CN102494892A - Comprehensive experiment table for performance parameters of harmonic reducer of robot - Google Patents
Comprehensive experiment table for performance parameters of harmonic reducer of robot Download PDFInfo
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- CN102494892A CN102494892A CN2011104151990A CN201110415199A CN102494892A CN 102494892 A CN102494892 A CN 102494892A CN 2011104151990 A CN2011104151990 A CN 2011104151990A CN 201110415199 A CN201110415199 A CN 201110415199A CN 102494892 A CN102494892 A CN 102494892A
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Abstract
The invention discloses a comprehensive experiment table for performance parameters of a harmonic reducer of a robot, which belongs to the technical field of harmonic reducers and comprises a base, a load application device, a sliding seat, a servo motor and a control unit, wherein the load application device is mounted on the base, an input end of the load application device is connected with a flexible gear of the harmonic reducer, the sliding seat is slidably mounted on the base, slides towards the load application device and is provided with a fixing support for fixing a rigid gear of the harmonic reducer, the servo motor is slidably mounted on the sliding seat and slides towards the fixing support, a power output shaft of the servo motor is connected with a wave generator of the harmonic reducer, and the control unit is used for processing information and recording parameters and is connected with the servo motor and the load application device. The comprehensive experiment table is convenient in operation, is capable of truly and accurately detecting the performance parameters of the harmonic reducer, and is widely applied to detecting the performance of the harmonic reducer.
Description
Technical field
The present invention relates to the harmonic speed reducer technical field, relate in particular to the fatigue experiment platform of a kind of robot harmonic speed reducer flexbile gear.
Background technology
Harmonic speed reducer comprises the rigid gear (wheel just) that has ring gear, flexible gear (flexbile gear) and the wave producer that has external toothing.Harmonic speed reducer has that volume is little, in light weight, stable drive, no impact, noiselessness, kinematic accuracy is high, ratio of gear is big, the load-bearing capacity advantages of higher, is widely used in industries such as electronics, space flight and aviation, robot.
Therefore harmonic speed reducer need test to the multinomial performance parameter of harmonic speed reducer because the singularity of its usable range needs the stable of its performance of assurance.In use, flexbile gear bears bigger alternate load, and has been engaged transmission between flexbile gear and the firm wheel; Thereby the torsional property of flexbile gear and gear meshing performance all need to detect; The detection means of this project is generally the detection of manual breakage property at present, and harmonic speed reducer is placed on the operational outfit, makes its operation always in working order; Damage of components up to harmonic speed reducer; Writing time, the resulting data of this detection method are not accurate enough, can not truly reflect each performance parameter of harmonic speed reducer.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of robot harmonic speed reducer performance parameter combined experiment table, and easy to operate, can detect the performance parameter of harmonic speed reducer truly, accurately.
For solving the problems of the technologies described above, technical scheme of the present invention is: the performance parameter combined experiment table of robot harmonic speed reducer comprises pedestal; The load charger, said load charger is installed on the said pedestal, and the input end of said load charger connects the flexbile gear of harmonic speed reducer; Slide, said slide are slidingly mounted on the said pedestal and slide to said load charger, and said slide is provided with the fixed support of the firm wheel that is used for fixing harmonic speed reducer; Be slidingly mounted on the servomotor on the said slide, said servomotor slides to said fixed support, and the PTO of said servomotor connects the wave producer of harmonic speed reducer; Be used to carry out the control module of information processing and recording parameters, said control module connects said servomotor and load charger.
As a kind of improvement, the input end of said load charger is installed with a holder, and said holder connects a flexbile gear Connection Block through securing member, and said flexbile gear Connection Block connects the end face of flexbile gear through securing member; Said fixed support connects wheel mount pad just through securing member, and said firm wheel mount pad is connected through securing member with the end face of firm wheel.
As further improvement, on the said pedestal imaging device is installed, said imaging device is connected towards harmonic speed reducer and with said control module.
As further improvement, said imaging device is a video camera.
As further improvement, on the said pedestal apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer; Said control module is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means.
As further improvement, said flexbile gear Connection Block is connected with the angular encoder that is used to detect flexbile gear location and return difference precision, and said angular encoder connects control module.
As further improvement, said angular encoder is an absolute value encoder.
After having adopted technique scheme; The invention has the beneficial effects as follows: owing to designed the servomotor and load charger that is connected with control module; To just take turns fixing, wave producer input, flexbile gear output; Simulated the user mode of harmonic speed reducer, this detection mode can intuitive and accurately detect the torsion-life parameter of harmonic speed reducer.
Owing to designed the flexbile gear Connection Block and just taken turns mount pad as the middle transition web member; When the model of harmonic speed reducer changes; Can only change the flexbile gear Connection Block and just take turns mount pad, itself and harmonic speed reducer to be detected are complementary, and needn't change other parts; Expand sensing range of the present invention, realized a tractor serves several purposes.
Owing to designed imaging device towards harmonic speed reducer; Can harmonic speed reducer each details in testing process be noted with the form of image; Can observe flexbile gear intuitively and just take turns in engagement process; When load changed, whether the position of engagement was consistent, and can confirm just wheel and the stable performance situation of flexbile gear in transmission process.
Owing to designed apparatus for receiving audio and audio frequency comparison means; Can the audio frequency of harmonic speed reducer normal operating conditions be collected the audio frequency comparison means, receive the audio frequency of the harmonic speed reducer under the actual working state then with apparatus for receiving audio, compare with existing audio frequency; If frequency has unusually; Then alarm, and writing time detects the performance parameter of harmonic speed reducer more accurately.
Owing to designed the angular encoder that is used to detect flexbile gear location and return difference precision; Under zero load or load condition; Can compare through the input angle of servomotor and the actual transition angle of flexbile gear; Also can compare the poor of angle that flexbile gear turns over and rotating angle, promptly so-called return difference can reflect the performance of harmonic speed reducer intuitively.
Description of drawings
Accompanying drawing is the structural representation of the embodiment of the invention;
Among the figure: 1, pedestal, 2, magnetic powder brake, 3, slide, 4, fixed support; 5, servomotor, 6, harmonic speed reducer, 7, holder, 8, the flexbile gear Connection Block; 9, just taken turns mount pad, 10, claw, 11, control module; 12, high-speed camera, 13, audio receiver, 14, absolute value encoder.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Shown in accompanying drawing, the performance parameter combined experiment table of a kind of robot harmonic speed reducer mainly comprises pedestal 1, load charger, slide 3, servomotor 5 and control module 11.Wherein, said load charger is installed on the said pedestal 1, and the input end of said load charger connects the flexbile gear of harmonic speed reducer 6; Said slide 3 is slidingly mounted on the said pedestal 1 and slides to said load charger, and slide 3 is slidingly mounted on the pedestal 1 through slide rail usually, and said slide 3 is provided with the fixed support 4 of the firm wheel that is used for fixing harmonic speed reducer 6; Said servomotor 5 is slidingly mounted on the said slide 3, and said servomotor 5 slides to said fixed support 4, and servomotor 5 is slidingly mounted on the slide 3 through slide rail usually, and the PTO of said servomotor 5 connects the wave producer of harmonic speed reducer 6; Control module 11 is used to carry out information processing and recording parameters; Said control module 11 connects said servomotor 5 and load charger; Said load charger is preferably magnetic powder brake 2; Control module 11 can reflect the load of magnetic powder brake 2 and the rotating speed of servomotor 5 intuitively, and writing time parameter.
The input end of said magnetic powder brake 2 is installed with a holder 7, and said holder 7 connects a flexbile gear Connection Block 8 through securing member, and said flexbile gear Connection Block 8 connects the end face of flexbile gear through securing member; Said fixed support 4 connects wheel mount pad 9 just through securing member, and said firm wheel mount pad 9 is connected through securing member with the end face of firm wheel; The PTO end of servomotor 5 is equipped with claw 10, through the power end of claw 10 clamping wave producers.Flexbile gear Connection Block 8 and firm wheel mount pad 9 are as the middle transition web member; When the model of harmonic speed reducer 6 changes, can only change flexbile gear Connection Block 8 and just take turns mount pad 9, itself and harmonic speed reducer 6 to be detected are complementary; And needn't change other parts, realized a tractor serves several purposes.
On the said pedestal 1 imaging device is installed, said imaging device is connected towards harmonic speed reducer 6 and with said control module 11.Said imaging device is preferably video camera; Especially use high-speed camera 12 effects with better; Through the high-speed camera 12 record flexbile gears and the just engagement process of wheel, and the distortion situation of flexbile gear, can promptly and accurately reflect the performance parameter of harmonic speed reducer 6 under the normal operating conditions.
On the said pedestal 1 apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer 6; Said control module 11 is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means, and said apparatus for receiving audio is preferably audio receiver 13; Said audio frequency comparison means is preferably the audio frequency comparer; The audio frequency of harmonic speed reducer 6 normal operating conditionss is collected the audio frequency comparer, receive the audio frequency of the harmonic speed reducer 6 under the actual working state then with audio receiver 13, compare with existing audio frequency; If frequency has unusually; Then alarm, and writing time detects the performance parameter of harmonic speed reducer 6 more accurately.
Said flexbile gear Connection Block 8 is connected with the angular encoder that is used to detect flexbile gear location and return difference precision; Said angular encoder connects control module 11, and said angular encoder is preferably absolute value encoder 14, under zero load or load condition; Can compare through the input angle of servomotor 5 and the actual transition angle of flexbile gear; Also can compare the poor of angle that flexbile gear turns over and rotating angle, promptly so-called return difference can reflect the performance of harmonic speed reducer 6 intuitively.
In a word; Performance parameter combined experiment table of the present invention is through the combination of pedestal 1, slide 3, servomotor 5, magnetic powder brake 2, high-speed camera 12, audio receiver 13, absolute value encoder 14 and control module 11; Realized the online detection of harmonic speed reducer multinomial performance index; Not only can carry out the loading simulation experiment and detect, can also carry out data processing and record, can satisfy multi-field application such as production, teaching.From design of the present invention; In order to pursue high precision more, experimental result and improve the precision of each performance detection apparatus more accurately; Figure place of the frame number of high-speed camera, absolute value encoder etc. for example; Perhaps adopt other checkout equipment simple substitution and reach testing goal, accomplish performance parameter combined experiment, all belong to protection scope of the present invention.
The present invention is not limited to above-mentioned concrete embodiment, and those of ordinary skill in the art is from above-mentioned design, and without performing creative labour, all conversion of having done all drop within protection scope of the present invention.
Claims (7)
1. the performance parameter combined experiment table of robot harmonic speed reducer is characterized in that, comprising:
Pedestal;
The load charger, said load charger is installed on the said pedestal, and the input end of said load charger connects the flexbile gear of harmonic speed reducer;
Slide, said slide are slidingly mounted on the said pedestal and slide to said load charger, and said slide is provided with the fixed support of the firm wheel that is used for fixing harmonic speed reducer;
Be slidingly mounted on the servomotor on the said slide, said servomotor slides to said fixed support, and the PTO of said servomotor connects the wave producer of harmonic speed reducer;
Be used to carry out the control module of information processing and recording parameters, said control module connects said servomotor and load charger.
2. the performance parameter combined experiment table of robot as claimed in claim 1 harmonic speed reducer; It is characterized in that; The input end of said load charger is installed with a holder; Said holder connects a flexbile gear Connection Block through securing member, and said flexbile gear Connection Block connects the end face of flexbile gear through securing member; Said fixed support connects wheel mount pad just through securing member, and said firm wheel mount pad is connected through securing member with the end face of firm wheel.
3. according to claim 1 or claim 2 the performance parameter combined experiment table of robot harmonic speed reducer is characterized in that on the said pedestal imaging device is installed, said imaging device is connected towards harmonic speed reducer and with said control module.
4. the performance parameter combined experiment table of robot as claimed in claim 3 harmonic speed reducer is characterized in that said imaging device is a video camera.
5. the performance parameter combined experiment table of robot as claimed in claim 3 harmonic speed reducer is characterized in that on the said pedestal apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer; Said control module is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means.
6. the performance parameter combined experiment table of robot as claimed in claim 5 harmonic speed reducer is characterized in that, said flexbile gear Connection Block is connected with the angular encoder that is used to detect flexbile gear location and return difference precision, and said angular encoder connects control module.
7. the performance parameter combined experiment table of robot as claimed in claim 6 harmonic speed reducer is characterized in that said angular encoder is an absolute value encoder.
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| CN102777546A (en) * | 2012-07-27 | 2012-11-14 | 哈尔滨工业大学 | Short tube flexible gear harmonic reducer of rigid wheel tooth dip angle and transmission rigidity testing device thereof |
| CN102879191A (en) * | 2012-09-29 | 2013-01-16 | 中国航天科技集团公司第五研究院第五一〇研究所 | Fatigue life evaluating device for flexible gears |
| CN104006964A (en) * | 2014-05-28 | 2014-08-27 | 清华大学 | Harmonic drive gear mesh and flexible gear deformation dynamic characteristic testing system |
| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
| CN104236899A (en) * | 2014-08-25 | 2014-12-24 | 浙江来福谐波传动股份有限公司 | Dynamic and static rotation accuracy detection device for harmonic reducer |
| CN104359673A (en) * | 2014-12-05 | 2015-02-18 | 成都斯瑞工具科技有限公司 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
| CN104568429A (en) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | Hysteretic rigidity measurement device |
| CN104634994A (en) * | 2014-12-19 | 2015-05-20 | 上海交通大学 | Rotating speed measuring device for harmonic gear reducer |
| CN104776994A (en) * | 2014-01-09 | 2015-07-15 | 天津职业技术师范大学 | Return difference and torsion rigidity detection system of large-size precise speed reducer |
| CN104776995A (en) * | 2014-01-09 | 2015-07-15 | 天津职业技术师范大学 | System for testing return difference and torsional stiffness of precision reducer |
| CN105845016A (en) * | 2016-05-31 | 2016-08-10 | 南京康尼机电股份有限公司 | Transparent harmonic reducer device for teaching demonstration |
| CN106092407A (en) * | 2016-06-07 | 2016-11-09 | 清华大学 | A kind of Harmonic Gears Tooth friction force based on photoelastic coating method test system and method |
| CN106289771A (en) * | 2016-11-09 | 2017-01-04 | 北京工业大学 | A kind of measurement apparatus of harmonic gear reducer engagement torsional rigidity |
| CN106370423A (en) * | 2016-11-18 | 2017-02-01 | 天津大学 | Precision reducer comprehensive performance detection method |
| CN106441881A (en) * | 2016-11-18 | 2017-02-22 | 天津大学 | Horizontal high-precision detector for comprehensive performances of precision speed reduction device |
| CN106644455A (en) * | 2015-10-30 | 2017-05-10 | 江苏联合传动设备有限公司 | Robot joint reducer overturning stiffness test system based on laser measurement |
| CN106679968A (en) * | 2016-11-18 | 2017-05-17 | 天津大学 | Vertical multiple-degrees-of-freedom high-precision detector for detecting comprehensive performance of precision reducers |
| CN106855462A (en) * | 2016-12-19 | 2017-06-16 | 北京航空航天大学 | A kind of Combined Loading device for robot joint speed reducer performance test |
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| CN107687947B (en) * | 2017-07-24 | 2019-09-27 | 清华大学 | Harmonic gear transmission meshing characteristic test macro and method based on computer vision |
| CN108398259A (en) * | 2018-01-08 | 2018-08-14 | 西安交通大学 | A kind of harmonic speed reducer step drop acceleration service life test method |
| CN108398259B (en) * | 2018-01-08 | 2019-09-27 | 西安交通大学 | A kind of harmonic speed reducer step drop acceleration service life test method |
| CN109443764A (en) * | 2018-10-18 | 2019-03-08 | 东莞市国森科精密工业有限公司 | A kind of harmonic speed reducer back clearance test device |
| WO2020181649A1 (en) * | 2019-03-08 | 2020-09-17 | 天津大学 | High-precision comprehensive performance test instrument for precise speed reducer for robot |
| CN111693314A (en) * | 2020-07-01 | 2020-09-22 | 上海仪电智能科技有限公司 | Big data analysis based robot speed reducer fault detection system |
| CN117168802A (en) * | 2023-08-14 | 2023-12-05 | 苏州长木传动科技有限公司 | Method for detecting performance life of harmonic speed reducer |
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