housing and the connector respectively, To make the housing clamp；The bearing is set between the inner wall of housing and the outer wall of connector；Bearing side passes through The ring washer limit being arranged on connector outer wall；Bearing is held between pressing sleeve end and ring washer to limit and reduces friction；Cable Connecting pin, which strips outer layer, forward extends out mandrel, and the mandrel of cable connecting pin, which is worn, is provided with cable pressing sleeve, and the pressing sleeve is by line The mandrel of cable connecting pin and the cable and damper ends of back segment pack tightly fixation, and mandrel is supported in pressing sleeve by setting insulating support in pressing sleeve Wall.

In some embodiments, the rotary joint includes S axis rotary joint, is rotary shaft S axis and machine by robot The ontology rotatable engagement of device people is formed, the configuration slip ring in the hollow structure of S axis rotary joint；Whole cable is from ontology Penetrate the internal cabling of progress and protruding by S axis；Two sections of cable segment of the cable segment and the stretching of S axis that penetrated ontology by slip ring Docking forms cable shaft coupling rotational structure, carries out electrical transmission and/or signal transmission.

In some embodiments, the rotary joint includes T axis rotary joint, is rotary shaft T axis and machine by robot The wrist rotatable engagement of device people is formed, the configuration slip ring in the hollow structure of T axis rotary joint；Whole cable is from wrist The internal cabling of progress and protruding by T axis is penetrated, to connect with radio-frequency antenna to be measured；The cable segment for being penetrated wrist by slip ring It docks to form cable shaft coupling rotational structure with two sections of cable segment of the stretching of T axis, carries out electrical transmission and/or signal transmission.

In some embodiments, the artificial multi-axis robot of the machine further includes other being connected between S axis and T axis Kinematic axis；The cable that S axis stretches out is guided by threading mechanism and is supported to carry out outside with opening along other kinematic axis outside spacers Cabling finally penetrates in wrist and T axis.

In some embodiments, the threading mechanism includes guiding tube and several guidance support rods, and guiding tube is fixed on institute It states and is arranged on the outside of other kinematic axis along the path of cable；Guiding tube is fixed in support rod one end, one end supporting cable leaves for guidance On the outside of other described kinematic axis；It is several guidance support rods along guiding tube length direction interval be arranged, be connected to cable and Between guiding tube；Other described kinematic axis include one of L axis, R axis, U axis, B axle or a variety of.

In some embodiments, one end of the guidance they sup-port cable is bent to form metallic channel, and cable is passed through and led Wire casing and by metallic channel limit accommodate；Cable is slideably arranged in the metallic channel of guidance support rod；The guidance support Bar is lantern ring, and the opposite both ends of lantern ring are socketed on respectively outside cable and guiding tube；The guiding tube is hard tubulose or rod-shaped；Institute Stating guidance support rod is flat collar.

The beneficial effects of the present invention are:

Radio frequency testing robot system of the present invention, the rotary shaft of robot is hollow, and rotary joint (slip ring) can be added makes two axis Shaft coupling rotation, is able to satisfy specific products test request, effectively avoids two axis coilings.Robot of the invention is dynamically adjusted Whole motion profile is not limited by traditional robot motor pattern, substantially increases the using flexible of radio frequency testing robot Degree and reliability.

Further, radio-frequency cable control cable is hidden in robot interior, and complete equipment appearance is clean and tidy.

In addition, the more efficient robot that reduces is in complicated multiaxis using the pin configuration of radio-frequency cable and control cable Coiling risk in motion process.

The present invention is described in further detail below in conjunction with the accompanying drawings.

Detailed description of the invention

Fig. 1 is the perspective view of radio frequency testing robot system of the embodiment of the present invention.

Fig. 2 is the perspective view at another visual angle of radio frequency testing robot system of the embodiment of the present invention.

Fig. 3 is the cross-sectional view in Fig. 2 along line B-B.

Fig. 4 is the enlarged drawing in the region D of Fig. 3.

Fig. 5 is the enlarged drawing in the region C of Fig. 3.

Fig. 6 is the slip ring of the embodiment of the present invention and the structural schematic diagram that radio frequency line is connect.

Fig. 7 is cross-sectional view of the Fig. 6 along line A-A.

Fig. 8 is the slip ring structure schematic diagram of the embodiment of the present invention.

Specific embodiment

It should be noted that in the absence of conflict, each embodiment in the application and the feature in embodiment can be with It is combined with each other, invention is further described in detail in the following with reference to the drawings and specific embodiments.

It please refers to shown in Fig. 1-3, the embodiment of the present invention is related to a kind of radio frequency testing robot system 100, including delivery The robot of radio-frequency antenna to be measured can make in antenna darkroom test macro to complete the radiation characteristic of test radio-frequency antenna.