CN106644468A - Precise decelerator test bench for industrial robot - Google Patents

Precise decelerator test bench for industrial robot Download PDF

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Publication number
CN106644468A
CN106644468A CN201611268710.8A CN201611268710A CN106644468A CN 106644468 A CN106644468 A CN 106644468A CN 201611268710 A CN201611268710 A CN 201611268710A CN 106644468 A CN106644468 A CN 106644468A
Authority
CN
China
Prior art keywords
speed reduction
test
precision speed
decelerator
bed
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.)
Pending
Application number
CN201611268710.8A
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Chinese (zh)
Inventor
张迎辉
何卫东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Jiaotong University
Original Assignee
Dalian Jiaotong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian Jiaotong University filed Critical Dalian Jiaotong University
Priority to CN201611268710.8A priority Critical patent/CN106644468A/en
Publication of CN106644468A publication Critical patent/CN106644468A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • G01M13/021Gearings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • G01M13/025Test-benches with rotational drive means and loading means; Load or drive simulation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • G01M13/028Acoustic or vibration analysis

Abstract

The invention discloses a precise decelerator test bench for an industrial robot, and the test bench comprises a test bench body with a horizontal bench surface; a test bench support fixed on the test bench, wherein the support is vertically fixed on the horizontal bench surface, and the top of the support is fixedly provided with a load. A transmission precision and efficiency instrument is connected below the load through a shaft coupler, and the lower part of the transmission precision and efficiency instrument is connected with an output shaft of the precise decelerator fixed on the test bench body through a shaft coupler. An input shaft of the precise decelerator is driven by a drive motor fixed below the test bench body to operate. The input shaft of the precise decelerator is provided with a grating encoder which is used for detecting the position, angle and angular acceleration of the precise decelerator. The horizontal bench surface is also provided with a grating for detecting the angular displacement of the precise decelerator. During detection, the drive motor drives the precise decelerator to operate, and the grating encoder and the grating obtain the position, angle, angular acceleration and angular displacement of the precise decelerator, and complete the testing of the current decelerator.

Description

A kind of industrial robot is test bed with precision speed reduction device
Technical field
The present invention relates to a kind of industrial robot is test bed with precision speed reduction device, it is related to the traction drive of bullet train The labyrinth seal mode of the oil lubrication of the high power gearbox of device.It is related to Patent classificating number G01 measurements;Test G01M machines or The quiet or dynamically balanced test of structure member;The test G01M13/00 machines of structure member not to be covered or equipment in other classifications The test G01M13/02 gears of tool part or the test of drive mechanism.
Background technology
Precision speed reduction device transport characteristicses are as follows:
(1) high transmission ratio, high transmission accuracy, return difference are little
(2) torsional rigidity is big, and bearing capacity is strong
(3) stable drive, noise are little
(4) transmission efficiency
Due to its above feature, it is applied to robot etc. more precision speed reduction device and requires under more strict environment, its property Can need to reach higher requirement, the test to its property indices is also particularly important.Therefore industrial robot is smart Close decelerator is test bed also to be needed to meet high requirement.
Current precision speed reduction device testboard has Multiple Type, for testing its different types of performance data.Current work Industry robot precision speed reduction device is test bed to have various problems, such as:
(1) testboard dispersion, if whole measurements will be carried out to same precision speed reduction device, needs to change multiple tests Platform, process are loaded down with trivial details time-consuming;
(2) single testboard volume is larger, takes excessive space;
(3) due to each testboard single function, it is therefore desirable to buy various testboards and could meet whole measurement demands, Purchase cost is higher.
The content of the invention
In order to solve above-mentioned technical problem, a kind of industrial robot precision speed reduction device testing experiment disclosed by the invention Platform, including:
Test-bed body with level table;
The testing stand support of experiment stage body is fixed on, the support is vertically fixed on level table, and the top of support is fixed There is load;
Transmission accuracy and efficiency instrument are connected with by shaft coupling in the lower section of load, are passed through below the precision and efficiency instrument Shaft coupling is connected with the output shaft of the precision speed reduction device being fixed on test-bed body;
The input shaft of precision speed reduction device is driven by the motor being fixed on below test-bed body;
The grating encoding for being provided with detection precision speed reduction device position, angle and angular acceleration at precision speed reduction device input shaft Device;
The grating of detection precision speed reduction device angular displacement is additionally provided with the level table;
In detection process, described motor drives described precision speed reduction device work, described grating encoder and Grating obtains precision speed reduction device position, angle, angular acceleration and the angular displacement of decelerator, completes the test of front deceleration device.
Vibrate as preferred embodiment, being additionally provided with described level table in the measurement decelerator work process Vialog and measurement work noise noise-measuring instrument.
Further, it is additionally provided with torsional rigidity test device;The test device includes defeated with described precision speed reduction device Enter the foil gauge and strain gauge of axle contact;
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the electricity of foil gauge Resistive;Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
Further, described strain gauge carries Wheatstone bridge.
Description of the drawings
For clearer explanation embodiments of the invention or the technical scheme of prior art, below will be to embodiment or existing Accompanying drawing to be used needed for having technology description does one and simply introduces, it should be apparent that, drawings in the following description are only Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the front view of testing stand of the present invention
Fig. 2 is the sectional view of Fig. 1 of the present invention
Fig. 3 is the schematic perspective view of the present invention
Specific embodiment
To make purpose, technical scheme and the advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention In accompanying drawing, clearly complete description is carried out to the technical scheme in the embodiment of the present invention:
As Figure 1-3:A kind of industrial robot is test bed with precision speed reduction device, mainly includes:With horizontal stand The test-bed body 6 in face, the supporting leg for testing stage body 6 are bolted, it is ensured that will not be not tight because of stage body 6 in reductor running Gu and generation unwanted vibrations, impact experiment test precision.
Vertically vertical testing stand support 2 is provided with stage body, for fixing experimental facilitiess, the top of support 2 is fixed with Load 1.
In the lower section of load 1, transmission accuracy and efficiency instrument 3, the precision are connected with by shaft coupling 12 in the lower section of load 1 It is connected with the output shaft of the precision speed reduction device 4 being fixed on test-bed body 6 by shaft coupling 12 with the lower section of efficiency instrument;Precision subtracts The input shaft of fast device 4 is driven by the motor 7 being fixed on below test-bed body 6;Being provided with 4 input shaft of precision speed reduction device The grating encoder 8 of detection precision speed reduction device position, angle and angular acceleration;Detection is additionally provided with the level table accurate The grating 9 of 4 angular displacement of decelerator;
In detection process, described motor 7 drives described precision speed reduction device 4 to work, described grating encoder 8 Precision speed reduction device position, angle, angular acceleration and the angular displacement of decelerator are obtained with grating 10, the survey of front deceleration device is completed Examination.
When motor 7 drives precision speed reduction device to be moved, each test instrunment can be to the fortune of precision speed reduction device Dynamic state is sampled, and then analysis result is exported.
It is additionally provided with torsional rigidity test device 5;The test device includes what is contacted with 4 input shaft of described precision speed reduction device Foil gauge and strain gauge;
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the electricity of foil gauge Resistive;Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
Further, it is contemplated that the dependent variable produced in the accurate retarding machine course of work to be measured is more small, strain The possibility of measuring instrument effectively cannot recognize, the miniature deformation of the simple foil gauge for arranging, and pretend as preferred embodiment, described Strain gauge carry Wheatstone bridge.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its Inventive concept equivalent or change in addition, should all be included within the scope of the present invention.

Claims (4)

1. a kind of industrial robot is test bed with precision speed reduction device, it is characterised in that include:
Test-bed body with level table (6);
The testing stand support (2) of experiment stage body (6) is fixed on, the support is vertically fixed on level table, the top of support is solid Surely there is load (1);
Transmission accuracy and efficiency instrument (3) are connected with by shaft coupling (12) in the lower section of load (1), under the precision and efficiency instrument Side is connected with the output shaft of the precision speed reduction device (4) being fixed on test-bed body (6) by shaft coupling (12);
The input shaft of precision speed reduction device (4) is driven by the motor (7) being fixed on below test-bed body (6);
The grating encoding for being provided with detection precision speed reduction device position, angle and angular acceleration at precision speed reduction device (4) input shaft Device (8);
The grating (9) of detection precision speed reduction device (4) angular displacement is additionally provided with the level table;
In detection process, described motor (7) drives described precision speed reduction device (4) work, described grating encoder (8) and grating (10) obtains the precision speed reduction device position of decelerator, angle, angular acceleration and angular displacement, complete front deceleration device Test.
2. industrial robot according to claim 1 is test bed with precision speed reduction device, is further characterized in that described The vialog (10) that vibrates during the measurement decelerator work process is additionally provided with level table and measurement work noise are made an uproar Sound test instrument (4).
3. industrial robot according to claim 1 and 2 is test bed with precision speed reduction device, is further characterized in that There is torsional rigidity test device (5);The test device include the foil gauge contacted with described precision speed reduction device (4) input shaft and Strain gauge;
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the resistance of foil gauge to become Change;Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
4. industrial robot according to claim 3 is test bed with precision speed reduction device, is further characterized in that described Strain gauge carries Wheatstone bridge.
CN201611268710.8A 2016-12-31 2016-12-31 Precise decelerator test bench for industrial robot Pending CN106644468A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611268710.8A CN106644468A (en) 2016-12-31 2016-12-31 Precise decelerator test bench for industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611268710.8A CN106644468A (en) 2016-12-31 2016-12-31 Precise decelerator test bench for industrial robot

Publications (1)

Publication Number Publication Date
CN106644468A true CN106644468A (en) 2017-05-10

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Country Status (1)

Country Link
CN (1) CN106644468A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107271183A (en) * 2017-07-18 2017-10-20 芜湖赛宝机器人产业技术研究院有限公司 A kind of industrial robot reductor torsional rigidity test of vehicular platform
CN107553526A (en) * 2017-07-18 2018-01-09 芜湖赛宝机器人产业技术研究院有限公司 A kind of industrial robot speed reducer drive accuracy testing device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050252283A1 (en) * 2004-05-14 2005-11-17 Heap Anthony H Diagnostic method for a torque control of an electrically variable transmission
JP2008145197A (en) * 2006-12-07 2008-06-26 Ono Sokki Co Ltd Device of measuring engagement transmission error of gear transmission mechanism
CN101587016A (en) * 2009-07-07 2009-11-25 西安交通大学 Dynamic performance comprehensive detection system of harmonic speed reducer
CN102607844A (en) * 2012-04-10 2012-07-25 重庆大学 Vertical experiment table for precise performance test of small-tooth-difference planetary reducer
CN103091102A (en) * 2013-01-30 2013-05-08 温州大学 Robot reducer transmission performance comprehensive testing device
CN103790927A (en) * 2014-03-03 2014-05-14 中国人民解放军装甲兵工程学院 Transmission shaft with real-time online torque monitoring device
CN105181329A (en) * 2015-10-13 2015-12-23 西安交通大学 Comprehensive test platform for industrial robot joint reducer
CN105241664A (en) * 2015-11-18 2016-01-13 南京康尼机电股份有限公司 Testing device suitable for detecting integrated performance of multi-model precision speed reducer
CN205209763U (en) * 2015-10-30 2016-05-04 江苏联合传动设备有限公司 Robot joint reduction gear rigidity test system that topples based on grating encoding ware
CN105784356A (en) * 2016-04-27 2016-07-20 浙江大学 RV reducer closed power flow test apparatus

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050252283A1 (en) * 2004-05-14 2005-11-17 Heap Anthony H Diagnostic method for a torque control of an electrically variable transmission
JP2008145197A (en) * 2006-12-07 2008-06-26 Ono Sokki Co Ltd Device of measuring engagement transmission error of gear transmission mechanism
CN101587016A (en) * 2009-07-07 2009-11-25 西安交通大学 Dynamic performance comprehensive detection system of harmonic speed reducer
CN102607844A (en) * 2012-04-10 2012-07-25 重庆大学 Vertical experiment table for precise performance test of small-tooth-difference planetary reducer
CN103091102A (en) * 2013-01-30 2013-05-08 温州大学 Robot reducer transmission performance comprehensive testing device
CN103790927A (en) * 2014-03-03 2014-05-14 中国人民解放军装甲兵工程学院 Transmission shaft with real-time online torque monitoring device
CN105181329A (en) * 2015-10-13 2015-12-23 西安交通大学 Comprehensive test platform for industrial robot joint reducer
CN205209763U (en) * 2015-10-30 2016-05-04 江苏联合传动设备有限公司 Robot joint reduction gear rigidity test system that topples based on grating encoding ware
CN105241664A (en) * 2015-11-18 2016-01-13 南京康尼机电股份有限公司 Testing device suitable for detecting integrated performance of multi-model precision speed reducer
CN105784356A (en) * 2016-04-27 2016-07-20 浙江大学 RV reducer closed power flow test apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107271183A (en) * 2017-07-18 2017-10-20 芜湖赛宝机器人产业技术研究院有限公司 A kind of industrial robot reductor torsional rigidity test of vehicular platform
CN107553526A (en) * 2017-07-18 2018-01-09 芜湖赛宝机器人产业技术研究院有限公司 A kind of industrial robot speed reducer drive accuracy testing device

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Application publication date: 20170510