CN102901625A - System for testing comprehensive performance of reducer for robot joint - Google Patents
System for testing comprehensive performance of reducer for robot joint Download PDFInfo
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- CN102901625A CN102901625A CN2012103855727A CN201210385572A CN102901625A CN 102901625 A CN102901625 A CN 102901625A CN 2012103855727 A CN2012103855727 A CN 2012103855727A CN 201210385572 A CN201210385572 A CN 201210385572A CN 102901625 A CN102901625 A CN 102901625A
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Abstract
The invention discloses a system for testing a comprehensive performance of a reducer for a robot joint. The system comprises a mechanical part and an electric control part; the mechanical part comprises a servo motor, a measured reducer, an angle measuring device, a torque sensor and a loading arm coaxially connected in sequence; all the parts are fixed on a horizontal guide rail by a bracket; the measured reducer is provided with a temperature sensor; the electric control part comprises an industrial control computer, a motion control card, a data collecting card, a counting card and a temperature collecting module; the motion control card is connected with the servo motor by a servo driver; the data collecting card is connected with a signal output end of the torque sensor and a torque monitoring end of the servo driver; the counting card is connected with a signal output end of the angle measuring device; and the temperature sensor is connected with a computer serial port by the temperature collecting card. According to the system for testing the comprehensive performance of the reducer for the robot joint, the comprehensive performance of the reducer for the robot joint can be tested; and the system is simple in structure, high in test precision and high in universality.
Description
Technical field
The present invention relates to a kind of joint of robot speed reduction unit, particularly a kind of joint of robot speed reduction unit comprehensive performance testing system.
Background technology
Robot joint speed reducer is the basic components of multi-freedom robot, equally also is a lot of industrial robots, such as the spot welding robot, and the Core Feature parts of robot palletizer and transfer robot, the quality of its combination property directly affects the serviceability of robot.Development along with world industry, demand for this class automated production of robot is increasing, especially auto production line, so just need development and Design and produce how high performance robot joint speed reducer, to satisfy robot device's needs, this just needs us to study dynamics and the tribology overall characteristic such as efficient, life-span, transmission accuracy, staring torque, rigidity and return difference, transient process, temperature rise of robot joint speed reducer, and these characteristics have just determined the ability to work of joint of robot.And how to obtain these performance index of robot joint speed reducer, performance to joint of robot is carried out testing evaluation, know the important parameter that affects robot joint speed reducer, all lack the joint speed reducer test macro of the complete dummy robot's motion of a cover always.
Summary of the invention
For above-mentioned technical matters, the present invention proposes a kind of joint of robot speed reduction unit comprehensive performance testing system, detect with each performance index to the robot speed reduction unit.
For achieving the above object, the present invention adopts following technical scheme:
A kind of joint of robot speed reduction unit comprehensive performance testing system, it is characterized in that: comprise successively connecting and being fixed on servomotor on the horizontal guide rail by support, tested speed reduction unit, angle measurement unit, torque sensor, and load arm or axle head fixed bar, on the described tested speed reduction unit temperature sensor is installed, described servomotor carries scrambler, servomotor carries the input and output angle information that scrambler and angle measurement unit are respectively applied to read tested speed reduction unit, servomotor is connected with servo-driver, the moment of torsion detection port of this servo-driver and torque sensor are used for reading the input and output torque information of tested speed reduction unit, temperature sensor is used for reading the temperature information of tested speed reduction unit, described servomotor, angle measurement unit, torque sensor, and temperature sensor all links to each other with the control computing machine.As the preferred embodiments of the present invention, described servomotor be connected speed reduction unit and directly connect and be fixed on the horizontal guide rail by the first support;
As the preferred embodiments of the present invention, the output terminal of described tested speed reduction unit is connected with the first coupling shaft, and described angle measurement unit is arranged on the first coupling shaft and with the first coupling shaft and rotates;
As the preferred embodiments of the present invention, described angle measurement unit is installed on the horizontal guide rail by the second support;
As the preferred embodiments of the present invention, the two ends of described torque sensor are connected with load arm with angle measurement unit respectively by shaft coupling, described load arm is installed on the second coupling shaft, described the second coupling shaft is installed in the output terminal of torque sensor, described torque sensor is installed on the horizontal guide rail by the first bearing, and described the second coupling shaft is installed on the horizontal guide rail by the 3rd support;
As the preferred embodiments of the present invention, described load arm comprises load beam and loading disk, and described loading disk is installed in the bolt hole of load beam by bolt;
As the preferred embodiments of the present invention, the two ends of described torque sensor are connected with the axle head fixed bar with angle measurement unit respectively by shaft coupling, described axle head fixed bar is installed in the second coupling shaft one end, described the second coupling shaft is installed in the output terminal of torque sensor, and described axle head fixed bar is installed on the horizontal guide rail by the 3rd bearing;
As the preferred embodiments of the present invention, described servomotor links to each other with the control computing machine by motion control card, described motion control card links to each other with the signal controlling end of servo-driver and carries out the signal both-way communication, servo-driver is connected with the servomotor two-way signaling, realize control to servomotor motion with this, and the record servomotor carries the angle information of scrambler;
As the preferred embodiments of the present invention, described torque sensor links to each other with the control computing machine by data collecting card, and a passage of described data collecting card links to each other with the torque monitoring port of servo-driver, and another passage links to each other with the output terminal of torque sensor; Described angle measurement unit links to each other with the control computing machine by numbered card, and described temperature sensor links to each other with the control computing machine by temperature collect module;
As the preferred embodiments of the present invention, described temperature sensor is thermistor temperature sensor.
Compared with prior art, the present invention carries the input and output angle information that scrambler and angle measurement unit read tested speed reduction unit by servomotor, the input and output torque information that moment of torsion detection port and torque sensor by servo-driver reads tested speed reduction unit, read the temperature information of tested speed reduction unit by temperature sensor, realize the efficient of joint of robot with speed reduction unit with this, life-span, transmission accuracy, staring torque, rigidity and return difference, transient process, a series of combination properties such as temperature rise are tested, simple in structure, measuring accuracy is high, and versatility is good.
Description of drawings
Fig. 1 is the mechanical construction drawing of system of the present invention;
Fig. 2 is the electrical diagram of system of the present invention;
Among Fig. 1,
The 1-servomotor; The tested speed reduction unit of 2-; 3-the first coupling shaft; The 4-angle measurement unit; The 5-shaft coupling; The 6-torque sensor; The 7-shaft coupling; 8-the second coupling shaft; 9-axle head fixed bar; The 10-load beam; The 11-loading disk; 12-the 3rd support; 13-the first bearing; 14-the second support; The 15-temperature sensor; 16-the first support; The 17-base; The 18-horizontal guide rail.
Embodiment
Below in conjunction with accompanying drawing test macro of the present invention is further elaborated:
Referring to Fig. 1 mechanical part, servomotor 1 output shaft directly connects the input end of tested speed reduction unit 2, and be fixed on above the horizontal guide rail 18 by the first support 16, horizontal guide rail then is fixed on the base 17, temperature sensor 15 is installed on the tested speed reduction unit 2 carries out the measurement of temperature.Tested speed reduction unit 2 output terminal flanges are connected with afterwards element by the first coupling shaft 3, it is also fastening by specialized nut that cover has the inner ring of angle measurement unit 4 on the first coupling shaft 3, and the outer ring of angle measurement unit 4 then is fixed on above the horizontal guide rail 18 by the second support 14.The first coupling shaft 3 is connected with torque sensor 6 by the first shaft coupling 5, and torque sensor 6 is connected with the second coupling shaft 8 by the second shaft coupling 7, and torque sensor is fixed on above the horizontal guide rail by the first bearing 13.The second coupling shaft 8 is fixed on the horizontal guide rail by the 3rd support 12.If when carrying out stiffness measuring, need the output shaft stall, make the second coupling shaft 8 put an end of axle head fixed bar 9, axle head fixed bar 9 other ends are fixing by the 3rd support 12.If load by the load arm, then do not use axle head fixed bar 9, but on the second coupling shaft 8 the installation load arm, the load arm forms by load beam 10 and loading disk 11.
Referring to Fig. 2, electric control system comprises: industrial control computer, and be inserted in motion control card, data collecting card, the numbered card in the industrial control computer PCI slot and carry out the temperature collect module of signal and communication by serial ports.Motion control card links to each other with the signal controlling end of servo-driver by a terminal strip and carries out the signal both-way communication, servo-driver is connected with the servomotor two-way signaling, realize control to servomotor motion with this, and the record servomotor carries the angle information of scrambler, i.e. system's input angle information; The torque monitoring port that a passage of data collecting card connects servo-driver obtains system's input torque signal, and another passage links to each other to obtain the output torque signal of speed reduction unit with the output terminal of torque sensor; Numbered card obtains the angle output signal of system by the signal output part of cable connection angle measurement mechanism.Temperature sensor connects temperature collect module, and the output terminal of temperature collect module is connected with the serial ports of industrial control computer, realizes the register system temperature variations and imports information into industrial control computer by serial ports.
Described servomotor carries scrambler, and code device signal connects the angle signal input port of servo-driver.The servomotor output shaft directly links to each other with the speed reduction unit input end with joint of robot and is fixed on the same support, do not add other connection original papers such as shaft coupling, and thermistor temperature sensor is posted on tested speed reduction unit surface, and the resistance variations signal is sent into computing machine by temperature collect module and serial ports.
Described angle measurement unit inner ring is enclosed within on the first coupling shaft, the first coupling shaft right side axle head has screw thread, be threaded that inner ring with angle measurement unit is positioned on the coupling shaft shaft shoulder of inner ring left side and fastening by specialized nut, the outer ring of angle measurement unit is connected by screw and is fastened on the second support.And centered by the round heart of axle head, be symmetrically distributed with the bolt hole of through shaft on the first coupling shaft, be connected by screw the first coupling shaft is linked to each other with speed reduction unit flange output terminal.
Described tested speed reduction unit output terminal is to link to each other with the load arm by a torque sensor, and the first coupling shaft and the second coupling shaft are to adopt two spring couplings to realize with being connected of torque sensor.
System operation is to realize control to system's input motion by industrial control computer and motion control card.The loading of system loads by the load arm.If system will be exported stall, when carrying out stiffness measuring, output shaft namely has an axle head fixed bar by the key adapter sleeve on described the second coupling shaft by axle head fixed bar connection bracket, the other end of axle head fixed bar is bolted and is fixed on the 3rd support, realizes the stall of the second coupling shaft.
Carry scrambler by angle measurement unit and servomotor in the process of system's operation and read joint speed reducer input and output angle information, torque monitoring port by torque sensor and servo-driver reads joint speed reducer input and output torque information, reads processing and the demonstration that the temperature variations of joint speed reducer key point and the special software by system support are realized data by thermistor temperature sensor.Can realize test to the speed reduction unit combination property by above high precision measurement element, versatility is good, and is simple in structure.
Testing software is housed with motion control card, data collecting card and numbered card in startup and the use PCI slot on the industrial control computer, send the action of analog signals control servomotor, realize recording temperature information etc. to the collection of system's input and output angle and torque signal with by serial ports.
Torque measurement scope 0-200N.m of the present invention, in the angle-measurement accuracy 10 seconds, can test with a series of combination properties such as efficient, life-span, transmission accuracy, staring torque, rigidity and the return difference of speed reduction unit, transient process, temperature rises joint of robot, simple in structure, measuring accuracy is high, and versatility is good.
The above only is one embodiment of the present invention, it or not whole or unique embodiment, the conversion of any equivalence that those of ordinary skills take technical solution of the present invention by reading instructions of the present invention is claim of the present invention and contains.
Claims (10)
1. joint of robot speed reduction unit comprehensive performance testing system, it is characterized in that: comprise successively connecting and being fixed on servomotor (1) on the horizontal guide rail (18) by support, tested speed reduction unit (2), angle measurement unit (4), torque sensor (6), and load arm or axle head fixed bar, temperature sensor (15) is installed on the described tested speed reduction unit, described servomotor carries scrambler, servomotor carries the input and output angle information that scrambler and angle measurement unit are respectively applied to read tested speed reduction unit, servomotor is connected with servo-driver, the moment of torsion detection port of this servo-driver and torque sensor are used for reading the input and output torque information of tested speed reduction unit, temperature sensor is used for reading the temperature information of tested speed reduction unit, described servomotor, angle measurement unit, torque sensor, and temperature sensor all links to each other with the control computing machine.
2. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1 is characterized in that: described servomotor be connected speed reduction unit and directly connect and be fixed on the horizontal guide rail by the first support (16).
3. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: the output terminal of described tested speed reduction unit is connected with the first coupling shaft (3), and described angle measurement unit is arranged on the first coupling shaft and with the first coupling shaft and rotates.
4. such as claim 1 or 3 described a kind of joint of robot speed reduction unit comprehensive performance testing systems, it is characterized in that: described angle measurement unit is installed on the horizontal guide rail by the second support (14).
5. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: the two ends of described torque sensor are connected with load arm with angle measurement unit respectively by shaft coupling, described load arm is installed on the second coupling shaft (8), described the second coupling shaft (8) is installed in the output terminal of torque sensor, described torque sensor is installed on the horizontal guide rail by the first bearing (13), and described the second coupling shaft is installed on the horizontal guide rail by the 3rd support (12).
6. such as claim 1 or 5 described a kind of joint of robot speed reduction unit comprehensive performance testing systems, it is characterized in that: described load arm comprises load beam (10) and loading disk (11), and described loading disk is installed in the bolt hole of load beam by bolt.
7. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 5, it is characterized in that: the two ends of described torque sensor are connected with the axle head fixed bar with angle measurement unit respectively by shaft coupling, described axle head fixed bar is installed in the second coupling shaft (8) one ends, described the second coupling shaft (8) is installed in the output terminal of torque sensor, and described axle head fixed bar is installed on the horizontal guide rail by the 3rd bearing (12).
8. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: described servomotor links to each other with the control computing machine by motion control card, described motion control card links to each other with the signal controlling end of servo-driver and carries out the signal both-way communication, servo-driver is connected with the servomotor two-way signaling, realize control to servomotor motion with this, and the record servomotor carries the angle information of scrambler.
9. a kind of joint of robot speed reduction unit comprehensive performance testing system as claimed in claim 1, it is characterized in that: described torque sensor links to each other with the control computing machine by data collecting card, a passage of described data collecting card links to each other with the torque monitoring port of servo-driver, and another passage links to each other with the output terminal of torque sensor; Described angle measurement unit links to each other with the control computing machine by numbered card, and described temperature sensor links to each other with the control computing machine by temperature collect module.
10. such as claim 1 or 9 described a kind of joint of robot speed reduction unit comprehensive performance testing systems, it is characterized in that: described temperature sensor is thermistor temperature sensor.
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| CN201210385572.7A CN102901625B (en) | 2012-10-11 | 2012-10-11 | A kind of joint of robot speed reduction unit comprehensive performance testing system |
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| CN201210385572.7A CN102901625B (en) | 2012-10-11 | 2012-10-11 | A kind of joint of robot speed reduction unit comprehensive performance testing system |
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