CN106053058A - Robot joint decelerator transmission performance testing device with mobile slide unit - Google Patents
Robot joint decelerator transmission performance testing device with mobile slide unit Download PDFInfo
- Publication number
- CN106053058A CN106053058A CN201610480418.6A CN201610480418A CN106053058A CN 106053058 A CN106053058 A CN 106053058A CN 201610480418 A CN201610480418 A CN 201610480418A CN 106053058 A CN106053058 A CN 106053058A
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- slide
- fixed
- transmission performance
- robot joint
- sliding platform
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- 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
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- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a robot joint decelerator transmission performance testing device with a mobile slide unit. The robot joint decelerator transmission performance testing device includes the mobile slide unit, the mobile slide unit includes a first slide device and a second slide device, the first slide device is provided with a first slide platform and a gear, the gear is fixed on a frame through a center shaft, the first slide platform is provided with a tooth bar, the tooth bar is engaged with the gear, the second slide device is provided with a second slide platform, the second slide platform is provided with a screw rod nut pair, the screw rod nut pair includes a screw rod and a nut, the nut is fixed on the second slide platform, and the screw rod is fixed on the frame. The tooth bar and the gear are arranged on the first slide platform, the rotation of the gear is converted into the linear movement of the tooth bar, the rotation of the screw rod is converted into the linear movement of the nut, the distance between the linear movement of the first slide platform fixed with the tooth bar and the linear movement of the second slide platform fixed with the nut can be conveniently controlled, and the problems of manual pushing and low movement precision of a slide unit in the prior art can be solved.
Description
Technical field
The disclosure relates generally to test device field, is specifically related to decelerator transmission performance test device field, especially relates to
And a kind of robot joint speed reducer transmission performance with Mobile Slide tests device.
Background technology
The joint speed reducer being applied to robot field at present mainly has two kinds: one is RV decelerator, and one is harmonic wave
Decelerator.In revolute robot, RV decelerator belongs to cycloidal type precision speed reduction device, has higher rigidity and revolution essence
Degree, is typically placed on large arm and support heavy duty position by RV decelerator in the design of robot, and harmonic speed reducer is then placed on little
Arm waist and hand, at all joint of robot, the kinematic accuracy of decelerator and performance directly affects the entirety of industrial robot
Service behaviour and service life.
Along with developing rapidly of modern industry, the production automation degree of all trades and professions is more and more higher, industrial robot
Utilization field is more and more extensive, and as the critical component of industrial robot, joint speed reducer will obtain widely demand.And
The kinematic accuracy of robot and operation precision control are mainly determined by the precision of joint speed reducer, due to domestic decelerator
Research and produce the most at the early-stage, research and in producing urgent needs the performance parameter of decelerator is made systematicness
The analysis of theory and practice and research.
Input power slide unit in existing detection equipment, reductor support slide unit, mobile dependence Manual-pushing connects, output
Shaft assignment couples axiality can not meet requirement, and mobile accuracy can not be guaranteed.
Summary of the invention
In view of drawbacks described above of the prior art or deficiency, it is desirable to provide a kind of mobile accuracy high with Mobile Slide
Robot joint speed reducer transmission performance test device.
First aspect, the robot joint speed reducer transmission performance test device with Mobile Slide of the present invention, including
Mobile Slide, Mobile Slide includes the first carriage and the second carriage, and the first carriage arranges the first sliding platform
And gear, gear is fixed in frame by central shaft, and the first sliding platform arranges tooth bar, and rack and pinion engages, and second is sliding
Dynamic device arranges the second sliding platform, and the second sliding platform arranges screw pair, and screw pair includes leading screw and nut, spiral shell
Mother is fixed on the second sliding platform, and leading screw is fixed in frame.
The technical scheme provided according to the embodiment of the present application, engages by arranging rack and pinion at the first sliding platform,
The rotation of gear changes into the linear motion of tooth bar, and the rotation of leading screw changes into the linear motion of nut, and convenient control is fixed
The distance of the linear motion of the first sliding platform having tooth bar and the second sliding platform of being fixed with nut, it is possible to solve existing
Slide unit relies on artificial promotion, the problem that kinematic accuracy is low.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is that the robot joint speed reducer transmission performance with Mobile Slide of embodiments of the invention tests device
Front view；
Fig. 2 is the upward view that the robot joint speed reducer transmission performance with Mobile Slide shown in Fig. 1 tests device.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only and invent relevant part.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Refer to Fig. 1 and Fig. 2, the robot joint speed reducer transmission performance with Mobile Slide of the present invention tests dress
Putting, including Mobile Slide, Mobile Slide includes the first carriage 10 and the second carriage 20, and the first carriage 10 is arranged
First sliding platform 11 and gear 13, gear 13 is fixed in frame by central shaft 121, and the first sliding platform 11 arranges tooth bar
13, tooth bar 13 and gear 12 engage, and the second carriage 20 arranges the second sliding platform 21, and the second sliding platform 21 arranges leading screw
Pair of nut, screw pair includes leading screw 22 and nut 23, and nut 23 is fixed on the second sliding platform 21, and leading screw 22 is fixed on
In frame.
In an embodiment of the present invention, Mobile Slide, including the first carriage and the second carriage, first slides fills
Installing the first sliding platform and gear, gear is fixed in frame by central shaft, and the first sliding platform arranges tooth bar, tooth bar
Engaging with gear, the first sliding platform is fixed with decelerator installing rack, decelerator is fixed on the when of test decelerator and installs
On frame, the first sliding platform being fixed with tooth bar is made to move along a straight line along guide rail by rotating gear.Second carriage arranges
Two sliding platforms, the second sliding platform arranges screw pair, and screw pair includes leading screw and nut, and nut is fixed on second
On slide block, leading screw is fixed in frame, and the second sliding platform is fixed with input motor, input torque speed probe, by turning
Movable wire thick stick makes the second sliding platform being fixed with nut move along a straight line along guide rail, it is ensured that be fixed on the deceleration on the first sliding platform
Device center and the motor center being fixed on the second sliding platform are in same level position, reductor is installed when, and first
Sliding platform and the second sliding platform all move along a straight line in same level plane, it is possible to ensure that decelerator and servomotor are same
Through-drive, improves the accuracy of test result, extends the service life of test machine.
Further, also including the first slide block 14 and the first guide rail 15, the first guide rail 15 is fixed in frame, and first slides
Platform 11 and the first fixing connection of slide block 14, the first slide block 14 and the first guide rail 15 are slidably connected.
In an embodiment of the present invention, also including the first slide block and the first guide rail, the first guide rail is fixed in frame, and first
Sliding platform and the fixing connection of the first slide block, the first slide block and the connection of the first slide, by rotating gear, drive is fixed with
First sliding platform motion of gear, the first slide block slides at the first guide rail so that the first sliding platform is along the first guide rail
Move along a straight line, it is ensured that the decelerator being fixed on the first sliding platform moves along a straight line at a horizontal plane, it is ensured that fortune
Dynamic stationarity and kinematic accuracy, improve the measuring accuracy of test device.
Further, also including the second slide block 21 and the second guide rail 25, the second guide rail 25 is fixed in frame, and second slides
Platform 21 and the second fixing connection of slide block 24, the second slide block 24 and the second guide rail 25 are slidably connected.
In an embodiment of the present invention, also including the second slide block and the second guide rail, the second guide rail is fixed in frame, and second
Sliding platform and the fixing connection of the second slide block, the second slide block and the connection of the second slide, by rotational lead screw, drive is fixed with
Second sliding platform motion of nut, the second slide block slides at the second guide rail so that the second sliding platform is along the second guide rail
Move along a straight line, it is ensured that the motor being fixed on the second sliding platform moves along a straight line at a horizontal plane, it is ensured that motion
Stationarity and kinematic accuracy, improve test device measuring accuracy.
Further, the first guide rail 15 and the second guide rail 25 are same guide rail.
In an embodiment of the present invention, the first guide rail and the second guide rail are same guide rail, it is possible to ensure the first slide unit and
The installation center of two slide units is always consistent, it is ensured that the axiality of test device.
Further, central shaft 121 is fixed in frame by bearing.
In an embodiment of the present invention, central shaft is fixed in frame by bearing, it is ensured that central axis steady
Property, improve the accuracy of test device to test result, it is preferred that the quantity of bearing is two.
Further, leading screw 22 is fixed in frame by bearing.
In an embodiment of the present invention, leading screw is fixed in frame by bearing, it is ensured that the stationarity of screw turns, carries
The high accuracy of test device to test result.
Further, central shaft 121 is fixed with the first rotation hand wheel 122.
In an embodiment of the present invention, central shaft is fixed with the first rotation hand wheel, drives by rotating the first rotation hand wheel
Central axis, can arrange the angle that scale controls to rotate, and then the move distance of control tooth bar at the first rotation hand wheel,
And then control first sliding platform move distance on the first guide rail, improve the kinematic accuracy of the first sliding platform.
Further, leading screw 22 is fixed with the second rotation hand wheel 221.
In an embodiment of the present invention, leading screw is fixed with the second rotation hand wheel, by rotating the second rotation hand wheel band movable wire
Thick stick rotates, and can arrange the angle that scale controls to rotate, and then the move distance of control nut at the second rotation hand wheel, and then
Control second sliding platform move distance on the second guide rail, improve the kinematic accuracy of the second sliding platform.
Further, the straight line parallel at the straight line at tooth bar 13 place and leading screw 22 place or overlap.
In an embodiment of the present invention, after on decelerator fixing test device, the first rotation hand wheel is first rotated so that
The output shaft of decelerator and output torque rotational speed sensor are coaxially connected by shaft coupling, then rotate the second rotation, make
Obtaining motor output shaft coaxially connected by shaft coupling with reducer input shaft, the straight line at tooth bar place is flat with the straight line at leading screw place
Row or coincidence, it is ensured that in motor process, the power shaft of decelerator and the output shaft of motor all the time can be coaxially connected, protect
Demonstrate,prove the mobile accuracy of Mobile Slide, improve the accuracy of the test result of test device.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out
Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (9)
1. the robot joint speed reducer transmission performance with Mobile Slide tests device, it is characterised in that include Mobile Slide,
Described Mobile Slide include the first carriage and the second carriage, described first carriage arrange the first sliding platform and
Gear, described gear is fixed in frame by central shaft, and described first sliding platform arranges tooth bar, described tooth bar and described tooth
Wheel engagement,
Described second carriage arranges the second sliding platform, and described second sliding platform arranges screw pair, described leading screw
Pair of nut includes that leading screw and nut, described nut are fixed on described second sliding platform, and described leading screw is fixed in frame.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levy and be, also include that the first slide block and the first guide rail, described first guide rail are fixed in frame, described first sliding platform and institute
State the fixing connection of the first slide block, described first slide block and described first slide to connect.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 2 tests device, and it is special
Levy and be, also include that the second slide block and the second guide rail, described second guide rail are fixed in frame, described second sliding platform and institute
State the fixing connection of the second slide block, described second slide block and described second slide to connect.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 3 tests device, and it is special
Levying and be, described first guide rail and described second guide rail are same guide rail.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levying and be, described central shaft is fixed in frame by bearing.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levying and be, described leading screw is fixed in frame by bearing.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levying and be, described central shaft is fixed with the first rotation hand wheel.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levying and be, described leading screw is fixed with the second rotation hand wheel.
Robot joint speed reducer transmission performance with Mobile Slide the most according to claim 1 tests device, and it is special
Levy and be, the straight line parallel at the straight line at described tooth bar place and described leading screw place or overlap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610480418.6A CN106053058A (en) | 2016-06-27 | 2016-06-27 | Robot joint decelerator transmission performance testing device with mobile slide unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610480418.6A CN106053058A (en) | 2016-06-27 | 2016-06-27 | Robot joint decelerator transmission performance testing device with mobile slide unit |
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| Publication Number | Publication Date |
|---|---|
| CN106053058A true CN106053058A (en) | 2016-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610480418.6A Pending CN106053058A (en) | 2016-06-27 | 2016-06-27 | Robot joint decelerator transmission performance testing device with mobile slide unit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982104A (en) * | 2018-09-13 | 2018-12-11 | 珠海格力智能装备有限公司 | Test platform |
| CN109141876A (en) * | 2018-09-13 | 2019-01-04 | 珠海格力智能装备有限公司 | test platform |
| CN109358212A (en) * | 2018-12-05 | 2019-02-19 | 贵州电网有限责任公司 | A kind of mounting micromatic setting for power test |
| CN113188695A (en) * | 2021-03-31 | 2021-07-30 | 江苏兰菱机电科技有限公司 | Dynamometer machine for large-torque pneumatic actuator |
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|---|---|---|---|---|
| JPH10232186A (en) * | 1997-02-19 | 1998-09-02 | Hitachi Metals Ltd | Apparatus for measuring torque distribution ratio of slip limiting differential gear |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN204711589U (en) * | 2015-04-30 | 2015-10-21 | 富泰华工业（深圳）有限公司 | Motion platform |
| CN105181329A (en) * | 2015-10-13 | 2015-12-23 | 西安交通大学 | Comprehensive test platform for industrial robot joint reducer |
-
2016
- 2016-06-27 CN CN201610480418.6A patent/CN106053058A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10232186A (en) * | 1997-02-19 | 1998-09-02 | Hitachi Metals Ltd | Apparatus for measuring torque distribution ratio of slip limiting differential gear |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN204711589U (en) * | 2015-04-30 | 2015-10-21 | 富泰华工业（深圳）有限公司 | Motion platform |
| CN105181329A (en) * | 2015-10-13 | 2015-12-23 | 西安交通大学 | Comprehensive test platform for industrial robot joint reducer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982104A (en) * | 2018-09-13 | 2018-12-11 | 珠海格力智能装备有限公司 | Test platform |
| CN109141876A (en) * | 2018-09-13 | 2019-01-04 | 珠海格力智能装备有限公司 | test platform |
| CN109358212A (en) * | 2018-12-05 | 2019-02-19 | 贵州电网有限责任公司 | A kind of mounting micromatic setting for power test |
| CN109358212B (en) * | 2018-12-05 | 2024-04-19 | 贵州电网有限责任公司 | Hanging fine adjustment device for electric power test |
| CN113188695A (en) * | 2021-03-31 | 2021-07-30 | 江苏兰菱机电科技有限公司 | Dynamometer machine for large-torque pneumatic actuator |
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| PB01 | Publication | ||
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Application publication date: 20161026 |