CN214924584U - Industrial robot wrist gear box capability test device - Google Patents
Industrial robot wrist gear box capability test device Download PDFInfo
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- CN214924584U CN214924584U CN202120820294.8U CN202120820294U CN214924584U CN 214924584 U CN214924584 U CN 214924584U CN 202120820294 U CN202120820294 U CN 202120820294U CN 214924584 U CN214924584 U CN 214924584U
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- gear box
- gearbox
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 80
- 238000012360 testing method Methods 0.000 title claims abstract description 59
- 230000008878 coupling Effects 0.000 abstract description 7
- 238000010168 coupling process Methods 0.000 abstract description 7
- 238000005859 coupling reaction Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 241000282472 Canis lupus familiaris Species 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Abstract
The utility model discloses industrial robot wrist gear box capability test device relates to a robot capability test device. Its purpose is in order to provide an industrial robot wrist gear box capability test device that function is many, the precision is high, efficient. The utility model discloses industrial robot wrist gear box capability test device includes the base plate, installs motor flange and wrist mounting flange on the base plate, and wrist mounting flange is used for installing the gear box, installs terminal flange on the base plate, and terminal flange is used for supporting the output shaft of gear box, installs servo motor on the motor flange, and servo motor's output shaft passes through the input shaft of coupling joint gear box.
Description
Technical Field
The utility model relates to a capability test technical field especially relates to an industrial robot wrist gear box capability test device.
Background
The end effector of the six-degree-of-freedom industrial robot is directly connected with the wrist part of the robot, so the running performance of the wrist part influences the performance of the whole industrial robot. The sixth axis transmission of the robot mainly depends on a pair of bevel gears inside the wrist to realize the transmission of a vertical axis, so that the backlash of the bevel gears of the wrist directly influences the indexes of transmission precision, noise, transmission efficiency and the like of the whole operation of the wrist.
Common measurement methods for gear backlash include the plug gauge method, the lead wire pressing method, and the dial gauge method. Because the wrist gear box is of a closed structure, and the bevel gear is sealed inside the gear box, the plug gauge method and the lead pressing wire method cannot be operated. The dial indicator method is greatly influenced by experience of measuring personnel, the operation process is not easy to control, and the operation efficiency is not high.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an industrial robot wrist gear box capability test device that function is many, the precision is high, efficient.
The utility model discloses industrial robot wrist gear box capability test device, including the base plate, install motor flange and wrist mounting flange on the base plate, wrist mounting flange is used for installing the gear box, installs terminal flange on the base plate, and terminal flange is used for supporting the output shaft of gear box, installs servo motor on the motor flange, and servo motor's output shaft passes through the input shaft of coupling joint gear box.
The utility model discloses industrial robot wrist gear box capability test device, wherein processing has heavy platform on the base plate, and both sides are provided with the fender shoulder of two parallels around heavy platform, and motor flange and wrist mounting flange realize the positioning through two fender shoulders around respectively.
The utility model discloses industrial robot wrist gear box capability test device, wherein keep off the shoulder and keep off the shoulder for the right angle.
The utility model discloses industrial robot wrist gear box capability test device, wherein install the wrist cushion on the wrist mounting flange, the wrist gear box passes through the wrist cushion and installs on the wrist mounting flange.
The utility model discloses industrial robot wrist gear box capability test device, wherein install two dogs on the base plate, terminal flange mounting is between two dogs.
The utility model discloses industrial robot wrist gear box capability test device, wherein end flange adopts Y type structure, and upper portion opening one side is equipped with holding screw mounting hole.
The utility model discloses industrial robot wrist gear box capability test device, wherein leave the clearance groove on the terminal flange.
The utility model discloses industrial robot wrist gear box capability test device, wherein first axle sleeve is installed to servo motor's output shaft axle head, and the second axle sleeve is installed to the input shaft axle head of wrist gear box, and first axle sleeve and second axle sleeve pass through the shaft coupling and link to each other.
The utility model discloses industrial robot wrist gear box capability test device, wherein under the state of assembly completion, the cooperation length of first axle sleeve and shaft coupling is less than the cooperation length of second axle sleeve and shaft coupling, and the cooperation length of first axle sleeve and shaft coupling is less than the axial portable scope of first axle sleeve.
The utility model discloses industrial robot wrist gear box capability test device, wherein the size in shaft coupling both sides shaft hole is the same.
The utility model discloses industrial robot wrist gear box capability test device lies in with prior art difference, the utility model discloses industrial robot wrist gear box capability test device simple structure, easy dismounting. The utility model discloses a capability test device can carry out the backlash of wrist and measure and run and test, and a tractor serves several purposes, and the function is abundant. The utility model discloses a performance testing device pastes tightly when passing through the meshing of input shaft rotation torque size control gear, more can reflect the true state of actual operation in-process. The numerical value of the servo motor encoder is used for representing or calculating the gear backlash, and the testing precision is high.
The utility model discloses a capability test device carries out the backlash test based on servo, can follow driver host computer software and directly derive the measuring result, is favorable to the save and the management of test data.
The utility model discloses a performance testing device can realize standardized operation, relies on testing arrangement to guarantee the measuring accuracy, and it is little to be influenced by measurement personnel experience.
The device for testing the performance of the industrial robot wrist gear box of the present invention is further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a device for testing the performance of a wrist gear box of an industrial robot according to the present invention;
FIG. 2 is a side view of the performance testing device for the wrist gear box of the industrial robot according to the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a side view of the end flange of FIG. 2 in cross-section;
the notation in the figures means: 1-a substrate; 2-a block; 3-end flange; 4-wrist fixing flange; 5-wrist gear box; 6-a coupler; 7-a motor flange; 8-a servo motor; 9-a first sleeve; 10-a second shaft sleeve; 11-input bevel gear; 12-output bevel gear; 13-wrist rest block; 14-set screw.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in figure 1, the utility model discloses industrial robot wrist gear box capability test device includes base plate 1, and the processing has the heavy platform of rectangle on the base plate 1, and the heavy platform of rectangle is last to install motor flange 7 and wrist mounting flange 4. The front side and the rear side of the sinking platform are respectively provided with a right-angle retaining shoulder, and the two right-angle retaining shoulders are parallel to each other. The motor flange 7 and the wrist fixing flange 4 are assembled and positioned through a front right-angle retaining shoulder and a rear right-angle retaining shoulder respectively, and the output shaft of the servo motor 8 and the input shaft of the gear box are opposite in position.
The wrist fixing flange 4 is provided with a wrist cushion block 13, and the wrist gear box 5 to be tested is arranged on the wrist fixing flange 4 through the wrist cushion block 13. The installation of the wrist gear boxes 5 with different specifications can be realized by designing the wrist cushion blocks 13 with different specifications.
Two stop blocks 2 are arranged on the base plate 1, and a tail end flange 3 is fixed between the two stop blocks 2. The end flange 3 is used to support the output shaft of the gearbox so that the output shaft of the wrist is locked in place and cannot rotate. The end flange 3 adopts a Y-shaped structure, and one side of an upper opening is provided with a set screw mounting hole. When the output shaft is inserted into the central bore of the end flange 3, the output shaft can be locked by tightening the set screw 14 as shown in fig. 4. A clearance groove is reserved on the end flange 3, and a necessary deformation space is reserved for holding the output shaft tightly.
A servo motor 8 is installed on the motor flange 7, a first shaft sleeve 9 is installed at the shaft end of an output shaft of the servo motor 8, a second shaft sleeve 10 is installed at the shaft end of an input shaft of the wrist gear box 5, and the first shaft sleeve 9 and the second shaft sleeve 10 are connected through a coupler 6. In the assembled state, the matching length of the first sleeve 9 and the coupler 6 is smaller than that of the second sleeve 10 and the coupler 6, and the matching length of the first sleeve 9 and the coupler 6 is smaller than the axial movable range of the first sleeve 9. The size in shaft holes in two sides of the coupler 6 is the same, so that after the coupler 6 is loosened, the coupler 6 can slide to the side of the servo motor 8, when the end of the servo motor 8 slides to, the whole coupler can be conveniently disassembled and assembled, and necessary space is reserved for replacing the gear box.
The utility model discloses an industrial robot wrist gear box capability test device is when testing, can control servo motor 8 through servo driver and move with the torque model, sets for the little moment value of forward and makes the output shaft of servo motor 8 rotatory, when the flank of tooth of input bevel gear 11 died the flank of tooth of output bevel gear 12, records encoder numerical value a; the output shaft of the servo motor 8 is set to reverse direction and the encoder value b is recorded when the tooth surface on the other side of the input bevel gear 11 is dead against the output bevel gear 12.
And calculating the rotation angle alpha of the motor through a and b. Since the machining error and the assembly error of the parts fluctuate within a certain small range, α may be defined as a rotational angle backlash of the pair of bevel gear transmissions. The rotation angle backlash is used for calculating the circumferential backlash and is used as a mass production control index for controlling the wrist assembly backlash.
The output shaft of the wrist can rotate freely after the stop block 2 and the end flange 3 are removed. The end flange 3 and the stop block 2 can be installed again after the motor is controlled by the driver to rotate by 30 degrees or other step lengths, and the output shaft is fixed, so that the distribution measurement at multiple positions is realized.
After the stop block 2 and the end flange 3 are removed, the servo motor 8 is controlled by the servo driver to rotate at a rated rotating speed for running and testing. The running noise can be measured by a noise meter; the current numerical curve in the wrist running process can be acquired through driver upper computer software so as to calculate the moment load rate of the motor.
Finally, the assembly of the bevel gear of the wrist is guided through the measurement of the backlash, and the running performance of the wrist is evaluated through the tests of indexes such as running noise, load rate and the like.
The utility model discloses industrial robot wrist gear box capability test device, especially a device to six degree of freedom industrial robot wrist performance automated testing based on servo, simple structure, easy dismounting. The utility model discloses a capability test device can carry out the backlash of wrist and measure and run and test, and a tractor serves several purposes, and the function is abundant.
The utility model discloses a performance testing device pastes tightly when passing through the meshing of input shaft rotation torque size control gear, more can reflect the true state of actual operation in-process. The numerical value of the encoder of the servo motor 8 is used for representing or calculating the gear backlash, and the testing precision is high.
The utility model discloses a capability test device carries out the backlash test based on servo, can follow driver host computer software and directly derive the measuring result, is favorable to the save and the management of test data.
The utility model discloses a performance testing device can realize standardized operation, relies on testing arrangement to guarantee the measuring accuracy, and it is little to be influenced by measurement personnel experience.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides an industrial robot wrist gear box capability test device which characterized in that: the automatic gearbox fixing device comprises a base plate, wherein a motor flange and a wrist fixing flange are mounted on the base plate, the wrist fixing flange is used for mounting a gearbox, a tail end flange is mounted on the base plate and used for supporting an output shaft of the gearbox, a servo motor is mounted on the motor flange, and the output shaft of the servo motor is connected with an input shaft of the gearbox through a coupler.
2. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: a sinking platform is processed on the base plate, two parallel retaining shoulders are arranged on the front side and the rear side of the sinking platform, and the motor flange and the wrist fixing flange are assembled and positioned through the front retaining shoulder and the rear retaining shoulder respectively.
3. An industrial robot wrist gearbox performance testing device according to claim 2, characterized in that: the retaining shoulder is a right-angle retaining shoulder.
4. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: the wrist fixing flange is provided with a wrist cushion block, and the wrist gear box is arranged on the wrist fixing flange through the wrist cushion block.
5. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: two stop blocks are installed on the base plate, and the tail end flange is installed between the two stop blocks.
6. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: the tail end flange is of a Y-shaped structure, and a fastening screw mounting hole is formed in one side of an upper opening.
7. An industrial robot wrist gearbox performance testing device according to claim 1 or 6, characterized in that: the end flange is provided with a clearance groove.
8. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: a first shaft sleeve is installed at the shaft end of an output shaft of the servo motor, a second shaft sleeve is installed at the shaft end of an input shaft of the wrist gear box, and the first shaft sleeve and the second shaft sleeve are connected through a coupler.
9. An industrial robot wrist gearbox performance testing device according to claim 8, characterized in that: in the state of completing assembly, the matching length of the first shaft sleeve and the coupler is smaller than that of the second shaft sleeve and the coupler, and the matching length of the first shaft sleeve and the coupler is smaller than the axial movable range of the first shaft sleeve.
10. An industrial robot wrist gearbox performance testing device according to claim 1, characterized in that: the shaft holes on the two sides of the coupler are the same in size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120820294.8U CN214924584U (en) | 2021-04-21 | 2021-04-21 | Industrial robot wrist gear box capability test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120820294.8U CN214924584U (en) | 2021-04-21 | 2021-04-21 | Industrial robot wrist gear box capability test device |
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| CN214924584U true CN214924584U (en) | 2021-11-30 |
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| CN202120820294.8U Active CN214924584U (en) | 2021-04-21 | 2021-04-21 | Industrial robot wrist gear box capability test device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117054079A (en) * | 2023-10-13 | 2023-11-14 | 如皋市宏茂铸钢有限公司 | Performance detection device of gear box for offshore wind power generation |
-
2021
- 2021-04-21 CN CN202120820294.8U patent/CN214924584U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117054079A (en) * | 2023-10-13 | 2023-11-14 | 如皋市宏茂铸钢有限公司 | Performance detection device of gear box for offshore wind power generation |
| CN117054079B (en) * | 2023-10-13 | 2023-12-26 | 如皋市宏茂铸钢有限公司 | Performance detection device of gear box for offshore wind power generation |
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Address after: 272000, No. 888 Huarun Road, Zhongxin Electromechanical Industrial Park, Zhongdian Town, Zoucheng City, Jining City, Shandong Province Patentee after: Luoshi (Shandong) Robot Group Co.,Ltd. Country or region after: China Address before: No. b801-004, 8th floor, Xueyan complex building, Tsinghua University, Haidian District, Beijing 100084 Patentee before: ROKAE, Inc. Country or region before: China |