CN112014017A - Novel industrial robot servo motor tooth groove torque test bed and experimental method - Google Patents
Novel industrial robot servo motor tooth groove torque test bed and experimental method Download PDFInfo
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- CN112014017A CN112014017A CN202010748692.3A CN202010748692A CN112014017A CN 112014017 A CN112014017 A CN 112014017A CN 202010748692 A CN202010748692 A CN 202010748692A CN 112014017 A CN112014017 A CN 112014017A
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
The invention discloses a novel test bed and an experimental method for cogging torque of a servo motor of an industrial robot, and the test bed comprises a base, wherein a supporting leg is fixedly arranged at one side of the bottom of the base, a power box is fixedly arranged at one side of the upper part of the base, a supporting frame is fixedly arranged at the middle position of the upper part of the base, a torque sensor is fixedly arranged at the upper part of the supporting frame, a first coupling is fixedly connected with an end shaft at one side of the torque sensor, an adjusting mechanism is arranged at the other side of the base, and the adjusting mechanism comprises an adjusting seat, a supporting plate, a first screw rod, a screw seat, an inverted T-shaped block, an inverted T-shaped groove, a. The novel test bed for the cogging torque of the servo motor of the industrial robot, disclosed by the invention, has the effects of conveniently mounting the test motor, is more beneficial to use, has an excellent adjusting function, improves the application range of the test bed, and has an excellent damping effect, so that the test result is more accurate.
Description
Technical Field
The invention relates to the field of torque test beds, in particular to a novel industrial robot servo motor tooth socket torque test bed, and more particularly relates to a novel industrial robot servo motor tooth socket torque test bed and a test method.
Background
The cogging torque is periodic torque generated by the tendency of the armature core to tend to the minimum reluctance position due to the slotting of the armature core within one revolution when a motor winding is open-circuited, and mechanical elements can generate torsional deformation to a certain degree under the action of the torque, so the torque is also called torque at times, and a torque test bench is a tool for testing the cogging torque of the motor and mainly comprises a power motor and a torque sensor;
however, the test motors of the existing test bed for the cogging torque of the industrial robot servo motor need to be fixedly connected with the test bed through screw holes of the test motors, but the screw holes of the test motors are different in position, so that the use range of the test bed for the test motors is reduced, the bolt connection is troublesome, and the use convenience is poor; secondly, because the length of the output shaft of each test motor is different, but the support plate for supporting the test motors in the existing test bed is in a fixed state and cannot be adjusted, most test motors cannot use the test bed due to the length of the output shaft, and the application range is small; in addition, the test bed does not have a damping function, a power motor is needed to provide power for the test bed, the power motor can vibrate during working, the vibration force can adversely affect a test result, and the use effect is poor.
Disclosure of Invention
The invention mainly aims to provide a novel test bed for the cogging torque of a servo motor of an industrial robot, which can effectively solve the problems that the test motor of the existing test bed for the cogging torque of the servo motor of the industrial robot in the background technology needs to be connected and fixed with the test bed through a screw hole of the test motor, but the screw hole position of each test motor is different, so that the use range of the test bed for the test motor is reduced, the bolt connection is troublesome, and the use convenience is poor; secondly, because the length of the output shaft of each test motor is different, but the support plate for supporting the test motors in the existing test bed is in a fixed state and cannot be adjusted, most test motors cannot use the test bed due to the length of the output shaft, and the application range is small; in addition, the test bed does not have a damping function, a power motor is needed to provide power for the test bed, the power motor can vibrate during working, the vibration force can adversely affect the test result, and the use effect is poor.
In order to achieve the purpose, the invention adopts the technical scheme that:
a novel tooth socket torque test bed for a servo motor of an industrial robot comprises a base, wherein a supporting leg is fixedly arranged at one side of the bottom of the base, a power box is fixedly arranged at one side of the upper portion of the base, a supporting frame is fixedly arranged at the middle position of the upper portion of the base, a torque sensor is fixedly arranged at the upper portion of the supporting frame, a first coupling is fixedly connected with an end shaft at one side of the torque sensor, an adjusting mechanism is arranged at the other side of the base and comprises an adjusting seat, a supporting plate, a first lead screw, a screw seat, an inverted T-shaped block, an inverted T-shaped groove, a square screw block and a bolt, a motor fixing mechanism is arranged at one side of the supporting plate and comprises a bearing seat, a second lead screw, a locking nut and a clamping block, a test motor is arranged between the supporting plate and the clamping block, and a second coupling is arranged between an output shaft of the test, the power box is characterized in that a power motor is fixedly mounted inside the power box, a damping mechanism is arranged between the power motor and the power box, and an output shaft of the power motor is fixedly connected with the first coupler.
As a further scheme of the invention, the adjusting seat is slidably mounted at the other side position of the upper part of the base, the supporting plate is fixedly mounted at the upper part of the adjusting seat, the first screw rod is movably mounted at the other side position of the inner part of the base, the screw seat is slidably connected at the other side of the inner part of the base, the inverted T-shaped block is fixedly connected at the bottom of the adjusting seat, the inverted T-shaped groove is formed in the upper surface of the other side of the base, the square screw block is placed in the inverted T-shaped groove, and the bolt penetrates through the adjusting seat and then is in threaded connection with the square screw block.
As a further aspect of the present invention, the adjusting seat is fixedly connected to the screw seat, and the first lead screw penetrates through the screw seat and is in threaded connection with the screw seat.
As a further scheme of the invention, the bearing platform seat is fixedly arranged at a position close to the bottom of one side of the supporting plate, the second screw rod is movably connected inside the bearing platform seat, the lock nut is in threaded connection with the outside of the second screw rod, and the clamping block is in sliding connection with the upper part of the bearing platform seat.
As a further scheme of the invention, the side surface of the clamping block is connected with an anti-skid pad in a gluing mode, and a sliding block is arranged between the clamping block and the bearing platform seat.
As a further scheme of the invention, the damping mechanism comprises an arc-shaped supporting seat, an arc-shaped push seat, a damping rod, a piston, a through hole, a sealing ring, a first spring and a second spring, wherein the arc-shaped supporting seat is fixedly arranged at the top position inside the power box, the damping seat is fixedly arranged at the bottom of the arc-shaped supporting seat, the damping rod is movably connected to the bottom end of the damping seat, the arc-shaped push seat is fixedly connected to the bottom end of the damping rod, the piston is fixedly connected to the top end of the damping rod and is positioned inside the damping seat, the through hole is formed in the upper surface of the piston, the sealing ring is fixedly connected to the bottom position inside the damping seat, the first spring is placed inside the damping seat and is positioned above the piston, and the second spring is sleeved outside the damping rod and is positioned.
As a further scheme of the invention, the number of the damping mechanisms is two, and the two damping mechanisms are symmetrically arranged by taking the power motor as a central line.
As a further scheme of the invention, the two arc-shaped pushing seats are tightly propped against the outside of the power motor, and one side of the power box is hollow.
Based on the test method of the novel industrial robot servo motor cogging torque test bed, the test method specifically comprises the following steps:
the method comprises the following steps: firstly, a test motor is installed by using a motor fixing mechanism, during operation, an output shaft of the test motor penetrates through a shaft hole of a supporting plate, then a locking nut is loosened to enable a second screw rod to rotate, then the second screw rod is rotated, the second screw rod pushes a clamping block to move through a thread effect between the second screw rod and the clamping block, the clamping block is pushed to the rear part of the test motor, so that the test motor is fixed by matching with the supporting plate, and the anti-skid pad arranged on the clamping block can play a role in protecting the test motor;
step two: after the test motor is fixed, the position of the test motor is adjusted through the adjusting mechanism according to the length of the output shaft of the test motor, during operation, the first lead screw is rotated, the first lead screw pushes the adjusting seat to slide on the upper part of the base through the inverted T-shaped block under the action of a thread between the first lead screw and the screw seat, so that the supporting plate and the whole motor fixing mechanism are driven to move, and the position of the test motor can be adjusted;
step three: when the adjusting seat moves, the square screw block is driven to move in the inverted T-shaped groove through the bolt, after the position is determined, the bolt is rotated, and the square screw block cannot rotate because the square screw block is limited by the inverted T-shaped groove, so that the square screw block is moved upwards through the action of threads when the bolt is rotated, and the adjusting seat is clamped on the base through the cap of the bolt and the square screw block, so that the position of the adjusting seat can be fixed;
step four: after the position of the test motor is fixed, connecting an output shaft of the test motor with the other side end shaft of the torque sensor by using a second coupler, starting the power motor to work, driving one side end shaft of the torque sensor to rotate by the output shaft of the power motor, driving the other side end shaft to rotate by the one side end shaft, driving the output shaft of the test motor to rotate, and calculating the torque of the test motor through a computer connected with the torque sensor to finish the test;
step five: when power motor worked, can produce the vibrations power, vibrations power promotes the arc and pushes away the seat and do work, and the arc pushes away the seat and promotes the shock attenuation pole and do work, and the shock attenuation pole passes through first spring of piston compression or second spring, through the cooperation of first spring and second spring, carries out the shock attenuation for power motor, and the inside of shock attenuation seat is equipped with hydraulic oil simultaneously, and when the piston did work, form damping phenomenon between through-hole and the hydraulic oil, carry out the shock attenuation for power motor once more.
Compared with the prior art, the invention has the following beneficial effects:
by arranging the motor fixing mechanism, an output shaft of the test motor penetrates through a shaft hole of the supporting plate, then the locking nut is loosened to enable the second lead screw to rotate, and then the second lead screw is rotated, the second lead screw pushes the clamping block to move through a thread effect between the second lead screw and the clamping block, and the clamping block is pushed to the rear part of the test motor, so that the test motor is fixed by matching with the supporting plate, and the anti-slip pad arranged on the clamping block can play a role in protecting the test motor and can play a role in conveniently installing the test motor, and the installation is not needed through an installation hole of the test motor, so that the problem that the installation cannot be carried out due to the fact that the screw hole between the installation hole of the test motor and the supporting plate does not correspond;
by arranging the adjusting mechanism, the first screw rod is rotated, the first screw rod pushes the adjusting seat to slide on the upper part of the base through the inverted T-shaped block under the action of the screw thread between the first screw rod and the screw seat, so that the supporting plate and the whole motor fixing mechanism are driven to move, the position of the test motor can be adjusted, an excellent adjusting function can be achieved, the position of the test motor can be conveniently adjusted, the phenomenon that the test motor cannot be tested on a test bed due to the length of an output shaft is avoided, and the application range of the test bed is widened;
through setting up damper, in the work of motor power, can produce the vibrations power, the vibrations power promotes the arc and pushes away the seat and do work, the arc pushes away the seat and promotes the shock attenuation pole and do work, the shock attenuation pole passes through first spring of piston compression or second spring, cooperation through first spring and second spring, carry out the shock attenuation for motor power, the inside of shock attenuation seat is equipped with hydraulic oil simultaneously, when the piston does work, form damping phenomenon between through-hole and the hydraulic oil, carry out the shock attenuation for motor power once more, can play excellent shock attenuation efficiency, reduce the vibrations that motor power during operation produced, thereby reduce the influence that vibrations caused torque sensor, make the experimental result more accurate, excellent in use effect is better.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a novel cogging torque test bed of an industrial robot servo motor;
FIG. 2 is a schematic view of a local structure inside a base of a servo motor cogging torque test bed of the novel industrial robot;
FIG. 3 is a side view of a connecting structure of a base and an adjusting seat of the novel industrial robot servo motor cogging torque test bed;
FIG. 4 is a schematic view of the internal structure of a bearing platform seat of the servo motor cogging torque test bed of the industrial robot;
FIG. 5 is a side view of the internal structure of a power box of the servo motor cogging torque test bed of the novel industrial robot;
FIG. 6 is a schematic view of the internal structure of a shock absorption seat of a novel industrial robot servo motor cogging torque test bed.
In the figure: 1. a base; 2. a support leg; 3. a power box; 4. a support frame; 5. a torque sensor; 6. a first coupling; 7. an adjustment mechanism; 701. an adjusting seat; 702. a support plate; 703. a first lead screw; 704. a screw seat; 705. an inverted T-shaped block; 706. a T-shaped groove is inverted; 707. a square screw block; 708. a bolt; 8. a motor fixing mechanism; 801. a pedestal; 802. a second lead screw; 803. a lock nut; 804. a clamping block; 9. testing the motor; 10. a second coupling; 11. a damping mechanism; 1101. an arc-shaped supporting seat; 1102. an arc-shaped pushing seat; 1103. a shock absorbing seat; 1104. a shock-absorbing lever; 1105. a piston; 1106. a through hole; 1107. a seal ring; 1108. a first spring; 1109. a second spring; 12. a power motor.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-6, a novel cogging torque test bed for a servo motor of an industrial robot comprises a base 1, a support leg 2 is fixedly arranged at one side of the bottom of the base 1, a power box 3 is fixedly arranged at one side of the upper part of the base 1, a support frame 4 is fixedly arranged at the middle position of the upper part of the base 1, a torque sensor 5 is fixedly arranged at the upper part of the support frame 4, a first coupling 6 is fixedly connected with an end shaft at one side of the torque sensor 5, an adjusting mechanism 7 is arranged at the other side of the base 1, the adjusting mechanism 7 comprises an adjusting seat 701, a support plate 702, a first screw rod 703, a screw seat 704, an inverted T-shaped block 705, an inverted T-shaped groove 706, a square screw block 707 and a bolt 708, a motor fixing mechanism 8 is arranged at one side of the support plate 702, the motor fixing mechanism 8 comprises a bearing seat 801, a second screw rod 802, a locking nut 803 and, a second coupling 10 is arranged between an output shaft of the test motor 9 and the other side end shaft of the torque sensor 5, a power motor 12 is fixedly installed inside the power box 3, a damping mechanism 11 is arranged between the power motor 12 and the power box 3, and the output shaft of the power motor 12 is fixedly connected with the first coupling 6;
the adjusting seat 701 is slidably mounted at the other side of the upper part of the base 1, the supporting plate 702 is fixedly mounted at the upper part of the adjusting seat 701, the first screw rod 703 is movably mounted at the other side of the inner part of the base 1, the screw seat 704 is slidably connected at the other side of the inner part of the base 1, the inverted T-shaped block 705 is fixedly connected at the bottom of the adjusting seat 701, the inverted T-shaped groove 706 is formed in the upper surface of the other side of the base 1, the square screw block 707 is placed in the inverted T-shaped groove 706, and the bolt 708 penetrates through the adjusting seat 701 and then is in threaded connection; the adjusting seat 701 is fixedly connected with the screw seat 704, and the first screw rod 703 penetrates through the screw seat 704 and is in threaded connection with the screw seat 704; the bearing seat 801 is fixedly arranged at a position close to the bottom of one side of the support plate 702, the second screw rod 802 is movably connected inside the bearing seat 801, the lock nut 803 is in threaded connection with the outside of the second screw rod 802, and the clamping block 804 is in sliding connection with the upper part of the bearing seat 801; the side surface of the clamping block 804 is connected with an antiskid pad in a gluing mode, a sliding block is arranged between the clamping block 804 and the bearing platform seat 801, the sliding block can play a role in sliding connection, and the antiskid pad can play an antiskid protection role; the damping mechanism 11 comprises an arc-shaped supporting seat 1101, an arc-shaped pushing seat 1102, a damping seat 1103, a damping rod 1104, a piston 1105, a through hole 1106, a sealing ring 1107, a first spring 1108 and a second spring 1109, wherein the arc-shaped supporting seat 1101 is fixedly arranged at the top position inside the power box 3, the damping seat 1103 is fixedly arranged at the bottom of the arc-shaped supporting seat 1101, the damping rod 1104 is movably connected to the bottom end of the damping seat 1103, the arc-shaped pushing seat 1102 is fixedly connected to the bottom end of the damping rod 1104, the piston 1105 is fixedly connected to the top end of the damping rod 1104 and is positioned inside the damping seat 1103, the through hole 1106 is formed in the upper surface of the piston 1105, the sealing ring 1107 is fixedly connected to the bottom position inside the damping seat 1103, the first spring 1108 is arranged inside the damping seat 1103 and is positioned above the piston 1105, and the second spring 1109 is; the number of the damping mechanisms 11 is two, and the two damping mechanisms 11 are symmetrically arranged by taking the power motor 12 as a central line; the two arc-shaped pushing seats 1102 are tightly abutted to the outside of the power motor 12, one side of the power box 3 is hollow, and the hollow power box 3 can avoid influencing the heat dissipation of the power motor 12.
A test method of a novel industrial robot servo motor cogging torque test bed specifically comprises the following steps:
the method comprises the following steps: firstly, the test motor 9 is installed by using the motor fixing mechanism 8, during operation, firstly, an output shaft of the test motor 9 penetrates through a shaft hole of the supporting plate 702, then the locking nut 803 is loosened to enable the second screw rod 802 to rotate, then the second screw rod 802 is rotated, the second screw rod 802 pushes the clamping block 804 to move through a thread effect between the second screw rod 802 and the clamping block 804, the clamping block 804 is pushed to the rear part of the test motor 9, so that the test motor 9 is fixed by matching with the supporting plate 702, and the anti-skid pad arranged on the clamping block 804 can play a role in protecting the test motor 9;
step two: after the test motor 9 is fixed, the position of the test motor 9 is adjusted through the adjusting mechanism 7 according to the length of an output shaft of the test motor 9, during operation, the first screw rod 703 is rotated, the first screw rod 703 pushes the adjusting seat 701 to slide on the upper part of the base 1 through the inverted T-shaped block 705 under the action of a thread between the first screw rod 703 and the screw seat 704, so that the supporting plate 702 and the whole motor fixing mechanism 8 are driven to move, and the position of the test motor 9 can be adjusted;
step three: when the adjusting seat 701 moves, the bolt 708 drives the square screw block 707 to move in the inverted T-shaped groove 706, after the position is determined, the bolt 708 is rotated, and the square screw block 707 cannot rotate because the square screw block 707 is limited by the inverted T-shaped groove 706, so that when the bolt 708 is rotated, the square screw block 707 moves upwards through the action of threads, the cap of the bolt 708 and the square screw block 707 are utilized to clamp the adjusting seat 701 on the base 1, and the position of the adjusting seat 701 can be fixed;
step four: after the position of the test motor 9 is fixed, connecting an output shaft of the test motor 9 with the other side end shaft of the torque sensor 5 by using a second coupling 10, then starting a power motor 12 to work, wherein the output shaft of the power motor 12 drives one side end shaft of the torque sensor 5 to rotate, and the other side end shaft drives the other side end shaft to rotate, so as to drive the output shaft of the test motor 9 to rotate, and then calculating the torque of the test motor 9 through a computer connected with the torque sensor 5 to complete the test, wherein the model of the torque sensor 5 is LONGLV-WTWQ 803;
step five: when power motor 12 works, the shaking force can be generated, the shaking force pushes the arc to push the seat 1102 to do work, the arc pushes the seat 1102 to push the shock absorption rod 1104 to do work, the shock absorption rod 1104 compresses the first spring 1108 or the second spring 1109 through the piston 1105, through the cooperation of the first spring 1108 and the second spring 1109, shock absorption is performed on power motor 12, meanwhile, hydraulic oil is arranged inside the shock absorption seat 1103, when the piston 1105 does work, a damping phenomenon is formed between the through hole 1106 and the hydraulic oil, and shock absorption is performed on power motor 12 again.
According to the invention, the motor fixing mechanism 8 is arranged, the output shaft of the test motor 9 penetrates through the shaft hole of the supporting plate 702, then the locking nut 803 is loosened to enable the second screw rod 802 to rotate, then the second screw rod 802 is rotated, the second screw rod 802 pushes the clamping block 804 to move through the thread effect between the clamping block 804, and the clamping block 804 is pushed to the rear part of the test motor 9, so that the test motor 9 is fixed by matching with the supporting plate 702, and the anti-slip pad arranged on the clamping block 804 can play a role of protecting the test motor 9, can play a role of conveniently installing the test motor 9, does not need to be installed through the installation hole of the test motor 9, avoids the problem that the installation cannot be carried out due to the fact that the screw hole between the installation hole of the test motor 9 and the supporting plate 702 does not correspond to each other; by arranging the adjusting mechanism 7, the first screw rod 703 is rotated, the first screw rod 703 pushes the adjusting seat 701 to slide on the upper part of the base 1 through the inverted T-shaped block 705 under the action of the screw thread between the first screw rod 703 and the screw seat 704, so that the supporting plate 702 and the whole motor fixing mechanism 8 are driven to move, the position of the test motor 9 can be adjusted, an excellent adjusting function can be achieved, the position of the test motor 9 can be conveniently adjusted, the phenomenon that the test motor 9 cannot perform experiments on a test bed due to the length of an output shaft is avoided, and the application range of the test bed is improved; through setting up damper 11, when power motor 12 works, can produce the vibrations power, the vibrations power promotes the arc and pushes away seat 1102 and does work, the arc pushes away seat 1102 and promotes shock attenuation pole 1104 and does work, shock attenuation pole 1104 passes through piston 1105 compression first spring 1108 or second spring 1109, cooperation through first spring 1108 and second spring 1109, carry out the shock attenuation for power motor 12, the inside of shock attenuation seat 1103 is equipped with hydraulic oil simultaneously, when piston 1105 does work, form damping phenomenon between through-hole 1106 and the hydraulic oil, carry out the shock attenuation for power motor 12 once more, can play excellent shock attenuation efficiency, reduce the vibrations that power motor 12 during operation produced, thereby reduce the influence that vibrations caused torque sensor 5, make the experimental result more accurate, excellent in use effect.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a novel industrial robot servo motor tooth's socket torque test bench which characterized in that: including base (1), bottom one side fixed position of base (1) installs landing leg (2), upper portion one side fixed position of base (1) installs headstock (3), the upper portion fixed position between two parties of base (1) installs support frame (4), the upper portion fixed mounting of support frame (4) has torque sensor (5), one side end axle fixedly connected with first shaft coupling (6) of torque sensor (5), the opposite side of base (1) is equipped with adjustment mechanism (7), adjustment mechanism (7) are including adjusting seat (701), backup pad (702), first lead screw (703), spiral shell seat (704), fall T-shaped piece (705), fall T-shaped groove (706), square spiral shell piece (707) and bolt (708), one side of backup pad (702) is equipped with motor fixing mechanism (8), motor fixing mechanism (8) are including bearing seat (801), Second lead screw (802), lock nut (803) and clamp splice (804), be equipped with test motor (9) between backup pad (702) and clamp splice (804), be equipped with second shaft coupling (10) between the output shaft of test motor (9) and torque sensor (5) the opposite side end axle, the inside fixed mounting of headstock (3) has motor power (12), be equipped with damper (11) between motor power (12) and headstock (3), the output shaft and first shaft coupling (6) fixed connection of motor power (12).
2. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 1, characterized in that: the adjusting seat (701) is slidably mounted at the other side of the upper portion of the base (1), the supporting plate (702) is fixedly mounted at the upper portion of the adjusting seat (701), the first screw rod (703) is movably mounted at the other side of the inner portion of the base (1), the screw seat (704) is slidably connected at the other side of the inner portion of the base (1), the inverted T-shaped block (705) is fixedly connected at the bottom of the adjusting seat (701), the inverted T-shaped groove (706) is formed in the upper surface of the other side of the base (1), the square screw block (707) is placed in the inverted T-shaped groove (706), and the bolt (708) penetrates through the adjusting seat (701) and then is in threaded connection with the square screw block (707).
3. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 1, characterized in that: the adjusting seat (701) is fixedly connected with the screw seat (704), and the first screw rod (703) penetrates through the screw seat (704) and is in threaded connection with the screw seat (704).
4. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 1, characterized in that: the bearing seat (801) is fixedly installed on one side of the supporting plate (702) and close to the bottom, the second screw rod (802) is movably connected to the inside of the bearing seat (801), the locking nut (803) is in threaded connection with the outside of the second screw rod (802), and the clamping block (804) is in sliding connection with the upper portion of the bearing seat (801).
5. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 1, characterized in that: the lateral surface of the clamping block (804) is connected with an anti-skid pad in a gluing mode, and a sliding block is arranged between the clamping block (804) and the bearing pedestal (801).
6. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 1, characterized in that: the damping mechanism (11) comprises an arc-shaped supporting seat (1101), an arc-shaped pushing seat (1102), a damping seat (1103), a damping rod (1104), a piston (1105), a through hole (1106), a sealing ring (1107), a first spring (1108) and a second spring (1109), wherein the arc-shaped supporting seat (1101) is fixedly arranged at the top position inside the power box (3), the damping seat (1103) is fixedly arranged at the bottom of the arc-shaped supporting seat (1101), the damping rod (1104) is movably connected at the bottom end of the damping seat (1103), the arc-shaped pushing seat (1102) is fixedly connected at the bottom end of the damping rod (1104), the piston (1105) is fixedly connected at the top end of the damping rod (1104) and positioned inside the damping seat (1103), the through hole (1106) is arranged on the upper surface of the piston (1105), and the sealing ring (1107) is fixedly connected at the bottom position inside the damping seat (1103), the first spring (1108) is placed in the shock absorption seat (1103) and located above the piston (1105), and the second spring (1109) is sleeved outside the shock absorption rod (1104) and located below the piston (1105).
7. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 6, characterized in that: the number of the damping mechanisms (11) is two, and the two damping mechanisms (11) are symmetrically arranged by taking the power motor (12) as a central line.
8. The novel cogging torque test stand for the servo motor of the industrial robot as claimed in claim 6, characterized in that: the two arc-shaped pushing seats (1102) are tightly propped against the outside of the power motor (12), and one side of the power box (3) is hollow.
9. The test method based on the novel industrial robot servo motor cogging torque test bed is characterized by comprising the following steps:
the method comprises the following steps: firstly, a test motor (9) is installed by using a motor fixing mechanism (8), during operation, an output shaft of the test motor (9) penetrates through a shaft hole of a support plate (702), then a lock nut (803) is loosened to enable a second screw rod (802) to rotate, then the second screw rod (802) is rotated, the second screw rod (802) pushes a clamping block (804) to move through a thread effect between the second screw rod and the clamping block (804), the clamping block (804) is pushed to the rear part of the test motor (9), the test motor (9) is fixed by matching with the support plate (702), and an anti-skid pad arranged on the clamping block (804) can play a role in protecting the test motor (9);
step two: after the test motor (9) is fixed, the position of the test motor (9) is adjusted through the adjusting mechanism (7) according to the length of an output shaft of the test motor (9), during operation, the first screw rod (703) is rotated, the first screw rod (703) pushes the adjusting seat (701) to slide on the upper part of the base (1) through the inverted T-shaped block (705) under the action of a thread between the first screw rod and the screw seat (704), so that the supporting plate (702) and the whole motor fixing mechanism (8) are driven to move, and the position of the test motor (9) can be adjusted;
step three: when the adjusting seat (701) moves, the bolt (708) drives the square screw block (707) to move in the inverted T-shaped groove (706), after the position is determined, the bolt (708) is rotated, and the square screw block (707) cannot rotate due to the limitation of the inverted T-shaped groove (706), so that when the bolt (708) is rotated, the square screw block (707) moves upwards through the action of threads, the cap of the bolt (708) and the square screw block (707) are utilized to clamp the adjusting seat (701) on the base (1), and the position of the adjusting seat (701) can be fixed;
step four: after the position of the test motor (9) is fixed, the output shaft of the test motor (9) is connected with the end shaft at the other side of the torque sensor (5) by using a second coupler (10), then the power motor (12) is started to work, the output shaft of the power motor (12) drives the end shaft at one side of the torque sensor (5) to rotate, the end shaft at one side drives the end shaft at the other side to rotate, so that the output shaft of the test motor (9) is driven to rotate, then the torque of the test motor (9) is calculated by a computer connected with the torque sensor (5), and the test is completed;
step five: when power motor (12) work, can produce the shaking force, shaking force promotes the arc and pushes away seat (1102) acting, the arc pushes away seat (1102) and promotes bumper bar (1104) acting, bumper bar (1104) are through first spring (1108) or second spring (1109) of piston (1105) compression, cooperation through first spring (1108) and second spring (1109), carry out the shock attenuation for power motor (12), the inside of while bumper bar (1103) is equipped with hydraulic oil, when piston (1105) acting, form damping phenomenon between through-hole (1106) and the hydraulic oil, carry out the shock attenuation for power motor (12) once more.
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| CN112014017B (en) | 2022-02-18 |
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