CN205940976U - Stagnant curve testing arrangement returns - Google Patents
Stagnant curve testing arrangement returns Download PDFInfo
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- CN205940976U CN205940976U CN201620649767.1U CN201620649767U CN205940976U CN 205940976 U CN205940976 U CN 205940976U CN 201620649767 U CN201620649767 U CN 201620649767U CN 205940976 U CN205940976 U CN 205940976U
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Abstract
The application discloses stagnant curve testing arrangement returns, including locking device, locking device includes the fitting pin, output tray and reduction gear frame, output tray is provided with a N first connecting hole, N is more than or equal to 1's integer, the reduction gear frame is provided with a M second connecting hole, M is more than or equal to 1's integer, the locking cone round pin inserts the second connecting hole through first connecting hole, through the fitting pin with output tray and the locking of reduction gear frame, fixed output tray, time stagnant curve measuring accuracy has been improved, the problem of measuring back stagnant curve precision can solved and the volume that reduces the equipment under many partitions.
Description
Technical field
The disclosure relates generally to test device field and in particular to decelerator transmission performance test device field, especially relates to
And a kind of snapback test device.
Background technology
The joint speed reducer being applied to robot field at present mainly has two kinds：One kind is RV decelerator, and one kind is harmonic wave
Decelerator.In revolute robot, RV decelerator belongs to cycloidal type precision speed reduction device, has higher rigidity and revolution essence
RV decelerator is typically placed on large arm and support heavy duty position, harmonic speed reducer is then placed on little in the design of robot by degree
Arm waist and hand, at all joint of robot, the kinematic accuracy of decelerator and performance directly affects the entirety of industrial robot
Service behaviour and service life.
Developing rapidly with modern industry, the production automation degree more and more higher of all trades and professions, industrial robot
More and more extensive with field, as the critical component of industrial robot, joint speed reducer will obtain wider demand.And
The kinematic accuracy of robot and operation precision control mainly to be determined by the precision of joint speed reducer, due to domestic decelerator
Research and produce just at the early-stage in recent years, active demand in research and production makees systematicness to the performance parameter of decelerator
The analysis of theory and practice and research.
In prior art, angular displacement sensor is arranged on output shaft, locks input shaft, snapback test result error
Than larger.
Utility model content
In view of drawbacks described above of the prior art or not enough it is desirable to provide that a kind of test snapback is accurate, under many deciles
The small volume of equipment snapback test device.
In a first aspect, snapback test device of the present utility model, including locking device, locking device includes locking
Pin, output panel and decelerator frame, output panel is provided with N number of first connecting hole, and N is the integer more than or equal to 1, and decelerator frame is arranged
There is M the second connecting hole, M is the integer more than or equal to 1, locking pin passes through the first connecting hole and inserts the second connecting hole.
Output panel and decelerator frame are locked by the technical scheme being provided according to the embodiment of the present application by locking pin, fixing
Output panel, improves the accuracy of snapback measurement, can solve the problem that the problem of measurement snapback precision and reduces many deciles
Under equipment volume.
Brief description
By reading the detailed description that non-limiting example is made made with reference to the following drawings, other of the application
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the front view of the snapback test device of embodiment of the present utility model；
Fig. 2 is the top view of snapback test device shown in Fig. 2；
Fig. 3 is the structural representation of the locking device of snapback test device of embodiment of the present utility model；
Fig. 4 is the structural representation of the output panel of the locking device of snapback test device of embodiment of the present utility model
Figure；
Fig. 5 is that the structure of the decelerator frame of the locking device of snapback test device of embodiment of the present utility model is shown
It is intended to.
Specific embodiment
With reference to the accompanying drawings and examples the application is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to this utility model.Further need exist for explanation
, for the ease of description, in accompanying drawing, illustrate only the part related to utility model.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.To describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Refer to Fig. 3, Fig. 4 and Fig. 5, snapback test device of the present utility model, including locking device, locking device
Including locking pin 30, output panel 60 and decelerator frame 70, output panel 60 is provided with N number of first connecting hole 61, and N is more than or equal to 1
Integer, decelerator frame 70 is provided with M the second connecting hole 71, and M is the integer more than or equal to 1, and locking pin 30 passes through first even
Connect hole 61 and insert the second connecting hole 71.
In embodiment of the present utility model, snapback locking device, including locking pin, output panel and decelerator frame,
Output panel is provided with N number of first locking hole, and N is the integer more than or equal to 1, and decelerator sets up and is equipped with M the second locking hole, and M is
Integer more than or equal to 1, locking pin passes through the first locking hole and inserts the second locking hole, by locking pin by output panel and decelerator
Frame is fixed together, thus locking output panel, records snapback accuracy higher.In prior art, in order to measure output
Snapback on the position of halving of end, carries out decile to output panel, and arranges locking hole in position of halving, when test request decile
When location comparison is many, needs the diameter increasing output panel just can accordingly increase the quantity of Along ent and locking hole, improve
Manufacturing cost, and in output panel diameter than in the case of larger, it is difficult to ensure that recording the accuracy of snapback.This practicality
Pass through in new embodiment to arrange locking hole in output panel and decelerator respectively, different the can be made by adjusting locking pin
One locking hole and the second different locking holes are locked, and the first locking hole and the second position connecting combination are exactly that M is multiplied by N
Kind, when needing to different output end position of halving X measurement snapback, using the method for greatest common divisor, to will
The position of halving asking measurement is split, and that is, X is multiplied by N equal to M, need not increase the diameter of output panel to measure position of halving,
Decrease manufacturing cost, decrease the volume of equipment, improve the accuracy of snapback measurement meanwhile.
Further, locking pin 30 is set to cone locking pin, and the first connecting hole 61 and the second connecting hole 71 are set to bore
Shape hole, cone locking pin 30 and bellmouth snap-fit.
In embodiment of the present utility model, locking pin is set to cone locking pin, the first locking hole and the second locking hole
It is set to bellmouth, cone locking pin and bellmouth snap-fit, by being designed to bellmouth and cone locking pin, as long as holes
Taper ratio consistent, the gap between the first locking hole and the second locking hole can be eliminated by this method.Thus improve
Measuring accuracy.Simultaneously adopt taper connect, the mismachining tolerance gap for hole is eliminated, and need not change locking pin, using than
More convenient, output panel and the locking of decelerator frame gapless can be made using bellmouth and cone locking pin simultaneously, eliminate corner
The error put, improves the accuracy of snapback test result.
Further, output panel 60 is fixed with output shaft 40, and decelerator frame 70 is fixed in frame.
Further, stator 50 and bolt 31 are also included, one end of stator 50 is hinged with output panel 60, stator 50
The other end dismountable with output panel 60 be fixedly connected, stator 50 is provided with through hole 51, and bolt 31 passes through through hole 51 and lock
Tight pin 30 is spirally connected.
In embodiment of the present utility model, also include stator and bolt, one end of stator is hinged with output panel, Gu
The other end of stator is dismountable with output panel to be fixedly connected, and stator is provided with through hole, and bolt is spirally connected through through hole with bolt,
When output panel and decelerator frame are locked by locking pin, stator is stuck in the outside of bolt, prevents locking pin from coming off, causes
Equipment or the damage of personnel, when needing to adjust fixed position, can pull down the side of stator, then extract locking
Pin, after adjusting, inserts locking pin to the first locking hole and the second locking hole, and fixes stator, operation is very square
Just.
With reference to Fig. 1 and Fig. 2, further, also include Mobile Slide, Mobile Slide includes the first carriage 10 and second
Carriage 20, the first carriage 10 arranges the first sliding platform 11 and gear 12, and gear 12 is fixed on by central shaft 121
In frame, the first sliding platform 11 arranges tooth bar 13, and tooth bar 13 and gear 12 engage,
Second carriage 20 arranges the second sliding platform 21, and the second sliding platform 21 arranges screw pair, leading screw spiral shell
Female secondary inclusion leading screw 22 and nut 23, nut 23 is fixed on the second sliding platform 21, and leading screw 22 is fixed in frame, decelerator
Frame 70 is fixed on the first sliding platform 11.
In embodiment of the present utility model, Mobile Slide, including the first carriage and the second carriage, first is sliding
Dynamic device arranges the first sliding platform and gear, and gear is fixed in frame by central shaft, the first sliding platform setting tooth bar,
Rack and pinion engages, and the first sliding platform is fixed with decelerator frame, when test, decelerator is fixed on decelerator and installs
On frame, the first sliding platform being fixed with tooth bar is made to move along a straight line along guide rail by rotate gear.Second carriage setting the
Two sliding platforms, the second sliding platform setting screw pair, screw pair includes leading screw and nut, and nut is fixed on second
On slide block, leading screw is fixed in frame, and the second sliding platform is fixed with input motor, input torque speed probe, by turning
Dynamic leading screw makes to be fixed with the second sliding platform of nut along guide rail linear motion it is ensured that the deceleration being fixed on the first sliding platform
Device center and the motor center being fixed on the second sliding platform are in same level position, when installing reductor, first
Sliding platform and the second sliding platform all move along a straight line in same level plane, ensure that decelerator and servomotor are same
Through-drive, improves the accuracy of test result, extends the service life of test machine.
Further, the first slide block 14 and the first guide rail 15 are also included, the first guide rail 15 is fixed in frame, the first slip
Platform 11 is fixedly connected with the first slide block 14, and the first slide block 14 and the first guide rail 15 are slidably connected.
In embodiment of the present utility model, also include the first slide block and the first guide rail, the first guide rail is fixed in frame,
First sliding platform and the first slide block are fixedly connected, and the first slide block and the first slide connect, and by rotate gear, drive solid
Fixed cogged first sliding platform motion, the first slide block slides over so that the first sliding platform is along first in the first guide rail
Guide rail move along a straight line it is ensured that the decelerator that is fixed on the first sliding platform move along a straight line in a horizontal plane it is ensured that
The stationarity of motion and kinematic accuracy, improve the measuring accuracy of test device.
Further, the second slide block 24 and the second guide rail 25 are also included, the second guide rail 25 is fixed in frame, the second slip
Platform 21 is fixedly connected with the second slide block 24, and the second slide block 24 and the second guide rail 25 are slidably connected.
In embodiment of the present utility model, also include the second slide block and the second guide rail, the second guide rail is fixed in frame,
Second sliding platform and the second slide block are fixedly connected, and the second slide block and the second slide connect, and by rotational lead screw, drive solid
Surely there is the second sliding platform motion of nut, the second slide block slides over so that the second sliding platform is along second in the second guide rail
Guide rail move along a straight line it is ensured that the motor that is fixed on the second sliding platform move along a straight line in a horizontal plane it is ensured that
The stationarity of motion and kinematic accuracy, improve the measuring accuracy of test device.
Further, the first guide rail 15 and the second guide rail 25 are same guide rail.
In embodiment of the present utility model, the first guide rail and the second guide rail are same guide rail, ensure that the first slide unit
Always consistent with the installation center of the second slide unit it is ensured that the axiality of test device.
Further, central shaft 121 is fixed in frame by bearing, and leading screw 22 is fixed in frame by bearing, in
Heart axle 121 is fixed with the first rotation hand wheel 122, and leading screw 22 is fixed with the second rotation hand wheel 221, straight line and silk that tooth bar 13 is located
Straight line parallel or coincidence that thick stick 22 is located.
In embodiment of the present utility model, leading screw be fixed in frame by bearing it is ensured that leading screw rotate steady
Property, improve the accuracy of test device test result.Central shaft is fixed with the first rotation hand wheel, by rotating the first rotation hand
Wheel drives central axis, can arrange, in the first rotation hand wheel, the angle that scale to control rotation, and then control the fortune of tooth bar
Dynamic distance, and then control move distance on the first guide rail for first sliding platform, improve the motion essence of the first sliding platform
Degree.Leading screw is fixed with the second rotation hand wheel, drives leading screw to rotate by rotating the second rotation hand wheel, can be in the second rotation hand wheel
Arrange scale to control the angle of rotation, and then the move distance of control nut, and then control the second sliding platform to lead second
Move distance on rail, improves the kinematic accuracy of the second sliding platform.After in fixing for decelerator test device, first rotate
First rotation hand wheel is so that the output shaft of decelerator and output torque rotational speed sensor are coaxially connected, so by shaft coupling
Shaft coupling is coaxially connected so that motor output shaft and reducer input shaft pass through to rotate the second rotation afterwards, the straight line that tooth bar is located
The straight line parallel that is located with leading screw or overlap it is ensured that in motion process, the output shaft of the input shaft of decelerator and motor begins
Eventually can coaxially connected it is ensured that the mobile accuracy of Mobile Slide, improve the accuracy of the test result of test device.
Further, input flange seat 80 and input shaft 41 are also included, input shaft 41 is connected with motor 90, and input shaft 41 is worn
Cross input flange seat 80 to be fixedly connected with reductor, input flange seat 80 is removably secured with decelerator frame 70 and is connected, input
Axle 41 is fixed with rotary encoder 91 and torque rotary speed sensor 92, and motor 90 and torque rotary speed sensor 92 are each attached to second
On sliding platform.
In embodiment of the present utility model, also include input flange seat and input shaft, input shaft and motor connection, input
Axle is fixedly connected through input flange seat with reductor, and input flange seat is removably secured with decelerator frame and is connected, decelerator
It is fixed between input flange seat and decelerator frame, input shaft is fixed with rotary encoder and torque rotary speed sensor, can survey
Determine torque rotary speed and the anglec of rotation of input shaft, for measuring the rotation of the input shaft under different moments of torsion and different position of halving
Angle, to make snapback, and motor and torque rotary speed sensor are each attached on the second sliding platform.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member is it should be appreciated that involved utility model scope is however it is not limited to the particular combination of above-mentioned technical characteristic in the application
Technical scheme, also should cover simultaneously without departing from described utility model design in the case of, by above-mentioned technical characteristic or its be equal to
Other technical schemes that feature is combined and is formed.Such as features described above is had with (but not limited to) disclosed herein
The technical scheme that the technical characteristic having similar functions is replaced mutually and formed.
Claims (10)
1. it is characterised in that including locking device, described locking device includes locking pin, output panel to snapback test device
With decelerator frame, described output panel is provided with N number of first connecting hole, and described N is the integer more than or equal to 1, described decelerator frame
It is provided with M the second connecting hole, described M is the integer more than or equal to 1, described locking pin passes through described first connecting hole and inserts institute
State the second connecting hole.
2. snapback test device according to claim 1 is it is characterised in that described locking pin is set to cone locking
Pin, described first connecting hole and described second connecting hole are set to bellmouth, described cone locking pin and described bellmouth clamping
Cooperation.
3. snapback test device according to claim 1 is it is characterised in that described output panel is fixed with output shaft,
Described decelerator frame is fixed in frame.
4. snapback test device according to claim 1 is it is characterised in that also including stator and bolt, described
One end of stator is hinged with described output panel, and the other end of described stator is dismountable with described output panel to be fixedly connected,
Described stator is provided with through hole, and described bolt is spirally connected through described through hole with described locking pin.
5. snapback test device according to claim 1 is it is characterised in that also include Mobile Slide, described movement
Slide unit includes the first carriage and the second carriage, and described first carriage arranges the first sliding platform and gear, institute
State gear to be fixed in frame by central shaft, described first sliding platform setting tooth bar, described tooth bar and the engagement of described gear,
Described second carriage arranges the second sliding platform, described second sliding platform setting screw pair, described leading screw
Pair of nut includes leading screw and nut, and described nut is fixed on described second sliding platform, and described leading screw is fixed in frame, institute
State decelerator frame to be fixed on described first sliding platform.
6. snapback test device according to claim 5 is led it is characterised in that also including the first slide block and first
Rail, described first guide rail is fixed in frame, and described first sliding platform is fixedly connected with described first slide block, and described first is sliding
Block and described first slide connect.
7. snapback test device according to claim 6 is led it is characterised in that also including the second slide block and second
Rail, described second guide rail is fixed in frame, and described second sliding platform is fixedly connected with described second slide block, and described second is sliding
Block and described second slide connect.
8. snapback test device according to claim 7 is it is characterised in that described first guide rail and described second is led
Rail is same guide rail.
9. snapback test device according to claim 5 is it is characterised in that described central shaft is fixed on by bearing
In frame, described leading screw is fixed in frame by bearing, and described central shaft is fixed with the first rotation hand wheel, and described leading screw is fixed
There is the second rotation hand wheel, the straight line parallel that the straight line that described tooth bar is located is located or overlap with described leading screw.
10. snapback test device according to claim 5 is it is characterised in that also include input flange seat and input
Axle, described input shaft and motor connection, described input shaft is fixedly connected through described input flange seat with reductor, described input
Flange seat is removably secured with described decelerator frame and is connected, and described input shaft is fixed with rotary encoder and torque rotary speed sensing
Device, described motor and described torque rotary speed sensor are each attached on described second sliding platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620649767.1U CN205940976U (en) | 2016-06-27 | 2016-06-27 | Stagnant curve testing arrangement returns |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620649767.1U CN205940976U (en) | 2016-06-27 | 2016-06-27 | Stagnant curve testing arrangement returns |
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| Publication Number | Publication Date |
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| CN205940976U true CN205940976U (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620649767.1U Active CN205940976U (en) | 2016-06-27 | 2016-06-27 | Stagnant curve testing arrangement returns |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
-
2016
- 2016-06-27 CN CN201620649767.1U patent/CN205940976U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN112917511B (en) * | 2019-12-06 | 2022-08-02 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
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| GR01 | Patent grant |