CN209624050U - A kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed - Google Patents
A kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed Download PDFInfo
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- CN209624050U CN209624050U CN201920301272.3U CN201920301272U CN209624050U CN 209624050 U CN209624050 U CN 209624050U CN 201920301272 U CN201920301272 U CN 201920301272U CN 209624050 U CN209624050 U CN 209624050U
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- 239000003638 reducing agent Substances 0.000 title claims abstract description 77
- 230000003252 repetitive Effects 0.000 title claims abstract description 20
- 230000001808 coupling Effects 0.000 claims abstract description 22
- 238000010168 coupling process Methods 0.000 claims abstract description 22
- 238000005859 coupling reaction Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 7
- 230000037250 Clearance Effects 0.000 description 6
- 230000035512 clearance Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 229910001018 Cast iron Inorganic materials 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000051 modifying Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009661 fatigue test Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
- 230000002035 prolonged Effects 0.000 description 1
Abstract
The utility model discloses a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-beds, including platform, mobile mechanism is disposed on platform, motor base, support base, angular encoder, driving motor passes through shaft coupling, it is connect with the input terminal of the first torque sensor, the output end of first torque sensor passes through shaft coupling, it is connect with the input terminal of subject harmonic speed reducer, the input terminal of the output end and angular encoder that are tested harmonic speed reducer connects, the output end of angular encoder passes through shaft coupling, it is connect with the input terminal of the second torque sensor, the output end of second torque sensor passes through shaft coupling, it is connect with the input terminal of examination harmonic speed reducer is accompanied, the output end of examination harmonic speed reducer is accompanied to connect loading motor by shaft coupling.With equipment precision height, the advantages of wide coverage, automation and intelligentification, diversified loading method.
Description
Technical field
The utility model relates to harmonic speed reducer technical field more particularly to a kind of harmonic reducer of robot resettings
Accuracy measuring device.
Background technique
Harmonic speed reducer often works under low speed, underloading, the operating condition of airtight space, it is difficult to effective lubricating oil film is formed,
Increase the abrasion between contact surface and the frictional resistance of contact surface.The transmission efficiency of harmonic speed reducer is directly influenced, so that
Transmission efficiency decline.The aggravation of the abrasion of each contact site can expand the gap between flank and components simultaneously, thus into one
Step influences the idle running return difference of harmonic speed reducer, so that transmission accuracy declines.Finally with use the time increase harmonic speed reducer fortune
Dynamic precision will significantly reduce.
Idle running, back clearance, rigidity, driving error test require to measure minute angle, according to standard requirements, back clearance
Test requirements document measures input terminal angle, and driving error test, which needs to measure, outputs and inputs angle, and stiffness test needs to test defeated
Outlet angle.Conventional method is tested using optical dividing head or raster pattern transmission chain error tester, but its price is very high
It is expensive, it is inconvenient using installation；General angular encoder is extremely difficult to second level angle test again.
Utility model content
The purpose of this utility model is that providing a kind of harmonic reducer of robot repetition in view of the deficiencies of the prior art
Positioning accuracy measuring test-bed, by the repetitive positioning accuracy to harmonic reducer of robot, including idle running, back clearance, transmission is missed
The equipment is developed in the measurement of poor three aspects.
In order to achieve the above objectives, the utility model is achieved through the following technical solutions.
A kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed, including platform are disposed on platform
Mobile mechanism, motor base, support base, harmonic reducer of robot repetitive positioning accuracy measuring test-bed further include:
Angular encoder；
Driving motor is connect, the output of the first torque sensor by shaft coupling with the input terminal of the first torque sensor
End connect with the input terminal of subject harmonic speed reducer by shaft coupling, is tested the output end and angular encoder of harmonic speed reducer
Input terminal connection, the output end of angular encoder connect by shaft coupling with the input terminal of the second torque sensor, the second torsion
The output end of square sensor is connect by shaft coupling, with the input terminal of examination harmonic speed reducer is accompanied, and accompanies the output of examination harmonic speed reducer
End connects loading motor by shaft coupling.It is connected using shaft coupling, to reduce concentricity requirement, guarantee test platform runs smoothly；
Further, the torque sensor input terminal has the shaft type torque sensor of double-range function, and output end is adopted
With strain-type torque sensor.
Further, the driving motor, loading motor, detected harmonic reducer, the high speed rotation for accompanying examination harmonic speed reducer
Transfer part position installation safty shield,
Further, thickness >=2mm of the safty shield is firm reliable；Testing stand is equipped with closing, monoblock type peace
Full protection cover can play effective security protection effect to the operating area of testing stand, need often to operate or safeguard
Should carry out can operational design for position.It can select according to actual needs.
Further, the subject harmonic speed reducer is connected as absolute rigidity with the angular encoder and connect.
Further, the support base includes the first torque sensor pedestal for supporting the first torque sensor, support quilt
It tries the first support base of harmonic speed reducer, the angular encoder pedestal of support angle encoder, support the second torque sensor
Second torque sensor pedestal, support accompany the second support base of examination harmonic speed reducer.
Further, the harmonic reducer of robot repetitive positioning accuracy measuring test-bed further includes digital control system, touching
Touch screen, electric-control system, the torque feedback that first torque sensor and the second torque sensor will test to digital control system
In, gap that angular encoder will test, angular values are fed back into electric-control system.
Further, the precision of the angular encoder is ± 1.91 rads.
The principles of the present invention are PLC programming dummy robot's operation conditions, write procedure auto-control by PLC
Driving and loading motor completion are test requirements document accordingly, and testing stand controls revolving speed by driving motor, and loading motor control is turned round
Square, load torque needed for applying fatigue test to subject retarder, is run by prolonged loading, to complete retarder
Testing fatigue, reach the retarder occur it is damaged after, the testing stand autostop, digital control system records service life,
And export survey report.
Compared with prior art, the utility model has the beneficial effects that using high-precision raster pattern angle sensor technology.It is small
The detection accuracy of backlash and angle depends not only on high-precision angular encoder, and compiles with subject harmonic speed reducer and angle
The manufacture and installation and debugging of code device mounting tool component are inseparable, and it is exhausted that subject harmonic speed reducer connect guarantee with angular encoder
To rigid connection, to guarantee that angular encoder accurately reflects the small torsional angle variation of retarder.High-precision angle encoder,
Precision is ± 1.91 rads.
Equipment precision is high: idle running≤1 arc point, back clearance≤10 second of arcs, driving error≤30 second of arcs；
Wide coverage: harmonic speed reducer during the test, by 2000~3000r/ of servo motor velocity modulation
Min can cover the test of CS series, CD series, HS series, HD series of harmonics retarder model currently on the market.Meet domestic
Professional standard provides testing requirements.
Automation and intelligentification: it is operated 2 hours under specified revolving speed, data is then observed and recorded, in the difference of timing
Harmonic speed reducer after period test adjustment, the automatic variation for comparing different time segment data.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model become from the description of the embodiment in conjunction with the following figures
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the testing stand mechanical part perspective view of the utility model；
Fig. 2 is the system block diagram of the utility model；
Fig. 3 is the actual motion error curve diagram of embodiment 2 in the utility model；
Fig. 4 is torque-angle curve figure of embodiment 3 in the utility model；
Description of symbols
Platform 1, X-direction mobile mechanism 2；Motor base 3；First torque sensor 41；Second torque sensor 42；First
Torque support seat 51；Second torque support seat 52；It is tested harmonic speed reducer 61；Accompany examination harmonic reduction 62；The support of first retarder
Seat 71；Second retarder support base 72；Driving motor 11；Loading motor 12；Shaft coupling 13；Angular encoder 14；Angular coding
Device pedestal 15.
Specific embodiment
The utility model is further described With reference to embodiment.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if there is the finger such as term " on ", "lower", "left", "right", "top", "bottom", "inner", "outside"
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the utility model and
Simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construction
And operation, therefore the terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent.
In addition, if there is the terms such as " first ", " second " to be used for description purposes only, be mainly used for distinguishing different devices,
Element or component (specific type and construction may identical may also be different), is not intended to show or implies indicated fill
It sets, the relative importance and quantity of element or component, and should not be understood as indicating or implying relative importance.
The utility model is further detailed below with attached drawing, but the embodiment in attached drawing is not constituted pair
The limitation of this programme, we select speed ratio 1:3 planetary reduction gear to be used as and accompany examination harmonic speed reducer.
Embodiment 1
As shown in Figs. 1-2, a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed, including platform 1, platform
On be disposed with X-direction mobile mechanism 2, motor base 3, support the first torque sensor 41 the first torque support seat 51,
Support the second torque support seat 52 of the second torque sensor 42, the first retarder support base of support subject harmonic speed reducer 61
71, the second retarder support base 72, angular encoder 14, the angular encoder pedestal 15 of examination harmonic speed reducer 62, machine are accompanied in support
Device people's harmonic speed reducer repetitive positioning accuracy measuring test-bed further include:
Driving motor 11 is connect, the first torque sensor by shaft coupling 13 with the input terminal of the first torque sensor 42
42 output end connect with the input terminal of subject harmonic speed reducer 61 by shaft coupling 13, is tested the output of harmonic speed reducer 61
End is connect with the input terminal of angular encoder 14, and the output end of angular encoder 14 is by shaft coupling 13, with the second torque sensing
The input terminal of device 42 connects, and the output end of the second torque sensor 42 tries the defeated of harmonic speed reducer 62 with accompanying by shaft coupling 13
Enter end connection, the output end of examination harmonic speed reducer 62 is accompanied to connect loading motor 12, the first torque sensor 41 by shaft coupling 13
The torque feedback that will test with the second torque sensor 42 into digital control system, gap that angular encoder 14 will test,
Angular values are fed back into digital control system.
It is T-slot cast iron platform used in platform 1 in the present embodiment, material HT250, size is not less than 3000mm*
1000mm*150mm, rack range difference size can be adjusted accordingly, and each component consolidates, is securely fixed in T-slot on testing stand
Cast iron platform, it is smooth running, reliable.It can select according to the actual situation.
It is tested harmonic speed reducer mounting assembly and uses precision machined transition plate structure, difference subject harmonic speed reducer only needs
The different transition plates being mounted in retarder L-type support are replaced, subject harmonic speed reducer installation is accurately positioned excessive by the installation
Plate guarantees, thus requirement and efficiency when enormously simplifying different subject harmonic speed reducer replacement installations.
The driving motor 11 of whole testing stands, tested retarder 61, accompanies the high speeds such as examination retarder 62 to revolve at loading motor 12
Transfer part position installation safty shield, thickness are not less than 2mm；
Torque display instrument is respectively arranged on first torque sensor and the second torque sensor, the torque is aobvious
Show that instrument is connect with the digital control system.The torque signal that torque display instrument will test passes to digital control system, by numerical control
System acquisition signal simultaneously records information.
Wherein, the revolving speed of the driving motor 11 is continuously adjustable from 0r/min-3000r/min；
In the present embodiment, the power of driving motor 11: 1.7KW, rated speed: 3000RPM, nominal torque: 5.4Nm,
Maximum speed: 5000RPM；The power of loading motor 12: 5.2KW, rated speed: 380RPM, nominal torque: 124Nm, highest
Revolving speed: 5000PM.Load end is turned round by accompanying examination harmonic speed reducer to slow down to rise, and the torque of output end reaches 300Nm or more.
Wherein, described that examination harmonic reduction 62 is accompanied to be located between subject 61 output end of harmonic speed reducer and loading motor 12.Cause
Big for robot retarder reduction ratio, output revolving speed low (50RPM or less), torque are big, are loaded directly into the torsion of its loading motor 12
Square is larger, and greatly improves cost, therefore increases by one between subject 61 output end of harmonic speed reducer and loading motor 12 and accompany
Examination harmonic reduction 62 reduces torque to improve revolving speed, it is possible to selecting lesser loading motor 12 to reduce cost, but not
It is limited to this.It is connected and is tested back-to-back with the retarder of two same subject harmonic speed reducers 61 or suitable speed ratio, accompany examination
Harmonic reduction 62 is used as speed increaser, and low speed is risen to and has saved examination with input terminal same rotational speed so as to avoid heavy load is selected
The deployment cost of platform is tested, but not limited to this.
Wherein, the driving motor 11, loading motor 12, subject harmonic speed reducer 61, the high speed for accompanying examination harmonic reduction 62
Rotation portion installs safty shield, thickness >=2mm.
PLC programs dummy robot's operation conditions, writes procedure auto-control driving and loading motor completion by PLC
It is test requirements document, such as back clearance test, driving error test, idle running test accordingly.It is subject to matching load, passes through essence
True servo motor driven, digital control system, which accurately controls, completes the harmonic speed reducer repetition that various regular sizes are tested in various work
Positioning accuracy, and inspection result is automatically recorded, export survey report.
The control of operating condition can be carried out by PLC or be realized by the host computer of industrial personal computer, and load is by negative
It carries motor or other load equipments and carries out load control to fast device is tested.
Embodiment 2
Harmonic speed reducer during the test, by 11 2000~3000r/min of velocity modulation of driving motor, specified
It is operated 2 hours under revolving speed, then observes and records data, be able to achieve the harmonic wave after the different time sections test adjustment of timing and subtract
Fast device, the function of the automatic variation for comparing different time segment data.
This test is completed on JQR-CD-800 robot retarder driving error, back clearance testing stand；Testing stand is being tested
Harmonic speed reducer input and output side is rigidly equipped with the detection input and output angle of High-precision angle encoder with high precision
Variation；Retarder slowly runs when test, and digital control system fast, accurately detects input and output side angle, and calculates pair
Input terminal angle change output end angle change error is answered, while real-time display goes out the angle of all angles in one turn (output end)
Change curve；To obtain retarder driving error value.Actual motion error curve is as shown in Figure 3.
The subject harmonic speed reducer model RV320E tested；The driving error of test result is 27.26 rads.
Embodiment 3
This test is completed on JQR-JZ robot retarder rigidity, idle running testing stand；When test, it is tested harmonic speed reducer
Input terminal is fixed, and output end provides the load of AC servo feedback electricity.Load since -100% amount torque, gradually load until
+ 100% amount torque, then Opposite side loading returns to -100% amount torque；Digital control system detects and draws torque-angle curve
It is as shown in Figure 4:
The subject harmonic speed reducer model RV320E tested
Test result is 0.476 jiao point of idle running (when ± 3% amount torque)；
Spring constant is the angle 424.972N.m/ point；
According to formula " retarder precision=idle running+driving error " can be calculated retarder precision be 0.476 rad+
0.4543 rad=0.9303 rad.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (9)
1. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed, including platform, shifting is disposed on platform
Motivation structure, motor base, support base, which is characterized in that harmonic reducer of robot repetitive positioning accuracy measuring test-bed is also wrapped
It includes:
Angular encoder；
Driving motor is connect by shaft coupling with the input terminal of the first torque sensor, and the output end of the first torque sensor is logical
Cross shaft coupling, with subject harmonic speed reducer input terminal connect, be tested harmonic speed reducer output end and angular encoder it is defeated
Enter end connection, the output end of angular encoder is connect by shaft coupling with the input terminal of the second torque sensor, and the second torque passes
The output end of sensor is connect by shaft coupling, with the input terminal of examination harmonic speed reducer is accompanied, and accompanies the output end of examination harmonic speed reducer logical
Cross shaft coupling connection loading motor.
2. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In the torque sensor input terminal has the shaft type torque sensor of double-range function, and output end is passed using strain-type torque
Sensor.
3. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In the driving motor, loading motor, detected harmonic reducer, the high speed rotation position installation safety for accompanying examination harmonic speed reducer
Shield.
4. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 3, feature exist
In thickness >=2mm of the safty shield.
5. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In the subject harmonic speed reducer is connected as absolute rigidity with the angular encoder and connect.
6. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In the support base includes the first torque sensor pedestal for supporting the first torque sensor, support subject harmonic speed reducer
First support base, support angle encoder angular encoder pedestal, support the second torque sensor the second torque sensor
Pedestal, support accompany the second support base of examination harmonic speed reducer.
7. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In, the harmonic reducer of robot repetitive positioning accuracy measuring test-bed further include digital control system, touch screen, electric-control system,
For the torque feedback that first torque sensor and the second torque sensor will test into digital control system, angular encoder will
The gap that detects, angular values are fed back into electric-control system.
8. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1, feature exist
In the precision of the angular encoder is ± 1.91 rads.
9. a kind of harmonic reducer of robot repetitive positioning accuracy measuring test-bed according to claim 1-8,
It is characterized in that, harmonic reducer of robot experiment on fatigue properties platform uses precision machined transition plate structure.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917512A (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 device |
| 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 |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
| EP3982103A1 (en) * | 2020-10-12 | 2022-04-13 | Tung Pei Industrial Co., Ltd. | Reducer angular transmission accuracy tester |
| WO2022105458A1 (en) * | 2020-11-20 | 2022-05-27 | 北京工业大学 | Precision retentivity and fatigue life testing device for rv reducer |
-
2019
- 2019-03-08 CN CN201920301272.3U patent/CN209624050U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917512A (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 device |
| 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 |
| EP3982103A1 (en) * | 2020-10-12 | 2022-04-13 | Tung Pei Industrial Co., Ltd. | Reducer angular transmission accuracy tester |
| WO2022105458A1 (en) * | 2020-11-20 | 2022-05-27 | 北京工业大学 | Precision retentivity and fatigue life testing device for rv reducer |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
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