CN114323381A - Friction torque measuring device of rotary joint - Google Patents
Friction torque measuring device of rotary joint Download PDFInfo
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- CN114323381A CN114323381A CN202111509072.5A CN202111509072A CN114323381A CN 114323381 A CN114323381 A CN 114323381A CN 202111509072 A CN202111509072 A CN 202111509072A CN 114323381 A CN114323381 A CN 114323381A
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Abstract
The invention discloses a friction torque measuring device of a rotary joint, which consists of a torque sensor, a supporting seat, a measuring shafting, an upper tool, the rotary joint, a lower tool, a granite worktable, a driving shafting, a driving motor, a computer, an electric cabinet, a rack and special measuring software, wherein the granite worktable is arranged at the top of the rack; the measuring device can be used for precisely measuring the friction torque of a high-precision rotating component with a complex shape.
Description
Technical Field
The invention relates to the technical field of measurement of precision rotating parts, in particular to a measuring device for measuring friction torque of a rotating joint.
Background
The rotary joint is a major component of a robot or robotic arm. The flexibility and the precision of the rotary joint determine the positioning precision of the robot or the mechanical arm, and the friction torque is a main index for measuring the flexibility, so that the accurate measurement of the friction torque of the rotary joint becomes a necessary control means for measuring the flexibility of the rotary joint.
The rotary joint is composed of a reducer bearing and peripheral parts. Among them, there are many kinds of measuring devices reported for friction torque of a reducer bearing, and the measurement can be performed by various means such as a balance method, a transmission method, and an energy conversion method.
However, although the rotational flexibility of the rotary joint is related to the flexibility of the bearing, factors affecting the flexibility of the rotary joint are not only the bearing but also the rigidity of peripheral components, the fitting clearance, and the fitting. Therefore, the flexibility of the reducer bearing is only one factor affecting the flexibility of the rotary joint, but the flexibility of the whole part of the rotary joint cannot be determined sufficiently.
At present, the whole part of the rotary joint is difficult to accurately clamp and position due to the complex shape, so that a precise measuring device for the friction torque of the rotary joint is not provided, only rough judgment is carried out through some simple tensioners, and the flexibility of the whole part of the rotary joint is difficult to accurately evaluate.
Disclosure of Invention
In order to achieve the purpose, the invention adopts the technical scheme that:
a friction torque measuring device of a rotary joint comprises a torque sensor, a supporting seat, a measuring shaft system, an upper tool, the rotary joint, a lower tool, a granite worktable, a driving shaft system, a driving motor, a computer, an electric cabinet, a rack and special measuring software;
the granite worktable is arranged at the top of the frame, the supporting seat is arranged on the granite worktable, and the driving motor is arranged in the frame;
the measuring shaft system is fixedly connected with a shaft of the torque sensor, and a shell of the torque sensor is fixedly connected with the supporting seat;
the driving shaft system is fixed on the granite worktable, the tail end of an output shaft of the driving motor is in transmission connection with the driving shaft system through a coupler, the electric cabinet is respectively in electrical connection with the torque sensor, the driving motor and the computer, and a control circuit and a signal processing circuit are arranged in the electric cabinet.
Furthermore, a control circuit and a signal processing circuit are arranged in the electric cabinet, the electric cabinet can control the operation of a motor of the driving motor and process the signals of the sensor, and the signals are fed back to the computer, and special processing software in the computer processes the signals and displays the measurement results.
Furthermore, the driving shaft system with a low friction coefficient is selected, so that errors are reduced.
Furthermore, the inner joint of the rotary joint is installed on a precise low-friction measuring shaft system through an upper tool, and the outer joint of the rotary joint is fixed with a lower tool and driven by a driving motor through a high-rigidity driving shaft system.
Furthermore, the upper tool positioning hole and the lower tool positioning hole are concentric with the rotating shaft of the rotating joint respectively, and no additional moment is generated in the measuring process.
The working principle and the beneficial effects are as follows: the driving motor drives the outer joint of the rotary joint to rotate, the main shaft of the measuring shafting is fixed with the inner joint of the rotary joint and the torque sensor, the friction torque of the rotary joint is used as load torque and is transmitted to the torque sensor and the torque testing system through the measuring shafting due to the existence of the friction torque in the rotary joint assembly, the friction torque of the tested bearing assembly is converted into electric signals by the torque testing system, and the electric signals are amplified and filtered and then are sent to a computer for data processing, wherein the measuring shafting is a low-friction shafting, and the additional torque can be relatively ignored and does not affect the measuring result.
The measuring device can be used for precisely measuring the friction torque of a high-precision rotating component with a complex shape.
Drawings
FIG. 1 is a three-dimensional effect diagram of a rotary joint of the present invention;
FIG. 2 is a front view of the rotary joint of the present invention;
FIG. 3 is a top view of FIG. 2 of the present invention;
FIG. 4 is a diagram of a friction torque measuring device of a rotary joint;
fig. 5 is a tool structure view of the rotary joint.
In the above figures: 1. a revolute intra-articular joint; 2. a revolute joint outer joint; 3. a torque sensor; 4. a supporting seat; 5. measuring a shafting; 6. assembling a tool; 7. a rotary joint; 8. a lower tool; 9 granite working table; 10. a drive shaft system; 11. a drive motor; 12. a computer; 13. an electric cabinet; 14. and a frame.
Detailed Description
The invention will be better understood from the following examples.
Referring to fig. 1, fig. 2 and fig. 3, the rotary joint of the object to be measured is composed of an inner joint 1 and an outer joint 2, wherein the outer joint is distributed on both sides of the inner joint, one end or both ends of the outer joint can be connected with other parts through flange holes, and the inner joint can also be connected with other parts through flange holes.
As shown in the attached drawings 3 and 4, an inner joint 1 of a rotary joint 7 of a measured piece is installed on a precise low-friction measuring shaft system 5 through an upper tool 6 (the interference of the rotation of an outer joint on the upper tool 6 is avoided during design), the measuring shaft system 5 is fixed with a shaft of a torque sensor 3, a shell of the torque sensor 3 is fixed with a supporting seat 4, the torque sensor 3 belongs to a static torque sensor, and the measuring process is not rotated. The outer joint 2 of the rotary joint 7 is fixed with the lower tool 8 and then fixed with a high-rigidity driving shaft system 10, the driving shaft system 10 is fixed with a granite worktable 9 and a rack 14, and the driving shaft system 10 is fixed with a rotating shaft of a driving motor 11. The electric cabinet 13 and the computer 12 are located in a rack 14, and dedicated measurement software is installed in the computer 12.
The upper tool 6 avoids interference when the outer joint 2 rotates during design. The upper tool 6 is connected with the low-friction measuring shaft system 5 through a positioning hole, the lower tool 8 is connected with the driving shaft system 10 through a positioning hole, the positioning hole of the upper tool 6 and the positioning hole of the lower tool 8 are respectively concentric with the rotating shaft of the inner joint 1 of the rotary joint 1, and no additional moment is generated in the measuring process.
During measurement, the driving motor 11 drives the outer joint 2 of the rotary joint 1 to rotate, the main shaft of the measuring shaft system 5 is fixed with the inner joint 1 of the rotary joint and the torque sensor 3, and due to the existence of the friction torque inside the rotary joint 7 component, the friction torque of the rotary joint 7 is used as a load torque and is transmitted to the torque sensor 1 and the torque testing system through the measuring shaft system 5. The torque testing system converts the friction torque of the rotary joint 7 into an electric signal, the electric signal is amplified and filtered and then sent to the computer 12 for data processing, so that a friction torque measurement result of the rotary joint 7 can be obtained, and the measurement result is displayed in a measurement interface of special measurement software. The measurement shafting 5 is a low-friction shafting, and the additional torque can be relatively ignored, so that the measurement result is not influenced.
Claims (5)
1. A friction torque measuring device of a rotary joint is characterized in that: the device is composed of a torque sensor (3), a supporting seat (4), a measuring shaft system (5), an upper tool (6), a rotary joint, a lower tool (8), a granite workbench (9), a driving shaft system (10), a driving motor (11), a computer (12), an electric cabinet (13), a rack (14) and special measuring software;
the granite worktable (9) is arranged at the top of the rack (14), the supporting seat (4) is arranged on the granite worktable (9), and the driving motor (11) is arranged in the rack (14);
the measuring shaft system (5) is fixedly connected with the shaft of the torque sensor (3), and the shell of the torque sensor (3) is fixedly connected with the supporting seat (4);
the driving shaft system (10) is fixed on the granite worktable (9), the tail end of an output shaft of the driving motor (14) is in transmission connection with the driving shaft system (10) through a coupler, the electric cabinet (13) is electrically connected with the torque sensor (3), the driving motor (11) and the computer (12) respectively, and a control circuit and a signal processing circuit are arranged in the electric cabinet (13).
2. A friction torque measuring device of a rotary joint according to claim 1, characterized in that: the electric cabinet (13) is internally provided with a control circuit and a signal processing circuit, can control the operation of a motor of the driving motor and process the signals of the sensor, and feeds the signals back to the computer, and special processing software in the computer processes the signals and displays the measurement results.
3. A friction torque measuring device of a rotary joint according to claim 1, characterized in that: the driving shaft system (10) is a driving shaft system with low friction coefficient.
4. A friction torque measuring device of a rotary joint according to claim 1, characterized in that: the inner joint of the rotary joint is arranged on a precise low-friction measuring shaft system (10) through an upper tool (6), and the outer joint of the rotary joint is fixed with a lower tool (8) and driven by a driving motor (11) through a high-rigidity driving shaft system (10).
5. A friction torque measuring device of a rotary joint according to claim 1, characterized in that: the positioning hole of the upper tool (6) and the positioning hole of the lower tool (8) are respectively concentric with the rotating shaft of the rotating joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111509072.5A CN114323381A (en) | 2021-12-10 | 2021-12-10 | Friction torque measuring device of rotary joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111509072.5A CN114323381A (en) | 2021-12-10 | 2021-12-10 | Friction torque measuring device of rotary joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114323381A true CN114323381A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111509072.5A Pending CN114323381A (en) | 2021-12-10 | 2021-12-10 | Friction torque measuring device of rotary joint |
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| CN (1) | CN114323381A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201600209U (en) * | 2009-12-25 | 2010-10-06 | 洛阳轴研科技股份有限公司 | Device for measuring start-up frictional torque of joint bearing |
| CN104677545A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Integral torque detection device for rotary joint of space manipulator |
| CN111094922A (en) * | 2017-08-30 | 2020-05-01 | 佳能株式会社 | Force sensor, torque sensor, force sensing sensor, fingertip force sensor, and method for manufacturing same |
| CN214702576U (en) * | 2021-04-02 | 2021-11-12 | 洛阳博盈轴承有限公司 | Shafting friction torque measuring instrument |
-
2021
- 2021-12-10 CN CN202111509072.5A patent/CN114323381A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201600209U (en) * | 2009-12-25 | 2010-10-06 | 洛阳轴研科技股份有限公司 | Device for measuring start-up frictional torque of joint bearing |
| CN104677545A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Integral torque detection device for rotary joint of space manipulator |
| CN111094922A (en) * | 2017-08-30 | 2020-05-01 | 佳能株式会社 | Force sensor, torque sensor, force sensing sensor, fingertip force sensor, and method for manufacturing same |
| US20200173869A1 (en) * | 2017-08-30 | 2020-06-04 | Canon Kabushiki Kaisha | Force sensor, torque sensor, force-sense sensor, fingertip-force sensor, and method of manufacturing the same |
| CN214702576U (en) * | 2021-04-02 | 2021-11-12 | 洛阳博盈轴承有限公司 | Shafting friction torque measuring instrument |
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