CN210665046U - Harmonic reducer comprehensive precision testing machine - Google Patents
Harmonic reducer comprehensive precision testing machine Download PDFInfo
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- CN210665046U CN210665046U CN201921568002.5U CN201921568002U CN210665046U CN 210665046 U CN210665046 U CN 210665046U CN 201921568002 U CN201921568002 U CN 201921568002U CN 210665046 U CN210665046 U CN 210665046U
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Abstract
The utility model discloses a harmonic reducer comprehensive precision testing machine, which comprises a robot, a load part, a position detection device, a controller and a processor, wherein the robot is provided with a joint for mounting a harmonic reducer to be tested; the tail end of the robot is provided with a load part to simulate a rated load, and the controller controls the robot to start from an initial position at a rated speed, pass through a limit position and then return to a test position; the position detection device detects actual position information when the robot returns to a test position, and the processor compares theoretical position information and actual position information of the robot which returns to the test position after starting from an initial position and passing through a limit position according to a rated speed to obtain the comprehensive precision of the harmonic reducer. The utility model discloses simulate actual operating condition and come to test harmonic reducer's comprehensive precision, calculate harmonic reducer comprehensive precision according to the test data that obtain, ensured the accuracy of synthesizing precision test result.
Description
Technical Field
The utility model relates to a harmonic reducer synthesizes precision test technical field, especially relates to a harmonic reducer synthesizes precision test machine.
Background
Under the large background of 4.0 of the international intelligent manufacturing industry, industrial robots are more and more widely applied. The harmonic reducer is used as a key part of an industrial robot, and the performance of the harmonic reducer directly influences the performance of the whole robot. In the production and processing process of the harmonic reducer, the functional performance, rigidity, transmission comprehensive precision and the like of the harmonic reducer are generally required to be tested. Although a plurality of parameters of the harmonic reducer can be obtained after tests such as functional performance test, rigidity test, transmission comprehensive precision test and the like; however, even if the obtained parameters all meet the preset standard, the comprehensive accuracy of the harmonic reducer cannot be equal to the comprehensive accuracy of the harmonic reducer, and the harmonic reducer is qualified, the harmonic reducer is often required to be actually verified under the conditions of rated load, rated rotating speed and limit position, and the comprehensive accuracy of the harmonic reducer can be confirmed to be qualified only if the comprehensive accuracy of the harmonic reducer still meets the requirements under the conditions.
At the present stage, the comprehensive precision test of the harmonic reducer is only simple measurement, the comprehensive precision of the harmonic reducer is evaluated by means of the working state of the harmonic reducer in the test process, the motion data of the harmonic reducer in the actual tool state are not measured, the specific measurement data are used as the calculation basis of the comprehensive precision, and the problems of strong subjectivity of the comprehensive precision test result and inaccurate test result exist.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a harmonic reducer synthesizes precision test machine, it can simulate actual operating condition and synthesize the precision test to harmonic reducer ware to obtain the high comprehensive precision test result of accuracy.
In order to achieve the purpose, the utility model discloses a harmonic reducer comprehensive precision testing machine, which comprises a machine table, a robot, a load part, a controller, a position detection device and a processor; the robot is provided with a plurality of joints for mounting the harmonic reducer to be tested; the load piece is arranged at the tail end of the robot; the controller controls the robot to start from a starting position at a rated speed, pass through a limit position and then return to a testing position; the position detection device is used for detecting actual position information when the robot returns to the test position; the processor is preset with theoretical position information of the robot starting from the starting position and returning to the testing position after passing through the extreme position according to a rated speed; and the processor receives the actual position information and compares the actual position information with the theoretical position information, and the comprehensive precision of the harmonic reducer installed on the robot is obtained according to the comparison result.
Preferably, the position detecting device includes a three-dimensional detecting module and a testing piece installed on the robot, the three-dimensional detecting module obtains the actual position information by detecting a position of the testing piece, and the detecting module includes an X-axis position detector, a Y-axis position detector and a Z-axis position detector, which are vertically arranged on the machine platform in pairs.
Preferably, the test piece is mounted at the lower end of the load piece.
Preferably, the position detecting device further includes a detector mounting member, the detector mounting member is installed on the machine table, the detector mounting member includes a first mounting portion and a second mounting portion extending along an X axis from one side of the test position, the detector mounting member includes a first mounting portion and a second mounting portion extending along the X axis from the first mounting portion, the detector mounting member is installed on the top surface of the second mounting portion, and the detector mounting member is installed on the vertical side surface of the test position near the second mounting portion.
Preferably, the X-axis position detector, the Y-axis position detector and the Z-axis position detector are laser displacement sensors.
Preferably, the robot is a four-axis robot.
Preferably, the harmonic reducer comprehensive precision testing machine further includes a display, the display is in communication connection with the processor, and the display displays comprehensive precision data output by the processor.
Compared with the prior art, the utility model discloses a harmonic speed reducer synthesizes precision test machine is through installing the harmonic speed reducer that awaits measuring at each joint of robot to install the load piece at the end of robot and simulate rated load, get back to test position after a plurality of extreme positions with rated speed from the initial position with the load piece of controller control robot, then utilize position detection device to detect the actual position information when the robot gets back to test position, then compare actual position information rather than predetermined theoretical position information through the treater, obtain harmonic speed reducer's comprehensive precision according to the result of comparing. The utility model discloses can simulate the actual operating condition of harmonic reducer ware and come to test the comprehensive precision of harmonic reducer ware to calculate harmonic reducer ware comprehensive precision according to the test data that obtains in the test procedure, ensured the accuracy of harmonic reducer ware comprehensive precision test result; just the utility model discloses a harmonic reducer synthesizes precision test machine simple structure consumes with low costsly.
Drawings
Fig. 1 is the utility model discloses a three-dimensional structure sketch map of harmonic reducer synthesizes precision test machine.
Fig. 2 is a front view of the harmonic reducer comprehensive accuracy testing machine shown in fig. 1.
Fig. 3 is a left side view of the harmonic reducer comprehensive accuracy testing machine shown in fig. 1.
Fig. 4 is a plan view of the harmonic reducer integrated accuracy testing machine shown in fig. 1.
Fig. 5 is a schematic structural view of the harmonic reducer comprehensive accuracy testing machine shown in fig. 1 with an upper part structure removed.
Fig. 6 is an enlarged view of a portion a in fig. 5.
Fig. 7 is a schematic structural diagram of another angle of the harmonic reducer comprehensive accuracy testing machine shown in fig. 5.
Fig. 8 is an enlarged view of a portion B in fig. 7.
Fig. 9 is a block diagram of an electric control system of the harmonic reducer comprehensive precision testing machine according to the embodiment of the present invention.
Fig. 10 is a block diagram of a hardware circuit configuration of a processor according to an embodiment of the present invention.
Detailed Description
In order to explain the contents, structural features, and objects and effects of the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.
Referring to fig. 1 to 10, the present invention discloses a harmonic reducer comprehensive accuracy testing machine 100, which simulates the actual working state of a harmonic reducer (i.e. under the conditions of rated load, rated rotation speed, limit working position, etc.) to test the comprehensive accuracy of the harmonic reducer, so as to ensure the accuracy of the comprehensive accuracy testing result of the harmonic reducer, and display the tested comprehensive accuracy. Specifically, the utility model discloses a harmonic reducer comprehensive accuracy test machine 100 includes board 11, robot 2, load piece 3, position detection device 4, controller 5 and treater 6, and robot 2 has a plurality of joints that are used for installing the harmonic reducer that awaits measuring; the load member 3 is arranged at the tail end of the robot 2 to provide rated load for the robot 2, preferably, the load member 3 is a balancing weight; in the test process, the controller 5 controls the robot 2 to start from the initial position at a rated speed, pass through a plurality of limit positions and then return to the test position; the position detection device 4 is used for detecting actual position information when the robot 2 returns to a test position and sending the obtained actual position information to the processor 6, and the processor 6 is preset with theoretical position information that the robot 2 load carrier 3 starts from an initial position according to a rated speed, passes through a limit position and then returns to the test position; the processor 6 compares the actual position information with the theoretical position information, and obtains the comprehensive accuracy of the harmonic reducer mounted on the robot 2 based on the comparison result. Preferably, the test position is a start position, but should not be limited thereto.
Incidentally, the terms "processor" and "controller" herein do not refer to two independent electronic control devices, but may be an electronic control device having both a processing function module and a control function module, and the specific form of implementation is not limited thereto.
Hereinafter, the harmonic reducer comprehensive accuracy testing machine 100 according to the present invention will be described in further detail with reference to fig. 1 to 10.
Referring to fig. 1 and 5, the harmonic reducer comprehensive precision testing machine 100 shown in fig. 1 and 5 includes an electric control cabinet 12 located at a lower portion of a cabinet 1 of the testing machine, and a machine 11 located above the electric control cabinet 12, and a robot 2 is mounted on the machine 11 through a fixing base 21. An input device 7 is installed on the outer side of the cabinet 1, the input device 7 comprises a keyboard, a mouse and the like, theoretical position information is input into the processor 6 through the input device 7, a relevant motion control command is input into the controller 5, the controller 5 controls the robot 2 to move to a corresponding position (such as a limit position, a test position and the like) according to the motion control command, and the processor 6 compares the theoretical position information with actual position information obtained by the position detection device 4 to obtain comprehensive precision of the harmonic reducer according to a comparison result. Further, the processor 6 also automatically judges the test result (i.e. whether the comprehensive precision of the harmonic reducer is qualified) according to the obtained comprehensive precision and the requirement of the national standard on the comprehensive precision of the repeated positioning of the robot 2.
In an embodiment, the cabinet 1 is further provided with a display 8, the display 8 is in communication connection with the processor 6, and the display 8 displays actual position information, theoretical position information, comprehensive precision data, test results and the like output by the processor 6, so that real-time display of the test data and the test results is realized.
Further, the top of the cabinet 1 is further provided with an indicator lamp 9 for indicating the working state of the comprehensive precision testing machine 100 for the harmonic reducer, and the current working state of the comprehensive precision testing machine 100 for the harmonic reducer is indicated to be a normal state or a fault state through different colors of the indicator lamp 9, so that a worker on site can visually know the working state of the comprehensive precision testing machine 100 for the harmonic reducer.
Referring to fig. 5 to 8, in particular, the position detecting device 4 includes a three-dimensional detecting module mounted on the machine 11 through a detector mounting member 41 and a testing piece 42 mounted on the robot 2, and the three-dimensional detecting module obtains actual position information by detecting a position of the testing piece 42. More specifically, the detection module includes an X-axis position detector 43, a Y-axis position detector 44, and a Z-axis position detector 45, which are vertically disposed on the machine base 11, two by two, and the X-axis position detector 43, the Y-axis position detector 44, and the Z-axis position detector 45 respectively detect the positions of the test piece 42 in the X-axis direction, the Y-axis direction, and the Z-axis direction when the robot 2 returns to the test position, so as to obtain the actual X-axis position, the actual Y-axis position, and the actual Z-axis position (i.e., actual position information) of the robot 2; correspondingly, the theoretical position information is three-dimensional information, namely the theoretical X-axis position, the theoretical Y-axis position and the theoretical Z-axis position are included, the processor 6 compares the actual X-axis position with the theoretical X-axis position, the actual Y-axis position with the theoretical Y-axis position and the actual Z-axis position with the theoretical Z-axis position, and then the comparison results of the three dimensions are integrated to obtain the comprehensive precision of the harmonic reducer.
Referring to fig. 10, it should be noted that the processor 6 may be an electronic control device integrated with a hardware circuit, specifically, the hardware circuit may include a plurality of subtractors 61, an adder 62 connected to the output terminals of the subtractors 61, and a divider 63 connected to the output terminals of the adder 62, and the output terminals of the divider 63 are connected to the display 8. One input end of each subtracter is connected with the X/Y/Z axis position detector 43/44/45, and the other input end is input with a preset theoretical X/Y/Z axis position (namely a voltage signal V1/V2/V3), and the differences between the actual X axis position and the theoretical X axis position, between the actual Y axis position and the theoretical Y axis position, and between the actual Z axis position and the theoretical Z axis position are calculated by the subtracter 61 and then input into the adder 62; the adder 62 sums the difference values input by the subtractors 61, and then outputs the sum result to one input terminal of the divider 63, and the other input terminal of the divider 63 inputs the number of difference value calculations (i.e. the voltage signal V0), and the divider 63 obtains the comprehensive precision data according to the sum result and the number, and then the divider 63 outputs the comprehensive precision data to the display 8 for display.
Specifically, the testing element 42 is mounted on the lower end of the load carrier 3 through the fixing block 46, but this should not be limited to this, and the testing element 42 may be mounted on other positions of the robot 2 in an implementation. The X-axis position detector 43, the Y-axis position detector 44, and the Z-axis position detector 45 are all laser displacement sensors, but the X-axis position detector 43, the Y-axis position detector 44, and the Z-axis position detector 45 may be other types of detectors in the specific implementation, and therefore, the invention should not be limited thereto. In the present embodiment, the robot 2 is a four-axis robot.
Referring to fig. 5 to 8, in more detail, the detector mounting member 41 is mounted on a fixed base plate 47, the fixed base plate 47 is mounted on the machine base 11 by fixing bolts, the detector mounting member 41 includes a first mounting portion 411 and a second mounting portion 412 extending from a side of the first mounting portion 411 away from the testing position along the X axis, the Y axis position detector 44 is mounted on a top surface of the first mounting portion 411, the X axis position detector 43 is mounted on a top surface of the second mounting portion 412, and the Z axis position detector 45 is mounted on a vertical side surface of the second mounting portion 412 close to the testing position. The three detectors of the X-axis position detector 43, the Y-axis position detector 44 and the Z-axis position detector 45 are mounted through the detector mounting member 41, and the structure is simple. Further, the detector mounting member 41 is formed in an "L" shape in plan view, and the first mounting portion 411 and the second mounting portion 412 are two portions of the detector mounting member 41 that are perpendicular to each other.
The following explains the testing method of the harmonic reducer comprehensive precision testing machine of the utility model:
s1, providing a harmonic reducer comprehensive precision testing machine 100, wherein the harmonic reducer comprehensive precision testing machine 100 comprises a machine table 11, a robot 2, a load piece 3, a position detection device 4, a controller 5 and a processor 6, the robot 2 is provided with a plurality of joints, and the load piece 3 is arranged at the tail end of the robot 2;
s2, mounting the harmonic speed reducer to be tested on each joint of the robot 2;
s3, controlling the robot 2 to move from the initial position to a plurality of limit positions at a rated speed and then return to the test position;
s4, detecting the actual position information when the robot 2 returns to the testing position;
and S5, comparing the actual position information with preset theoretical position information, and obtaining the comprehensive precision of the harmonic reducer installed on the robot 2 according to the comparison result.
Specifically, before step S5, steps S3 to S4 are repeated multiple times (e.g., 30 times) to obtain multiple sets of test data, i.e., multiple sets of actual position information, so that the comprehensive accuracy of the harmonic reducer is obtained according to the multiple sets of actual position information and the preset theoretical position information, and the comprehensive accuracy test result is improved. Further, step S5 is specifically: respectively averaging the numerical values of the actual position information obtained by multiple detections; the numerical average of the actual position information is compared with the theoretical position information, and the comprehensive accuracy of the harmonic reducer mounted on the robot 2 is obtained according to the comparison result. Of course, before the comparison, the preset theoretical position information is input into the processor 6.
Compared with the prior art, the utility model discloses a harmonic speed reducer synthesizes precision test machine 100 is through installing the harmonic speed reducer that awaits measuring at each joint of robot 2, and install load 3 at robot 2's end and simulate rated load, get back to test position after a plurality of extreme position with rated speed from the initial position through controller 5 control robot 2 load 3, then utilize position detection device 4 to detect robot 2 actual position information when getting back to test position, then compare actual position information rather than predetermined theoretical position information through treater 6, obtain harmonic speed reducer's comprehensive precision according to the result of comparing. The utility model discloses can simulate the actual operating condition of harmonic reducer ware and come to test the comprehensive precision of harmonic reducer ware to calculate harmonic reducer ware comprehensive precision according to the test data that obtains in the test procedure, ensured the accuracy of harmonic reducer ware comprehensive precision test result; just the utility model discloses a harmonic reducer synthesizes precision test machine 100 simple structure consumes with low costsly.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.
Claims (7)
1. The utility model provides a harmonic speed reducer ware comprehensive accuracy test machine which characterized in that includes:
a machine platform;
the robot is provided with a plurality of joints for mounting the harmonic reducer to be tested;
a load member installed at a distal end of the robot;
the controller controls the robot to start from the initial position at a rated speed, pass through the limit position and then return to the testing position;
the position detection device is used for detecting actual position information when the robot returns to the test position; and
the processor is preset with theoretical position information of the robot starting from the starting position and returning to the testing position after passing through the extreme position according to a rated speed; and the processor receives the actual position information and compares the actual position information with the theoretical position information, and the comprehensive precision of the harmonic reducer installed on the robot is obtained according to the comparison result.
2. The harmonic reducer comprehensive precision testing machine according to claim 1, wherein the position detecting device includes a three-dimensional detecting module and a testing piece mounted on the robot, the three-dimensional detecting module obtains the actual position information by detecting a position of the testing piece, and the detecting module includes an X-axis position detector, a Y-axis position detector and a Z-axis position detector, which are disposed on the machine table in mutually perpendicular pairs.
3. The harmonic reducer comprehensive precision testing machine as set forth in claim 2, wherein the testing piece is mounted at a lower end of the load piece.
4. The harmonic reducer comprehensive precision testing machine according to claim 2, wherein the position detecting device further includes a detector mounting member, the detector mounting member is mounted on the machine base, the detector mounting member includes a first mounting portion and a second mounting portion extending along an X axis from a side of the first mounting portion away from the testing position, the Y-axis position detector is mounted on a top surface of the first mounting portion, the X-axis position detector is mounted on a top surface of the second mounting portion, and the Z-axis position detector is mounted on a vertical side surface of the second mounting portion close to the testing position.
5. The harmonic reducer comprehensive accuracy testing machine as set forth in claim 2, wherein the X-axis position detector, the Y-axis position detector, and the Z-axis position detector are laser displacement sensors.
6. The harmonic reducer comprehensive precision testing machine according to claim 1, wherein the robot is a four-axis robot.
7. The harmonic reducer comprehensive accuracy testing machine as set forth in claim 1, further comprising a display communicatively connected to said processor, said display displaying the comprehensive accuracy data output by said processor.
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| CN201921568002.5U CN210665046U (en) | 2019-09-19 | 2019-09-19 | Harmonic reducer comprehensive precision testing machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530629A (en) * | 2019-09-19 | 2019-12-03 | 东莞市沃德精密机械有限公司 | Harmonic speed reducer synthesis precision test machine and synthesis precision test method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530629A (en) * | 2019-09-19 | 2019-12-03 | 东莞市沃德精密机械有限公司 | Harmonic speed reducer synthesis precision test machine and synthesis precision test method |
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