CN219064870U

CN219064870U - Flexible measuring device of industrial robot joint speed reducer

Info

Publication number: CN219064870U
Application number: CN202221759651.5U
Authority: CN
Inventors: 林俊言; 王凌; 王凡通; 赵文轩; 高雁凤; 陈锡爱; 王斌锐
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2023-05-23
Anticipated expiration: 2032-07-08

Abstract

The utility model relates to a flexible measuring device of an industrial robot joint reducer, which comprises a detection table with a sliding rail, a partition plate, a motor, a gear transmission mechanism, a torque sensor, an angle sensor and a fixing mechanism. Four partition boards are inserted into the detection table with the slide rail, and the first partition board is used for fixing the motor; the second baffle plate is used for fixing the angle sensor and the input shaft of the speed reducer; the third partition board is used for fixing the shell of the speed reducer, and the fourth partition board is used for braking the output end of the speed reducer. The motor output shaft drives the speed reducer input shaft to rotate through the gear transmission mechanism, and the torque sensor positioned on the speed reducer input shaft can measure the torque. The input shaft of the speed reducer drives the angle sensor to rotate through the gear transmission mechanism, so that the rotating angle of the input end of the speed reducer is measured. In a state that the output end of the speed reducer is braked, the flexibility of the speed reducer can be evaluated through the relation between the input torque of the input end of the speed reducer and the rotation angle.

Description

Flexible measuring device of industrial robot joint speed reducer

Technical Field

The utility model relates to a flexible measuring device for an industrial robot joint reducer, and relates to the technical field of industrial robot performance detection.

Background

With the advent of industry 4.0, industry automation has become increasingly important. Industrial robotics, which are important in industrial automation, are also in rapid progress. At present, the robot counting is widely applied to various heavy and trivial work posts, so that the labor intensity of workers is reduced, the work efficiency is improved, and multiple purposes are achieved. Today, industrial robots are moving towards smaller, more flexible, but smaller volumes mean lower stiffness and higher flexibility. Therefore, it is necessary to measure the rigidity and flexibility of an industrial robot. The rigidity of the industrial robot joint is influenced by various factors, and the performance of the motor reducer of the industrial robot joint has a larger influence on the rigidity of the industrial robot joint. The speed reducer is that the motor drives through the gear of multiunit different tooth numbers, drives the output pivoted of speed reducer, when the speed reducer production, needs to detect the transmission ratio of output and input, and the more accurate that transmission ratio detected, the higher the mobile accuracy of robot, the rigidity is better.

Disclosure of Invention

The utility model aims to solve the problems and provide a flexible measuring device of an industrial robot joint reducer, which has the following technical scheme:

the device comprises a detection table with a slide rail, a partition plate, a motor, a gear transmission mechanism, a torque sensor, an angle sensor and a fixing mechanism. Four partition boards are inserted into the detection table with the slide rail, and the first partition board is used for fixing the motor; the second baffle plate is used for fixing the angle sensor and the input shaft of the speed reducer; and the third partition plate and the fourth partition plate are both provided with fixing mechanisms, the third partition plate is used for fixing the shell of the speed reducer, and the fourth partition plate is used for braking the output end of the speed reducer. The motor output shaft rotates through the gear transmission mechanism with the speed reducer input shaft, and the torque sensor positioned on the speed reducer input shaft can measure the torque. The input shaft of the speed reducer drives the angle sensor to rotate through the gear transmission mechanism, so that the rotating angle of the input end of the speed reducer is measured. In a state that the output end of the speed reducer is braked, the flexibility of the speed reducer can be evaluated through the relation between the input torque of the input end of the speed reducer and the rotation angle.

As a preferable technical scheme of the utility model, the flexible measurement method of the industrial robot joint reducer is adopted, and comprises the following specific use steps:

s1, when the speed reducer is used, the speed reducer is placed on the table top of the detection table 2 with the sliding rail, a fixed shaft 15 of the speed reducer penetrates through a round hole of a speed reducer shell, the speed reducer is fixed in a screw cap screwing mode, a brake shaft 18 is inserted into the output end of the speed reducer, and an input shaft 6 of the speed reducer is connected with the input end of the speed reducer through an input hole 14;

s2, adjusting the positions of the motor 3, the angle sensor 8, the first pinion 5, the first large gear 4, the second pinion 10 and the second large gear 9 according to the position of the input shaft 6 of the speed reducer;

s3, after the limit of the speed reducer is finished, connecting the angle sensor 8 and the torque sensor 7 with a computer, measuring and recording information acquired by the angle sensor 8 and the torque sensor 7, and thus obtaining a proportional value of input torque and rotation angle, and evaluating the flexibility of the speed reducer;

drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

in the attached figure 1, a first partition plate 1, a second partition plate 11, a third partition plate 13, a fourth partition plate 17, a detection table with a sliding rail 2, a motor 3, a first large gear 4, a second large gear 9, a first small gear 5, a second small gear 10, a speed reducer input shaft 6, a torque sensor 7, an angle sensor 8, a fixed shaft 15, a fixed plate 12, an input hole 14, a fixed shaft base 16 and a brake shaft 18 are arranged.

Detailed Description

As shown in fig. 1, the following technical scheme is adopted in the specific embodiment of the utility model:

the utility model provides an industrial robot joint reduction gear flexible measuring device which characterized in that: the device comprises a detection table 2 with a sliding rail, wherein a first partition board 1, a second partition board 11, a third partition board 13 and a fourth partition board 17 are inserted on the detection table 2 with the sliding rail; a motor 3 is fixed on the first partition board 1, a first pinion 5 is sleeved on an output shaft of the motor, the first pinion 5 is meshed with a first large gear 4, and the output torque of the motor is increased in a transmission mode; the first large gear 4 is connected with a speed reducer input shaft 6; a torque sensor 7 and a second large gear 9 are arranged on the input shaft 6 of the speed reducer; the second large gear 9 is meshed with the second small gear 10; the angle sensor 8 is connected with a pinion II 10; the speed reducer input shaft 6 and the angle sensor 8 both pass through a second baffle 11; the third partition plate 13 and the fourth partition plate 17 are embedded with a fixed plate 12, and the fixed plate 12 is connected with a fixed shaft 15 through a fixed shaft base 16; an input hole 14 is formed in the center of the third partition plate 13, a brake shaft 18 is arranged in the center of the fourth partition plate 17, and the fixing of the reducer shell is completed through a fixing shaft 15 on the fixing plate 12; braking of the output end of the speed reducer is realized through a brake shaft 18; the input shaft 6 of the reducer is inserted into the input of the reducer through the input hole 14.

1. The first baffle plate 1, the second baffle plate 11, the third baffle plate 13 and the fourth baffle plate 17 can slide left and right on the detection table 2 with the sliding rails, the distance between the baffle plates can be freely adjusted, and the flexibility of the speed reducer with different sizes can be conveniently measured; the third partition plate 13 and the fourth partition plate 17 can be selectively embedded with fixing plates of different sizes according to the different sizes of the shells of the detected speed reducers, so that the speed reducers of different sizes can be fixed; the fixed shaft base 16 can select fixed shafts 15 with different sizes according to different measured reducer shells, so as to fix reducers with different sizes.

Specific: when the flexible measuring device for the industrial robot joint speed reducer is used, the speed reducer is placed on the table top of the detection table 2 with the sliding rail, the fixed shaft 15 penetrates through a round hole of a shell of the speed reducer, the speed reducer is fixed in a screw cap screwing mode, the brake shaft 18 is inserted into the output end of the speed reducer, and the input shaft 6 of the speed reducer is connected with the input end of the speed reducer through the input hole 14; then, the positions of the motor 3, the angle sensor 8 and the gears are adjusted according to the position of the input shaft 6 of the speed reducer; after the limit of the speed reducer is completed, the angle sensor 8 and the torque sensor 7 are connected with a computer, and information acquired by the angle sensor 8 and the torque sensor 7 is measured and recorded, so that a ratio value of input torque and rotation angle can be obtained, and the flexibility of the speed reducer is evaluated.

The following description is merely illustrative of the utility model and is not intended to limit the utility model as an embodiment thereof: regarding the angle sensor, an angle sensor of century Ming-created MCJSV05 was selected, which had a measurement range of 0 to 360 DEG and a resolution of 0.022 DEG; regarding the torque sensor, a JN338-AF flange type torque sensor is selected, the torque inaccuracy of the series of torque sensors is 0.1-0.5% F.N, and the torque measurement range is 50 N.m-1000 N.m; regarding the gear ratio of the gear transmission, a gear ratio of 10 is selected, i.e., the number of pinion teeth is 6 and the number of bull teeth is 60. The torsional rigidity of the conventional Japanese emperor RV reducer is 100-200 N.m/°, the rated torque output torque of motors of six joints of a conventional 4kg robot is 0.32-1.27 N.m, and the flexibility of the reducer can be calculated by the selection of the measuring device.

The foregoing has shown and described the basic principles and features of the utility model, as well as the advantages of the utility model. It will be appreciated by persons skilled in the art that the present utility model is not limited by the foregoing examples, which have been given by way of illustration only, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims and their equivalents.

Claims

1. The flexible measuring device for the industrial robot joint speed reducer is characterized by comprising a detection table (2) with a sliding rail, wherein a first partition board (1), a second partition board (11), a third partition board (13) and a fourth partition board (17) are inserted on the detection table (2) with the sliding rail; a motor (3) is fixed on the first partition board (1), a first pinion (5) is sleeved on an output shaft of the motor, the first pinion (5) is meshed with a first large gear (4), and the output torque of the motor is increased in a transmission mode; the first large gear (4) is connected with a speed reducer input shaft (6); a torque sensor (7) and a second large gear (9) are arranged on the input shaft (6) of the speed reducer; the second large gear (9) is meshed with the second small gear (10); the angle sensor (8) is connected with a pinion II (10); the input shaft (6) of the speed reducer and the angle sensor (8) both pass through a second baffle plate (11); the third partition plate (13) and the fourth partition plate (17) are embedded with a fixed plate (12), and the fixed plate (12) is connected with a fixed shaft (15) through a fixed shaft base (16); an input hole (14) is formed in the center of the third partition plate (13), a brake shaft (18) is arranged in the center of the fourth partition plate (17), and the fixing of the reducer shell is completed through a fixing shaft (15) on the fixing plate (12); braking of the output end of the speed reducer is realized through a brake shaft (18); the input shaft (6) of the speed reducer is inserted into the input end of the speed reducer through the input hole (14).

2. The industrial robot joint reducer flexibility measurement device of claim 1, wherein: the first partition board (1), the second partition board (11), the third partition board (13) and the fourth partition board (17) can slide left and right on the detection table (2) with the sliding rail, the distance between the partition boards can be freely adjusted, and the flexibility of the speed reducer with different sizes can be conveniently measured.

3. The industrial robot joint reducer flexibility measurement device of claim 1, wherein: and the third partition plate (13) and the fourth partition plate (17) can be selectively embedded into fixing plates with different sizes according to the sizes of the shells of the detected speed reducers, so that the speed reducers with different sizes can be fixed.

4. The industrial robot joint reducer flexibility measurement device of claim 1, wherein: the fixed shaft base (16) can select fixed shafts (15) with different sizes according to the different sizes of the detected reducer shells, so that the fixing of the reducers with different sizes is realized.