WO2022089139A1 - 一种减速器传动误差测试装置及方法 - Google Patents

一种减速器传动误差测试装置及方法 Download PDF

Info

Publication number
WO2022089139A1
WO2022089139A1 PCT/CN2021/121589 CN2021121589W WO2022089139A1 WO 2022089139 A1 WO2022089139 A1 WO 2022089139A1 CN 2021121589 W CN2021121589 W CN 2021121589W WO 2022089139 A1 WO2022089139 A1 WO 2022089139A1
Authority
WO
WIPO (PCT)
Prior art keywords
reducer
rotation angle
input end
target ball
output end
Prior art date
Application number
PCT/CN2021/121589
Other languages
English (en)
French (fr)
Inventor
徐文才
沈毅
朱显宇
涂笔城
李建韬
Original Assignee
库卡机器人(广东)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 库卡机器人(广东)有限公司 filed Critical 库卡机器人(广东)有限公司
Priority to EP21884868.7A priority Critical patent/EP4239308A1/en
Publication of WO2022089139A1 publication Critical patent/WO2022089139A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/021—Gearings

Definitions

  • the present application relates to the fields of precision testing technology and mechanical transmission technology, and in particular, to a device and method for testing the transmission error of a reducer.
  • the transmission error of the reducer is the difference between the theoretical output and the actual output of the reducer during the movement process. actual processing level.
  • the detection of the transmission error of the reducer that is, the detection of the input and output angles during the movement of the reducer.
  • the synchronous acquisition of the rotation angle of the input end and the output end of the reducer mainly adopts the method of installing circular gratings at the input and output ends of the reducer, and the circular grating is a high-precision sensor component with high installation requirements. High precision is required.
  • the circular grating is a high-precision sensor component with high installation requirements. High precision is required.
  • it is necessary to use a high-stability cast iron or marble platform as the foundation, and design high-precision structural parts to install and protect the circular grating, which leads to deceleration.
  • the test process of the transmission error of the device is complex and difficult, the requirements for the operator are very high, and the test efficiency is low.
  • the quasi-static test method can also be used to collect the rotation angle of the input end and output end of the reducer.
  • the quasi-static test method is to intermittently rotate the input end of the reducer by a specified angle and then stop, and test the rotation of the output end of the reducer. angle, and the quasi-static test method is used.
  • this method is a discretization of the transmission error
  • the moment when each measurement is suspended inevitably introduces backlash and slight elastic deformation, resulting in There is a certain difference between the actual test results and the transmission error.
  • the error of the test results is large. For a high-precision product such as a reducer for robots, this error is obviously unacceptable.
  • the quasi-static test method is adopted.
  • it is also necessary to use other large-scale high-precision instruments and equipment, such as three-coordinates, etc. resulting in complicated measurement process and low test efficiency, which cannot be widely used.
  • the purpose of this application is to solve the technical problem that the method for testing the transmission error of the speed reducer in the prior art is complicated in operation and difficult to be widely used in practical applications.
  • the present application provides a test device, comprising: a base; a test tool, the test tool is arranged on the output end of the reducer to be tested, and is driven by the output end to rotate synchronously, so The reducer is fixed on the base; a drive assembly, the output end of the drive assembly is connected with the input end of the reducer, so as to drive the input end of the reducer to rotate, and determine the speed of the reducer.
  • Rotation angle information of the input end a detection component, the detection component includes a laser tracker located on one side of the output end of the reducer, and is arranged on the test tool and has a reflection function for the laser emitted by the laser tracker
  • the target ball is matched with the laser tracker to determine the motion trajectory information of the target ball;
  • a receiving component one end of the receiving component is electrically connected to the driving component, and the other end is electrically connected to the driving component.
  • the detection component is electrically connected, and the receiving component is used for receiving the rotation angle information of the input end of the reducer and the motion track information of the target ball, and according to the rotation angle information of the input end of the reducer and the target
  • the motion trajectory information of the ball determines the transmission error of the reducer.
  • the test tool includes a tool plate with a stop
  • the output end of the reducer is provided with an output end stop matched with the stop
  • the test tool communicates with the stop through the stop.
  • the output end is matched with the mouth of the output end, and is driven synchronously by the output end of the reducer.
  • extension arms are symmetrically distributed on the tooling plate, the target balls are symmetrically arranged at the ends of the extension arms, and the number of the target balls is multiple.
  • a rotation level is provided on the extension arm of the test tool, and the rotation level is used to determine the starting point of the movement of the target ball.
  • the drive assembly includes a motor, an encoder electrically connected to the motor, and a driver for controlling the motor, the motor is located on one side of the base, and the protruding shaft of the output end of the motor is connected to the motor.
  • the input end of the reducer is connected to drive the input end of the reducer to rotate, and the rotation angle information of the input end of the reducer is determined by the encoder, and one end of the driver is electrically connected to the motor , the other end is electrically connected with the receiving component, the driver is used to receive the control command of the receiving component, control the rotation of the motor, and rotate the input end of the reducer determined by the encoder
  • the angle information is sent to the receiving component.
  • the base, the test tool, the reducer to be tested fixed on the base, and the motor connected to the reducer are one or more, the base, the The number of the test fixtures and the motors corresponds to the number of the reducers to be tested.
  • the receiving component includes a data acquisition instrument and a display screen, the data acquisition instrument is electrically connected to the display screen, and the data acquisition instrument is used to receive the rotation angle information of the input end of the reducer and the display screen.
  • the motion trajectory information of the target ball according to the rotation angle information of the input end of the reducer and the motion trajectory information of the target ball, determine the transmission error of the reducer, and display the transmission error of the reducer in the on the display.
  • the testing device further includes a controller, and the controller is used to adjust the working parameters of the motor and the laser tracker.
  • the motion trajectory information of the target ball in the process of rotating with the test tool is obtained, wherein the motion trajectory information can be obtained through a series of coordinates in the space rectangular coordinate system.
  • the rotation angle of the output end of the reducer is obtained according to the motion track information of the target ball.
  • FIG. 1 is a schematic diagram showing the structure of a transmission error testing device for a reducer according to an exemplary embodiment.
  • FIG. 3 is a schematic cross-sectional view of a reducer and a drive assembly to be tested fixed on a base in a device for testing the transmission error of a reducer according to an exemplary embodiment.
  • FIG. 4 is a schematic structural diagram of a tool to be tested according to an exemplary embodiment.
  • FIG. 5 is a schematic diagram of a space rectangular coordinate system in a reducer transmission error testing device according to an exemplary embodiment.
  • FIG. 6 is a schematic flowchart of a method for testing a transmission error of a reducer in the present application.
  • FIG. 7 is a schematic diagram showing the structure of a transmission error testing device for a reducer with a plurality of samples to be tested, according to an exemplary embodiment.
  • FIG. 8 is a structural block diagram of a transmission error test of a reducer with multiple samples to be tested, according to an exemplary embodiment.
  • FIG. 9 is a schematic flowchart of a method for testing a transmission error of a reducer with multiple samples to be tested, according to an exemplary embodiment.
  • FIG. 1 is a schematic structural diagram of a transmission error test device for a reducer according to an exemplary embodiment.
  • the test device includes a base 1 , a test tool 2 , a drive assembly 3 , a detection assembly 4 and a receiving assembly 5 , the reducer 6 to be tested is fixed on the base 1, wherein the drive assembly 3 includes a motor 31, an encoder 32 electrically connected to the motor 31, and a driver 33 for controlling the motor 31.
  • the encoder 32 It can be arranged inside the motor 31 or outside the motor 31. The relative position of the encoder 32 and the motor 31 is not limited.
  • the input end is connected through the flange 311 , the motor 31 is used to drive the input end of the reducer 6 to rotate, and the rotation angle information of the input end of the reducer 6 is determined through the electrically connected encoder 32 , and one end of the driver 33 is electrically connected to the motor 31 , the other end is electrically connected with the receiving component 5, the driver 33 is used to receive the control command from the receiving component, control the rotation of the motor 31, and send the rotation angle information of the input end of the reducer 6 determined by the encoder 32 to the receiving component 5.
  • the driver 33 is used to receive the control command from the receiving component, control the rotation of the motor 31, and send the rotation angle information of the input end of the reducer 6 determined by the encoder 32 to the receiving component 5.
  • the detection assembly 4 includes a target ball 41 arranged on the test tool 2 and a laser tracker 42 located on the output end side of the reducer 6 , and the target ball 41 is used for reflecting the laser tracker 42 to emit light.
  • the laser tracker 42 cooperates with the target ball 41 to obtain the motion trajectory information of the target ball 41 in the process of synchronous operation with the output end of the reducer 6.
  • One end of the receiving assembly 5 is electrically connected to the driving assembly 3, and the other end is electrically connected to the driving assembly 3.
  • the receiving component 5 is used to receive the rotation angle information of the input end of the reducer 6 and the motion track information of the target ball 41, and according to the received rotation angle information of the input end of the reducer 6 and the target ball 41
  • the motion track information is used to determine the transmission error of the reducer 6 .
  • the reducer 6 can be driven by the motor 31 connected to the input end. Since the extension shaft of the output end of the motor 31 is fixedly connected with the input end of the reducer 6, the rotation angle of the input end of the reducer 6 The same as the rotation angle of the motor 31, the rotation angle of the input end of the reducer 6 is consistent with the rotation angle fed back by the encoder 32, through an encoder 32 electrically connected to the motor 31, the rotation displacement of the motor 31 can be converted into digital Pulse signal, the driver 33 can receive the digital pulse signal and send it to the receiving component 5 as the rotation angle information of the input end of the reducer 6 for further processing.
  • a test tool 2 is provided on the output end of the reducer 6. Since the reducer 6 will rotate continuously under the drive of the motor 31, the test tool 2 on the output end of the reducer 6 will also be synchronized. Rotation, therefore, the target ball 41 on the test tool 2 will also rotate synchronously, the rotation angle of the target ball 41 is the rotation angle of the reducer 6, the target ball 41 set on the test tool 2 and the output end of the reducer 6
  • the laser tracker 42 on one side can be used in conjunction to determine the motion trajectory information of the target ball 41 during the operation of the test tool 2 . According to the motion trajectory information, the rotation angle of the output end of the reducer 6 can be extracted.
  • the motion trajectory of the target ball 41 can be represented by a plurality of coordinates in the space rectangular coordinate system OXYZ, so as to facilitate the subsequent extraction of the reducer 6 from the motion trajectory information of the target ball 41.
  • Rotation angle of the output terminal is a space rectangular coordinate system OXYZ.
  • the test tool 2 includes a tooling plate 22 with a stop 21, and the stop 21 is a convex stop or a concave stop.
  • the output end stop on the output end of 6 is also a convex stop or a concave stop.
  • the stop 21 is a convex stop
  • the output end stop is a concave stop
  • the stop 21 and the stop of the output end are fixed by screws, so that the test tool 2 is driven synchronously by the output end of the reducer 6.
  • the tool plate 22 includes symmetrically distributed The extension arm 221, the number of the extension arms 221 is plural, the number of the target balls 41 disposed at the end of the extension arm 221 is also plural, the target balls 41 are symmetrically distributed at the end of the extension arm 221, and the number of the target balls 41 Less than or equal to the number of extension arms 221 .
  • the number of extension arms 221 can be set to 4 and the number of target balls 41 can be set to 2, or the number of extension arms 221 can be set to 4 and the number of target balls 41 can be set to 4.
  • the extension arms 221 need to be symmetrically distributed on the tool plate 22 , and the target ball 41 disposed at the end of the extension arm 221 is also symmetrical on the extension arm 221 distribution, so that the test tool 2 installed with the target ball 41 has high stability during the rotation process.
  • the extension arms 221 include symmetrically distributed first extension arms 2211 , second extension arms 2212 , third extension arms 2213 and fourth extension arms 2213 .
  • the extension arm 2214, the target ball 41 includes a first target ball 411 arranged at the end of the first extension arm 2211, a second target ball 412 arranged at the end of the second extension arm 2212, and arranged at the end of the third extension arm 2213
  • the third target ball 413 and the fourth target ball 414 disposed at the end of the fourth extending arm 2214.
  • a space rectangular coordinate system O 0 X 0 Y 0 Z 0 is established, wherein, in order to facilitate subsequent data processing, the space rectangular coordinate system O 0 X 0 Y 0
  • the X 0 O 0 Y 0 plane of Z 0 is set as the plane where the center of the target ball 41 is located, that is, the first target ball 411 , the second target ball 412 , the third target ball 413 and the fourth target ball 414 are in the space Cartesian coordinate system
  • the Z-coordinates in are all zero, and the initial coordinates of the first target ball 411 , the second target ball 412 , the third target ball 413 and the fourth target ball 414 are respectively determined.
  • a space rectangular coordinate system O 1 X 1 Y 1 Z 1 is established,
  • the coordinate origin O 1 of the space rectangular coordinate system O 1 X 1 Y 1 Z 1 is the emission point of the laser light.
  • the transformation matrix is obtained according to the coordinate transformation
  • it can be realized according to any target ball 41, for example, according to the coordinates of the first target ball 411 in the space rectangular coordinate system O 0 X 0 Y 0 Z 0 and the space rectangular coordinate system O 1 X 1 Y 1 Z 1
  • the coordinates in get the transformation matrix
  • the obtained transformation matrix Stored in the receiving component 5 for subsequent data processing.
  • one of the four target balls can be randomly selected, for example, the first target ball 411 is selected.
  • the laser tracker 42 will continuously emit laser light to the first target ball 411. and receive the laser reflected by the first target ball 411, through the cooperation of the target ball 41 and the laser tracker 42, the continuous coordinates of the first target ball 411 in the space rectangular coordinate system O 1 X 1 Y 1 Z 1 can be obtained, That is, the motion trajectory information of the first target ball 411 .
  • a matrix transformation can be completed, and then, according to the first target ball 411 in the space
  • the corresponding coordinates of the first target ball 411 in the space rectangular coordinate system O 0 X 0 Y 0 Z 0 are obtained, or matrix transformation can be performed after the laser tracker 42 completes the collection of all coordinate data, and then, according to the first target
  • the continuous coordinates and transformation matrix of the ball 411 in the space rectangular coordinate system O 1 X 1 Y 1 Z 1 The corresponding coordinates of the first target ball 411 in the space rectangular coordinate system O 0 X 0 Y 0 Z 0 are obtained.
  • ⁇ er ⁇ 2 - ⁇ 1 /R
  • ⁇ 1 is the rotation angle of the input end of the reducer
  • ⁇ 2 is the rotation angle of the output end of the reducer
  • ⁇ er is the transmission of the reducer error
  • R is the reduction ratio of the reducer
  • a rotation level 23 is further provided on the extension arm 221 of the test fixture 2 , and the rotation level 23 is used to determine the starting point of the movement of the target ball 41 .
  • the X coordinate of the second target ball 412 and the fourth target ball 414 can be adjusted to zero, while the Y coordinate of the first target ball 411 and the third target ball 413 can be adjusted to zero, which facilitates subsequent data processing.
  • the receiving assembly 5 includes a data acquisition instrument and a display screen, the data acquisition instrument is electrically connected to the display screen, and the data acquisition instrument is used to receive the rotation angle information of the input end of the reducer 6 and the motion track information of the target ball 41, according to The received rotation angle information of the input end of the reducer 6 and the motion track information of the target ball 41 determine the transmission error of the reducer 6 and display the transmission error of the reducer 6 on the display screen.
  • the data acquisition instrument can collect and store the rotation angle information of the input end of the receiving reducer 6 and the motion trajectory information of the target ball 41 in real time. After the transmission error of the reducer 6 is determined, the collection and storage are cleared. data to facilitate subsequent data processing.
  • the testing device further includes a controller, and the controller is used to adjust the working parameters of the motor 31 and the laser tracker 42 .
  • the driver 33 can be set by the controller, so as to realize the adjustment of the motor 31.
  • the rotation speed or the running speed/time of the motor 31 can be set on the driver 33, so that the motor 31 can be set according to the The set rotation speed is operated, or the data sampling frequency of the laser tracker 42 is set.
  • the present application also provides a method for testing the transmission error of the reducer, as shown in FIG. 6 , the method includes:
  • Step 10 Obtain the rotation angle information of the input end of the reducer and the motion track information of the target ball.
  • Step 20 Extract the rotation angle of the input end of the reducer according to the rotation angle information of the input end of the reducer, and extract the rotation angle of the output end of the reducer according to the motion track information of the target ball.
  • the step of extracting the rotation angle of the output end of the reducer includes:
  • x is the right angle of the target ball in space
  • y is the coordinate value of the target ball in the Y-axis direction in the space rectangular coordinate system OXYZ.
  • the use of the reducer is in the form of "motor + flange + reducer", that is, the motor, flange and reducer are first composed of components, and then the The assembled components are installed in each joint of the robot, especially in the SCARA (Selective Compliance Assembly Robot Arm) machine, which is widely used.
  • SCARA Selective Compliance Assembly Robot Arm
  • the test device provided in the present application can perform multiple deceleration tests.
  • the transmission error of the reducer is detected.
  • the base 1, the test tool 2, the reducer 6 to be tested fixed on the base 1, and the motor 31 connected to the reducer 6 are one or more, and the base 1 ,
  • the number of test fixtures 2 and motors 31 corresponds to the number of reducers 6 to be tested.
  • the laser tracker 42 can realize 360° measurement in space, after the laser tracker 42 completes the transmission error detection of one of the reducers 6 to be tested, it can decelerate the other to be tested.
  • the device 6 detects the transmission error.
  • there can be multiple reducers 6 to be tested the reducers 6 to be tested are respectively fixed on different bases 1, and the input end of the reducer 6 is connected to the corresponding motor 31. It should be noted that one driver The control of multiple motors can be completed, so it is not necessary to integrally connect the reducer 6 to be tested with the drive assembly 3 .
  • FIG. 8 is a block diagram showing a transmission error test structure of a reducer with multiple samples to be tested according to an exemplary embodiment.
  • the reducer to be tested and a servo with an encoder built-in motor is connected.
  • the shape of the test fixture used also needs to be adjusted, so that the test fixture used can meet the test requirements of the transmission error of the reducer.
  • FIG. 9 is a flow chart showing the transmission error of multiple reducers according to an exemplary embodiment.
  • a library of samples to be tested needs to be established, that is, to be tested.
  • the test reducer library and the test tool library are used to measure the geometric tolerance of different test tooling in the test tool library.
  • the geometric tolerance is the angle between the test tool and the space rectangular coordinate system, that is, the test tool is formed in the X-axis direction, the Y-axis direction or the Z-axis direction, respectively with the X-axis, Y-axis or Z-axis. angle.
  • the sample to be tested that is, fix the reducer and the motor on the base, connect the input side of the reducer and the motor through a flange, and at the same time, install a test tool on the output side of the reducer, and put the target
  • the ball is mounted on the end of the extension arm of the test fixture, and the samples to be tested are multiple.
  • the relative positions of the laser tracker and the sample to be tested are adjusted, and the acquisition instrument is electrically connected to the laser tracker and the motor respectively.
  • a servo motor can be used instead of the motor, and an encoder is provided in the servo motor. It can be used to determine the rotation angle information of the input end of the reducer.
  • determine the spatial rectangular coordinate system of the target ball and the spatial rectangular coordinate system of the space where the laser tracker is located determine the transformation matrix according to the coordinate transformation, and store the transformation matrix in the data processor, and then control the rotation speed of the motor.
  • perform synchronous sampling and process the sampled data to obtain the rotation angle of the input end of the reducer and the rotation angle of the output end of the reducer, calculate the transmission error of the reducer, and then switch to the output end of another sample to be tested.
  • the subsequent transmission error detection is carried out.
  • the rotation angles of the input and output ends of the reducer are synchronously collected, and the quasi-static test method is used to intermittently make the speed of the reducer.
  • the input end rotates by a specified angle and then stops, and the way to test the rotation angle of the output end of the reducer.
  • the target ball and the laser tracker are used together to obtain the motion trajectory information of the target ball in the process of rotating with the test tool, wherein the motion trajectory information can be represented by a series of coordinates in the space rectangular coordinate system. Then, the rotation angle of the output end of the reducer is obtained according to the motion track information of the target ball.
  • the present application adopts the method of coordinate conversion to eliminate the influence of the assembly process on the transmission error of the reducer. There is no need for too many technical requirements.
  • it is only necessary to simply match a test tool with a known shape and size for installing the target ball.
  • the test efficiency is high, and it can be used in widely used in practical applications.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

一种减速器传动误差测试方法及装置，测试装置包括：底座(1)；测试工装(2)，测试工装(2)设置于待测试的减速器(6)的输出端，减速器(6)固定于底座(1)上；驱动组件(3)，驱动组件(3)的输出端与减速器(6)的输入端相连，以用于驱动减速器(6)的输入端进行转动，确定减速器(6)的输入端旋转角度信息；检测组件(4)，包括位于减速器(6)的输出端一侧的激光跟踪仪(42)，以及设置于测试工装(2)上的靶球(41)，靶球(41)与激光跟踪仪(42)相配合，以用于确定靶球(41)的运动轨迹信息；接收组件(5)，根据减速器(6)的输入端旋转角度信息以及靶球(41)的运动轨迹信息，确定减速器(6)的传动误差。减速器传动误差测试方法可在实际应用中广泛使用。

Description

一种减速器传动误差测试装置及方法
本申请要求于2020年10月28日递交、发明名称为“一种减速器传动误差测试装置及方法”的中国专利申请202011172538.2的优先权，在此通过引用将其全部内容合并于此。
技术领域
本申请涉及精密测试技术及机械传动技术领域，具体而言，涉及一种减速器传动误差测试装置及方法。
背景技术
减速器的传动误差是减速器在运动过程中理论输出和实际输出的差值，是一种减速器内部齿与齿啮合优劣的直接表现形式，从本质上反应了减速器的齿形设计和实际加工水平。对减速器的传动误差的检测，即对减速器运动过程中的输入和输出角度的检测。
目前，对减速器的输入端和输出端的转动角度的同步采集，主要采用是在减速器的输入端和输出端安装圆光栅的方式，而圆光栅属于安装要求高的高精度传感器组件，对装配精度的要求高，在减速器的输入端和输出端安装圆光栅时，需要以高稳定性的铸铁或大理石平台为基础，并另设计高精度结构件来安装和保护圆光栅，从而导致了减速器的传动误差的测试过程复杂，难度大，对操作人员的要求很高，测试效率低。此外，还可采用准静态测试方法对减速器的输入端和输出端的转动角度进行采集，准静态测试方法是间歇性的使减速器的输入端旋转一指定角度后停止，测试减速器输出端的转动角度，而采用准静态测试方法，一方面，由于该方法是对传动误差的离散化处理，另一方面，每次测量暂停的瞬间又不可避免的引入了齿隙及微小的弹性形变，从而导致实际的测试结果与传动误差之间存在一定的差异性，测试结果的误差大，对于机器人用减速器这种高精度产品而言，这种误差显然是难以接受的，同时，采用准静态测试方法测试减速器的输出端转角时，也需要借助其他大型高精度的仪器设备，例如三坐标等，导致测量过程复杂，测试效率低，无法得到广泛应用。
因此，目前已有的减速器的传动误差的测试方法的操作复杂，难以在实际应用中广泛使用。
技术解决方案
本申请的目的在于解决现有技术中减速器的传动误差的测试方法的操作复杂，难以在 实际应用中广泛使用的技术问题。
为解决上述技术问题，本申请提供了一种测试装置，包括：底座；测试工装，所述测试工装设置于待测试的减速器的输出端，并在所述输出端的带动下进行同步转动，所述减速器固定于所述底座上；驱动组件，所述驱动组件的输出端与所述减速器的输入端相连，以用于驱动所述减速器的输入端进行转动，确定所述减速器的输入端旋转角度信息；检测组件，所述检测组件包括位于所述减速器的输出端一侧的激光跟踪仪，以及设置于所述测试工装上并对所述激光跟踪仪发射的激光具有反射功能的靶球，所述靶球与所述激光跟踪仪相配合，以用于确定所述靶球的运动轨迹信息；接收组件，所述接收组件的一端与所述驱动组件电连接，另一端与所述检测组件电连接，所述接收组件用于接收所述减速器的输入端旋转角度信息以及所述靶球的运动轨迹信息，并根据所述减速器的输入端旋转角度信息以及所述靶球的运动轨迹信息，确定所述减速器的传动误差。
可选地，所述测试工装包括一具有止口的工装板，所述减速器的输出端上设置有与所述止口配合的输出端止口，所述测试工装通过所述止口与所述输出端止口相配合，并在所述减速器的输出端的带动下进行同步转动。
可选地，所述工装板上对称分布有延伸臂，所述靶球对称设置于所述延伸臂的端部，所述靶球的数量为多个。
可选地，所述测试工装的所述延伸臂上设置有旋转水平仪，所述旋转水平仪用于确定所述靶球的运动起点。
可选地，所述驱动组件包括电机、与所述电机电连接的编码器以及控制所述电机的驱动器，所述电机位于所述底座一侧，所述电机的输出端的伸出轴与所述减速器的输入端相连，以用于驱动所述减速器的输入端进行转动，并通过所述编码器确定所述减速器的输入端旋转角度信息，所述驱动器的一端与所述电机电连接，另一端与所述接收组件电连接，所述驱动器用于接收所述接收组件的控制指令，对所述电机的转动进行控制，并将所述编码器确定的所述减速器的输入端旋转角度信息发送给所述接收组件。
可选地，所述底座、所述测试工装和固定于所述底座上的待测的所述减速器，以及与所述减速器连接的所述电机为一个或多个，所述底座、所述测试工装和所述电机的数量与待测试的所述减速器的数量相对应。
可选地，所述接收组件包括数据采集仪和显示屏，所述数据采集仪与所述显示屏电连接，所述数据采集仪用于接收所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息，依据所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息，确定所述减速器 的传动误差，并将所述减速器的传动误差显示于所述显示屏上。
可选地，所述测试装置还包括有控制器，所述控制器用于调整所述电机和所述激光跟踪仪的工作参数。
本申请还提供一种减速器传动误差测试方法，用于对如上所述的减速器传动误差测试装置进行控制，其中，所述方法包括：获取所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息；根据所述减速器的输入端旋转角度信息，提取所述减速器的输入端旋转角度，并根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度；根据所述减速器的输入端旋转角度和所述减速器的输出端旋转角度，依据公式θ er＝θ 2-θ 1/R得到所述减速器的传动误差，其中，θ 1为所述减速器的输入端的转动角度，θ 2为所述减速器的输出端的转动角度，θ er为所述减速器的传动误差，R为所述减速器的减速比。
可选地，根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度的步骤包括：根据所述靶球在空间直角坐标系OXYZ中的坐标值，通过三角公式θ＝arctan(y/x)，确定所述减速器的输出端的转动角度，其中，x为所述靶球在空间直角坐标系OXYZ中X轴方向上的坐标值，y为所述靶球在空间直角坐标系OXYZ中Y轴方向上的坐标值。
在上述技术方案中，通过靶球和激光跟踪仪的配合使用，得到靶球在随测试工装进行转动过程中的运动轨迹信息，其中，运动轨迹信息可通过空间直角坐标系中的一连串的坐标的进行表示，其后，根据靶球的运动轨迹信息得到减速器的输出端转动角度，本申请采用坐标转换的方式，消除了装配过程对减速器传动误差带来的影响，所采用的测试方法简单，对操作者无需太多技术要求，在对不同规格、型号的减速器进行传动误差的测试时，只需简单的匹配一用以安装靶球的已知形状尺寸的测试工装即可，测试效率高，可在实际应用中广泛使用。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术者来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是根据一示例性实施例示出的减速器传动误差测试装置的结构的示意图。
图2是根据一示例性实施例示出的减速器传动误差测试装置中固定于底座上的待测试的减速器与驱动组件的连接示意图。
图3是根据一示例性实施例示出的减速器传动误差测试装置中固定于底座上的待测试的减速器与驱动组件的截面示意图。
图4是根据一示例性实施例示出的待测工装的结构示意图。
图5是根据一示例性实施例示出的在减速器传动误差测试装置中空间直角坐标系的示意图。
图6是本申请一种减速器传动误差测试方法的流程示意图。
图7是根据一示例性实施例示出的待测试样品为多个的减速器传动误差测试装置的结构的示意图。
图8为根据一示例性实施例示出的待测样品为多个的减速器传动误差测试结构框图。
图9是根据一示例性实施例示出的待测试样品为多个的减速器传动误差测试方法的流程示意图。
附图标记说明如下：1、底座；2、测试工装；21、止口；22、工装板；221、延伸臂；2211、第一延伸臂；2212、第二延伸臂；2213、第三延伸臂；2214、第四延伸臂；23、旋转水平仪；3、驱动组件；31、电机；311、法兰；32、编码器；33、驱动器；4检测组件；41、靶球；411、第一靶球；412、第二靶球；413、第三靶球；414、第四靶球；42、激光跟踪仪；5、接收组件；6、待测试的减速器。
具体实施方式
体现本申请特征与优点的典型实施方式将在以下的说明中详细叙述。应当理解的是本申请能够在不同的实施方式上具有各种的变化，其皆不脱离本申请的范围，且其中的说明及图示在本质上是当作说明之用，而非用以限制本申请。
为了进一步说明本申请的原理和结构，现结合附图对本申请的优选实施例进行详细说明。
图1是根据一示例性实施例示出的减速器传动误差测试装置的结构示意图，如图1所示，该测试装置包括有底座1，测试工装2，驱动组件3，检测组件4和接收组件5，待测试的减速器6固定于所述底座1上，其中，驱动组件3包括电机31、与电机31电连接的编码器32，以及控制电机31的驱动器33，需说明的是，编码器32可设置于电机31内部，也可设置于电机31的外部，编码器32与电机31的相对位置不进行限定，电机31位于底 座1一侧，电机31的输出端的伸出轴与减速器6的输入端通过法兰311连接，电机31用于驱动减速器6的输入端进行转动，并通过电连接的编码器32确定减速器6的输入端旋转角度信息，驱动器33的一端与电机31电连接，另一端与接收组件5电连接，驱动器33用于接收来自接收组件的控制指令，对电机31的转动进行控制，并将编码器32确定的减速器6的输入端旋转角度信息发送给接收组件5。请继续参阅图1，其中，检测组件4包括设置于测试工装2上的靶球41，以及位于减速器6的输出端一侧的激光跟踪仪42，靶球41用于反射激光跟踪仪42发出的激光，激光跟踪仪42与靶球41相配合，可获取靶球41随减速器6的输出端进行同步运转过程中的运动轨迹信息，接收组件5的一端与驱动组件3电连接，另一端与检测组件4电连接，接收组件5用于接收减速器6的输入端旋转角度信息，以及靶球41的运动轨迹信息，并根据接收的减速器6的输入端旋转角度信息以及靶球41的运动轨迹信息，确定减速器6的传动误差。
在本实施例中，减速器6可通过输入端上连接的电机31进行驱动，由于电机31的输出端的伸出轴与减速器6的输入端固定连接，因此，减速器6的输入端的转动角度与电机31的转动角度相同，减速器6的输入端的转动角度与编码器32反馈的转动角度是一致的，通过一与电机31电连接的编码器32，可将电机31的旋转位移转换成数字脉冲信号，所述驱动器33可接收数字脉冲信号并将其作为减速器6的输入端旋转角度信息发送至接收组件5进行下一步的处理。
进一步地，在减速器6的输出端上设置有测试工装2，由于减速器6在电机31的驱动下会不停地进行转动，位于减速器6的输出端上的测试工装2也会发生同步转动，因此，位于测试工装2上的靶球41也会发生同步转动，靶球41的转动角度即为减速器6的转动角度，测试工装2上设置的靶球41与减速器6的输出端一侧的激光跟踪仪42配合使用，可确定靶球41在随测试工装2运转过程中的运动轨迹信息，根据所述运动轨迹信息，可提取出减速器6的输出端转动角度。
示例性的，可通过建立空间直角坐标系OXYZ，对靶球41的运动轨迹采用空间直角坐标系OXYZ中的多个坐标进行表示，方便后续从靶球41的运动轨迹信息中提取出减速器6的输出端转动角度。
示例性的，如图4所示，测试工装2包括一具有止口21的工装板22，止口21为凸止口或凹止口，相对应地，与止口21相配合的位于减速器6的输出端上的输出端止口也为凸止口或凹止口，当止口21为凸止口时，输出端止口为凹止口，而当止口21为凹止口时，输出端止口为凸止口，止口21与输出端止口之间通过螺钉进行固定，从而使得测试工装 2在减速器6的输出端的带动下进行同步转动，工装板22包括有对称分布有延伸臂221，延伸臂221的数量为多个，设置于延伸臂221端部的靶球41的数量也为多个，靶球41对称分布于延伸臂221的端部，且靶球41的数量小于或等于延伸臂221的数量。例如，可将延伸臂221的数量设置为4个，将靶球41的数量设置为2个，或将延伸臂221的数量设置为4个，将靶球41的数量设置为4个。需要说明的是，考虑到测试工装2在转动过程中的稳定性，延伸臂221需对称分布于工装板22上，而设置于延伸臂221端部的靶球41在延伸臂221上也为对称分布，从而使得安装有靶球41的测试工装2在转动过程中，具有较高的稳定性。
本实施例中，以靶球41的数量与延伸臂221的数量均为4为例，根据靶球41的运动轨迹信息，获取减速器6的输出端转动角度的步骤进行详细说明。
如图4所示，当靶球41的数量与延伸臂221的数量均为4时，延伸臂221包括对称分布的第一延伸臂2211、第二延伸臂2212、第三延伸臂2213和第四延伸臂2214，靶球41包括有设置于第一延伸臂2211端部的第一靶球411，设置于第二延伸臂2212端部的第二靶球412，设置于第三延伸臂2213端部的第三靶球413以及设置于第四延伸臂2214端部的第四靶球414。
如图5所示，首先，在所述测试工装2所在空间，建立空间直角坐标系O 0X 0Y 0Z 0，其中，为了方便后续数据处理，将空间直角坐标系O 0X 0Y 0Z 0的X 0O 0Y 0平面设定为靶球41的中心所在平面，即第一靶球411、第二靶球412、第三靶球413和第四靶球414在空间直角坐标系中的Z向坐标均为零，并分别确定第一靶球411、第二靶球412、第三靶球413和第四靶球414的起始坐标。
其次，调整激光跟踪仪42，使其发射的激光至靶球41处后，能被靶球41反射，并在激光跟踪仪42所在空间，建立空间直角坐标系O 1X 1Y 1Z 1，空间直角坐标系O 1X 1Y 1Z 1的坐标原点O 1为激光的发射点。确定靶球41在空间直角坐标系O 1X 1Y 1Z 1中的坐标，根据坐标转换公式：
Figure PCTCN2021121589-appb-000001
得到变换矩阵
Figure PCTCN2021121589-appb-000002
其中，
Figure PCTCN2021121589-appb-000003
其中，依据坐标转换得到变换矩阵
Figure PCTCN2021121589-appb-000004
的步骤中，可依据任一靶球41实现，例如可根 据第一靶球411在空间直角坐标系O 0X 0Y 0Z 0中的坐标和空间直角坐标系O 1X 1Y 1Z 1中的坐标，得到变换矩阵
Figure PCTCN2021121589-appb-000005
需要说明的是，获取的变换矩阵
Figure PCTCN2021121589-appb-000006
存储于接收组件5中，以便于后续的数据处理。
进一步地，可随机选择四个靶球中的一个，例如选择第一靶球411，在减速器6的输出端发生转动的过程中，激光跟踪仪42会连续地发射激光至第一靶球411处，并接收第一靶球411反射的激光，通过靶球41与激光跟踪仪42的相互配合，可得到第一靶球411在空间直角坐标系O 1X 1Y 1Z 1的连续坐标，即第一靶球411的运动轨迹信息。需要说明的是，在本实施例中，可在测试过程中，待激光跟踪仪42每采集完预设的一组坐标数据后，完成一次矩阵变换，其后，根据第一靶球411在空间直角坐标系O 1X 1Y 1Z 1的连续坐标以及变换矩阵
Figure PCTCN2021121589-appb-000007
得到第一靶球411在空间直角坐标系O 0X 0Y 0Z 0中的对应坐标，也可在激光跟踪仪42完成所有坐标数据的采集后，进行矩阵变换，其后，根据第一靶球411在空间直角坐标系O 1X 1Y 1Z 1的连续坐标以及变换矩阵
Figure PCTCN2021121589-appb-000008
得到第一靶球411在空间直角坐标系O 0X 0Y 0Z 0中的对应坐标。
基于第一靶球411在空间直角坐标系O 0X 0Y 0Z 0中的X值和Y值，通过三角公式θ＝arctan(y/x)，即可得到所述减速器6的输出端的转动角度。
在本实施例中，得到减速器6的输出端转动角度，以及从减速器6的输入端转动角度信息中提取得到减速器6的输入端转动角度后，依据公式：θ er＝θ 2-θ 1/R可得到所述减速器的传动误差，其中，θ 1为所述减速器的输入端转动角度，θ 2为所述减速器的输出端转动角度，θ er为所述减速器的传动误差，R为所述减速器的减速比。
示例性的，在测试工装2的延伸臂221上还设置有旋转水平仪23，旋转水平仪23用于确定靶球41的运动起点。
如图5所示，通过旋转水平仪23可将第二靶球412和第四靶球414的X向坐标调整为零，而将第一靶球411和第三靶球413的Y向坐标调整为零，从而有利于后续数据的处理。
示例性的，接收组件5包括数据采集仪和显示屏，数据采集仪与显示屏电连接，数据采集仪用于接收减速器6的输入端旋转角度信息，以及靶球41的运动轨迹信息，依据接收的减速器6的输入端旋转角度信息以及靶球41的运动轨迹信息，确定减速器6的传动误差，并将减速器6的传动误差显示于显示屏上。
本实施例中，数据采集仪可对接收减速器6的输入端旋转角度信息，以及靶球41的运动轨迹信息进行实时采集和存储，待确定减速器6的传动误差后，则清除采集和存储的 数据，以便于后续数据处理。
示例性的，测试装置还包括有控制器，控制器用于调整电机31和激光跟踪仪42的工作参数。
在本实施例中，可通过控制器对驱动器33进行设定，从而实现对电机31的调整，例如可在驱动器33上对电机31的旋转速度或运行转速/时间进行设定，使电机31按照设定的旋转速度进行运转，或是对激光跟踪仪42的数据采样频率进行设定。
本申请还提供有一种减速器传动误差测试方法，如图6所示，所述方法包括：
步骤10、获取所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息。
步骤20、根据所述减速器的输入端旋转角度信息，提取所述减速器的输入端旋转角度，并根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度。
步骤30、根据所述减速器的输入端旋转角度和所述减速器的输出端旋转角度，依据公式θ er＝θ 2-θ 1/R得到所述减速器的传动误差，其中，θ 1为所述减速器的输入端的转动角度，θ 2为所述减速器的输出端的转动角度，θ er为所述减速器的传动误差，R为所述减速器的减速比。
进一步地，根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度的步骤包括：
根据所述靶球在空间直角坐标系OXYZ中的坐标值，通过三角公式θ＝arctan(y/x)，确定所述减速器的输出端的转动角度，其中，x为所述靶球在空间直角坐标系OXYZ中X轴方向上的坐标值，y为所述靶球在空间直角坐标系OXYZ中Y轴方向上的坐标值。
需要说明的是，在大部分的机器人中，对减速器的使用均采用“电机+法兰+减速器”的形式，即先将电机、法兰及减速器三者组成组件，其后，将组成的组件安装至机器人的各关节中，尤其在SCARA(Selective Compliance Assembly Robot Arm，选择顺应性装配机器手臂)机器中应用广泛。
基于现有的减速器在机器人中的应用广泛，而现有的对减速器的传动误差进行测试的方式无法满足机器人中减速器的传动误差测试需求，本申请提供的测试装置可对多个减速器的传动误差进行检测，如图7所示，底座1、测试工装2和固定于底座1上的待测的减速器6，以及与减速器6连接的电机31为一个或多个，底座1、测试工装2和电机31的数量与待测试的减速器6的数量相对应。
在本实施例中，由于激光跟踪仪42可实现空间内360°可测，待激光跟踪仪42对其中某一待测试的减速器6完成传动误差检测后，即可对另一待测试的减速器6进行传动误 差的检测。其中，待测试的减速器6可为多个，待测试的减速器6分别固定于不同的底座1上，且减速器6的输入端与对应的电机31相连，需要说明的是，一台驱动器可完成对多台电机的控制，因此，不需要将待测试的减速器6均与驱动组件3整体相连。
请继续参阅图8，图8为根据一示例性实施例示出的待测样品为多个的减速器传动误差测试结构框图，本实施例中，待测试的减速器与内设有编码器的伺服电机相连。
另外，对不同型号的减速器进行检测时，所采用的测试工装的形状也需进行调整，从而使得所用的测试工装能够满足减速器的传动误差的测试需求。
图9为根据一示例性实施例示出的对多个减速器进行传动误差的流程图，如图所示，在对多个减速器进行误差检测时，首先，需要建立被测样品库，即待测试的减速器库，以及测试工装库，并对测试工装库内的不同测试工装的形位公差进行测量，通过建立测试工装库，使得不同型号的减速器都具有与其进行匹配的测试工装，其中，形位公差为测试工装与空间直角坐标系之间的夹角，即测试工装在X轴方向上、Y轴方向上或是Z轴方向上，分别与X轴、Y轴或Z轴形成的夹角。
其后，对待测样品进行装配，即将减速器和电机固定于底座上，减速器输入端一侧与电机之间通过法兰连接，同时，在减速器的输出端一侧安装测试工装，将靶球安装于测试工装的延伸臂的端部，所述待测样品为多个。
进一步地，将激光跟踪仪与待测样品的相对位置进行调整，将采集仪器分别于激光跟踪仪与电机电连接，需要说明的是，可采用伺服电机代替电机，伺服电机内设置有编码器，可用于对减速器的输入端转动角度信息进行确定。
进一步地，确定靶球的空间直角坐标系和激光跟踪仪所在空间的空间直角坐标系，依据坐标变换，确定变换矩阵，并将变换矩阵存储至数据处理器中，其后，控制电机的转动速度，进行同步采样，并对采样的数据进行处理，得到减速器的输入端转动角度和减速器的输出端转动角度，计算减速器的传动误差，随后，切换至另一待测样品的输出端一侧，进行后续的传动误差的检测。
相对于现有技术中在减速器的输入端和输出端安装圆光栅，对减速器的输入端和输出端的转动角度进行同步采集的方式，以及采用准静态测试方式，间歇性的使减速器的输入端旋转一指定角度后停止，测试减速器输出端的转动角度的方式。本申请通过靶球和激光跟踪仪的配合使用，得到靶球在随测试工装进行转动过程中的运动轨迹信息，其中，运动轨迹信息可通过空间直角坐标系中的一连串的坐标的进行表示，其后，根据靶球的运动轨迹信息得到减速器的输出端转动角度，本申请采用坐标转换的方式，消除了装配过程对减 速器传动误差带来的影响，所采用的测试方法简单，对操作者无需太多技术要求，在对不同规格、型号的减速器进行传动误差的测试时，只需简单的匹配一用以安装靶球的已知形状尺寸的测试工装即可，测试效率高，可在实际应用中广泛使用。
上述内容，仅为本申请的较佳示例性实施例，并非用于限制本申请的实施方案，本领域普通技术人员根据本申请的主要构思和精神，可以十分方便地进行相应的变通或修改，故本申请的保护范围应以权利要求书所要求的保护范围为准。

Claims (10)

  1. 一种减速器传动误差测试装置，其中，所述测试装置包括：
    底座；
    测试工装，所述测试工装设置于待测试的减速器的输出端，并在所述输出端的带动下进行同步转动，所述减速器固定于所述底座上；
    驱动组件，所述驱动组件的输出端与所述减速器的输入端相连，以用于驱动所述减速器的输入端进行转动，确定所述减速器的输入端旋转角度信息；
    检测组件，所述检测组件包括位于所述减速器的输出端一侧的激光跟踪仪，以及设置于所述测试工装上并对所述激光跟踪仪发射的激光具有反射功能的靶球，所述靶球与所述激光跟踪仪相配合，以用于确定所述靶球的运动轨迹信息；
    接收组件，所述接收组件的一端与所述驱动组件电连接，另一端与所述检测组件电连接，所述接收组件用于接收所述减速器的输入端旋转角度信息以及所述靶球的运动轨迹信息，并根据所述减速器的输入端旋转角度信息以及所述靶球的运动轨迹信息，确定所述减速器的传动误差。
  2. 根据权利要求1所述的测试装置，其中，所述测试工装包括一具有止口的工装板，所述减速器的输出端上设置有与所述止口配合的输出端止口，所述测试工装通过所述止口与所述输出端止口相配合，并在所述减速器的输出端的带动下进行同步转动。
  3. 根据权利要求2所述的测试装置，其中，所述工装板上对称分布有延伸臂，所述靶球对称设置于所述延伸臂的端部，所述靶球的数量为多个。
  4. 根据权利要求3所述的测试装置，其中，所述测试工装的所述延伸臂上设置有旋转水平仪，所述旋转水平仪用于确定所述靶球的运动起点。
  5. 根据权利要求1所述的测试装置，其中，所述驱动组件包括电机、与所述电机电连接的编码器以及控制所述电机的驱动器，所述电机位于所述底座一侧，所述电机的输出端的伸出轴与所述减速器的输入端相连，以用于驱动所述减速器的输入端进行转动，并通过所述编码器确定所述减速器的输入端旋转角度信息，所述驱动器的一端与所述电机电连接，另一端与所述接收组件电连接，所述驱动器用于接收所述接收组件的控制指令，对所述电机的转动进行控制，并将所述编码器确定的所述减速器的输入端旋转角度信息发送给所述接收组件。
  6. 根据权利要求5所述的测试装置，其中，所述底座、所述测试工装和固定于所述 底座上的待测的所述减速器，以及与所述减速器连接的所述电机为一个或多个，所述底座、所述测试工装和所述电机的数量与待测试的所述减速器的数量相对应。
  7. 根据权利要求1所述的测试装置，其中，所述接收组件包括数据采集仪和显示屏，所述数据采集仪与所述显示屏电连接，所述数据采集仪用于接收所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息，依据所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息，确定所述减速器的传动误差，并将所述减速器的传动误差显示于所述显示屏上。
  8. 根据权利要求5所述的测试装置，其中，所述测试装置还包括有控制器，所述控制器用于调整所述电机和所述激光跟踪仪的工作参数。
  9. 一种减速器传动误差测试方法，用于对如权利要求1-8中任一项所述的测试装置进行控制，其中，所述方法包括：
    获取所述减速器的输入端旋转角度信息和所述靶球的运动轨迹信息；
    根据所述减速器的输入端旋转角度信息，提取所述减速器的输入端旋转角度，并根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度；
    根据所述减速器的输入端旋转角度和所述减速器的输出端旋转角度，依据公式θ er＝θ 2-θ 1/R得到所述减速器的传动误差，其中，θ 1为所述减速器的输入端的转动角度，θ 2为所述减速器的输出端的转动角度，θ er为所述减速器的传动误差，R为所述减速器的减速比。
  10. 根据权利要求9所述的测试方法，其中，根据所述靶球的运动轨迹信息，提取所述减速器的输出端旋转角度的步骤包括：
    根据所述靶球在空间直角坐标系OXYZ中的坐标值，通过三角公式θ＝arctan(y/x)，确定所述减速器的输出端的转动角度，其中，x为所述靶球在空间直角坐标系OXYZ中X轴方向上的坐标值，y为所述靶球在空间直角坐标系OXYZ中Y轴方向上的坐标值。
PCT/CN2021/121589 2020-10-28 2021-09-29 一种减速器传动误差测试装置及方法 WO2022089139A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21884868.7A EP4239308A1 (en) 2020-10-28 2021-09-29 Speed reducer transmission error test apparatus and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011172538.2A CN112857795A (zh) 2020-10-28 2020-10-28 一种减速器传动误差测试装置及方法
CN202011172538.2 2020-10-28

Publications (1)

Publication Number Publication Date
WO2022089139A1 true WO2022089139A1 (zh) 2022-05-05

Family

ID=75996221

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/121589 WO2022089139A1 (zh) 2020-10-28 2021-09-29 一种减速器传动误差测试装置及方法

Country Status (3)

Country Link
EP (1) EP4239308A1 (zh)
CN (1) CN112857795A (zh)
WO (1) WO2022089139A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112857795A (zh) * 2020-10-28 2021-05-28 库卡机器人(广东)有限公司 一种减速器传动误差测试装置及方法
CN114935454A (zh) * 2022-05-17 2022-08-23 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） 传动误差检测装置、方法和系统

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102519723A (zh) * 2012-01-09 2012-06-27 唐进元 一种齿轮动态传动误差测控系统
US20130308117A1 (en) * 2012-05-16 2013-11-21 Faro Technologies, Inc. Apparatus and method to compensate bearing runout in laser tracker
CN203688220U (zh) * 2013-12-26 2014-07-02 北京配天大富精密机械有限公司 减速器测试设备
CN104807631A (zh) * 2014-01-23 2015-07-29 天津职业技术师范大学 精密减速机传动误差测试系统
CN104833505A (zh) * 2014-02-12 2015-08-12 天津职业技术师范大学 高精度传动误差检测系统
CN106644463A (zh) * 2016-11-16 2017-05-10 南京工程学院 一种用于精密减速器动态测试装置
CN206593851U (zh) * 2017-01-22 2017-10-27 济南大学 Rv减速器动静态性能测试系统
CN107300468A (zh) * 2017-06-28 2017-10-27 重庆大学 精密行星减速器角度传递误差静动态测量装置及其测量方法
CN109883696A (zh) * 2019-04-04 2019-06-14 埃夫特智能装备股份有限公司 一种机器人rv减速器传递误差精确测试装置
CN110160770A (zh) * 2019-06-25 2019-08-23 沈阳工业大学 高速旋转主轴实时检测装置及其检测方法
CN111189634A (zh) * 2020-03-18 2020-05-22 中国船舶重工集团公司第七0七研究所 一种大型rv减速器传动误差测试装置及测试方法
CN111721530A (zh) * 2020-07-17 2020-09-29 安徽科技学院 一种减速器性能测试装置及测试方法
CN111780967A (zh) * 2020-06-12 2020-10-16 中国船舶重工集团公司第七二四研究所 一种可校正偏心误差的转台传动精度光学复合检测方法
CN112857795A (zh) * 2020-10-28 2021-05-28 库卡机器人(广东)有限公司 一种减速器传动误差测试装置及方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3335850B2 (ja) * 1996-09-04 2002-10-21 松下電器産業株式会社 モータ回転角度測定方法およびモータ回転角度測定装置
CN1987395B (zh) * 2005-12-23 2012-05-16 鸿富锦精密工业（深圳）有限公司 量测装置
CN202793932U (zh) * 2012-10-10 2013-03-13 李洪普 多工位的灯泡耐压测试机
CN209887458U (zh) * 2019-05-07 2020-01-03 北京道锐达科技有限公司 一种pcba测试烧录用工装
CN110244695A (zh) * 2019-06-24 2019-09-17 珠海格力智能装备有限公司 变频控制器的老化检测系统
CN211375027U (zh) * 2019-12-17 2020-08-28 厦门宏泰智能制造有限公司 一种网络终端的自动测试机

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102519723A (zh) * 2012-01-09 2012-06-27 唐进元 一种齿轮动态传动误差测控系统
US20130308117A1 (en) * 2012-05-16 2013-11-21 Faro Technologies, Inc. Apparatus and method to compensate bearing runout in laser tracker
CN203688220U (zh) * 2013-12-26 2014-07-02 北京配天大富精密机械有限公司 减速器测试设备
CN104807631A (zh) * 2014-01-23 2015-07-29 天津职业技术师范大学 精密减速机传动误差测试系统
CN104833505A (zh) * 2014-02-12 2015-08-12 天津职业技术师范大学 高精度传动误差检测系统
CN106644463A (zh) * 2016-11-16 2017-05-10 南京工程学院 一种用于精密减速器动态测试装置
CN206593851U (zh) * 2017-01-22 2017-10-27 济南大学 Rv减速器动静态性能测试系统
CN107300468A (zh) * 2017-06-28 2017-10-27 重庆大学 精密行星减速器角度传递误差静动态测量装置及其测量方法
CN109883696A (zh) * 2019-04-04 2019-06-14 埃夫特智能装备股份有限公司 一种机器人rv减速器传递误差精确测试装置
CN110160770A (zh) * 2019-06-25 2019-08-23 沈阳工业大学 高速旋转主轴实时检测装置及其检测方法
CN111189634A (zh) * 2020-03-18 2020-05-22 中国船舶重工集团公司第七0七研究所 一种大型rv减速器传动误差测试装置及测试方法
CN111780967A (zh) * 2020-06-12 2020-10-16 中国船舶重工集团公司第七二四研究所 一种可校正偏心误差的转台传动精度光学复合检测方法
CN111721530A (zh) * 2020-07-17 2020-09-29 安徽科技学院 一种减速器性能测试装置及测试方法
CN112857795A (zh) * 2020-10-28 2021-05-28 库卡机器人(广东)有限公司 一种减速器传动误差测试装置及方法

Also Published As

Publication number Publication date
EP4239308A1 (en) 2023-09-06
CN112857795A (zh) 2021-05-28

Similar Documents

Publication Publication Date Title
WO2022089139A1 (zh) 一种减速器传动误差测试装置及方法
CN104820439B (zh) 一种视觉设备作为传感器的并联平台跟踪控制装置与方法
CN111366908B (zh) 一种激光雷达转台及其测量装置和测量方法
CN105806251A (zh) 基于线激光传感器的四轴测量系统及其测量方法
CN109655024A (zh) 采用空间变换技术的位移传感器外部参数标定方法
CN104567787A (zh) 动态测角系统测量精度的标定方法
WO2019140778A1 (zh) 一种三维重构系统及三维重构方法
CN110640738A (zh) 一种动态捕捉的工业机器人平台
CN105865341A (zh) 工业机器人空间位姿重复定位精度测量装置和方法
CN114485488A (zh) 涡轮导向器排气面积自动测量系统及测量方法
CN209295918U (zh) 一种齿轮检测装置
CN105866031A (zh) 一种用于太赫兹无损检测的扫描台、扫描成像装置及方法
CN204595620U (zh) 一种视觉设备作为传感器的并联平台跟踪控制装置
CN108088389B (zh) 一种旋转式双激光轮廓测量方法、存储装置及测量装置
CN112697074B (zh) 动态待测物角度测量仪及测量方法
CN112344862A (zh) 一种波纹管波形测试装置及测试方法
CN117232432A (zh) 一种叶片三维轮廓检测系统及其检测方法
CN207600515U (zh) 一种关节式机器人末端执行机构动态特性检测装置
CN108890397A (zh) 一种长轴系激光镗孔定位装置
CN109916392A (zh) 一种基于编码器的机械装备位置检测装置及其系统、方法
CN215810776U (zh) 一种三维标靶跟踪扫描装置
CN209737650U (zh) 一种工业机器人臂应变检测装置
CN213336587U (zh) 多型号电连接器接触件保持力测试系统
CN109807935B (zh) 一种工业机器人臂应变检测装置及方法
CN113791086A (zh) 基于计算机视觉的扇形段叶片表面缺陷测量方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21884868

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021884868

Country of ref document: EP

Effective date: 20230530