CN106695888B - Testing device for motor and speed reducer assembly for industrial robot - Google Patents
Testing device for motor and speed reducer assembly for industrial robot Download PDFInfo
- Publication number
- CN106695888B CN106695888B CN201710187451.4A CN201710187451A CN106695888B CN 106695888 B CN106695888 B CN 106695888B CN 201710187451 A CN201710187451 A CN 201710187451A CN 106695888 B CN106695888 B CN 106695888B
- Authority
- CN
- China
- Prior art keywords
- test
- motor
- speed reducer
- load mechanism
- plate
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a testing device of a motor and speed reducer assembly for an industrial robot, which comprises at least one testing body, wherein the testing body comprises a testing base, the motor and speed reducer assembly and a load mechanism; the test base comprises a mounting plate and a bottom plate, wherein the mounting plate is vertically connected with the bottom plate, the upper end of the mounting plate is provided with a mounting part, and the mounting part is matched with the load mechanism and the motor and speed reducer assembly; the load mechanism is connected with the mounting plate through the mounting part, the motor and the speed reducer assembly are connected with the load mechanism through the mounting part, and the load mechanism is an adjustable load mechanism. The invention can test the performance of the robot under the working condition load of the motor and the reducer assembly, and in addition, one controller can control a plurality of test bodies at the same time, thereby greatly improving the test efficiency and reducing the test cost.
Description
Technical Field
The invention relates to the technical field of robot testing, in particular to a testing device of a motor and speed reducer assembly for an industrial robot.
Background
In recent years, the domestic robot industry has exploded, and manufacturers of core parts of robots are increasing. Although domestic manufacturers have an absolute advantage in price, the quality of parts produced by each manufacturer is uneven, and it is necessary to perform simple tests on the products in terms of performance, in particular the reliability of the products under the working condition load.
In actual operation, the reducer at the joint of the 6-axis industrial robot is subjected to dynamic load torque, dynamic bending moment and dynamic radial and axial resultant force (wherein the radial force has a large influence), and a real use environment is required to be simulated to test the performance of the selected motor and reducer assembly.
Accordingly, the inventors of the present invention have demanded to devise a new technique for improving the problems thereof.
Disclosure of Invention
The invention aims to provide a testing device for a motor and a speed reducer assembly for an industrial robot, which can test the performance of the motor and the speed reducer assembly selected by the robot under the working condition and load.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the testing device for the motor and speed reducer assembly for the industrial robot comprises at least one testing body, wherein the testing body comprises a testing base, the motor and speed reducer assembly and a load mechanism; the test base comprises a mounting plate and a bottom plate, wherein the mounting plate is vertically connected with the bottom plate, the upper end of the mounting plate is provided with a mounting part, and the mounting part is matched with the load mechanism and the motor and speed reducer assembly; the load mechanism is connected with the mounting plate through the mounting part, the motor and the speed reducer assembly are connected with the load mechanism through the mounting part, and the load mechanism is an adjustable load mechanism.
Preferably, the load mechanism comprises a weight bar, a lock nut, a washer, one or more flange pieces, and an arm bar; the balance weight rod is vertically and fixedly connected with the arm rod, and the flange piece is sleeved on the balance weight rod and is fixed through a locking nut; the arm rod is provided with a mounting groove, the shape and the size of the mounting groove are matched with those of the mounting part, and the mounting groove is matched with the mounting part to realize the fixed connection with the test base.
Preferably, the test control system further comprises a controller and a driver connected with the controller, and the power line and the signal line of the test body are connected with the controller through the aviation interface.
Preferably, the test base further comprises a triangular plate-shaped rib plate, which is arranged between the mounting plate and the bottom plate and fixedly connected with the mounting plate and the bottom plate respectively.
Preferably, the test body further comprises a fixing base, and the test base is fixedly arranged on the fixing base.
Preferably, the load mechanism further comprises a spacer for protecting the flange plate, the spacer being disposed between the flange plate and the lock nut.
Preferably, the weight bar is fixed to the arm bar by a screw.
Preferably, the rib plate is fixedly connected with the mounting plate and the bottom plate through screws.
Preferably, the controller is a six-axis industrial robot controller.
Preferably, the motor and speed reducer assembly comprises a motor and a speed reducer which are connected through a connector, wherein the motor is a servo motor, and the speed reducer is a harmonic speed reducer.
By adopting the technical scheme, the invention at least comprises the following beneficial effects:
the testing device for the motor and the speed reducer assembly for the industrial robot can test the performance of the motor and the speed reducer assembly selected by the robot under the working condition load condition, and in addition, one controller can control a plurality of testing bodies at the same time, so that the testing efficiency is greatly improved, and the testing cost is reduced.
Drawings
FIG. 1 is a schematic view of a test body according to the present invention;
FIG. 2 is an exploded view of a test body according to the present invention;
FIG. 3 is a schematic view of a load mechanism according to the present invention;
FIG. 4 is a schematic diagram of a motor and reducer assembly according to the present invention;
FIG. 5 is a schematic view of a test base according to the present invention;
FIG. 6 is a schematic view of an embodiment;
fig. 7 is a schematic structural diagram of the second embodiment.
In the figure: the device comprises a load mechanism 1, a motor and speed reducer assembly 2 and a test base 3;
1-1 parts of counterweight rod, 1-2 parts of lock nut, 1-3 parts of gasket, 1-4 parts of flange plate, 1-5 parts of screw, 1-6 parts of arm rod and 1-7 parts of screw;
2-1 parts of motors, 2-2 parts of keys, 2-3 parts of transition flanges, 2-4 parts of harmonic reducers, 2-5 parts of transition flanges, 2-6 parts of screws, 2-7 parts of adapter shafts, 2-8 parts of screws, 2-9 parts of pressing plates, 2-10 parts of set screws and 2-11 parts of screws;
mounting plate 3-1, screw 3-2, floor 3-3, bottom plate 3-4.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, a testing device for a motor and decelerator assembly 2 for an industrial robot according to the present invention includes at least one testing body including a testing base 3, a motor and decelerator assembly 2 and a loading mechanism 1; the test base 3 comprises a mounting plate 3-1 and a bottom plate 3-4, wherein the mounting plate 3-1 is vertically connected with the bottom plate 3-4, and the upper end of the mounting plate 3-1 is provided with a mounting part which is matched with the load mechanism 1 and the motor and speed reducer assembly 2; the load mechanism 1 is connected with the mounting plate 3-1 through the mounting part, the motor and speed reducer assembly 2 is connected with the load mechanism 1 through the mounting part, and the load mechanism 1 is an adjustable load mechanism 1.
Preferably, the load mechanism 1 comprises a weight bar 1-1, a lock nut 1-2, a gasket 1-3, one or more flange pieces 1-4 and an arm bar 1-6; the balance weight rod 1-1 is vertically and fixedly connected with the arm rod 1-6, and the flange piece 1-4 is sleeved on the balance weight rod 1-1 and is fixed through the lock nut 1-2; the arm lever 1-6 is provided with a mounting groove, the shape and the size of the mounting groove are matched with those of the mounting part, and the mounting groove is matched with the mounting part to realize the fixed connection with the test base 3 (preferably, the fixed connection is realized through the screw 1-5). Preferably, the weight of each flange piece 1-4 is 0.5kg, the load mechanism 1 can be adjusted by adding or subtracting 0.5kg flange piece 1-4, and the length of the arm of force can also be adjusted by adjusting the installation position of the counterweight rod 1-1.
Preferably, the test control system further comprises a controller and a driver connected with the controller, and the power line and the signal line of the test body are connected with the controller through the aviation interface.
Preferably, the test base 3 further includes a triangular plate-shaped rib 3-3 disposed between the mounting plate 3-1 and the bottom plate 3-4 and fixedly connected thereto, respectively. Through the rib 3-3, the whole device can be reinforced.
Preferably, the test body may further comprise a fixing base (omitted in the drawings, it is a rectangular plate shape, and those skilled in the art will know that the test base 3 is fixedly disposed on the fixing base). For easy detection, the test base 3 may be mounted on a fixed base, with the arms 1-6 of the load mechanism 1 being suspended relative to the ground.
Preferably, the load mechanism 1 further comprises a spacer 1-3 for protecting the flange plate 1-4, the spacer 1-3 being arranged between the flange plate 1-4 and the lock nut 1-2.
Preferably, the weight bar 1-1 is fixed to the arm bar 1-6 by a screw 1-7.
Preferably, the rib 3-3 is fixedly connected with the mounting plate 3-1 and the bottom plate 3-4 by a screw 3-2.
Preferably, the motor and decelerator assembly 2 comprises a motor and decelerator connected by a coupling (see embodiments described below), wherein the motor is a servo motor and the decelerator is a harmonic decelerator.
In a preferred embodiment, as shown in FIG. 2, the motor and decelerator assembly 2 includes a motor 2-1, a key 2-2, a transition flange 2-3, a harmonic decelerator 2-4, a transition flange 2-5, a screw 2-6, a transfer shaft 2-7, a screw 2-8, a pressing plate 2-9, a set screw 2-10, and a screw 2-11, wherein the motor and decelerator assembly 2 is directly connected. The motor is a 200W servo motor, the speed reducer is a real-shaft output type harmonic speed reducer, the specification code number of the speed reducer is 17, and the testing device can test selected motors and speed reducer assemblies 2 with different specifications and different brands to perform performance comparison tests. The connection mode of the motor and the speed reducer in the test body in the embodiment adopts a direct connection mode, and of course, other transmission modes such as a synchronous belt transmission mode, a gear transmission mode and the like can also be adopted.
Preferably, the controller is a six-axis industrial robot controller. In the embodiment, a set of controllers and drivers of the Hui Bo HB03-760-C10 six-axis industrial robot are directly used, and a power line and a signal line of the test body are directly connected with the controllers through an aviation interface. If only one test body is connected with the controller, the other five axes need to be virtualized to become virtual axes. The following is a detailed description of two embodiments.
Embodiment one:
as shown in fig. 6, the control system of the test apparatus employs a six-axis industrial robot controller. And 3-axis control test bodies of the control system and the other five axes are virtual axes.
During testing, the three shafts are independently programmed under the joint coordinate system, the system directly runs the testing program of the robot at the full speed of 100%, the testing body executes the action corresponding to the shaft 3 of the robot, and the independent performance test of the motor and the reducer assembly 2 selected by the three shafts of the robot is realized.
The three-axis test motion is that the motor is frequently started and stopped in a test procedure and is in full-speed operation, the instantaneous overload is frequently generated, and the test process of the motor and speed reducer assembly 2 is accelerated, wherein the test motion comprises forward rotation 90 degrees, reverse rotation 90 degrees, forward rotation 60 degrees, reverse rotation 100 degrees and forward rotation 150 degrees.
The test system runs continuously for 100 hours, and the temperature of the motor and the speed reducer part in the test process and the noise of the whole system are used as evaluation basis.
Embodiment two:
as shown in fig. 7, the test control system of the test apparatus employs a six-axis industrial robot controller. The six shafts of the test control system respectively correspond to 6 sets of test bodies.
During testing, the system directly runs the testing program of the robot, the testing body respectively executes the actions corresponding to six axes of the robot, and the performance test of the motors and the speed reducer assembly 2 selected by each axis of the designed robot is realized.
The controller simultaneously controls the six test bodies, so that the test efficiency is improved.
The invention provides a device for testing the load capacity and reliability of a selected motor and speed reducer assembly 2 under working conditions. The robot design research and development unit can independently test the reliability of each joint of the robot to be designed in the initial stage of research and development. In addition, a plurality of test bodies can be controlled simultaneously by one controller, so that the test efficiency can be greatly improved, and the test cost is reduced.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a testing arrangement of motor and reduction gear subassembly for industrial robot which characterized in that: the testing device comprises at least one testing body, wherein the testing body comprises a testing base, a motor, a speed reducer assembly and a load mechanism; the test base comprises a mounting plate and a bottom plate, wherein the mounting plate is vertically connected with the bottom plate, the upper end of the mounting plate is provided with a mounting part, and the mounting part is matched with the load mechanism and the motor and speed reducer assembly; the load mechanism is connected with the mounting plate through the mounting part, the motor and speed reducer assembly is connected with the load mechanism through the mounting part, and the load mechanism is an adjustable load mechanism;
the load mechanism comprises a counterweight rod, a lock nut, an arm rod and one or more flange sheets; the balance weight rod is vertically and fixedly connected with the arm rod, and the flange piece is sleeved on the balance weight rod and is fixed through a locking nut; the arm rod is provided with a mounting groove, the shape and the size of the mounting groove are matched with those of the mounting part, and the mounting groove is matched with the mounting part to realize the fixed connection with the test base;
the test device also comprises a test control system, wherein the control system comprises a controller and a driver connected with the controller, and a power line and a signal line of the test body are connected with the controller through an aviation interface;
the controller is a six-axis industrial robot controller, and if only one test body is connected with the controller, the other five axes except the tested axis need to be virtually dropped;
the arm lever of the load mechanism is suspended relative to the ground;
during testing, the three axes of the robot are independently programmed under the joint coordinate system, the test control system directly runs the test program of the robot at the full speed of 100%, the test body executes the action corresponding to the three axes of the robot, and the independent performance test of the motor and the reducer assembly selected by the three axes of the robot is realized;
the three-axis test motion is that the motor and the speed reducer assembly are frequently started and stopped in a test procedure and run at full speed, the test control system continuously runs, and the temperature of the motor and the speed reducer assembly and the noise of a test device in the test process are used as evaluation basis.
2. The test apparatus of motor and decelerator assembly for an industrial robot as claimed in claim 1, wherein: the test base also comprises a triangular plate-shaped rib plate which is arranged between the mounting plate and the bottom plate and is fixedly connected with the mounting plate and the bottom plate respectively.
3. The test apparatus of motor and decelerator assembly for an industrial robot as claimed in claim 1, wherein: the test body further comprises a fixed base, and the test base is fixedly arranged on the fixed base.
4. The test apparatus of motor and decelerator assembly for an industrial robot as claimed in claim 1, wherein: the load mechanism further comprises a gasket for protecting the flange plate, and the gasket is arranged between the flange plate and the lock nut.
5. The test device for an industrial robot motor and decelerator assembly of claim 1, wherein: the counterweight rod is fixed with the arm rod through a screw.
6. The test apparatus of motor and decelerator assembly for an industrial robot as claimed in claim 2, wherein: the rib plate is fixedly connected with the mounting plate and the bottom plate through screws.
7. The test apparatus of motor and decelerator assembly for an industrial robot as claimed in claim 1, wherein: the motor and speed reducer assembly comprises a motor and a speed reducer which are connected through a combining piece, wherein the motor is a servo motor, and the speed reducer is a harmonic speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710187451.4A CN106695888B (en) | 2017-03-27 | 2017-03-27 | Testing device for motor and speed reducer assembly for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710187451.4A CN106695888B (en) | 2017-03-27 | 2017-03-27 | Testing device for motor and speed reducer assembly for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106695888A CN106695888A (en) | 2017-05-24 |
| CN106695888B true CN106695888B (en) | 2023-09-01 |
Family
ID=58887056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710187451.4A Active CN106695888B (en) | 2017-03-27 | 2017-03-27 | Testing device for motor and speed reducer assembly for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695888B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095279A (en) * | 2019-05-06 | 2019-08-06 | 重庆大学 | Robot retarder experimental apparatus for testing |
| CN110722596A (en) * | 2019-10-08 | 2020-01-24 | 珠海格力智能装备有限公司 | Robot loading device and robot |
| CN111571639B (en) * | 2020-04-28 | 2021-06-01 | 库卡机器人制造（上海）有限公司 | Testing device for industrial robot wrist |
| CN111993465A (en) * | 2020-08-21 | 2020-11-27 | 珠海格力智能装备有限公司 | Vibration testing device and robot |
| CN113246106B (en) * | 2021-06-21 | 2021-09-14 | 广东科佩克机器人有限公司 | Robot rocker and multi-axis robot |
| CN113418699B (en) * | 2021-08-24 | 2021-11-05 | 江苏凯博传动设备有限公司 | Roller carrier speed reducer adaptability testing arrangement |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM316397U (en) * | 2007-02-16 | 2007-08-01 | Tmc Technology Corp | Testing machine used for revolutionary vibration and its magnetic transmission apparatus |
| JP2007244673A (en) * | 2006-03-16 | 2007-09-27 | Miyamae:Kk | Golf trial shot device |
| CN201611291U (en) * | 2009-12-31 | 2010-10-20 | 济南金钟电子衡器股份有限公司 | Stalling torque test device of permanent magnetic synchronous motor |
| CN105548880A (en) * | 2015-12-02 | 2016-05-04 | 中国电子科技集团公司第四十一研究所 | Multifunctional general motor test stand |
| CN206982731U (en) * | 2017-03-27 | 2018-02-09 | 江苏汇博机器人技术股份有限公司 | A kind of test device of industrial robot motor and reducer assemblies |
-
2017
- 2017-03-27 CN CN201710187451.4A patent/CN106695888B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007244673A (en) * | 2006-03-16 | 2007-09-27 | Miyamae:Kk | Golf trial shot device |
| TWM316397U (en) * | 2007-02-16 | 2007-08-01 | Tmc Technology Corp | Testing machine used for revolutionary vibration and its magnetic transmission apparatus |
| CN201611291U (en) * | 2009-12-31 | 2010-10-20 | 济南金钟电子衡器股份有限公司 | Stalling torque test device of permanent magnetic synchronous motor |
| CN105548880A (en) * | 2015-12-02 | 2016-05-04 | 中国电子科技集团公司第四十一研究所 | Multifunctional general motor test stand |
| CN206982731U (en) * | 2017-03-27 | 2018-02-09 | 江苏汇博机器人技术股份有限公司 | A kind of test device of industrial robot motor and reducer assemblies |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106695888A (en) | 2017-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106695888B (en) | Testing device for motor and speed reducer assembly for industrial robot | |
| KR101297755B1 (en) | Multi-purpose simulated load test apparatus for actuator and simulation test system using thereof | |
| CN102166751B (en) | Branched chain-less and six-freedom degree parallel manipulator | |
| CN106226070B (en) | One kind being directed to different size transmission shaft real vehicle analog vibration testing stand | |
| CN109459254B (en) | Multi-joint robot dynamics semi-physical simulation platform | |
| CN205352218U (en) | Two -dimentional test turntable of guided missile | |
| CN105738105A (en) | Large-torque large-deflection-angle universal coupling testing stand | |
| CN105196284A (en) | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm | |
| CN102323056B (en) | Test method for testing coupler and test bed | |
| CN111067627A (en) | Seven-degree-of-freedom master manipulator for surgical robot | |
| CN106324500A (en) | Electric motor durability testing device | |
| CN113670591A (en) | Torque fatigue test device | |
| CN105171725A (en) | Joint robot with motion assisting device | |
| CN109571444B (en) | Two-translation one-rotation partial decoupling parallel mechanism | |
| CN203658043U (en) | Steering engine performance testing device | |
| CN103092190A (en) | Control force automatic checkout system for side lever controller | |
| CN202066642U (en) | Calibration detecting device for Hall torque sensors | |
| CN211347379U (en) | Aging test equipment | |
| CN206876339U (en) | A kind of wind driven generator coupler slipping torque Calibrating experimental bench | |
| CN207585902U (en) | A kind of dynamic torque table apparatus | |
| CN206292048U (en) | The experimental bench of RV decelerator transmission efficiencies | |
| CN106482882A (en) | A kind of rotary shaft destructive testing method and its device under given moment of torsion | |
| CN210665047U (en) | Rigidity automatic testing machine for harmonic reducer | |
| CN206982731U (en) | A kind of test device of industrial robot motor and reducer assemblies | |
| CN217132559U (en) | Harmonic speed reducer machine life-span testing arrangement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |