CN108896304A - Harmonic reducer of robot test device and system - Google Patents
Harmonic reducer of robot test device and system Download PDFInfo
- Publication number
- CN108896304A CN108896304A CN201810795384.9A CN201810795384A CN108896304A CN 108896304 A CN108896304 A CN 108896304A CN 201810795384 A CN201810795384 A CN 201810795384A CN 108896304 A CN108896304 A CN 108896304A
- Authority
- CN
- China
- Prior art keywords
- servo
- torque sensor
- servo motor
- measured
- retarder
- 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
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of harmonic reducer of robot test device and system, harmonic reducer of robot test device includes servo motor, servo motor torque sensor, retarder to be measured, servo joint torque sensor and the servo joint sequentially coaxially and being sequentially connected；Wherein, the servo motor, the servo motor torque sensor, the retarder to be measured are successively sequentially connected；The servo joint, the servo joint torque sensor and the retarder to be measured are successively sequentially connected；Also, the servo motor torque sensor is used to detect the input torque of the retarder to be measured；The servo joint torque sensor is used to detect the output torque of the retarder to be measured.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of harmonic reducer of robot test device and system.
Background technique
With 2025 implementation of machine-building, there is the hair of blowout in the cooperation industrial robot of man-machine co-melting formula
Exhibition, one of kernel component for the industrial robot that cooperates are harmonic speed reducer.The superiority and inferiority of harmonic speed reducer performance directly determines
The performance superiority and inferiority of entire cooperation industrial robot, because of the particularity of harmonic speed reducer application field, using before needing to subtract harmonic wave
The multinomial performance parameter of fast device carries out accurately Test And Checkout.Wherein, for harmonic speed reducer bearing capacity and transmission
Detection is particularly important of both precision, and bearing capacity and transmission accuracy are the important indicators of harmonic speed reducer quality height.
In the prior art, harmonic speed reducer device for detecting performance is mostly loaded using split type motor and harmonic speed reducer composition
Combination, assembly is tediously long and cumbersome, and structure is not compact.Also, existing harmonic speed reducer device for detecting performance only can be completely
The reduction of speed for testing retarder increases square performance, and needs to change torque sensor and photoelectric encoder, to test carrying energy respectively
Performance of both power and transmission accuracy, the assembly before test are not easy, and system operatio is complicated, and the degree of automation is not high, so that
Inefficiency.
Summary of the invention
The present invention provides a kind of harmonic reducer of robot test devices, it is intended to solve existing in the prior art above-mentioned
Technical problem.
The present invention provides a kind of harmonic reducer of robot test device, which includes
Sequentially coaxially and transmission connection servo motor, servo motor torque sensor, retarder to be measured, servo joint torque sensor
With servo joint；Wherein,
The servo motor torque sensor is used to detect the input torque of the retarder to be measured；
The servo joint torque sensor is used to detect the output torque of the retarder to be measured.
It further, further include the first connection component and the second connection component；Wherein,
The servo motor torque sensor by first connection component be connected to the servo motor and it is described to
It surveys between retarder；
The servo joint torque sensor by second connection component be connected to the servo joint and it is described to
It surveys between retarder.
Further, first connection component includes two shaft couplings；Wherein,
One of them in two shaft couplings is connected to the servo motor and the servo motor torque sensor
Between, another in two shaft couplings be connected to the servo motor torque sensor and the retarder to be measured it
Between.
Further, second connection component includes two shaft couplings and two connectors；Wherein,
Two shaft couplings are turned round along the axially opposing setting of the servo joint torque sensor in the servo joint
The two sides of square sensor；
Two connectors along the servo joint torque sensor axially opposing setting in two shaft couplings
Outside.
It further, further include the support base of pedestal and support on the base；
The servo motor, the servo motor torque sensor, the retarder to be measured, servo joint torque pass
Sensor and the servo joint pass through the support base support on the base.
Further, the servo motor carries encoder, for completing SERVO CONTROL.
It further, further include speed end photoelectric encoder component and low speed end photoelectric encoder code-disc, the speed end
The input terminal and output end of photoelectric encoder component and the low speed end photoelectric encoder code-disc and the retarder to be measured are one by one
It is correspondingly arranged, is respectively used to detect the input end position and output end position of the retarder to be measured；
The corresponding read head of the low speed end photoelectric encoder code-disc is mounted on the base；
The servo joint double-closed-loop control is completed by included motor side encoder and low speed end photoelectric encoder.
It further, further include temperature sensor；
The temperature sensor is arranged on the shell of the retarder to be measured, for detecting the shell of the retarder to be measured
Temperature.
Harmonic reducer of robot test device provided by the invention include sequentially coaxially and transmission connection servo motor,
Servo motor torque sensor, retarder to be measured, servo joint torque sensor and servo joint；Wherein, servo motor torque
Sensor is used to detect the input torque of retarder to be measured；Servo joint torque sensor is used to detect the output of retarder to be measured
Torque.
Compared with the prior art, harmonic reducer of robot test device provided by the invention, by servo motor, watch
The reasonable Arrangement of Motor torque sensor, retarder to be measured, servo joint torque sensor and servo joint is taken, can be obtained a variety of
The relevant parameter of retarder to be measured, load combination are simplified, and compact-sized, while its is easy to operate, high-efficient.
Another object of the present invention, which also resides in, provides a kind of harmonic reducer of robot test macro, which subtracts
Fast device test macro includes host computer, and harmonic reducer of robot test device as described above；Wherein,
Servo motor, servo motor torque sensor, the servo joint torque sensing of the harmonic speed reducer test device
Device and servo joint are connect with the host computer.
It further, further include load Self-tuning System unit；
The load Self-tuning System unit includes upper computer software in the sequentially connected host computer, in the host computer
PLC software, the first bus module, the first servo-driver and the servo motor torque sensor；Wherein,
The upper computer software is used to set the nominal load of the servo motor torque sensor；
The PLC software, which is used to control first servo-driver by first bus module, exports electric current to drive
Move the servo motor output nominal load；If the actual loading that the servo motor torque sensor detects is more than or less than
Nominal load, the PLC software are also used to adjust the output electric current of first servo-driver.
The beneficial effect of harmonic reducer of robot test macro provided by the invention compared with the prior art, is same as this hair
The beneficial effect of the harmonic reducer of robot test device of bright offer compared with the prior art, details are not described herein again.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the first schematic diagram of the harmonic reducer of robot test device that embodiment of the present invention provides；
Fig. 2 is the second schematic diagram of the harmonic reducer of robot test device that embodiment of the present invention provides；
Fig. 3 is the harmonic reducer of robot test device automatic control system schematic diagram that embodiment of the present invention provides.
Icon：
10- servo motor；20- servo motor torque sensor；
30- retarder to be measured；40- servo joint torque sensor；
50- servo joint；The first connection component of 60-；
The second connection component of 70-；80- shaft coupling；
90- connector；300- speed end photoelectric encoder component；
400- low speed end photoelectric encoder code-disc.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that, indicating position or the term of positional relationship are based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Directly contacted including the first and second features, also may include the first and second features be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right above sign and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of first feature horizontal height
Less than second feature.
Fig. 1 is the first schematic diagram of the harmonic reducer of robot test device that embodiment of the present invention provides；Fig. 2 is this
Second schematic diagram of the harmonic reducer of robot test device that invention embodiment provides；Fig. 3 is that embodiment of the present invention mentions
The automatic control system schematic diagram of the harmonic reducer of robot test device of confession.
Shown in referring to Figures 1 and 2, harmonic reducer of robot test device provided in this embodiment includes sequentially coaxially setting
Servo motor 10, servo motor torque sensor 20, retarder to be measured 30, servo joint torque sensor 40 and the servo set are closed
Section 50；Wherein, the servo motor torque sensor 20 is used to detect the input torque of the retarder to be measured 30；The servo
Joint torque sensor 40 is used to detect the output torque of the retarder to be measured 30.
Above-mentioned apparatus further includes the first connection component 60 and the second connection component 70；Wherein, the servo motor torque passes
Sensor 20 is connected between the servo motor 10 and the retarder to be measured 30 by first connection component 60；It is described to watch
It takes joint torque sensor 40 and the servo joint 50 and the retarder to be measured is connected to by second connection component 70
Between 30.
First connection component 60 includes two shaft couplings 80；Wherein, one of them in two shaft couplings 80
It is connected between the servo motor 10 and the servo motor torque sensor 20, another in two shaft couplings 80
It is connected between the servo motor torque sensor 20 and the retarder to be measured 30, in this way, so that the structure of above-mentioned apparatus
More simplify and is easily assembled.
Second connection component 70 includes two shaft couplings 80 and two connectors 90；Wherein, two shaft couplings
80 along the axially opposing two sides that the servo joint torque sensor 40 is arranged in of the servo joint torque sensor 40；Two
The outer of two shaft couplings 80 is arranged in along the axially opposing of the servo joint torque sensor 40 in a connector 90
Side, in this way, so that the structure of above-mentioned apparatus more simplifies and is easily assembled.
Wherein, retarder to be measured includes in the output flange connecting with above-mentioned connector and above-mentioned first connection component
The input shaft of shaft coupling connection, steel wheel therein, flexbile gear, wave producer etc. are formed by end cap and bearing package.
Wherein, which further includes the support base of pedestal and support on the base；It is the servo motor, described
Servo motor torque sensor, retarder, the servo joint torque sensor and the servo joint to be measured pass through
The support base support is on the base.
In the present embodiment, the servo motor carries encoder, for completing SERVO CONTROL；The retarder both ends to be measured
Speed end photoelectric encoder component and low speed end photoelectric encoder code-disc are set, are respectively used to detect the defeated of the retarder to be measured
Enter end position and output end position；The servo joint is complete by included motor side encoder and low speed end photoelectric encoder
At double-closed-loop control.
The test device further includes temperature sensor；The temperature sensor is arranged on the shell of the retarder to be measured,
For detecting the case temperature of the retarder to be measured.
Another object of the present invention, which also resides in, provides a kind of harmonic reducer of robot test macro, which subtracts
Fast device test macro includes host computer, and such as harmonic reducer of robot of any of claims 1-8 test dress
It sets；Wherein, the servo motor, servo motor torque sensor, servo joint torque sensing of the harmonic speed reducer test device
Device and servo joint are connect with the host computer.
Fig. 3 is the automatic control system signal for the harmonic reducer of robot test device that embodiment of the present invention provides
Figure.
Referring to shown in Fig. 3, above system further includes load Self-tuning System unit；The load Self-tuning System unit includes successively connecting
The upper computer software in the host computer, the PLC software in the host computer, the first bus module, the first servo-drive connect
Device and the servo motor torque sensor；Wherein, the upper computer software is for setting the servo motor torque sensor
Nominal load；The PLC software, which is used to control first servo-driver by first bus module, exports electric current
To drive the servo motor torque sensor output nominal load；If the actual loading of the servo motor torque sensor is big
In or be less than nominal load, the PLC software is also used to adjust the output electric current of first servo-driver.
Above system further includes servo joint double-closed-loop control unit, which includes setting
In the included encoder and the retarder low speed to be measured end two encoders of photoelectric encoder of the motor side in servo joint, motor
The included encoder at end for the high precision position of the servo joint motor, speed, torque control；Servo joint passes through institute
State the high precision position closed-loop control that retarder low speed to be measured end photoelectric encoder realizes retarder output end to be measured.Wherein, it watches
The structure that joint uses light-type mechanical arm modular joint disclosed in similar CN201510426909 is taken in contrast to save
Its first encoder is omited.
Above system further includes temperature signal collection unit, which includes sequentially connected host computer
In PLC software, PLC bus coupler, temperature collecting module and above-mentioned temperature sensor, its working principle is that：
When joint, test needs to acquire the skin temperature signal of retarder to be measured, PLC software passes through PLC bus coupler
Control instruction is sent to temperature collecting module, temperature collecting module acquires the reading of temperature sensor on the shell of retarder to be measured
Number, and send PLC software to, realize the acquisition of the skin temperature of retarder to be measured.
Above system further includes servo motor control unit, its working principle is that：The unit can by included encoder
Realize high precision position, speed, direct torque.
In view of that can introduce the rigidity error of shaft coupling when testing rigidity, setting above system further includes speed end photoelectricity
Encoder component 300 and low speed end photoelectric encoder code-disc 400, the speed end photoelectric encoder component 300 and the low speed
End photoelectric encoder code-disc 400 and the input terminal and output end of the retarder to be measured are arranged in a one-to-one correspondence.
Specifically, the retarder input terminal to be measured includes above-mentioned speed end photoelectric encoder component, second connection
Low speed end photoelectric encoder code-disc is installed on the connector being connected with retarder output end to be measured that component includes, it is corresponding
Ground is equipped with read head on pedestal.
It describes in detail by taking harmonic reducer of robot bearing capacity and transmission accuracy as an example below.
Wherein, in terms of bearing capacity, by taking efficiency and rigidity test as an example, test philosophy is：
Through Serve Motor Control retarder work to be measured under rated speed, by the torque output for regulating and controlling servo joint
Apply nominal torque to retarder to be measured, the input torque of retarder to be measured is detected by servo motor torque sensor, is passed through
Servo joint double-closed-loop control unit detects the revolving speed of retarder to be measured, can calculate power, therefore efficiency by rotational speed and torque
Equal to output power divided by input power.
Reducer input shaft to be measured is lockked by servo motor, control servo joint applies specific turn to retarder to be measured
Square reads actually applied torque T by servo joint torque sensor1, deceleration to be measured is detected by speed end photoelectric encoder
Device input shaft end change in location x1, reducer output shaft end position to be measured is detected by low speed end photoelectric encoder and changes x2, therefore
The rigidity of retarder=(x2-x1/i)/(T1-T0), wherein i is the reduction ratio of retarder to be measured, T0For initial load torque.Into one
Step can test the stiffness index within the scope of the entire operation torque of retarder to be measured by applying a series of load torque, together
When change load torque direction and can test the mechanical hysteresis loop line of completion.
In addition, the performance in terms of the bearing capacitys such as running light torque can also be realized by the full-automatic control system and be surveyed
Examination.
Wherein, in terms of transmission accuracy, by taking drive error testing as an example, test philosophy is：
Under stationary state, the output end initial position of retarder to be measured is detected by low speed end photoelectric encoder, passes through height
Fast end photoelectric encoder detects the input terminal initial position of retarder to be measured, is then moved to by driver control servo motor
Any given position and it is static, then detect the difference of the change in location of retarder input terminal and output end to be measured；Dynamic condition
Under, acquire the change in location of the change in location of retarder input terminal to be measured and output end in motion process in real time by PLC software,
Available driving error changes with time.
In addition, the test macro can test the performance of harmonic reducer flexible wheel input steel wheel output and test simultaneously
Harmonic speed reducer steel wheel inputs the performance of flexbile gear output, can test harmonic speed reducer and use the property in the case where reduction of speed increases square
Energy and use performance in the case where dropping square speedup.
It is advantageous that：Servo joint and servo motor can increase square survey different with drop square speedup according to the reduction of speed of retarder
Examination demand automatically operates in different operating modes, by that can test harmonic speed reducer reduction of speed using servo joint as load
The above-mentioned performance for increasing square is realized by that can test the performance that square speedup drops in harmonic speed reducer using servo motor as load
The comprehensive test of a harmonic speed reducer.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of harmonic reducer of robot test device, which is characterized in that including sequentially coaxially and transmission connection servo electricity
Machine, servo motor torque sensor, retarder to be measured, servo joint torque sensor and servo joint；Wherein,
The servo motor torque sensor is used to detect the input torque of the retarder to be measured；
The servo joint torque sensor is used to detect the output torque of the retarder to be measured.
2. harmonic reducer of robot test device according to claim 1, which is characterized in that further include the first connection group
Part and the second connection component；Wherein,
The servo motor torque sensor is connected to the servo motor by first connection component and described to be measured subtracts
Between fast device；
The servo joint torque sensor is connected to the servo joint by second connection component and described to be measured subtracts
Between fast device.
3. harmonic reducer of robot test device according to claim 2, which is characterized in that first connection component
Including two shaft couplings；Wherein,
One of them in two shaft couplings is connected between the servo motor and the servo motor torque sensor,
Another in two shaft couplings is connected between the servo motor torque sensor and the retarder to be measured.
4. harmonic reducer of robot test device according to claim 2, which is characterized in that second connection component
Including two shaft couplings and two connectors；Wherein,
Two shaft couplings are passed along the axially opposing setting of the servo joint torque sensor in servo joint torque
The two sides of sensor；
The outer of two shaft couplings is arranged in along the axially opposing of the servo joint torque sensor in two connectors
Side.
5. harmonic reducer of robot test device according to claim 1, which is characterized in that further include pedestal and support
Support base on the base；
The servo motor, the servo motor torque sensor, the retarder to be measured, the servo joint torque sensor
Pass through the support base support on the base with the servo joint.
6. harmonic reducer of robot test device according to claim 1, which is characterized in that the servo motor is included
Encoder, for completing SERVO CONTROL.
7. harmonic reducer of robot test device according to claim 1, which is characterized in that further include speed end photoelectricity
Encoder component and low speed end photoelectric encoder code-disc, the speed end photoelectric encoder component and low speed end photoelectric coding
Device code-disc and the input terminal and output end of the retarder to be measured are arranged in a one-to-one correspondence, and are respectively used to detect the retarder to be measured
Input end position and output end position；
The corresponding read head of the low speed end photoelectric encoder code-disc is mounted on the base；
The servo joint double-closed-loop control is completed by included motor side encoder and low speed end photoelectric encoder.
8. harmonic reducer of robot test device according to claim 1, which is characterized in that further include temperature sensing
Device；
The temperature sensor is arranged on the shell of the retarder to be measured, for detecting the shell temperature of the retarder to be measured
Degree.
9. a kind of harmonic reducer of robot test macro, which is characterized in that including host computer, and as in claim 1-8
Described in any item harmonic reducer of robot test devices；Wherein,
The servo motor of the harmonic speed reducer test device, servo motor torque sensor, servo joint torque sensor and
Servo joint is connect with the host computer.
10. harmonic reducer of robot test macro according to claim 9, which is characterized in that further include loading from whole
Order member；
The load Self-tuning System unit includes upper computer software in the sequentially connected host computer, in the host computer
PLC software, the first bus module, the first servo-driver and the servo motor torque sensor；Wherein,
The upper computer software is used to set the nominal load of the servo motor torque sensor；
The PLC software, which is used to control first servo-driver by first bus module, exports electric current to drive
State servo motor output nominal load；If the actual loading that the servo motor torque sensor detects is more than or less than specified
Load, the PLC software are also used to adjust the output electric current of first servo-driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795384.9A CN108896304A (en) | 2018-07-19 | 2018-07-19 | Harmonic reducer of robot test device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795384.9A CN108896304A (en) | 2018-07-19 | 2018-07-19 | Harmonic reducer of robot test device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108896304A true CN108896304A (en) | 2018-11-27 |
Family
ID=64350969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810795384.9A Pending CN108896304A (en) | 2018-07-19 | 2018-07-19 | Harmonic reducer of robot test device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108896304A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623819A (en) * | 2018-12-25 | 2019-04-16 | 哈工大机器人集团股份有限公司 | The acquisition methods and device of a kind of robot harmonic drive joint actual torque value |
| CN109916621A (en) * | 2019-03-28 | 2019-06-21 | 中科新松有限公司 | Harmonic speed reducer vibration-testing apparatus |
| CN112904200A (en) * | 2021-02-08 | 2021-06-04 | 河北工业大学 | Signal acquisition device based on motor current diagnosis harmonic speed reducer ware trouble |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102901625A (en) * | 2012-10-11 | 2013-01-30 | 西安交通大学 | System for testing comprehensive performance of reducer for robot joint |
| CN103698127A (en) * | 2013-12-26 | 2014-04-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN206573289U (en) * | 2017-03-06 | 2017-10-20 | 四川诚邦测控技术有限公司 | Robot decelerator test system |
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN207318087U (en) * | 2017-09-08 | 2018-05-04 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
-
2018
- 2018-07-19 CN CN201810795384.9A patent/CN108896304A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102901625A (en) * | 2012-10-11 | 2013-01-30 | 西安交通大学 | System for testing comprehensive performance of reducer for robot joint |
| CN103698127A (en) * | 2013-12-26 | 2014-04-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN206573289U (en) * | 2017-03-06 | 2017-10-20 | 四川诚邦测控技术有限公司 | Robot decelerator test system |
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN207318087U (en) * | 2017-09-08 | 2018-05-04 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623819A (en) * | 2018-12-25 | 2019-04-16 | 哈工大机器人集团股份有限公司 | The acquisition methods and device of a kind of robot harmonic drive joint actual torque value |
| CN109916621A (en) * | 2019-03-28 | 2019-06-21 | 中科新松有限公司 | Harmonic speed reducer vibration-testing apparatus |
| CN109916621B (en) * | 2019-03-28 | 2020-11-03 | 中科新松有限公司 | Harmonic reducer vibration testing device |
| CN112904200A (en) * | 2021-02-08 | 2021-06-04 | 河北工业大学 | Signal acquisition device based on motor current diagnosis harmonic speed reducer ware trouble |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
| CN113760012B (en) * | 2021-08-13 | 2022-10-04 | 中国科学院宁波材料技术与工程研究所 | Rotary driving device and method for correcting systematic error of rotary driving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108896304A (en) | Harmonic reducer of robot test device and system | |
| CN101587016A (en) | Dynamic performance comprehensive detection system of harmonic speed reducer | |
| CN203981405U (en) | A kind of servomotor and harmonic wave speed reducing machine comprehensive test platform | |
| CN109445324B (en) | Control system and control method for motor and reducer integrated test | |
| CN103411715B (en) | A kind of torque motor resistance moment test macro | |
| CN101011867A (en) | Servo pressing machine | |
| CN101644624A (en) | Steering test bench of electrical-closed tracked vehicle transmission device | |
| CN111380682B (en) | Testing device and testing method for torsional rigidity of gear box | |
| CN109946602A (en) | A kind of robot servo motors performance testing device | |
| CN215218056U (en) | RV reduction gear capability test device based on arm | |
| CN112910098A (en) | Novel open-source real-time testing platform for motor frequency converter | |
| CN109406141A (en) | A kind of harmonic speed reducer precision measurer hardware system | |
| CN207976563U (en) | A kind of AC servo motor opening machine system test device of turntable switching load | |
| CN208238742U (en) | Encoder test platform | |
| CN102944850B (en) | The power supply module debugging apparatus of photoelectric detection equipment | |
| CN209044029U (en) | Motor Measuring System | |
| CN104634573B (en) | A kind of experimental bench for the coaxial redundant drive control research of bi-motor | |
| CN101441152B (en) | Material tester based on USB data acquisition system | |
| CN209962504U (en) | Novel multifunctional measurement and control integrated teaching experiment platform | |
| CN109141534B (en) | Motor and speed reducer integrated testing device | |
| CN209181818U (en) | A kind of motor, reducer integrated test device | |
| CN113608519A (en) | Service life testing device and method for servo driver | |
| CN208653687U (en) | A kind of gear-box axle Torque Measuring System | |
| CN209102381U (en) | A kind of engine luggine tester | |
| CN110346135A (en) | A kind of ultrahigh precision gear-box test macro |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181127 |