CN206347973U - A kind of accurate retarding machine transmission accuracy detection device - Google Patents
A kind of accurate retarding machine transmission accuracy detection device Download PDFInfo
- Publication number
- CN206347973U CN206347973U CN201621459745.5U CN201621459745U CN206347973U CN 206347973 U CN206347973 U CN 206347973U CN 201621459745 U CN201621459745 U CN 201621459745U CN 206347973 U CN206347973 U CN 206347973U
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- CN
- China
- Prior art keywords
- reductor
- detection device
- transmission accuracy
- accuracy detection
- servomotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000000979 retarding effect Effects 0.000 title claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The utility model provides a kind of accurate retarding machine transmission accuracy detection device, it is characterized in that, including servomotor and reductor, servomotor is connected by the input shaft of motor connecting base and reductor, servomotor can drive the input shaft of reductor to rotate, the output shaft of reductor connects Circular gratings by grating fixed disk, the output shaft of reductor can be with Circular gratings synchronous axial system, the housing of reductor is fixedly connected with the housing holding geo-stationary of grating reading head, grating reading head and reductor by reading head fixed disk.Accurate retarding machine transmission accuracy detection device of the present utility model can detect the angular transmission error drawn in one entire run cycle of reductor, and precision can reach larcsec.
Description
Technical field
The utility model is related to a kind of accurate retarding machine transmission accuracy detection device, belongs to automation equipment detection field.
Background technology
Accurate retarding machine is the important component of high-new intellectual technology industrial robot, and it is applied in the joint of industrial robot
On, the operational order for completing precision is the intermediate link of whole robot control.It is general that with angular transmission error, this refers to
Mark to weigh the transmission accuracy of reductor, this accurate retarding machine has very high transmission accuracy, and angular transmission error typically exists
Within 1arcmin, so it is also proposed very high requirement to corresponding detecting system precision.
The content of the invention
The purpose of this utility model is to provide a kind of accurate retarding machine transmission accuracy detection device, for detecting accurate deceleration
The transmission accuracy of machine.
In order to achieve the above object, the utility model provides a kind of accurate retarding machine transmission accuracy detection device, and it is special
Levy and be, including servomotor and reductor, the input shaft that servomotor passes through motor connecting base and reductor is connected, servo electricity
Machine can drive the input shaft of reductor to rotate, and the output shaft of reductor connects Circular gratings by grating fixed disk, reductor
Output shaft can be fixedly connected with grating reading head, light with Circular gratings synchronous axial system, the housing of reductor by reading head fixed disk
The housing of grid reading head and reductor keeps geo-stationary.
Preferably, servomotor is fixedly connected with motor connecting base with the housing of reductor.
Preferably, described servomotor is SGMJV-08ADA61 servomotors.
Preferably, described grating reading head is via subdivision box connection data processing terminal.
Preferably, described grating fixed disk is fixedly connected with the housing of reductor with reading head fixed disk.
Compared with prior art, the beneficial effects of the utility model are：
Accurate retarding machine transmission accuracy detection device of the present utility model, which can be detected, draws one entire run of reductor
Angular transmission error in cycle, and precision can reach 1arcsec.
Brief description of the drawings
Fig. 1 is accurate retarding machine transmission accuracy detection device assembling schematic diagram；
Fig. 2 is accurate retarding machine transmission accuracy detection device testing result curve map：Abscissa turns for output shaft in chart
Over-angle (unit：1 °), ordinate is transmission precision error (0.1 °=6arcmin of unit)
Embodiment
With reference to specific embodiment, the utility model is expanded on further.It should be understood that these embodiments are merely to illustrate this
Utility model rather than limitation scope of the present utility model.In addition, it is to be understood that reading the content of the utility model instruction
Afterwards, those skilled in the art can make various changes or modifications to the utility model, and these equivalent form of values equally fall within this Shen
Please appended claims limited range.
Embodiment
As shown in figure 1, the accurate retarding machine transmission accuracy detection device of the present embodiment includes servomotor 3 and reductor 1,
Servomotor 3 is fixedly connected with motor connecting base 2 with the housing of reductor 1.Servomotor 3 passes through motor connecting base 2 and reductor 1
Input shaft connection, servomotor 3 can drive the input shaft of reductor 1 to rotate, and the output shaft of reductor 1 is fixed by grating
Disk 7 connects Circular gratings 6, and the output shaft of reductor 1 can be consolidated with the synchronous axial system of Circular gratings 6, the housing of reductor 1 by reading head
Price fixing 4 is fixedly connected with grating reading head 5, and the housing of grating reading head 5 and reductor 1 keeps geo-stationary, the He of grating fixed disk 7
Reading head fixed disk 4 is fixedly connected with the housing of reductor 1.Grating reading head 5 is via subdivision box connection data processing terminal.Servo
Motor 3 is peace river SGMJV-08ADA61 servomotors.
By taking RV-40E-106 miniature precision speed reducer drive precision detection systems as an example：
As shown in figure 1, apolegamy peace river SGMJV-08ADA61 servomotors 3 are also that control is single as the input of detecting system
Member.20 incremental serial encoders that such servomotor 3 is carried, are 1arcsec equivalent to angular resolution, can meet inspection
Examining system permissible accuracy.The control reductor 1 of servomotor 3 realizes the action of stable and continuous, while gathering the input of decelerator 1
Axle rotational angle signal is to data processing terminal.Servomotor 3 is connected by motor connecting base 2 with the input shaft of reductor 1,
The axiality of the assembling seam of motor connecting base 2 is asked to reach within Φ 0.03mm.Simultaneously, it is necessary to the Injection Level in reductor 1
The Special lubricating grease of mounting means defined volume.
Next, apolegamy Reinshaw RESM20USA150 Circular gratings 6 are responsible for the output shaft that detecting system gathers reductor 1
Rotational angle signal.Circular gratings 6 are connected and synchronous axial system, such Circular gratings by grating fixed disk 7 with the output shaft of reductor 1
6 resolution ratio is 1.37arcsec, using taper location and installation, manual leveling is needed during installation, it can be ensured that data acquisition errors
Within ± 1.49arcsec.Grating reading head 5 is then fixed by the shell of reading head fixed disk 4 and reductor 1 and keeps quiet
Only.The rotational angle signal that grating reading head 5 is collected is supplied to number after segmenting box filtration treatment through SI-NN-0400-100 again
According to processing terminal.
Finally, the input shaft rotational angle θ in and output shaft rotation angle, θ out of the reductor 1 collected respectively are through slowing down
Than the difference θ er (units of the angle theoretical value after 1/R computing：arcsec)：
θ er=θ in/R- θ out
Speed reducer output shaft continuously rotates more than 360 °, intercepts this section and does data analysis, you can obtains an entire run
The angular transmission error in cycle.
Claims (5)
1. a kind of accurate retarding machine transmission accuracy detection device, it is characterised in that including servomotor (3) and reductor (1), watch
Take motor (3) to be connected with the input shaft of reductor (1) by motor connecting base (2), servomotor (3) can drive reductor
(1) input shaft is rotated, and the output shaft of reductor (1) connects Circular gratings (6) by grating fixed disk (7), reductor (1) it is defeated
Shaft can be fixedly connected with grating by reading head fixed disk (4) and read with Circular gratings (6) synchronous axial system, the housing of reductor (1)
Several (5), the housing of grating reading head (5) and reductor (1) keeps geo-stationary.
2. accurate retarding machine transmission accuracy detection device as claimed in claim 1, it is characterised in that servomotor (3) and subtract
The housing of fast machine (1) is fixedly connected with motor connecting base (2).
3. accurate retarding machine transmission accuracy detection device as claimed in claim 1, it is characterised in that described servomotor
(3) it is SGMJV-08ADA61 servomotors.
4. accurate retarding machine transmission accuracy detection device as claimed in claim 1, it is characterised in that described grating reading head
(5) via subdivision box connection data processing terminal.
5. accurate retarding machine transmission accuracy detection device as claimed in claim 1, it is characterised in that described grating fixed disk
(7) housing of reductor (1) is fixedly connected with reading head fixed disk (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621459745.5U CN206347973U (en) | 2016-12-28 | 2016-12-28 | A kind of accurate retarding machine transmission accuracy detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621459745.5U CN206347973U (en) | 2016-12-28 | 2016-12-28 | A kind of accurate retarding machine transmission accuracy detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206347973U true CN206347973U (en) | 2017-07-21 |
Family
ID=59323524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621459745.5U Expired - Fee Related CN206347973U (en) | 2016-12-28 | 2016-12-28 | A kind of accurate retarding machine transmission accuracy detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206347973U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108195580A (en) * | 2018-01-29 | 2018-06-22 | 西北工业大学 | A kind of buoyant raft vibration isolation gear train assembly vibration is transmitted and noise testing experimental rig |
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
| WO2020133471A1 (en) * | 2018-12-29 | 2020-07-02 | 深圳市优必选科技有限公司 | Rotation angle detection method and device |
-
2016
- 2016-12-28 CN CN201621459745.5U patent/CN206347973U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108195580A (en) * | 2018-01-29 | 2018-06-22 | 西北工业大学 | A kind of buoyant raft vibration isolation gear train assembly vibration is transmitted and noise testing experimental rig |
| WO2020133471A1 (en) * | 2018-12-29 | 2020-07-02 | 深圳市优必选科技有限公司 | Rotation angle detection method and device |
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 |