CN102901625B - A kind of joint of robot speed reduction unit comprehensive performance testing system - Google Patents
A kind of joint of robot speed reduction unit comprehensive performance testing system Download PDFInfo
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- CN102901625B CN102901625B CN201210385572.7A CN201210385572A CN102901625B CN 102901625 B CN102901625 B CN 102901625B CN 201210385572 A CN201210385572 A CN 201210385572A CN 102901625 B CN102901625 B CN 102901625B
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Abstract
The invention discloses a kind of joint of robot speed reduction unit comprehensive performance testing system, comprise mechanical part and electric control system, mechanical part comprises the coaxial servomotor connected successively, tested speed reduction unit, angle measurement unit, torque sensor, load arm, these elements described are fixed on horizontal guide rail by support, and described tested speed reduction unit is equipped with temperature sensor; Electric control system comprises: industrial control computer, motion control card, data collecting card, numbered card and temperature collect module; Motion control card is connected with servomotor by servo-driver; Data collecting card is connected with torque sensor signal output terminal and servo-driver torque monitoring end; Numbered card is connected with the signal output part of angle measurement unit; Temperature sensor is connected with serial ports of computers by temperature collect module.The present invention to the combination property of joint of robot speed reduction unit, can test, and structure is simple, and measuring accuracy is high, versatility good.
Description
Technical field
The present invention relates to a kind of joint of robot speed reduction unit, particularly a kind of joint of robot speed reduction unit comprehensive performance testing system.
Background technology
Robot joint speed reducer is the basic components of multi-freedom robot, is equally also a lot of industrial robot, and as spot welding robot, the core functional components of robot palletizer and transfer robot, the quality of its combination property directly affects the serviceability of robot.Along with the development of world industry, demand for this kind of automated production of robot is increasing, especially auto production line, so just need development and Design and produce more how high performance robot joint speed reducer, to meet the needs of robot device, this just needs us to study the efficiency of robot joint speed reducer, life-span, transmission accuracy, staring torque, dynamics and the tribology overall characteristic such as rigidity and return difference, transient process, temperature rise, and these characteristics just determine the ability to work of joint of robot.And how to obtain these performance index of robot joint speed reducer, testing evaluation is carried out to the performance of joint of robot, know the important parameter affecting robot joint speed reducer, all lack the joint speed reducer test macro of dummy robot's motion of complete set always.
Summary of the invention
For above-mentioned technical matters, the present invention proposes a kind of joint of robot speed reduction unit comprehensive performance testing system, to detect each performance index of robot speed reduction unit.
For achieving the above object, the present invention adopts following technical scheme:
A kind of joint of robot speed reduction unit comprehensive performance testing system, it is characterized in that: comprise and connecting successively and the servomotor be fixed on by support on horizontal guide rail, tested speed reduction unit, angle measurement unit, torque sensor, and load arm or axle head fixed bar, described tested speed reduction unit is provided with temperature sensor, described servomotor carries scrambler, servomotor carries the input and output angle information that scrambler and angle measurement unit are respectively used to read tested speed reduction unit, servomotor is connected with servo-driver, the moment of torsion detection port of this servo-driver and torque sensor are for reading the input and output torque information of tested speed reduction unit, temperature sensor is for reading the temperature information of tested speed reduction unit, described servomotor, angle measurement unit, torque sensor, and temperature sensor is all connected with computer for controlling.As the preferred embodiments of the present invention, described servomotor is directly connected with tested speed reduction unit and is fixed on horizontal guide rail by the first support;
As the preferred embodiments of the present invention, the output terminal of described tested speed reduction unit is connected with the first coupling shaft, and described angle measurement unit to be arranged on the first coupling shaft and to rotate with the first coupling shaft;
As the preferred embodiments of the present invention, described angle measurement unit passes through the second support installing on horizontal guide rail;
As the preferred embodiments of the present invention, the two ends of described torque sensor are connected with angle measurement unit and load arm respectively by shaft coupling, described load arm is arranged on the second coupling shaft, described second coupling shaft is arranged on the output terminal of torque sensor, described torque sensor is arranged on horizontal guide rail by the first bearing, and described second coupling shaft passes through the 3rd support installing on horizontal guide rail;
As the preferred embodiments of the present invention, described load arm comprises load beam and loading disk, and described loading disk is arranged in the bolt hole of load beam by bolt;
As the preferred embodiments of the present invention, the two ends of described torque sensor are connected with angle measurement unit and axle head fixed bar respectively by shaft coupling, described axle head fixed bar is arranged on second coupling shaft one end, described second coupling shaft is arranged on the output terminal of torque sensor, and described axle head fixed bar is arranged on horizontal guide rail by three abutments;
As the preferred embodiments of the present invention, described servomotor is connected with computer for controlling by motion control card, described motion control card is connected with the signal control end of servo-driver and carries out signal both-way communication, servo-driver is connected with servomotor two-way signaling, realize the control to servomotor motion with this, and record the angle information that servomotor carries scrambler;
As the preferred embodiments of the present invention, described torque sensor is connected with computer for controlling by data collecting card, and a passage of described data collecting card is connected with the torque monitoring port of servo-driver, and another passage is connected with the output terminal of torque sensor; Described angle measurement unit is connected with computer for controlling by numbered card, and described temperature sensor is connected with computer for controlling by temperature collect module;
As the preferred embodiments of the present invention, described temperature sensor is thermistor temperature sensor.
Compared with prior art, the present invention carries by servomotor the input and output angle information that scrambler and angle measurement unit read tested speed reduction unit, the input and output torque information of tested speed reduction unit is read by the moment of torsion detection port of servo-driver and torque sensor, the temperature information of tested speed reduction unit is read by temperature sensor, the efficiency to joint of robot speed reduction unit is realized with this, life-span, transmission accuracy, staring torque, rigidity and return difference, transient process, a series of combination property such as temperature rise is tested, structure is simple, measuring accuracy is high, versatility is good.
Accompanying drawing explanation
Fig. 1 is the mechanical construction drawing of present system;
Fig. 2 is the electrical diagram of present system;
In Fig. 1,
1-servomotor; The tested speed reduction unit of 2-; 3-first coupling shaft; 4-angle measurement unit; 5-shaft coupling; 6-torque sensor; 7-shaft coupling; 8-second coupling shaft; 9-axle head fixed bar; 10-load beam; 11-loading disk; 12-the 3rd support; 13-first bearing; 14-second support; 15-temperature sensor; 16-first support; 17-base; 18-horizontal guide rail.
Embodiment
Below in conjunction with accompanying drawing, test macro of the present invention is further elaborated:
See Fig. 1 mechanical part, servomotor 1 output shaft directly connects the input end of tested speed reduction unit 2, and being fixed on above horizontal guide rail 18 by the first support 16, horizontal guide rail is then fixed on base 17, tested speed reduction unit 2 is provided with the measurement that temperature sensor 15 carries out temperature.Tested speed reduction unit 2 output terminal flange is connected with element afterwards by the first coupling shaft 3, on first coupling shaft 3, cover has the inner ring of angle measurement unit 4 and fastening by specialized nut, and the outer ring of angle measurement unit 4 is then fixed on above horizontal guide rail 18 by the second support 14.First coupling shaft 3 is connected with torque sensor 6 by the first shaft coupling 5, and torque sensor 6 is connected with the second coupling shaft 8 by the second shaft coupling 7, and torque sensor is fixed on above horizontal guide rail by the first bearing 13.Second coupling shaft 8 is fixed on horizontal guide rail by the 3rd support 12.If when carrying out stiffness measuring, need, by output shaft stall, make the second coupling shaft 8 put one end of axle head fixed bar 9, axle head fixed bar 9 other end be fixed by the 3rd support 12.If loaded by load arm, then do not use axle head fixed bar 9, but on the second coupling shaft 8 installation load arm, load arm consists of load beam 10 and loading disk 11.
See Fig. 2, electric control system comprises: industrial control computer, and is inserted in motion control card in industrial control computer PCI slot, data collecting card, numbered card and is carried out the temperature collect module of signal and communication by serial ports.Motion control card to be connected with the signal control end of servo-driver by a terminal strip and to carry out signal both-way communication, servo-driver is connected with servomotor two-way signaling, the control to servomotor motion is realized with this, and record the angle information that servomotor carries scrambler, i.e. system input angle information; The torque monitoring port of an expanding channels servo-driver of data collecting card obtains system input torque signal, and another passage is connected with the output terminal of torque sensor the output torque signal obtaining speed reduction unit; Numbered card obtains the angular output signal of system by the signal output part of cable connection angle measurement mechanism.Temperature sensor connects temperature collect module, and the output terminal of temperature collect module is connected with the serial ports of industrial control computer, realizes register system temperature variations and imports information into industrial control computer by serial ports.
Described servomotor carries scrambler, and code device signal connects the angle signal input port of servo-driver.Servo motor output shaft is directly connected with joint of robot speed reduction unit input end and is fixed on same support, do not add other connection original papers such as shaft coupling, and thermistor temperature sensor is posted on tested speed reduction unit surface, resistance variations signal sends into computing machine by temperature collect module and serial ports.
Described angle measurement unit inner ring is enclosed within the first coupling shaft, on the right side of first coupling shaft, axle head has screw thread, be threaded by specialized nut and be positioned at by the inner ring of angle measurement unit on the left of inner ring on the coupling shaft shaft shoulder and fastening, the outer ring of angle measurement unit is connected by screw on the secondary support bracket fastening.And the first coupling shaft is symmetrically distributed with centered by the round heart of axle head the bolt hole of through shaft, is connected by screw and the first coupling shaft is connected with speed reduction unit flange output terminal.
Described tested speed reduction unit output terminal is connected with load arm by a torque sensor, and the connection of the first coupling shaft and the second coupling shaft and torque sensor is employing two spring couplings realizes.
System cloud gray model is the control to system input motion by industrial control computer and motion control card realization.The loading of system is loaded by load arm.To system is exported stall, when carrying out stiffness measuring, output shaft, by axle head fixed bar connection bracket, namely described second coupling shaft has an axle head fixed bar by key adapter sleeve, the other end of axle head fixed bar is bolted and is fixed on the 3rd support, realizes the stall of the second coupling shaft.
Carry scrambler by angle measurement unit and servomotor in the process of system cloud gray model and read joint speed reducer input and output angle information, read joint speed reducer input and output torque information by the torque monitoring port of torque sensor and servo-driver, read the temperature variations of joint speed reducer key point by thermistor temperature sensor and realized process and the display of data by the special software of system support.Can realize the test to speed reduction unit combination property by above high precision measurement element, versatility is good, and structure is simple.
Testing software industrial control computer is equipped with to start and to use motion control card, data collecting card and the numbered card in PCI slot, send analog signals and control servomotor action, realize to the collection of system input and output angle and torque signal with by serial ports record temperature information etc.
Torque measurement scope 0-200N.m of the present invention, angle-measurement accuracy is within 10 seconds, can test a series of combination properties such as the efficiency of joint of robot speed reduction unit, life-span, transmission accuracy, staring torque, rigidity and return difference, transient process, temperature rises, structure is simple, measuring accuracy is high, and versatility is good.
The foregoing is only one embodiment of the present invention, it not whole or unique embodiment, the conversion of those of ordinary skill in the art by reading instructions of the present invention to any equivalence that technical solution of the present invention is taked, is claim of the present invention and contains.
Claims (8)
1. a joint of robot speed reduction unit comprehensive performance testing system, it is characterized in that: comprise and connecting successively and the servomotor (1) be fixed on by support on horizontal guide rail (18), tested speed reduction unit (2), angle measurement unit (4), torque sensor (6), and load arm or axle head fixed bar, described tested speed reduction unit is provided with temperature sensor (15), described servomotor carries scrambler, servomotor carries the input that scrambler and angle measurement unit are respectively used to read tested speed reduction unit, export angle information, servomotor is connected with servo-driver, the torque monitoring port of this servo-driver and torque sensor are respectively used to the input of reading tested speed reduction unit, output torque signal, temperature sensor is for reading the temperature information of tested speed reduction unit, described servomotor, angle measurement unit, torque sensor and temperature sensor are all connected with industrial control computer, the output terminal of described tested speed reduction unit is connected with the first coupling shaft (3), and described angle measurement unit to be arranged on the first coupling shaft and to rotate with the first coupling shaft, one end of described torque sensor is connected with angle measurement unit by shaft coupling, and other one end of described torque sensor is connected with load arm or axle head fixed bar by shaft coupling, this test macro includes industrial control computer further, be inserted in motion control card, data collecting card and the numbered card in industrial control computer PCI slot, and carry out the temperature collect module of signal and communication by the serial ports of industrial control computer and industrial control computer, motion control card to be connected with the signal control end of servo-driver by a terminal strip and to carry out signal both-way communication, servo-driver is connected with servomotor two-way signaling, realize the control to servomotor motion with this, and record the angle information that servomotor carries scrambler, the torque monitoring port of an expanding channels servo-driver of data collecting card obtains system input torque signal, and another passage is connected with the output terminal of torque sensor the output torque signal obtaining tested speed reduction unit, numbered card obtains the angular output signal of system by the signal output part of cable connection angle measurement mechanism.
2. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, is characterized in that: described servomotor is directly connected with tested speed reduction unit and is fixed on horizontal guide rail by the first support (16).
3. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, is characterized in that: described angle measurement unit is arranged on horizontal guide rail by the second support (14).
4. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: when being loaded by load arm, one end of described torque sensor is connected with angle measurement unit by shaft coupling, and other one end of described torque sensor is connected with load arm by shaft coupling; Described load arm is arranged on the second coupling shaft (8), described second coupling shaft (8) is arranged on the output terminal of torque sensor, described torque sensor is arranged on horizontal guide rail by the first bearing (13), and described second coupling shaft is arranged on horizontal guide rail by the 3rd support (12).
5. a kind of joint of robot speed reduction unit comprehensive performance testing system as described in claim 1 or 4, it is characterized in that: described load arm comprises load beam (10) and loading disk (11), and described loading disk is arranged in the bolt hole of load beam by bolt.
6. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: when carrying out rigidity test, one end of described torque sensor is connected with angle measurement unit by shaft coupling, other one end of described torque sensor is connected with axle head fixed bar by shaft coupling, described axle head fixed bar is arranged on the second coupling shaft (8) one end, described second coupling shaft (8) is arranged on the output terminal of torque sensor, described torque sensor is arranged on horizontal guide rail by the first bearing (13), described second coupling shaft is arranged on horizontal guide rail by the 3rd support (12), described axle head fixed bar is arranged on horizontal guide rail by the 3rd support (12).
7. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, is characterized in that: described temperature sensor is connected with industrial control computer by temperature collect module.
8. a kind of joint of robot speed reduction unit comprehensive performance testing system as described in claim 1 or 7, is characterized in that: described temperature sensor is thermistor temperature sensor.
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| CN201210385572.7A CN102901625B (en) | 2012-10-11 | 2012-10-11 | A kind of joint of robot speed reduction unit comprehensive performance testing system |
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| CN201210385572.7A CN102901625B (en) | 2012-10-11 | 2012-10-11 | A kind of joint of robot speed reduction unit comprehensive performance testing system |
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| CN102901625B true CN102901625B (en) | 2016-03-02 |
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