CN106353092A - Simulation loading system of high-end speed reducer transmission precision test stand for robot - Google Patents
Simulation loading system of high-end speed reducer transmission precision test stand for robot Download PDFInfo
- Publication number
- CN106353092A CN106353092A CN201610824111.3A CN201610824111A CN106353092A CN 106353092 A CN106353092 A CN 106353092A CN 201610824111 A CN201610824111 A CN 201610824111A CN 106353092 A CN106353092 A CN 106353092A
- Authority
- CN
- China
- Prior art keywords
- loading
- clamping seat
- robot
- speed reducer
- gearbox
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
Abstract
The invention relates to a simulation loading system of a high-end speed reducer transmission precision test stand for a robot. The simulation loading system comprises a bottom plate, a loading motor, a gearbox, a torque sensor, a circular grating and a clamping seat, wherein the loading motor, the gearbox, the torque sensor, the circular grating and the clamping seat are successively mounted on the bottom plate; the loading motor, the gearbox, the torque sensor, the circular grating and the clamping seat which are sequentially mounted on the bottom plate are concentric in an X axis and a Y axis; the circular grating is mounted on the inner side of the clamping seat; and a tested piece is clamped on the other side of the clamping seat. The simulation loading system not only can start in a loading manner and load actively, but also has high load stability and wide load range. Owing to the active loading mode, active loading can be implemented under the condition that an input end of the tested piece is fixed, loading starting can be realized through frequency converting control, torque control precision is high, and load stability is good.
Description
Technical field
The invention belongs to processing equipment detection technique field is and in particular to a kind of robot is with high-end speed reducer drive precision
Testing stand simulation of loading system.
Background technology
As robot, with high-end reductor, it is required is high transmission accuracy, ratio coverage is big, torsional stiffnesses are big, precision
Height, return difference are little, transmission efficiency.Therefore necessarily require a high-end testing equipment with Precision measurement ability, but existing at present
There is testing equipment only to have the detection of single index, cannot detect for composite target, especially robot is in working order
Its reductor precision index lower more cannot be carried out detecting.
Content of the invention
It is an object of the invention to solving above-mentioned technical problem and providing one kind for robot is used with high-end reductor
Load in working order carries out simulation of loading and then the high-end speed reducer drive accuracy testing platform of the robot that detected
Simulation of loading system.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of robot with high-end speed reducer drive accuracy testing platform simulation of loading system, including base plate and order successively
It is arranged on loading motor on described base plate, gearbox, torque sensor, Circular gratings, clamping seat；Sequentially install on described base plate
Loading motor, fast case, square sensor, Circular gratings and clamping seat keep concentric in x, y-axis；Described loading motor and speedup
Case is in transmission connection, and described gearbox is in transmission connection with described torque sensor, and described torque sensor is driven with described clamping seat
Connect, described Circular gratings are arranged on the inner side of described clamping seat, and the opposite side clamping of described clamping seat is by test specimen.
Wherein, described Circular gratings are installed on the ring flange on clamping seat.
Preferably, described loading motor is frequency conversion motor.
Simulation of loading system of the present invention can not only load startup, actively load, and have higher stable load
Wider load range, and due to belonging to active load mode, actively can load in the case of fixing by test specimen input,
Can realize loading by frequency conversion control technique and start, moment of torsion control high precision, stable load are good.
Brief description
The robot that Fig. 1 illustrates the present invention is shown with the structure of high-end speed reducer drive accuracy testing platform simulation of loading system
It is intended to；
In figure: 1 is loading motor, 2 is gearbox, 3 is torque sensor, 4 is Circular gratings, 5 is clamping seat, 6 is base plate.
Specific embodiment
Below, in conjunction with example, the substantive distinguishing features of the present invention and advantage are further described, but the present invention not office
It is limited to listed embodiment.
Shown in Figure 1, a kind of robot with high-end speed reducer drive accuracy testing platform simulation of loading system, including base plate
6 and be sequentially arranged on loading motor 1 on described base plate, gearbox 2, torque sensor 3, Circular gratings 4, clamping seat 5 successively
(as shown in Figure 1 from right side from left side)；The sequentially loading motor 1 of installation, fast case 2, square sensor 3, Circular gratings on described base plate 6
4 and clamping seat 5 keep concentric in x, y-axis；Wherein, described Circular gratings 4 are arranged on the inner side of described clamping seat 5, described dress
, by test specimen 8 (the high-end reductor of robot), wherein, described loading motor 1, gearbox 2 transmission are even for the opposite side clamping of holder 5
Connect, described gearbox 2 is in transmission connection with described torque sensor 3, described torque sensor 3 is in transmission connection with described clamping seat 5.
Specifically, described Circular gratings 4 are installed on the ring flange on clamping seat 5.
Further, described loading motor 1, gearbox 2 pass through loading support 12 and are arranged on base plate 6.
The present invention is actively loaded using frequency conversion motor and gearbox combination.Actively load because present system belongs to
Mode, can actively load in the case of fixing by test specimen input and can realize loading startup by frequency conversion control technique,
Therefore robot load at work is passed through with frequency conversion motor and gearbox combination is carried in by can be to by test specimen in test specimen
Detected.Detection data is gathered by the detecting and controlling system of peripheral hardware and is processed.
Preferably, described loading motor 1 is frequency conversion motor.
Further, described loading motor 1, fast case 2, square sensor 3, Circular gratings 4 pass through cable (cable transmit power and
Signal) link with the electrical control cubicles of peripheral hardware and TT＆C system (not shown), it is possible to achieve start at control and the collection of data
Reason.Set converter and electric elements in described electrical control cubicles, TT＆C system includes operating board, operating board sets detecting system, operation
Push-button station etc., this is existing control technology, and this specification no longer describes in detail.
The high-end speed reducer drive accuracy testing platform simulation of loading system of the robot of the present invention connects after TT＆C system, leads to
Cross TT＆C system to carry out loading emulation testing to by test specimen in operation button area.
During use, robot of the present invention is installed on machine with high-end speed reducer drive accuracy testing platform simulation of loading system
People is with high-end speed reducer drive accuracy test platform, and is aligned it is ensured that concentricity with the drive system output center on testing stand
Less than 0.02nm/m, and electrical control cubicles and TT＆C system are externally provided with by cable connection, on clamping, centering disappears simultaneously by test specimen
Except clamping error, you can start is tested.
Simulation of loading system of the present invention can for robot with high-end one system unit of speed reducer drive accuracy testing platform,
It is alternatively an independent test instrument in order to test the precision under reductor working condition.
Simulation of loading system of the present invention is made with high-end one system unit of speed reducer drive accuracy testing platform as robot
Used time, as shown in figure 1, by clamping seat 5 with by test specimen 8, wherein, be arranged on bracket 7 by test specimen 8, another by test specimen 8
Side can be by another clamping seat 9 (bearing fit during clamping seat 9 passes through shaft coupling 9 and is arranged on support 11 is realized rotating)
Clamping seat 5 in cooperation present system will be tested by test specimen 8 clamping.
Simulation of loading system of the present invention can not only load startup, actively load, and have higher stable load
Wider load range, and due to belonging to active load mode, actively can load in the case of fixing by test specimen input,
Can realize loading by frequency conversion control technique and start, moment of torsion control high precision, stable load are good.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of robot with high-end speed reducer drive accuracy testing platform simulation of loading system it is characterised in that include base plate with
And sequentially it is arranged on loading motor on described base plate, gearbox, torque sensor, Circular gratings, clamping seat successively；Described base plate
Loading motor, fast case, square sensor, Circular gratings and clamping seat that upper order is installed keep concentric in x, y-axis；Described loading
Motor is in transmission connection with gearbox, and described gearbox is in transmission connection with described torque sensor, described torque sensor with described
Clamping seat is in transmission connection, and described Circular gratings are arranged on the inner side of described clamping seat, and the opposite side clamping of described clamping seat is by test specimen.
2. according to claim 1 robot with high-end speed reducer drive accuracy testing platform simulation of loading system, its feature exists
In described Circular gratings are installed on the ring flange on clamping seat.
3. robot according to claim 1 or claim 2 high-end speed reducer drive accuracy testing platform simulation of loading system, its feature
It is, described loading motor is frequency conversion motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824111.3A CN106353092A (en) | 2016-09-14 | 2016-09-14 | Simulation loading system of high-end speed reducer transmission precision test stand for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824111.3A CN106353092A (en) | 2016-09-14 | 2016-09-14 | Simulation loading system of high-end speed reducer transmission precision test stand for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106353092A true CN106353092A (en) | 2017-01-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610824111.3A Pending CN106353092A (en) | 2016-09-14 | 2016-09-14 | Simulation loading system of high-end speed reducer transmission precision test stand for robot |
Country Status (1)
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| CN (1) | CN106353092A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287309A (en) * | 2018-02-09 | 2018-07-17 | 天津沃都电气设备有限公司 | A kind of high-speed permanent magnet motor testing stand |
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6976388B2 (en) * | 2004-05-14 | 2005-12-20 | General Motors Corporation | Diagnostic method for a torque control of an electrically variable transmission |
| CN103822783A (en) * | 2013-12-18 | 2014-05-28 | 重庆大学 | Precision transmission device dynamic precision measuring system, and detection method |
| CN104880314A (en) * | 2015-06-15 | 2015-09-02 | 北京工业大学 | Novel structure of RV reducer combination property tester |
| CN206095622U (en) * | 2016-09-14 | 2017-04-12 | 天津沃都电气设备有限公司 | Robot is with high -end speed reducer transmission precision test bench emulation loading system |
-
2016
- 2016-09-14 CN CN201610824111.3A patent/CN106353092A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6976388B2 (en) * | 2004-05-14 | 2005-12-20 | General Motors Corporation | Diagnostic method for a torque control of an electrically variable transmission |
| CN103822783A (en) * | 2013-12-18 | 2014-05-28 | 重庆大学 | Precision transmission device dynamic precision measuring system, and detection method |
| CN104880314A (en) * | 2015-06-15 | 2015-09-02 | 北京工业大学 | Novel structure of RV reducer combination property tester |
| CN206095622U (en) * | 2016-09-14 | 2017-04-12 | 天津沃都电气设备有限公司 | Robot is with high -end speed reducer transmission precision test bench emulation loading system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287309A (en) * | 2018-02-09 | 2018-07-17 | 天津沃都电气设备有限公司 | A kind of high-speed permanent magnet motor testing stand |
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
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Application publication date: 20170125 |