CN211013508U

CN211013508U - RV reduction gear transmission precision testing arrangement

Info

Publication number: CN211013508U
Application number: CN201922236961.3U
Authority: CN
Inventors: 鲁汉民; 张毅; 韩丁昱; 林坤
Original assignee: Shanghai Yingnong Technology Co ltd
Current assignee: Shanghai Yingnong Technology Co ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-07-14
Anticipated expiration: 2029-12-13

Abstract

The utility model discloses a RV reduction gear transmission precision testing arrangement, RV reduction gear transmission precision testing arrangement includes a mount pad, be equipped with servo motor, first encoder, RV reduction gear and second encoder on the mount pad, first encoder is connected with the input shaft of RV reduction gear, the output shaft of second encoder and RV reduction gear, RV reduction gear transmission precision testing arrangement still includes first high-speed counter, the high-speed counter of second, storage device and controlling means, first high-speed counter is connected with first encoder, the high-speed counter of second is connected with the second encoder, controlling means connects first high-speed counter, the high-speed counter of second and servo motor respectively, storage device is connected with controlling means. The utility model discloses the detection precision of RV reduction gear transmission precision test has been improved greatly.

Description

RV reduction gear transmission precision testing arrangement

Technical Field

The utility model relates to a RV reduction gear field, concretely relates to RV reduction gear transmission precision testing arrangement.

Background

The RV reducer is the most common cycloidal precision reducer, has the advantages of compact structure, high motion precision, large transmission ratio, high bearing capacity, small vibration, low noise, low energy consumption and the like, is mainly applied to joint parts of industrial robots, and has a plurality of degrees of freedom.

The RV reducer is used as a joint part of the industrial robot, and the performance of the RV reducer directly determines the action precision of the industrial robot. In particular, the transmission return difference of the RV reducer has important influence on the positioning precision of the reciprocating industrial mechanical arm. The RV reducer transmission return difference refers to the phenomenon that an output shaft lags behind an input shaft in motion when the input shaft rotates reversely, accelerates and decelerates. The backlash is inevitable due to the existence of part processing, assembly errors, load and temperature changes, and all the transmission devices with positive and negative rotation have backlash, so that a large amount of high-precision reciprocating motion is required in the actual working condition of the mechanical arm. Therefore, the testing and the detection of the return difference of the RV reducer are very important.

However, the conventional RV reducer has a single transmission return difference detection function, and usually only has the return difference phenomenon detection of one of the reversal, acceleration and deceleration; in addition, when the transmission return difference of the existing RV reducer is detected, the output shaft of the existing RV reducer is lack of a counterweight device which accords with actual rotation resistance, so that the transmission return difference detection precision of the RV reducer is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve above-mentioned problem to a RV reduction gear transmission precision testing arrangement is provided.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the utility model provides a RV reduction gear transmission precision testing arrangement, RV reduction gear transmission precision testing arrangement includes a mount pad, be equipped with servo motor, first encoder, RV reduction gear and the second encoder that connects gradually on the mount pad, first encoder is connected with the input shaft of RV reduction gear, the output shaft of second encoder and RV reduction gear, RV reduction gear transmission precision testing arrangement still includes first high-speed counter, the high-speed counter of second, storage device and controlling means, first high-speed counter is connected with first encoder, the high-speed counter of second is connected with the second encoder, controlling means connects first high-speed counter, the high-speed counter of second and servo motor respectively, storage device is connected with controlling means.

In a preferred embodiment of the present invention, the storage device comprises a first storage and a second storage, the control device comprises a controller and a comparator, the controller is connected to the servo motor, the comparator is connected to the first high-speed counter and the second high-speed counter, the first storage is connected to the controller, and the second storage is connected to the comparator.

In a preferred embodiment of the present invention, the first memory and the second memory are both read only memories.

In the utility model discloses a preferred embodiment, RV reduction gear transmission precision testing arrangement still includes a counter weight subassembly, counter weight subassembly and RV reduction gear's output shaft.

The utility model discloses a preferred embodiment, the counter weight subassembly includes external magnetic field and coil, the coil and the output shaft of RV reduction gear, when the output shaft of RV reduction gear drove the coil and rotates, the coil was cutting magnetic induction line motion in external magnetic field.

In a preferred embodiment of the present invention, the external magnetic field includes two magnets symmetrically disposed on the mounting seat, and the two magnets have opposite magnetic poles.

The utility model discloses a preferred embodiment, be equipped with the slide rail of two symmetries on the mount pad, every slide rail corresponds the cooperation with a magnet, the slide rail extends the setting along the axis direction of the output shaft of RV reduction gear, be equipped with the slidable sliding sleeve on the slide rail, the sliding sleeve passes through the screw and can fix on the slide rail, the magnet is fixed on the sliding sleeve.

The utility model has the advantages that:

the utility model discloses the detection precision of RV reduction gear transmission precision test has been improved greatly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a working principle diagram of the present invention.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further explained by combining with the specific drawings.

Referring to fig. 1 and 2, the utility model provides a RV reduction gear transmission accuracy testing arrangement, it includes mount pad 100, servo motor 200, first encoder 310, second encoder 320, RV reduction gear 400, first high-speed counter 510, the high-speed counter 520 of second, storage device 600, controlling means 700 and counterweight assembly 800.

The mounting base 100 is used for mounting the servo motor 200, the first encoder 310, the second encoder 320, the RV reducer 400, the first high-speed counter 510, the second high-speed counter 520, the storage device 600, the control device 700, and the counterweight assembly 800, and may be a horizontal table.

The first encoder 310 is connected to an input shaft of the RV reducer 400 and is configured to acquire angular displacement information of the input of the RV reducer 400.

The second encoder 320 is connected to the output shaft of the RV reducer 400 and is configured to collect angular displacement information of the output of the RV reducer 400.

The first high-speed counter 510, which is an existing structure, is connected to the first encoder 310, and is used to convert the angular displacement information collected by the first encoder 310 into digital information recognizable to the control device 700.

The second high-speed counter 520, which is an existing structure, is connected to the second encoder 320, and is used to convert the angular displacement information collected by the second encoder 320 into digital information recognizable to the control device 700.

The control device 700 is of a conventional structure, and specifically comprises a controller 710 and a comparator 720, wherein the controller 710 and the comparator 720 are of conventional structures, the comparator 720 is respectively connected to the first high-speed counter 510 and the second high-speed counter 520, and the controller 710 and the servo motor 200 are respectively connected to the controller.

The storage device 600 is specifically composed of a first memory 610 and a second memory 620.

The first memory 610 is connected to the controller 710, a control signal for controlling the servo motor 200 to perform constant speed driving, acceleration driving, deceleration driving, forward rotation driving, or reverse rotation driving is stored in the first memory 610, and the controller 710 controls the servo motor 200 to perform corresponding work according to the control signal stored in the first memory 610.

The second memory 620 is connected to the comparator 720, digital information corresponding to the control signal stored in the first memory 610 is stored in the second memory 620, the comparator 720 can receive the digital information converted by the first high-speed counter 510 and the second high-speed counter 520, respectively, and compare the received digital information with the digital information stored in the second memory 620, if the comparison result is the same, it is proved that the RV reducer has no return difference, if the pair difference is large, it is proved that the return difference is large, and if the pair difference is small, it is proved that the return difference is small.

The testing device is very simple in structure, and testing accuracy is improved.

In addition, the first memory 610 and the second memory 620 are read-only memories, so that data can be replaced continuously, and repeated detection on different RV reducers can be realized.

This application still includes a counter weight subassembly 800, counter weight subassembly 800 and RV reduction gear 400's output shaft, and counter weight subassembly 800 is the detection precision that is used for further improving RV reduction gear transmission precision test.

The counterweight assembly 800 includes an external magnetic field and a coil 810, and the coil 810 is connected with the output shaft of the RV reducer 400, so that when the output shaft of the RV reducer 400 drives the coil 810 to rotate, the coil 810 can perform cutting magnetic induction linear motion in the external magnetic field, and when the coil 810 performs cutting magnetic induction linear motion, the speed can change along with the change of the rotation speed of the output shaft, and the actual rotation resistance can be loaded on the output shaft of the RV reducer 400.

The external magnetic field comprises two magnets 820 symmetrically arranged on the mounting seat 100, and the magnetic poles of the two magnets 820 are opposite, so that the external magnetic field is stable and unchanged, the external magnetic field can be used for infinite times, and the test cost is reduced.

The mounting seat 100 can be specifically provided with two symmetrical sliding rails 830, each sliding rail 830 is correspondingly matched with one magnet 820, the sliding rails 830 are specifically arranged in an extending manner along the axis direction of the output shaft of the RV reducer 400, the sliding rails 830 are provided with a slidable sliding sleeve 840, the magnets 820 are fixed on the sliding sleeve 840 and can move along with the sliding sleeve 840, through the movement of the magnets 820 on the sliding rails 830, the effective area of the external magnetic field is conveniently arranged in the adjusting coil 810, and the rotation resistance loaded on the output shaft of the RV reducer can be flexibly adjusted.

After the sliding sleeve 840 is moved to a corresponding position on the sliding rail 830, it can be fixed on the sliding rail 830 by the screw 850, thereby improving stability.

In addition, this application still provides an optimized structure of external magnetic field, and this external magnetic field only includes a magnet, and this magnet is the nature of falling U to the magnetism of magnet one side is opposite with the magnetism of opposite side, also is equipped with two symmetrical slide rails 830 on mount pad 100, is equipped with a sliding sleeve on every slide rail 830, and the magnet both sides are connected with two sliding sleeves respectively.

The advantages of adopting the optimized structure are as follows:

(1) because the magnet is inverted U-shaped, the upper part of the coil 810 is also closed, and the stability can be improved;

(2) the effective area of the magnetic field is convenient to adjust, only one magnet needs to be moved, two magnets do not need to be moved respectively, the positions of the two magnets need to be calibrated after the two magnets are moved, and the efficiency is very low.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a RV reduction gear transmission precision testing arrangement, RV reduction gear transmission precision testing arrangement includes a mount pad, be equipped with servo motor, first encoder, RV reduction gear and second encoder on the mount pad, first encoder is connected with the input shaft of RV reduction gear, the output shaft of second encoder and RV reduction gear, a serial communication port, RV reduction gear transmission precision testing arrangement still includes first high-speed counter, the high-speed counter of second, storage device and controlling means, first high-speed counter is connected with first encoder, the high-speed counter of second is connected with the second encoder, controlling means connects first high-speed counter, the high-speed counter of second and servo motor respectively, storage device is connected with controlling means.

2. The RV reducer transmission accuracy testing device according to claim 1, characterized in that the storage device is composed of a first storage and a second storage, the control device is composed of a controller and a comparator, the controller is connected with a servo motor, the comparator is respectively connected with a first high-speed counter and a second high-speed counter, the first storage is connected with the controller, and the second storage is connected with the comparator.

3. The RV reducer transmission accuracy testing device of claim 2, wherein said first memory and said second memory are both read only memories.

4. The RV reducer transmission accuracy testing device according to claim 1, characterized in that the RV reducer transmission accuracy testing device further comprises a counterweight component, and the counterweight component is connected with the output shaft of the RV reducer.

5. The RV reducer transmission accuracy testing device according to claim 4, wherein the counterweight assembly comprises an external magnetic field and a coil, the coil is connected with the output shaft of the RV reducer, and when the output shaft of the RV reducer drives the coil to rotate, the coil performs cutting magnetic induction linear motion in the external magnetic field.

6. The RV reducer transmission accuracy testing device according to claim 5, characterized in that the external magnetic field comprises two magnets symmetrically arranged on the mounting seat, and the magnetic poles of the two magnets are opposite.

7. The RV reducer transmission accuracy testing device according to claim 6, characterized in that two symmetrical slide rails are arranged on the mounting base, each slide rail is correspondingly matched with a magnet, the slide rails extend along the axial direction of the output shaft of the RV reducer, the slide rails are provided with slidable sliding sleeves, the sliding sleeves can be fixed on the slide rails through screws, and the magnets are fixed on the sliding sleeves.