CN113804436A - Method for improving rotation angle detection precision of robot joint reducer testing equipment - Google Patents
Method for improving rotation angle detection precision of robot joint reducer testing equipment Download PDFInfo
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- CN113804436A CN113804436A CN202111049695.9A CN202111049695A CN113804436A CN 113804436 A CN113804436 A CN 113804436A CN 202111049695 A CN202111049695 A CN 202111049695A CN 113804436 A CN113804436 A CN 113804436A
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- 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
Abstract
The invention relates to a method for improving the rotation angle detection precision of robot joint reducer testing equipment, which comprises the following steps: the method is characterized in that a torque transmission device and a corner detection connecting device are respectively arranged, a spline is arranged on a loading shaft, and an elastic connecting sleeve is coaxially arranged on the corner detection device; the torque is transmitted by using the connection of the internal spline and the external spline, and the rotation angle is detected by using the connection of the elastic connecting sleeve. The torque transmission and the rotation angle detection form an independent transmission channel, so that the rotation angle error caused by the torque is eliminated, and the rotation angle detection precision is improved. Meanwhile, the elastic connecting sleeve is connected with the tested piece in an elastic connection mode, the requirement on coaxiality is low, and even if different shafts exist, the elastic connecting sleeve can also utilize the elastic deformation of the elastic sheet to generate radial and axial small displacement for compensation. The additional force and moment generated by different shafts can be eliminated, and the rotating angle can be accurately detected; meanwhile, quick connection can be realized, the time required by connection is reduced, and the detection efficiency is improved.
Description
Technical Field
The invention belongs to the field of speed reducer testing, and particularly relates to a method for improving rotation angle detection precision of robot joint speed reducer testing equipment.
Background
As a high-precision speed reducer, the robot joint speed reducer is widely applied to the field of industrial robots and is one of core parts of the industrial robots, and the transmission performance of the robot joint speed reducer directly influences the positioning precision and the working performance of the industrial robot. With the development of the robot industry, people have higher and higher requirements on the performance of the robot joint reducer. The angular transmission error, the backlash, the idle stroke, the torsional rigidity, the friction torque, the running efficiency and the like are important detection indexes of the robot joint reducer.
When the performance test of the robot joint reducer is carried out, the torque of the loading shaft and the rotating angle of the output end of the reducer need to be detected simultaneously, so that the rotating angle detection device and the loading shaft system need to be connected to the output end of the robot joint reducer simultaneously. Usually, the rotation angle detection device is installed on a loading shaft, the loading shaft is connected with the output end of the robot joint reducer, the loading shaft applies torque to the robot joint reducer, and indirect detection is performed by measuring the torque and the rotation angle of the loading shaft. Because the part for detecting the angle of the loading shaft is not at the output end of the robot joint reducer but is at a distance from the output end of the robot joint reducer, namely the length of the part for detecting the angle of the loading shaft from the output end of the robot joint reducer is L, under the action of torque, the loading shaft can generate torsional deformation, and the angle of the torsion is
Therefore, the detected rotation angle exists with the real rotation angle of the output end of the robot joint reducer
The error of (2) is a rotation angle error when forward and reverse rotation detection is performed
When the torque is large, a larger rotation angle error will be generated, so it is necessary to adopt a better method to eliminate the influence of the torque on the rotation angle detection so as to improve the accuracy of the rotation angle detection.
Through patent retrieval, the following patents mainly exist, which have a certain relationship with the invention:
1. the flexible torque sensor dynamic test platform for the modular joint belongs to the field of dynamic test of a joint torque sensor, and is invented in China with the application number of 201810516935.3, the application date of 2018.05.25, the publication number of CN108709683A, the publication date of 2018.10.26, the name of a flexible torque sensor dynamic test platform for the modular joint and the application name of Harbin university of industry. The problem of current test platform only can be used for demarcating the static rigidity and the static damping characteristic of flexible component, can't carry out the test of dynamic rigidity and dynamic damping characteristic, lead to test platform's test accuracy low, and influence test platform to the test accuracy of big flexible torque sensor unbalance loading characteristic is solved. The power of the output of the driving assembly is transmitted to the transmission shaft through the main coupler, the moment calibration sensor, the auxiliary coupler and the driving shaft in sequence, the transmission shaft drives the inner ring of the fixed moment sensor to be tested to rotate, the corner measuring assembly measures the corner of the inner ring, and the moment calibration sensor is used for detecting the moment of the output of the driving assembly.
2. The invention provides an integrated joint with an elastic torque compensation element, which is a Chinese invention patent with the application number of 201811366918.2, the application date of 2018.11.16, the publication number of CN 109176596A, the publication number of 2019.01.11, the name of integrated joint with an elastic torque compensation element and the name of applicant of Shanghai Ling robot science and technology GmbH, and comprises the following components in parts by weight: the device comprises a motor, an angle encoder, a reduction gearbox, a torque sensor and an elastic element; the elastic element is arranged between the shell of the reduction gearbox and the output shaft of the reduction gearbox, and the torque sensor is arranged between the acceleration box and the load. The invention has the beneficial effects that: the middle value of the torque output by the motor and the reduction gearbox is 0, and a smaller motor and a smaller reduction gearbox can be used for outputting a larger effective working torque; an elastic element is additionally arranged between an output shaft of the reduction gearbox and the shell to form an integrated joint, the mechanical leg is a combination of the connecting rod and the integrated joint, and the mechanical leg and the walking system are more convenient to build and control; the torque sensor can be arranged behind the joint output end compensated by the elastic element, so that the actual output torque of the joint can be fed back, and the torque, the position, the speed, the force position and the force position speed of the integrated joint can be controlled to be possible.
3. The invention relates to a Chinese invention patent with the application number of 201910053999.9, the application date of 2019.01.21, the publication number of CN 109632302A, the publication number of 2019.04.16, the name of an RV reducer online test system and the application name of Chongqing university, in particular to an RV reducer online test system, which comprises a driving measurement module, a vertical lifting mechanism, a reducer installation module and a loading measurement module; the driving measurement module comprises an input end base, a servo motor is arranged on the base, an output shaft of the servo motor is connected with an input end transmission shaft, an input end angle sensor matched with the input end transmission shaft is arranged on the input end transmission shaft, the input end transmission shaft is also connected with an input end torque sensor through a coupler, and the input end torque sensor is connected with a speed reducer input shaft through a rigid coupler; the speed reducer mounting module comprises an operation table, and a switching disc and an automatic clamping device are arranged on the operation table; the loading measuring module comprises a speed reducer output shaft, the speed reducer output shaft is connected with an output end transmission shaft, an output end angle sensor and an output end torque sensor are arranged on the output end transmission shaft, the loading measuring module further comprises an electromagnetic clutch, one end of the electromagnetic clutch is connected with the output end transmission shaft, and the other end of the electromagnetic clutch is connected with a torque motor.
4. The invention discloses a Chinese patent with the application number of 201880032427.6, the application date of 2018.05.17, the publication number of CN110662636A and the publication date of 2020.01.07, named as speed reducer angle transmission error identification system and speed reducer angle transmission error identification method and applied to Kawasaki heavy industry Co., Ltd, wherein the speed reducer angle transmission error identification system and the speed reducer angle transmission error identification method comprise: a fluctuation data acquisition unit (42) for acquiring 1 st fluctuation data and 2 nd fluctuation data, wherein the 1 st fluctuation data indicates that the 1 st joint control unit (24) rotates the output shaft (11a) of the 1 st motor (11) in the 1 st direction at a constant 1 st target speed, a 2 nd joint control unit (27) for controlling the output shaft (16a) of the 2 nd motor (16) at a constant 2 nd target speed and then periodically changing the motion of the 2 nd joint due to the angle transmission error of the 1 st motor, the 2 nd fluctuation data indicates that the 1 st joint control unit rotates the output shaft of the 1 st motor in the 2 nd direction at a constant 1 st target speed, when the 2 nd joint control unit rotates the output shaft of the 2 nd motor at a constant 2 nd target speed, data of periodic variation of the motion of the 2 nd joint caused by the angle transmission error of the 1 st motor; a periodic function calculation unit (43) for calculating 1 st and 2 nd periodic functions obtained by modeling 1 st and 2 nd variable data; an average phase calculation unit (44) that calculates the average phase of the periodic function; and an angle transmission error identification unit (46) that calculates the periodic variation of the angle transmission error of the 1 st speed reducer based on the average phase.
5. The invention discloses a comprehensive test bench for an RV reducer, which is disclosed by Chinese invention patents with the application number of 201610577087.8, the application date of 2016.07.21, the publication number of CN106053062A, the publication date of 2016.10.26, the name of the comprehensive test bench for the RV reducer and the application name of Nanjing engineering college, and can test a plurality of performance parameters of the high-precision RV reducer, such as angle transmission error, return difference, torsional rigidity, service life, temperature rise, efficiency, torque and the like. The testing device comprises a base, a servo motor, a linear motor, a first torque sensor, a first high-precision angle encoder, a RV reducer support to be tested, a mounting flange plate, a temperature sensor, a second torque sensor, a second high-precision angle encoder, a diaphragm coupling and a brake, wherein the mounting flange plate can be replaced, and testing of the multi-model reducer can be realized. Compared with other testing instruments, the testing device greatly improves the testing efficiency and the accurate testing precision, has reliable performance, better testing repeatability, simple operation of replacing the tested object, high mounting and positioning precision and lower cost.
6. The utility model provides an application number is "201521125142.7", application date is "2015.12.31", and the publication number is "CN 205317389U", and the publication date is "2016.06.15", the name is "joint bearing unloaded start-up torque test fixture", the applicant is the utility model patent of "Zhejiang country examines detection technology limited company", this utility model provides a joint bearing unloaded start-up torque test fixture, it passes through axial clamp force fixed joint bearing, can not exert radial load to joint bearing, can not influence the experiment precision. The utility model comprises a left torsion seat, a left outer ring ejector block, a support rod, an inner ring ejector block, a right outer ring ejector block, a support plate, a right torsion seat and a right shaft; a left clamping rod is fixed on the outer side surface of the left torsion seat; the left outer ring ejector block is fixed on the left torsion seat; the end part of the left outer ring top block is provided with a circular ring-shaped left top surface; one end of the supporting rod is fixed with the left torsion seat, and the other end of the supporting rod is fixed with the supporting plate; the right torsion seat is fixedly connected with the supporting plate through threads; the end part of the right torsion seat is provided with a circular right top surface, and the left top surface and the right top surface are oppositely arranged; the two inner ring ejector blocks are in threaded connection with the right shaft; the outer end of the right shaft is fixed with a right clamping rod.
However, none of the above patents relates to the problem of influence of torque on the rotation angle, and the adopted rotation angle detection method cannot meet the detection accuracy requirement of a robot joint reducer with high precision and large torque.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for improving the rotation angle detection precision of robot joint reducer testing equipment aiming at the defects in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for improving the rotation angle detection precision of robot joint reducer testing equipment utilizes a loading shaft to be in transmission connection with a tested piece to transmit torque, and utilizes a rotation angle detection device to be in rotation connection with the tested piece to detect a rotation angle. The rotation angle detection and the torque transmission are coaxially separated, so that the torque transmission and the rotation angle detection form an independent transmission channel, the rotation angle detection is not influenced by torque, and the rotation angle error caused by the torque is eliminated.
Furthermore, the loading shaft is provided with a torque transmission connecting device to be connected with the output part of the tested piece in a mode that the loading shaft and the corner detection device are respectively and coaxially provided with a connecting device, and the corner detection device is rotationally connected with the output part of the tested piece through the corner detection connecting device, so that corner detection is realized; the rotating part of the corner detection device rotates along with the output part of the tested piece, is independent of the loading shaft and can rotate relative to the loading shaft; the loading shaft applies torque, and the rotation angle detection device detects the rotation angle. This way it is ensured that the detected rotation angle is the true rotation angle of the output member of the tested piece, which is free from the influence of the deformation of the loading axle under torsion.
Furthermore, the output part of the tested piece is an output disc, and the rotation angle detection connecting device is an elastic connecting sleeve; the elastic connecting sleeve is arranged on a rotating part of the corner detection device and is rotationally connected with the output disc through the elastic connecting sleeve, the elastic connecting sleeve rotates along with the output part of the tested piece, and the corner detection device detects the corner of the elastic connecting sleeve to detect the corner of the tested piece. The loading shaft passes through the center hole of the elastic connecting sleeve, and the elastic connecting sleeve can rotate relative to the loading shaft, so that the influence of the elastic deformation of the loading shaft on the rotation angle detection is avoided, and the rotation angle detection precision is improved.
Furthermore, in order to realize the universality of the connection of the output discs of various tested pieces, a transition disc is arranged on the output disc, and the transition disc is provided with a compatible connecting hole and is detachably connected with the output disc; the other side surface of the transition disc is rotationally connected with the elastic connecting sleeve and the loading shaft. The transition disc is used for converting the output disc of the tested piece into a universal and unified connection mode, so that the tested pieces of various models can be installed on the testing equipment of the robot joint reducer, and the adaptability of the testing equipment of the robot joint reducer is improved.
Furthermore, the transition disc is detachably connected with the tested piece, the loading shaft is rotatably connected with the inner ring of the transition disc, and the elastic connecting sleeve is rotatably connected with the outer ring of the transition disc to form two independent rotary connection modes which are not interfered with each other.
Furthermore, the elastic connecting sleeve is of a disc-shaped hollow structure and is provided with an elastic connecting sleeve inner ring and an elastic connecting sleeve inner hole, and an elastic sheet is arranged on the elastic connecting sleeve inner ring; the outer peripheral surface of the transition disc is provided with a clamping step, the elastic connecting sleeve is pressed on the clamping step of the transition disc through an elastic sheet of the elastic connecting sleeve, and the elastic connecting sleeve rotates along with the transition disc by utilizing the static friction force between the elastic sheet and the clamping step of the transition disc. The connection mode has lower requirements on the processing precision of the connection part and the coaxiality of the tested piece, can realize quick connection, reduces the time required by connection, and improves the detection efficiency.
Furthermore, the elastic sheets are more than 3 arc-shaped metal sheets and are uniformly distributed on the inner ring of the elastic connecting sleeve. Automatic centering can be realized during connection.
Furthermore, the elastic sheet is made of spring steel, the width range is 5-20 mm, and the thickness range is 0.5-2 mm.
Furthermore, the elastic connecting sleeve is disc-shaped, an elastic piece is arranged on one side of the elastic connecting sleeve, which faces the tested piece, and the elastic connecting sleeve is connected with the tested piece in an elastic rotating mode through the elastic piece. The direct connection mode has simple structure.
Furthermore, the elastic part is more than 3 circular arc-shaped metal sheets and is uniformly distributed on one side of the elastic connecting sleeve, which faces the tested piece.
Furthermore, the elastic part is a disc spring and is arranged on one side of the elastic connecting sleeve, which faces the tested piece, along the axial direction.
The invention has the beneficial effects that: the mode of separating the rotation angle detection and the torque transmission is adopted, so that the rotation angle detection is free from the influence of the torque. The rotation angle detection device is provided with the elastic connecting sleeve, the elastic connecting sleeve rotates along with the output component, and the rotation angle of the tested piece is detected by detecting the rotation angle of the elastic connecting sleeve. In addition, a torque transmission connecting device is arranged to connect the output component of the tested piece and the loading shaft to transmit torque, so that the torque and the rotation angle detection form an independent transmission channel, thereby eliminating the rotation angle error caused by the torque and improving the rotation angle detection precision. Meanwhile, the elastic connecting sleeve is connected with the rotating part of the tested piece in a radial or axial elastic connection mode, even if slight different axes exist, the elastic deformation of the elastic sheet can be utilized to generate small radial and axial displacement for compensation, so that the rotation angle can be accurately detected, and the additional force and moment generated by the different axes can be eliminated; therefore, the requirement on coaxiality is reduced, quick connection can be realized, the time required by connection is shortened, and the detection efficiency is improved.
Drawings
Figure 1 is a schematic illustration of torque versus rotational angle,
figure 2 is a schematic perspective structure view of a robot joint reducer detection system,
figure 3 is a front view schematic diagram of a robot joint reducer detection system,
figure 4 is a top view schematic diagram of a robotic joint reducer detection system,
figure 5 is a schematic cross-sectional view a-a of figure 4,
figure 6 is a partial enlarged schematic view of B in figure 5 (elastic connecting sleeve embodiment 1),
figure 7 is a schematic diagram of the loading shaft and the tested piece in figure 6 after being rotationally connected (elastic connecting sleeve embodiment 1),
FIG. 8 is a schematic view of the loading shaft directly connected with the tested piece in a rotating mode,
figure 9 is a perspective view of the loading shaft,
figure 10 is a schematic diagram of the structure of a tested piece,
figure 11 is a schematic perspective view of a transition disk,
figure 12 is a schematic front view of a transition disc,
figure 13 is a schematic cross-sectional view of C-C of figure 12,
figure 14 is a schematic perspective structure view of the elastic connecting sleeve embodiment 1,
figure 15 is a front view schematic diagram of an embodiment 1 of the elastic connecting sleeve,
figure 16 is a schematic cross-sectional view of D-D of figure 15,
figure 17 is a schematic perspective structure view of the elastic connecting sleeve embodiment 2,
figure 18 is a schematic cross-sectional view of figure 17,
fig. 19 is a schematic sectional view of the elastic connecting sleeve embodiment 3.
In the figure: 1-frame, 2-loading motor, 3-speed reducer, 4-torque detector, 5-loading shaft, 501-loading shaft external spline, 6-grating support, 7-grating, 8-transition disc, 801-transition disc clamping step, 802-transition disc internal spline, 803-transition disc mounting hole, 9-tested piece, 901-tested piece mounting hole, 902-tested piece clamping step, 903-output disc, 904-mounting screw hole, 905-output shaft hole, 906-input shaft hole, 10-tested piece mounting seat, 11-input shaft, 12-coupler, 13-input motor, 14-rack, 15-guide rail, 16-locking device, 17-elastic connecting sleeve, 1701-elastic connecting sleeve, 1702-inner ring elastic piece, 1703-elastic connecting sleeve inner hole, 1704-elastic connecting sleeve body, 1705-disc spring, Mt-loading torque, M-input torque, l-torsion bar length.
Detailed Description
The invention is further described by the following specific embodiments in conjunction with the attached drawings:
when the performance test of the robot joint reducer is carried out, the torque and the corner need to be detected simultaneously, the loading shaft is rigidly connected with the output end of the robot joint reducer through a flange plate, the loading shaft applies the torque to the robot joint reducer, the torque and the corner of the loading shaft are measured through a torque sensor and a corner detection device which are installed on the loading shaft, and the torque and the corner of the robot joint reducer are detected indirectly. Because the part for detecting the rotating angle of the loading shaft is not arranged at the top end of the loading shaft but is at a distance from the output end of the robot joint reducer, namely the length of the part for detecting the rotating angle of the loading shaft from the output end of the robot joint reducer is l, the loading shaft can generate torsional deformation under the action of torque, and the rotating angle generated by the loading shaft is
As shown in fig. 1:
therefore, the rotation angle detected by the prior art and the real rotation angle of the output end of the robot joint reducer exist
The error of (2) is a rotation angle error when forward and reverse rotation detection is performed
When the torque is large, a larger rotational angle error will occur.
The robot joint reducer testing apparatus of the present invention is shown in fig. 2 to 5: the device is used for detecting technical parameters of angular transmission error, backlash, idle stroke, torsional rigidity, friction torque, running efficiency and the like of the robot joint reducer. The tested piece is a robot joint reducer, the loading piece is a loading shaft, the follower is a rotating part of a corner detection device, namely a corner detector, a grating sensor or a turntable marked with scales, the corner detection device is used for detecting a corner, the torque transmission connection device is a loading shaft external spline 501 and a matched internal spline, and the corner detection connection device is an elastic connection sleeve 17. The loading shaft is quickly connected with a rotating part of the robot joint reducer through the loading shaft external spline 501, so that torque transmission is realized; the rotation angle detection device is quickly connected with a rotating part of the robot joint reducer through the elastic connecting sleeve 17, so that the rotating part of the rotation angle detection device rotates along with the rotating part of the robot joint reducer, and the rotation angle of the robot joint reducer is detected by detecting the rotation angle of the elastic connecting sleeve. The mode of separating the rotation angle detection from the torque transmission can avoid the influence of the deformation of the loading shaft caused by the torsion on the rotation angle detection, so as to improve the rotation angle detection precision.
Robot joint reduction gear test equipment includes: the device comprises a rack 1, a loading motor 2, a speed reducer 3, a torque detector 4, a loading shaft 5, a grating support 6, a grating 7, a transition disc 8, a tested piece 9, a tested piece mounting seat 10, an input shaft 11, a coupling 12 and an input motor 13. The loading motor 2, the speed reducer 3 and the torque detector 4 are coaxially fixed on the rack 1, and the loading motor 2 can form a large torque after being reduced by the speed reducer 3 and drive the torque detector 4 and the loading shaft 5 to rotate. A rack 14 and two parallel guide rails 15 are arranged on the frame 1 along the axial direction of the loading motor 2, and a grating bracket 6, a tested piece mounting seat 10, a coupler 12 and an input motor 13 are sequentially arranged on the guide rails 15. The grating support 6, the tested piece mounting seat 10, the coupling 12 and the input motor 13 can be matched through a gear and a rack 14, slide on a guide rail 15 and are locked and fixed through a locking device 16. The grating 7 is rotatably mounted on the grating support 6, the grating 7 is axially connected with the elastic connecting sleeve 17 through a bolt, and the grating 7 can rotate on the grating support 6 along with the elastic connecting sleeve 17.
The loading shaft 5 is shown in fig. 9: the top of the loading shaft 5 is provided with a loading shaft external spline 501 or a key slot for realizing transmission connection with the transition disc 8 or the tested piece 9, transmitting the torque of the loading motor 2 to the tested piece 9 and detecting the torque through the torque detector 4.
The test object 9 is shown in fig. 10: the tested piece 9 is a robot joint reducer, and a tested piece mounting hole 901 for fixing is formed in the periphery of a shell of the tested piece 9; an input shaft hole 906 which is rotationally connected with the input shaft 11 is arranged on one side of the tested piece 9 and is rotationally connected with the input shaft 11 through a spline or a flat key; an output disc 903 or an output shaft is arranged on the other side of the tested piece 9, an installation screw hole 904 is formed in the output disc 903, a tested piece clamping positioning step 902 is arranged on the outer peripheral surface of the output disc 903, an output shaft hole 905 is formed in the center of the output disc 903, and part of the tested piece takes the output shaft hole 905 as a clamping positioning step.
Because the model of the tested piece 9 is numerous, the transition disc 8 is arranged at the rotation output end of the tested piece 9, and the rotation output end of the tested piece 9 is converted into the universal and unified transition disc 8, so that the tested pieces 9 of various models can be installed on the robot joint reducer testing equipment, and the adaptability of the robot joint reducer testing equipment is improved.
The transition disk 8 is shown in fig. 11 to 13: the transition disc 8 adopts a one-to-two structural mode, one side of the transition disc 8 is connected with the tested piece 9, and the other side of the transition disc 8 is connected with the loading shaft 5 and the elastic connecting sleeve 17. The inner ring of the transition disc 8 is connected with the loading shaft 5, and the outer ring of the transition disc 8 is connected with the elastic connecting sleeve 17, so that two independent non-interfering rotary connection modes are formed. The transition disc 8 is a disc, a transition disc clamping step 801 is arranged on the outer peripheral surface of the disc, a transition disc inner spline 802 is arranged in the central hole of the disc, and a transition disc mounting hole 803 is arranged on the disc surface.
The elastic connecting sleeve 17 in the embodiment 1 is shown in fig. 14 to 16: the elastic connecting sleeve 17 is disc-shaped and comprises: elastic connecting sleeve inner ring 1701 and elastic connecting sleeve inner hole 1703, elastic sheet 1702 is arranged on elastic connecting sleeve inner ring 1701. The elastic piece 1702 is arc-shaped, V-shaped or W-shaped, the elastic piece 1702 can be an integral elastic piece along the whole circle of the inner ring 1701 of the elastic connecting sleeve, or a plurality of elastic pieces 1702 can be uniformly distributed along the inner ring 1701 of the elastic connecting sleeve and fixed in a bolt or clamping manner.
The spring plate 1702 is made of spring steel or stainless steel, and the width range of the spring plate 1702 is 5-20 mm, and the thickness range is 0.5-2 mm.
Example 1 the attachment procedure is shown in figures 6 to 7:
1) the transition disk 8 is fixed to the output disk 903 with bolts so that the transition disk 8 can rotate together with the output disk 903.
2) The test piece 9 is fixedly mounted on the test piece mounting base 10, and the output disk 903 faces the loading shaft 5 and is coaxial with the loading shaft 5.
3) The grating bracket 6 is moved towards the mounting base 10 of the tested piece, so that the elastic connecting sleeve 17 is connected with the transition disc 8.
4) The test piece mounting seat 10 and the grating support 6 slide towards the loading shaft 5, so that the loading shaft external spline 501 passes through the inner hole 1703 of the elastic connecting sleeve and then is inserted into the transition disc internal spline 802.
The elastic sheets 1702 on the elastic connecting sleeve 17 are pressed on the clamping step 801 of the transition disc, and static friction force is generated between the elastic connecting sleeve 17 and the transition disc 8 by using the elastic force of the deformation of the elastic sheets 1702. Because the rotation friction force of the elastic connecting sleeve 17 is very small, the static friction force between the elastic connecting sleeve 17 and the transition disk 8 is enough to drive the elastic connecting sleeve 17 to rotate on the grating support 6. The grating 7 rotates along with the elastic connecting sleeve 17, and the photoelectric sensor in the grating 7 can detect the rotating angle. Because there is almost no torque between the elastic connecting sleeve 17 and the transition disk 8, there is no corner error caused by torque, so that the detection mode of separating corner detection and torque detection is realized, and the corner detection precision is improved.
When in detection: the input motor 13 drives the tested piece 9 to rotate, and the tested piece 9 outputs torque M on the output disc 903 after being decelerated by the gear set. Meanwhile, the loading motor 2 outputs a loading torque Mt through the speed reducer 3, the torque detector 4 and the loading shaft 5, and the loading torque Mt is opposite to the output torque M of the output disc 903 in direction and is used for balancing the output torque M. When the loading torque Mt balances the output torque M, the output disk 903 and the transition disk 8 no longer rotate. At the same time, the rotation angle of the elastic connection sleeve 17 detected by the grating 7 is the same as the rotation angle of the output disc 903. By the detection method and the device, the real torque and the real corner of the tested piece 9 can be detected, the influence of the torque on the corner detection can be eliminated, and the corner detection precision is improved.
Even if the elastic connecting sleeve 17 is not coaxial with the output disc 903, the elastic connecting sleeve 17 can generate small radial and axial displacements relative to the output disc 903 for compensation by utilizing the elastic deformation of the elastic sheet 1702, but can not generate the angular displacement relative to the output disc 903. Therefore, the quick elastic rotation connection mode can eliminate the additional force and moment generated by different shafts of the connecting part and accurately detect the rotation angle.
Example 2 as shown in fig. 17 to 18, the difference from example 1 is: the elastic connecting sleeve 17 is different from the elastic connecting sleeve 17 in embodiment 1 in structure, the elastic connecting sleeve 17 in embodiment 2 is disc-shaped, a disc spring 1705 is arranged on the side of the elastic connecting sleeve body 1704 facing the tested piece 9, when the elastic connecting sleeve 17 moves in the axial direction and is pressed on the output disc 903, the disc spring 1705 generates elastic deformation, the generated elastic force enables the elastic connecting sleeve 17 and the output disc 903 to generate static friction force, the elastic connecting sleeve 17 can rotate along with the output disc 903 by utilizing the static friction force, and the output rotation angle of the tested piece 9 is detected by detecting the rotation angle of the elastic connecting sleeve 17.
Example 3 as shown in fig. 19, the difference from example 2 is: the disc spring 1705 in embodiment 2 is replaced by a plurality of spring plates 1702 uniformly distributed on one side of the elastic connection sleeve body 1704 so as to reduce and control the axial elastic force, so that the influence of the axial elastic force on the rotation angle detection device is avoided.
In conclusion, the beneficial effects of the invention are as follows: the mode of separating the rotation angle detection and the torque transmission is adopted, so that the rotation angle detection is free from the influence of the torque. The rotation angle detection device is provided with the elastic connecting sleeve, the elastic connecting sleeve rotates along with the output component, and the rotation angle of the tested piece is detected by detecting the rotation angle of the elastic connecting sleeve. In addition, a torque transmission connecting device is arranged to connect the output component of the tested piece and the loading shaft to transmit torque, so that the torque and the rotation angle detection form an independent transmission channel, thereby eliminating the rotation angle error caused by the torque and improving the rotation angle detection precision. Meanwhile, the elastic connecting sleeve is connected with the rotating part of the tested piece in a radial or axial elastic connection mode, even if slight different axes exist, the elastic deformation of the elastic sheet can be utilized to generate small radial and axial displacement for compensation, so that the rotation angle can be accurately detected, and the additional force and moment generated by the different axes can be eliminated; therefore, the requirement on coaxiality is reduced, quick connection can be realized, the time required by connection is shortened, and the detection efficiency is improved.
The above embodiments are provided for illustrative purposes only and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should fall within the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (10)
1. A method for improving the rotation angle detection precision of robot joint reducer testing equipment utilizes a loading shaft to be in transmission connection with a tested piece to transmit torque, and utilizes a rotation angle detection device to be in rotation connection with the tested piece to detect a rotation angle, and is characterized in that: the rotation angle detection and the torque transmission are coaxially separated, so that the torque transmission and the rotation angle detection form an independent transmission channel, the rotation angle detection is not influenced by torque, and the rotation angle error caused by the torque is eliminated.
2. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 1, wherein the method comprises the following steps: the loading shaft is provided with a torque transmission connecting device which is connected with an output part of a tested piece, and the corner detection device is provided with a corner detection connecting device which is connected with the output part of the tested piece; the rotating part of the corner detection device rotates along with the output part of the tested piece, is independent of the loading shaft and can rotate relative to the loading shaft; the loading shaft applies torque, and the rotation angle detection device detects the rotation angle.
3. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 2, characterized in that: the output part of the tested piece is an output disc, and the corner detection connecting device is an elastic connecting sleeve; the elastic connecting sleeve is rotatably connected with the output disc, rotates along with the output component of the tested piece and can rotate relative to the loading shaft.
4. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 3, wherein: a transition disc is further arranged between the elastic connecting sleeve and the output disc, the transition disc is detachably connected with the output disc, and the elastic connecting sleeve and the transition disc are connected in an elastic rotating mode through an elastic piece.
5. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 4, wherein the method comprises the following steps: the elastic connecting sleeve is disc-shaped and is provided with an elastic connecting sleeve inner ring and an elastic connecting sleeve inner hole, and an elastic sheet is arranged on the elastic connecting sleeve inner ring; the transition disc clamping steps are arranged on the outer peripheral surface of the transition disc, the transition disc is pressed on the transition disc clamping steps through the elastic sheet, and the elastic connecting sleeve rotates along with the transition disc by utilizing static friction force between the elastic sheet and the transition disc clamping steps.
6. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 5, wherein: the elastic pieces are more than 3 arc-shaped metal pieces and are uniformly distributed on the inner ring of the elastic connecting sleeve.
7. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 6, wherein the method comprises the following steps: the elastic sheet is made of spring steel, the width range is 5-20 mm, and the thickness range is 0.5-2 mm.
8. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 4, wherein the method comprises the following steps: the elastic connecting sleeve is disc-shaped, an elastic piece is arranged on one side of the elastic connecting sleeve, which faces the tested piece, and the elastic connecting sleeve is connected with the tested piece in an elastic rotating mode through the elastic piece.
9. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 8, wherein: the elastic piece is more than 3 arc-shaped metal sheets and is uniformly distributed on one side of the elastic connecting sleeve, which faces the tested piece.
10. The method for improving the rotation angle detection accuracy of the robot joint reducer testing equipment according to claim 8, wherein: the elastic piece is a disc spring and is arranged on one side, facing the tested piece, of the elastic connecting sleeve along the axial direction.
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