CN207472565U - A kind of industrial robot decelerator trouble prognostic experiment system - Google Patents
A kind of industrial robot decelerator trouble prognostic experiment system Download PDFInfo
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- CN207472565U CN207472565U CN201721657270.5U CN201721657270U CN207472565U CN 207472565 U CN207472565 U CN 207472565U CN 201721657270 U CN201721657270 U CN 201721657270U CN 207472565 U CN207472565 U CN 207472565U
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- servo
- driver
- detection device
- retarder
- personal computer
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Abstract
A kind of industrial robot decelerator trouble prognostic experiment system, including driving device, retarder fixing device, load device, detection device, Embedded Motion and industrial personal computer.This system driving device includes AC servo motor and servo-driver, which is integrated with rotary encoder.Detection device includes current sensor, rotary encoder and data collecting card, and data collecting card is mounted on inside industrial personal computer.Industrial personal computer and detection device realize the corner and Rotating speed measring of servo motor current detecting and retarder output terminal.Industrial personal computer reads rotating speed, corner and the motor torque data of motor shaft by capture card from servo-driver simultaneously.Embedded Motion realizes the motion control of motor by servo-driver.Using the failure predication experimental system, can with analytical industry robot retarder drive gap and corresponding servo motor electric current, torque, rotating speed, corner relationship, so as to help development machines people's decelerator trouble prediction model.
Description
Technical field
Patent of the present invention is related to a kind of industrial robot decelerator trouble prognostic experiment system, is particularly suitable for based on sensing
The robot retarder remaining life prognostic experiment of device signal, belongs to mechanical failure prediction field.
Background technology
The transmission component of industrial robot is the pith of industrial robot.It is carried with to robot transmission precision
Height, harmonic speed reducer have become the main groups of reducers of robot use with RV retarders.Robot retarder is a kind of
In high precision, large transmission ratio, big bearing capacity retarder, but the performance technologies research of robot retarder is compared at home
Weakness has larger performance and technological disparity with external robot retarder, the failure predication of robot retarder is ground
Study carefully aspect important in inhibiting.
In recent years, it is imitated for the research of industrial robot retarder mainly for the deisgn product of harmonic speed reducer and transmission
The research of rate, invention (application publication number CN103925339A) invention devise the harmonic speed reducer with U-shaped groove key, invent
(application publication number CN105840765A) invents the tooth for devising harmonic speed reducer；For industrial robot retarder
Failure predication Platform Designing and method are actually rare.At home, the integral working of industrial robot retarder and external production
There is a big difference for product.The present invention needs to provide the corresponding experiment system that knows clearly for the failure predication experiment of industrial robot retarder
System.
Invention content
The utility model is the failure predication experiment porch for industrial robot retarder.It is acquired according to experimental system
Data can establish the failure predication model of robot retarder industrial robot retarder state is predicted.
To achieve the above object, the utility model is realized by following scheme：
A kind of industrial robot decelerator trouble prognostic experiment system, including driving device, retarder fixing device, load
Device, detection device, Embedded Motion and industrial personal computer.Driving device includes AC servo motor and servo-driver,
AC servo motor tail portion is integrated with rotary encoder.It is characterized in that：The AC servo motor input shaft and retarder input
Axis connection, reducer output shaft connection load device；Detection device includes current sensor, rotary encoder and data acquisition
Card, data collecting card are mounted on inside industrial personal computer.The data collecting card of the detection device is mounted on inside industrial personal computer, and with watching
Take driver, detection device rotary encoder and current sensor between have an electrical connection, the rotation of the detection device is compiled
Code device is connected in load rotary shaft, is rotated synchronously with load, and the current sensor of the detection device is mounted on AC servo
On motor power-supply wire, there is electrical connection between the Embedded Motion and servo-driver.Industrial personal computer and detection device
Realize the corner and Rotating speed measring of servo motor current detecting and retarder output terminal.Industrial personal computer simultaneously by capture card from
Servo-driver reads rotating speed, corner and the motor torque data of motor shaft.Embedded Motion passes through servo-driver
Realize the motion control of motor.
Industrial robot retarder described in the utility model can be RV retarders, harmonic speed reducer one of which.
It, can be with analytical industry robot retarder drive gap using failure predication experimental system described in the utility model
With corresponding servo motor electric current, torque, rotating speed, corner relationship, so as to help development machines people's decelerator trouble prediction model.
Description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention.
Shown in figure：1 it is industrial personal computer, 2 be Serve Motor Control cabinet, 3 be Embedded Motion, 4 is servo motor
Driver, 5 be current sensor, 6 be servo motor tail portion encoder, 7 be servo motor, 8 be servo motor fixing bracket, 9
It is industrial robot retarder for yielding coupling, 10,11 be retarder fixing bracket, 12 be load device, 13 is encoder
Fixing bracket, 14 be rotary encoder, 15 be experiment vibration-free tables, 16 be data collecting card conversion terminal, 17 servo motors driving
Device signal converting terminal.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with the accompanying drawings and specifically
Embodiment makes a detailed explanation specific embodiment of the present utility model.It should be appreciated that specific reality described herein
It applies example to be only used for explaining the utility model, not limiting the utility model.
With reference to the accompanying drawings shown in 1, a kind of industrial robot decelerator trouble prognostic experiment system including driving device, is slowed down
Device fixing device, load device, detection device, Embedded Motion and industrial personal computer.Driving device includes AC servo electricity
Machine 7 and servo-driver 4,7 tail portion of AC servo motor are integrated with rotary encoder 6, and detection device includes current sensor
5th, rotary encoder 14 and data collecting card, servo motor 7, industrial robot retarder 10 and rotary encoder 14 are all by solid
Fixed rack is mounted on experiment vibration-free tables 15, and the Embedded Motion 3 carries out exploitation design using STM32 controllers,
The AC servo motor input shaft is connected with reducer input shaft, reducer output shaft connection load device 12, the detection
The data collecting card of device be mounted on industrial personal computer 1 inside, and with servo-driver 4, the rotary encoder 14 and electricity of detection device
There is electrical connection between flow sensor 5, the rotary encoder 14 of the detection device is connected in load rotary shaft, with load 12
It rotates synchronously, the current sensor 5 of the detection device is mounted on AC servo motor power cord, the embedded movement control
There is electrical connection between device 3 and servo-driver 4 processed.
Industrial personal computer uses Windows XP systems, using Labview platform development acquisition softwares, by capture card from servo
Driver 4 read motor shaft rotating speed, corner and motor torque data, from current sensor 5 read current of electric data and from
Rotary encoder 14 reads the rotary speed data at 12 ends of load.Embedded Motion 3 realizes motor by servo-driver 4
Motion control.It, can be with analytical industry robot retarder drive gap and corresponding servo electricity using the failure predication experimental system
Electromechanical stream, torque, rotating speed, corner relationship, so as to help development machines people's decelerator trouble prediction model.
Industrial robot retarder in this specific embodiment is harmonic speed reducer.
The utility model embodiment only introduces its specific embodiment, does not lie in and limits its protection domain.This practicality is new
The range of type is defined by the claims.
Claims (2)
1. a kind of industrial robot decelerator trouble prognostic experiment system, including driving device, retarder fixing device, load dress
It puts, detection device, Embedded Motion and industrial personal computer, driving device include AC servo motor and servo-driver, inspection
It surveys device and includes current sensor, rotary encoder and data collecting card, it is characterized in that：The AC servo motor output shaft and
Reducer input shaft connects, and reducer output shaft connection load device, the data collecting card of the detection device is mounted on industry control
Inside machine, and with servo-driver, detection device rotary encoder and current sensor between have electrical connection, the detection
The rotary encoder of device is connected in load rotary shaft, is rotated synchronously with load, the current sensor peace of the detection device
On AC servo motor power cord, there is electrical connection between the Embedded Motion and servo-driver.
2. a kind of industrial robot decelerator trouble prognostic experiment system described in accordance with the claim 1, it is characterised in that：It is described
Industrial robot retarder can be RV retarders, harmonic speed reducer one of which.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721657270.5U CN207472565U (en) | 2017-11-17 | 2017-11-17 | A kind of industrial robot decelerator trouble prognostic experiment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721657270.5U CN207472565U (en) | 2017-11-17 | 2017-11-17 | A kind of industrial robot decelerator trouble prognostic experiment system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207472565U true CN207472565U (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721657270.5U Expired - Fee Related CN207472565U (en) | 2017-11-17 | 2017-11-17 | A kind of industrial robot decelerator trouble prognostic experiment system |
Country Status (1)
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| CN (1) | CN207472565U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110879142A (en) * | 2019-11-08 | 2020-03-13 | 昆明理工大学 | Single-degree-of-freedom articulated arm motion test bed |
| CN111337767A (en) * | 2020-02-25 | 2020-06-26 | 河北工业大学 | Resonant wave reducer fault analysis method |
| CN111693314A (en) * | 2020-07-01 | 2020-09-22 | 上海仪电智能科技有限公司 | Big data analysis based robot speed reducer fault detection system |
| CN112904200A (en) * | 2021-02-08 | 2021-06-04 | 河北工业大学 | Signal acquisition device based on motor current diagnosis harmonic speed reducer ware trouble |
| CN114136611A (en) * | 2021-12-01 | 2022-03-04 | 哈尔滨理工大学 | Gear reducer fault detection system |
-
2017
- 2017-11-17 CN CN201721657270.5U patent/CN207472565U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110879142A (en) * | 2019-11-08 | 2020-03-13 | 昆明理工大学 | Single-degree-of-freedom articulated arm motion test bed |
| CN111337767A (en) * | 2020-02-25 | 2020-06-26 | 河北工业大学 | Resonant wave reducer fault analysis method |
| CN111693314A (en) * | 2020-07-01 | 2020-09-22 | 上海仪电智能科技有限公司 | Big data analysis based robot speed reducer fault detection system |
| CN112904200A (en) * | 2021-02-08 | 2021-06-04 | 河北工业大学 | Signal acquisition device based on motor current diagnosis harmonic speed reducer ware trouble |
| CN114136611A (en) * | 2021-12-01 | 2022-03-04 | 哈尔滨理工大学 | Gear reducer fault detection system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180608 Termination date: 20181117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |