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

Abstract

The invention discloses a precision reducer test bench for industrial robots, comprising: a test bench body with a horizontal platform; a test bench bracket fixed on the test bench body, the bracket is vertically fixed on the horizontal platform, and the top of the bracket is fixed There is a load; a transmission accuracy and efficiency meter is connected through a coupling under the load, and the precision and efficiency meter is connected to the output shaft of the precision reducer fixed on the test bench body through a coupling; the precision reducer The input shaft is driven by a drive motor fixed under the test bench body; a grating encoder for detecting the position, angle and angular acceleration of the precision reducer is installed at the input shaft of the precision reducer; The grating of the angular displacement of the reducer; during the detection process, the drive motor drives the precision reducer to work, and the grating encoder and grating obtain the precision reducer position, angle, angular acceleration and angular displacement of the reducer, Complete testing of the current reducer.

Description

A precision reducer test bench for industrial robots

technical field

The invention relates to a precision reducer test bench for industrial robots, and relates to an oil-lubricated labyrinth sealing method for a high-power gearbox of a traction drive device of a high-speed train. Involving patent classification G01 Measurement; Test G01M Test of static or dynamic balance of machines or structural components; Test of structural components or equipment not included in other categories G01M13/00 Test of mechanical components G01M13/02 Test of gears or transmission mechanisms .

Background technique

The transmission characteristics of the precision reducer are as follows:

(1) High transmission ratio, high transmission precision and small hysteresis

(2) Large torsional rigidity and strong bearing capacity

(3) Stable transmission and low noise

(4) High transmission efficiency

Due to the above characteristics, precision reducers are mostly used in environments with stricter requirements such as robots, and its performance needs to meet higher requirements, so the testing of its various performance indicators is also particularly important. Therefore, the precision reducer test bench for industrial robots also needs to meet higher requirements.

There are many types of precision reducer test benches at present, which are used to test different kinds of performance data. At present, there are many problems in the precision reducer test bench for industrial robots, such as:

(1) The test benches are scattered. If you want to perform all measurements on the same precision reducer, you need to replace multiple test benches, which is cumbersome and time-consuming;

(2) A single test bench is large in size and takes up too much space;

(3) Since each test bench has a single function, it is necessary to purchase multiple test benches to meet all measurement requirements, and the procurement cost is relatively high.

Contents of the invention

In order to solve the above technical problems, the present invention discloses a precision reducer test bench for industrial robots, including:

A test bench body with a horizontal platform;

The test bench bracket fixed on the test bench body, the bracket is vertically fixed on the horizontal platform, and the top of the bracket is fixed with a load;

A transmission precision and efficiency meter is connected below the load through a coupling, and the precision and efficiency meter is connected to the output shaft of the precision reducer fixed on the test bench body through a coupling;

The input shaft of the precision reducer is driven by the driving motor fixed under the test bench body;

A grating encoder is installed at the input shaft of the precision reducer to detect the position, angle and angular acceleration of the precision reducer;

A grating for detecting the angular displacement of the precision reducer is also arranged on the horizontal platform;

During the detection process, the drive motor drives the precision reducer to work, and the grating encoder and grating obtain the precision reducer position, angle, angular acceleration and angular displacement of the reducer to complete the test of the current reducer.

As a preferred embodiment, the horizontal platform is also provided with a vibrometer for measuring the vibration in the working process of the reducer and a noise tester for measuring the working noise.

Furthermore, a torsional rigidity test device is also provided; the test device includes a strain gauge and a strain gauge that are in contact with the input shaft of the precision reducer;

During the test, the deformation of the precision reducer causes the deformation of the strain gauge in contact with it, resulting in a change in the resistance of the strain gauge; the strain gauge senses the change in resistance as a characteristic value representing the deformation of the precision reducer.

Furthermore, the strain measuring instrument has a Wheatstone bridge.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

Fig. 1 is the front view of test bench of the present invention

Fig. 2 is the sectional view of Fig. 1 of the present invention

Fig. 3 is the three-dimensional schematic diagram of the present invention

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

As shown in Figure 1-3: a precision reducer test bench for industrial robots, mainly including: a test bench body 6 with a horizontal surface, and the legs of the test bench body 6 are fixed by bolts to ensure that the reducer does not run during operation. Can produce redundant vibration because table body 6 is not fastened, influence experiment test accuracy.

A vertical test bench support 2 is provided on the platform body for fixing experimental equipment, and a load 1 is fixed on the top of the support 2 .

Below the load 1, a transmission precision and efficiency meter 3 is connected through a coupling 12 under the load 1, and the precision reducer 4 fixed on the test bench body 6 is connected under the precision and efficiency meter through a coupling 12 The output shaft of the precision reducer 4 is connected to the output shaft; the input shaft of the precision reducer 4 is driven by the drive motor 7 fixed under the test bench body 6; the grating code for detecting the position, angle and angular acceleration of the precision reducer is provided at the input shaft of the precision reducer 4 A device 8; a grating 9 for detecting the angular displacement of the precision reducer 4 is also provided on the horizontal platform;

During the detection process, the drive motor 7 drives the precision reducer 4 to work, and the grating encoder 8 and grating 10 obtain the precision reducer position, angle, angular acceleration and angular displacement of the reducer to complete the current deceleration device testing.

When the drive motor 7 drives the precision reducer to move, each test instrument can sample the movement state of the precision reducer, and then output the analysis results.

Also be provided with torsional rigidity testing device 5; This testing device comprises the strain gage and strain gauge that contact with described precision speed reducer 4 input shafts;

During the test, the deformation of the precision reducer causes the deformation of the strain gauge in contact with it, resulting in a change in the resistance of the strain gauge; the strain gauge senses the change in resistance as a characteristic value representing the deformation of the precision reducer.

Furthermore, considering that the amount of strain generated during the working process of the precision reducer to be tested is relatively small, the strain measuring instrument may not be able to effectively identify the small deformation of the simply set strain gauge, so as a preferred embodiment, the described The strain gauge has a Wheatstone bridge.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection 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.