CN107991094A - A kind of industrial robot harmonic wave speed reducing machine method for testing performance - Google Patents
A kind of industrial robot harmonic wave speed reducing machine method for testing performance Download PDFInfo
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- CN107991094A CN107991094A CN201711359410.5A CN201711359410A CN107991094A CN 107991094 A CN107991094 A CN 107991094A CN 201711359410 A CN201711359410 A CN 201711359410A CN 107991094 A CN107991094 A CN 107991094A
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- retarder
- overload
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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
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention relates to industrial robot gear reducer technical field, especially a kind of industrial robot harmonic wave speed reducing machine method for testing performance, its method and step includes：Before load operating, should check retarder lubrication and loader cooling it is whether normal；Start motor, 500h is continuously run under rated speed and nominal load；In the process of running, a model machine temperature is checked per 0.5h, temperature rise must not exceed 45 DEG C；Unloaded run-in test, load run-in test and overload performance test are further carried out respectively.Beneficial effect of the present invention：The retarder revolution transmission accuracy error measurement method of the present invention calculates simply, and measurement parameter is few, and it is relatively simple to try to achieve its revolution driving error；Testing stand has high certainty of measurement, simple in structure, operates the characteristics of simple.
Description
Technical field
The present invention relates to industrial robot gear reducer technical field, especially a kind of industrial robot harmonic wave speed reducing machine
Can test method.
Background technology
Industrial robot power unit is mainly made of servomotor and retarder, its cost account for the 65% of complete machine cost with
On, it is most important as the core component of robot, its precision and reliability.However, the power unit of domestic industrial robot
Import is relied primarily on, the industrial robot power unit of autonomous production is immature, and reliability is low.Industrial robot power unit
It is low that servomotor has the characteristics that small inertia, fast response time, care and maintenance require；The deceleration of industrial robot power unit
Device is one of key technology of industrial robot, has transmission stiffness height, gearratio is big, inertia is small, output torque is big and passes
The advantages that dynamic steady, small, anti-impact force is strong.
Industrial robot power unit is installed in the small space inside industrial robot joint arm, and heat dissipation is slow, Yi Zhen
Move, working environment is severe, easily breaks down.Industrial robot power unit reliability test bench can simulate its actual work
Condition, and reliability test is carried out, while relevant parameter can also be detected in real time.By trying the reliability of power unit
Test, the failure of the industrial robot power unit of exposure autonomous production, by the record to failure and analysis, improves product, carry
The reliability of high power unit, and then improve domestic industrial machine human reriability.
Currently, separately designed largely for the servomotor and retarder of different industrial robot power units both at home and abroad
Testing stand, but without for industrial robot power unit global design testing stand, to detect the property of power unit entirety
Energy and reliability.The existing retarder performance detection testing bench for only existing some industrial robot power units, the testing stand are general
All over using " input motor, moment of torsion or speed probe, retarder, moment of torsion or speed probe, magnetic powder brake " structure, this
Kind, it is only applicable to the performance parameter detection of retarder, it is impossible to be used in reliability test.It is overall to the power unit of industrial robot
Reliability test is carried out to be tested more efficiently and can be more square than the retarder to power unit and servomotor respectively
Just simulation actual condition.
It is one of main performance index of RV retarders to turn round transmission accuracy, real when it refers to that input shaft turns over random angle
The difference of border output corner and theoretical output corner.This performance of RV retarders directly affects the positioning accurate of industrial robot
Degree, thus around how to improve theoretical research and practical application of the retarder revolution transmission accuracy to retarder suffer from it is important
Meaning.
The popularization of industrial robot is to realize automated production, improves social production efficiency, promotes enterprise and social production
The effective means of power development.And it is domestic, though industry of industrial robots is still in theoretical research and small lot advanced development stage,
It is huge with strong growth, development space.And China does not have synchronized development corresponding zero at the initial stage for developing robot
Component industry so that domestic enterprise can only rely on the parts of supporting import during production machine people, this is undoubtedly significantly
Weaken the market competitiveness of Chinese Enterprises.Therefore, the industrialization of industrial robot is formed, related components life need to be initially formed
The industrialization of production, and the joint speed reducer of industrial robot is then wherein need to give priority to one.
RV transmissions are the planetary biographies of a kind of new multistage, large speed ratio progressively to grow up on the basis of Cycloidal pin-wheel drive
Dynamic, compared with existing common planetary driving form, the retarder is using the structure shape for sharing crank axle and center disk support
Formula forming closed Gear Planet Transmission, so not only overcomes some shortcomings of original Cycloidal pin-wheel drive, but also compared with harmonic reduction
Device has much higher fatigue strength, rigidity and service life again, and return difference and transmission accuracy are stablized in addition, will not be with usage time
Increase and significantly reduce, and with gearratio is big, rigidity is big, kinematic accuracy is high, transmission efficiency, return difference is small, carrying is steady etc.
Advantage, thus especially suitable for industrial robot and other elaborate servo transmission systems.Exactly because this is a series of for RV retarders
The advantages of, domestic and international relevant enterprise and the extensive concern of R＆D institution are received, is especially played more in industrial robot field
Carry out bigger effect.
Existing RV retarders revolution transmission accuracy error measure testing stand simply considers cycloid gear tooth profile error
Influence, the error of other components beyond meter and cycloid gear, and calculating complicated.Thus, for there are multicrank axis, double
The RV retarders of Cycloidal Wheel and complicated input/output mechanism, and the processing of high speed level and other each parts, rigging error and
When gap, it is complex that its revolution driving error is tried to achieve according to existing method.
Therefore, it is necessary to propose a kind of industrial robot harmonic wave speed reducing machine method for testing performance for the above problem.
The content of the invention
The present invention seeks to overcome deficiency of the prior art, there is provided a kind of industrial robot harmonic wave speed reducing machine
Can test method.
In order to solve the above-mentioned technical problem, the present invention is to be achieved through the following technical solutions：
A kind of industrial robot harmonic wave speed reducing machine method for testing performance, its method and step include：Before load operating, it should check and subtract
Whether the lubrication of fast device and the cooling of loader are normal；Start motor, 500h is continuously run under rated speed and nominal load；
In the process of running, a model machine temperature is checked per 0.5h, temperature rise must not exceed 45 DEG C；Unloaded running-in examination is further carried out respectively
Test, load run-in test and overload performance test.
Wherein, overload performance test, overload 50% when, can run well 30min, overload 150% when, can run well
1min, overload performance test must be on the basis of unloaded run-in tests and load run-in test
Preferably, the retarder that the unloaded run-in test will have been debugged, each 2h of forward and backward zero load running-in under rated speed,
Check joint must not oil leak, connector must not loosen, smooth running, sound without exception.
Preferably, the load run-in test applies nominal load by the complete retarder of unloaded running-in under rated speed
50%, 75%, 100%, equal each 2h of rotating, inspection item is the same as unloaded run-in test.
Preferably, the overload performance test retarder complete by running-in is loaded, under rated speed, overload 50%, just,
Invert each 30min；Overload 150%, each 1min of forward and backward, and slip teeth phenomenon is not allow for when checking and starting, should be able to be just after startup
Often operating.
Preferably, the retarder is not allow for the damage of abnormal vibration, noise and part in overload operation.
Preferably, after further experiment, retarder is unpicked and washed totally, changes oil and ressembles.Check detent torque, rigidity and biography
Dynamic precision should meet regulation.
Preferably, wherein, the unloaded complete detent torque of running-in is tested, generally using loading disc, counterweight.
Preferably, during test, fix a disk on input shaft, around a loading disc on disk, for adding counterweight, add
Prevent from impacting during load, the torque when man of institute counterweight driving input shaft rotates, is detent torque, then, in opposite direction repetition
Step is stated, is done if being surveyed in positive and negative direction diverse location, takes its maximum.
Beneficial effect of the present invention：The retarder revolution transmission accuracy error measurement method of the present invention calculates simple, measurement ginseng
Number is few, and it is relatively simple to try to achieve its revolution driving error；Testing stand has high certainty of measurement, simple in structure, operates the characteristics of simple；
Electric dynamometer carries out moment of torsion loading to power unit, can automatically adjust the size of the moment of torsion of application, is loaded using radial load single
The radial load that first simulating industry robot power unit is born in startup or operation process, and the radial direction of application can be automatically adjusted
The size of power；Servo motor output shaft and reducer input shaft are connected using shaft coupling, can analog servomechanism motor and retarder reality
Border is easier to the replacement of motor while connection, reducer stent is covered by retarder to be fixed indirectly with retarder, and installation is a variety of
The retarder of model；It can realize under two kinds of different way of outputs of retarder to the reliability test of power unit；Carry out
Power unit correlation performance parameters can be gathered during experiment in real time and are shown, judge power unit performance change trend, can
The actual condition of the power unit of simulating industry robot simultaneously carries out reliability test, has the test efficiency of higher, automation
Degree is high, can in real time gather, calculate the parameters such as power unit vibration, temperature, transmission efficiency, power attenuation, available for slowing down
The driving error of device, return difference, backlash detection.
It is described further below with reference to the technique effect of design of the attached drawing to the present invention, concrete structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As shown in Figure 1, a kind of industrial robot harmonic wave speed reducing machine method for testing performance, its method and step include：Loading
Before operation, should check retarder lubrication and loader cooling it is whether normal；Start motor, in rated speed and nominal load
Under continuously run 500h；In the process of running, a model machine temperature is checked per 0.5h, temperature rise must not exceed 45 DEG C；Further divide
Jin Hang not unloaded run-in test, load run-in test and overload performance test.
Wherein, overload performance test, overload 50% when, can run well 30min, overload 150% when, can run well
1min, overload performance test must be on the basis of unloaded run-in tests and load run-in test
Further, the retarder that the unloaded run-in test will have been debugged, forward and backward zero load running-in is each under rated speed
2h, check joint must not oil leak, connector must not loosen, smooth running, sound without exception, and the load run-in test is by sky
The complete retarder of running-in is carried under rated speed, applies the 50% of nominal load, 75%, 100%, equal each 2h of rotating, checks
Project is the same as unloaded run-in test.
Further, the overload performance test retarder complete by running-in is loaded, under rated speed, overload 50%,
Each 30min of forward and backward；Overload 150%, each 1min of forward and backward, and slip teeth phenomenon is not allow for when checking and starting, should be able to after startup
Run well.
In addition, the retarder in overload operation, is not allow for the damage of abnormal vibration, noise and part, into one
After the experiment of step, retarder is unpicked and washed totally, changes oil and ressembles.Check that detent torque, rigidity and transmission accuracy should meet rule
It is fixed.
Wherein, unloaded running-in complete detent torque test, it is fixed on input shaft during test generally using loading disc, counterweight
One disk, around a loading disc on disk, for adding counterweight, when loading, prevents from impacting, when man of institute counterweight driving input shaft turns
Torque when dynamic, is detent torque, and then, opposite direction repeats the above steps, and is done if being surveyed in positive and negative direction diverse location,
Take its maximum.
The retarder revolution transmission accuracy error measurement method of the present invention calculates simply, and measurement parameter is few, tries to achieve its revolution
Driving error is relatively simple；Testing stand has high certainty of measurement, simple in structure, operates the characteristics of simple；Electric dynamometer is to dynamic
Power unit carries out moment of torsion loading, can automatically adjust the size of the moment of torsion of application, and industrial machine is simulated using radial load loading unit
The radial load that people's power unit is born in startup or operation process, and the size of the radial load of application can be automatically adjusted；Using
Shaft coupling connects servo motor output shaft and reducer input shaft, can analog servomechanism motor and retarder is actual while connect more
It is easy to the replacement of motor, reducer stent is covered by retarder to be fixed indirectly with retarder, installs various types of retarders；Can
To realize under two kinds of different way of outputs of retarder to the reliability test of power unit；It can be adopted in real time when being tested
Collection power unit correlation performance parameters are simultaneously shown, are judged power unit performance change trend, are capable of simulating industry robot
The actual condition of power unit simultaneously carries out reliability test, has the test efficiency of higher, the degree of automation is high, can adopt in real time
Collection, calculate the parameters such as power unit vibration, temperature, transmission efficiency, power attenuation, available for the driving error of retarder, return difference,
Backlash detects.
Preferred embodiment of the invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Need creative work to conceive according to the present invention and make many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (6)
- A kind of 1. industrial robot harmonic wave speed reducing machine method for testing performance, it is characterised in that：Its method and step includes：Before load operating, should check retarder lubrication and loader cooling it is whether normal；Start motor, 500h is continuously run under rated speed and nominal load；In the process of running, a model machine temperature is checked per 0.5h, temperature rise must not exceed 45 DEG C；Unloaded run-in test, load run-in test and overload performance test are further carried out respectively；Wherein, overload performance test, Overload 50% when, can run well 30min, overload 150% when, can run well 1min, overload performance test must be in zero load Carried out on the basis of run-in test and load run-in test；The retarder that the zero load run-in test will have been debugged, at specified turn The lower forward and backward each 2h of zero load running-in of speed, check joint must not oil leak, connector must not loosen, smooth running, sound without exception Sound；The complete retarder of unloaded running-in under rated speed, is applied the 50%, 75% of nominal load by the load run-in test, 100%, equal each 2h of rotating, inspection item is the same as unloaded run-in test.
- A kind of 2. industrial robot harmonic wave speed reducing machine method for testing performance as claimed in claim 1, it is characterised in that：It is described The performance test that the overloads retarder complete by running-in is loaded, under rated speed, overload 50%, each 30min of forward and backward；Overload 150%, each 1min of forward and backward, are not allow for slip teeth phenomenon when checking and starting, should be able to run well after startup.
- A kind of 3. industrial robot harmonic wave speed reducing machine method for testing performance as claimed in claim 1, it is characterised in that：It is described Retarder is not allow for the damage of abnormal vibration, noise and part in overload operation.
- A kind of 4. industrial robot harmonic wave speed reducing machine method for testing performance as claimed in claim 3, it is characterised in that：Into one After the experiment of step, retarder is unpicked and washed totally, changes oil and ressembles;Check that detent torque, rigidity and transmission accuracy should meet rule It is fixed.
- A kind of 5. industrial robot harmonic wave speed reducing machine method for testing performance as claimed in claim 1, it is characterised in that：Its In, the unloaded complete detent torque test of running-in, using loading disc, counterweight.
- A kind of 6. industrial robot harmonic wave speed reducing machine method for testing performance as claimed in claim 5, it is characterised in that：Test When, fix a disk on input shaft, around a loading disc on disk, for adding counterweight, when loading prevents from impacting, when man of institute Torque when counterweight driving input shaft rotates, is detent torque, then, opposite direction repeats the above steps, in positive and negative direction not Done if being surveyed with position, take its maximum.
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Cited By (2)
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| CN109855779A (en) * | 2018-12-20 | 2019-06-07 | 佛山市罗斯特传动设备有限公司 | A kind of planetary reducer Torque Measuring System and test method |
| CN111337246A (en) * | 2020-03-26 | 2020-06-26 | 海安市申菱电器制造有限公司 | Dynamic performance evaluation and optimization method for arc-shaped tooth surface worm speed reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20180504 |