CN106644468A - Precise decelerator test bench for industrial robot - Google Patents
Precise decelerator test bench for industrial robot Download PDFInfo
- Publication number
- CN106644468A CN106644468A CN201611268710.8A CN201611268710A CN106644468A CN 106644468 A CN106644468 A CN 106644468A CN 201611268710 A CN201611268710 A CN 201611268710A CN 106644468 A CN106644468 A CN 106644468A
- Authority
- CN
- China
- Prior art keywords
- speed reduction
- reduction device
- test
- precision speed
- decelerator
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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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
- G01M13/021—Gearings
-
- 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
- G01M13/028—Acoustic or vibration analysis
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a precise decelerator test bench for an industrial robot, and the test bench comprises a test bench body with a horizontal bench surface; a test bench support fixed on the test bench, wherein the support is vertically fixed on the horizontal bench surface, and the top of the support is fixedly provided with a load. A transmission precision and efficiency instrument is connected below the load through a shaft coupler, and the lower part of the transmission precision and efficiency instrument is connected with an output shaft of the precise decelerator fixed on the test bench body through a shaft coupler. An input shaft of the precise decelerator is driven by a drive motor fixed below the test bench body to operate. The input shaft of the precise decelerator is provided with a grating encoder which is used for detecting the position, angle and angular acceleration of the precise decelerator. The horizontal bench surface is also provided with a grating for detecting the angular displacement of the precise decelerator. During detection, the drive motor drives the precise decelerator to operate, and the grating encoder and the grating obtain the position, angle, angular acceleration and angular displacement of the precise decelerator, and complete the testing of the current decelerator.
Description
Technical field
The present invention relates to a kind of industrial robot is test bed with precision speed reduction device, it is related to the traction drive of bullet train
The labyrinth seal mode of the oil lubrication of the high power gearbox of device.It is related to Patent classificating number G01 measurements；Test G01M machines or
The quiet or dynamically balanced test of structure member；The test G01M13/00 machines of structure member not to be covered or equipment in other classifications
The test G01M13/02 gears of tool part or the test of drive mechanism.
Background technology
Precision speed reduction device transport characteristicses are as follows：
(1) high transmission ratio, high transmission accuracy, return difference are little
(2) torsional rigidity is big, and bearing capacity is strong
(3) stable drive, noise are little
(4) transmission efficiency
Due to its above feature, it is applied to robot etc. more precision speed reduction device and requires under more strict environment, its property
Can need to reach higher requirement, the test to its property indices is also particularly important.Therefore industrial robot is smart
Close decelerator is test bed also to be needed to meet high requirement.
Current precision speed reduction device testboard has Multiple Type, for testing its different types of performance data.Current work
Industry robot precision speed reduction device is test bed to have various problems, such as：
(1) testboard dispersion, if whole measurements will be carried out to same precision speed reduction device, needs to change multiple tests
Platform, process are loaded down with trivial details time-consuming；
(2) single testboard volume is larger, takes excessive space；
(3) due to each testboard single function, it is therefore desirable to buy various testboards and could meet whole measurement demands,
Purchase cost is higher.
The content of the invention
In order to solve above-mentioned technical problem, a kind of industrial robot precision speed reduction device testing experiment disclosed by the invention
Platform, including：
Test-bed body with level table；
The testing stand support of experiment stage body is fixed on, the support is vertically fixed on level table, and the top of support is fixed
There is load；
Transmission accuracy and efficiency instrument are connected with by shaft coupling in the lower section of load, are passed through below the precision and efficiency instrument
Shaft coupling is connected with the output shaft of the precision speed reduction device being fixed on test-bed body；
The input shaft of precision speed reduction device is driven by the motor being fixed on below test-bed body；
The grating encoding for being provided with detection precision speed reduction device position, angle and angular acceleration at precision speed reduction device input shaft
Device；
The grating of detection precision speed reduction device angular displacement is additionally provided with the level table；
In detection process, described motor drives described precision speed reduction device work, described grating encoder and
Grating obtains precision speed reduction device position, angle, angular acceleration and the angular displacement of decelerator, completes the test of front deceleration device.
Vibrate as preferred embodiment, being additionally provided with described level table in the measurement decelerator work process
Vialog and measurement work noise noise-measuring instrument.
Further, it is additionally provided with torsional rigidity test device；The test device includes defeated with described precision speed reduction device
Enter the foil gauge and strain gauge of axle contact；
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the electricity of foil gauge
Resistive；Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
Further, described strain gauge carries Wheatstone bridge.
Description of the drawings
For clearer explanation embodiments of the invention or the technical scheme of prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description does one and simply introduces, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the front view of testing stand of the present invention
Fig. 2 is the sectional view of Fig. 1 of the present invention
Fig. 3 is the schematic perspective view of the present invention
Specific embodiment
To make purpose, technical scheme and the advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention
In accompanying drawing, clearly complete description is carried out to the technical scheme in the embodiment of the present invention：
As Figure 1-3：A kind of industrial robot is test bed with precision speed reduction device, mainly includes：With horizontal stand
The test-bed body 6 in face, the supporting leg for testing stage body 6 are bolted, it is ensured that will not be not tight because of stage body 6 in reductor running
Gu and generation unwanted vibrations, impact experiment test precision.
Vertically vertical testing stand support 2 is provided with stage body, for fixing experimental facilitiess, the top of support 2 is fixed with
Load 1.
In the lower section of load 1, transmission accuracy and efficiency instrument 3, the precision are connected with by shaft coupling 12 in the lower section of load 1
It is connected with the output shaft of the precision speed reduction device 4 being fixed on test-bed body 6 by shaft coupling 12 with the lower section of efficiency instrument；Precision subtracts
The input shaft of fast device 4 is driven by the motor 7 being fixed on below test-bed body 6；Being provided with 4 input shaft of precision speed reduction device
The grating encoder 8 of detection precision speed reduction device position, angle and angular acceleration；Detection is additionally provided with the level table accurate
The grating 9 of 4 angular displacement of decelerator；
In detection process, described motor 7 drives described precision speed reduction device 4 to work, described grating encoder 8
Precision speed reduction device position, angle, angular acceleration and the angular displacement of decelerator are obtained with grating 10, the survey of front deceleration device is completed
Examination.
When motor 7 drives precision speed reduction device to be moved, each test instrunment can be to the fortune of precision speed reduction device
Dynamic state is sampled, and then analysis result is exported.
It is additionally provided with torsional rigidity test device 5；The test device includes what is contacted with 4 input shaft of described precision speed reduction device
Foil gauge and strain gauge；
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the electricity of foil gauge
Resistive；Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
Further, it is contemplated that the dependent variable produced in the accurate retarding machine course of work to be measured is more small, strain
The possibility of measuring instrument effectively cannot recognize, the miniature deformation of the simple foil gauge for arranging, and pretend as preferred embodiment, described
Strain gauge carry Wheatstone bridge.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, should all be included within the scope of the present invention.
Claims (4)
1. a kind of industrial robot is test bed with precision speed reduction device, it is characterised in that include：
Test-bed body with level table (6)；
The testing stand support (2) of experiment stage body (6) is fixed on, the support is vertically fixed on level table, the top of support is solid
Surely there is load (1)；
Transmission accuracy and efficiency instrument (3) are connected with by shaft coupling (12) in the lower section of load (1), under the precision and efficiency instrument
Side is connected with the output shaft of the precision speed reduction device (4) being fixed on test-bed body (6) by shaft coupling (12)；
The input shaft of precision speed reduction device (4) is driven by the motor (7) being fixed on below test-bed body (6)；
The grating encoding for being provided with detection precision speed reduction device position, angle and angular acceleration at precision speed reduction device (4) input shaft
Device (8)；
The grating (9) of detection precision speed reduction device (4) angular displacement is additionally provided with the level table；
In detection process, described motor (7) drives described precision speed reduction device (4) work, described grating encoder
(8) and grating (10) obtains the precision speed reduction device position of decelerator, angle, angular acceleration and angular displacement, complete front deceleration device
Test.
2. industrial robot according to claim 1 is test bed with precision speed reduction device, is further characterized in that described
The vialog (10) that vibrates during the measurement decelerator work process is additionally provided with level table and measurement work noise are made an uproar
Sound test instrument (4).
3. industrial robot according to claim 1 and 2 is test bed with precision speed reduction device, is further characterized in that
There is torsional rigidity test device (5)；The test device include the foil gauge contacted with described precision speed reduction device (4) input shaft and
Strain gauge；
In test process, precision speed reduction device deformation causes the foil gauge being in contact with it to deform upon, and causes the resistance of foil gauge to become
Change；Described strain gauge perceives the change of resistance, used as the characterization value for characterizing precision speed reduction device deformation.
4. industrial robot according to claim 3 is test bed with precision speed reduction device, is further characterized in that described
Strain gauge carries Wheatstone bridge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268710.8A CN106644468A (en) | 2016-12-31 | 2016-12-31 | Precise decelerator test bench for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268710.8A CN106644468A (en) | 2016-12-31 | 2016-12-31 | Precise decelerator test bench for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106644468A true CN106644468A (en) | 2017-05-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611268710.8A Pending CN106644468A (en) | 2016-12-31 | 2016-12-31 | Precise decelerator test bench for industrial robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271183A (en) * | 2017-07-18 | 2017-10-20 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot reductor torsional rigidity test of vehicular platform |
| CN107553526A (en) * | 2017-07-18 | 2018-01-09 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot speed reducer drive accuracy testing device |
| CN109406144A (en) * | 2018-12-21 | 2019-03-01 | 浙江双环传动机械股份有限公司 | RV decelerator moment and noise precision measurement apparatus and its method |
| CN109909911A (en) * | 2019-03-05 | 2019-06-21 | 山东帅克机械制造股份有限公司 | A kind of switching device based on high-tech precision inspection instrument |
| CN110068459A (en) * | 2019-03-08 | 2019-07-30 | 天津大学 | A kind of barrel-shaped disk shaped support system |
| CN110441052A (en) * | 2019-07-23 | 2019-11-12 | 清远敏实汽车零部件有限公司 | A kind of RV speed reducer comprehensive performance parameter test special plane |
| EP3822607A4 (en) * | 2019-03-08 | 2022-04-13 | Tianjin University | High-precision comprehensive performance test instrument for precise speed reducer for robot |
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| JP2008145197A (en) * | 2006-12-07 | 2008-06-26 | Toyota Motor Corp | Device of measuring engagement transmission error of gear transmission mechanism |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
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| CN205209763U (en) * | 2015-10-30 | 2016-05-04 | 江苏联合传动设备有限公司 | Robot joint reduction gear rigidity test system that topples based on grating encoding ware |
| CN105784356A (en) * | 2016-04-27 | 2016-07-20 | 浙江大学 | RV reducer closed power flow test apparatus |
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| US20050252283A1 (en) * | 2004-05-14 | 2005-11-17 | Heap Anthony H | Diagnostic method for a torque control of an electrically variable transmission |
| JP2008145197A (en) * | 2006-12-07 | 2008-06-26 | Toyota Motor Corp | Device of measuring engagement transmission error of gear transmission mechanism |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102607844A (en) * | 2012-04-10 | 2012-07-25 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271183A (en) * | 2017-07-18 | 2017-10-20 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot reductor torsional rigidity test of vehicular platform |
| CN107553526A (en) * | 2017-07-18 | 2018-01-09 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot speed reducer drive accuracy testing device |
| CN109406144A (en) * | 2018-12-21 | 2019-03-01 | 浙江双环传动机械股份有限公司 | RV decelerator moment and noise precision measurement apparatus and its method |
| CN109406144B (en) * | 2018-12-21 | 2023-07-25 | 浙江环动机器人关节科技有限公司 | RV reducer moment and noise precise measurement device and method thereof |
| CN109909911A (en) * | 2019-03-05 | 2019-06-21 | 山东帅克机械制造股份有限公司 | A kind of switching device based on high-tech precision inspection instrument |
| CN110068459A (en) * | 2019-03-08 | 2019-07-30 | 天津大学 | A kind of barrel-shaped disk shaped support system |
| EP3822607A4 (en) * | 2019-03-08 | 2022-04-13 | Tianjin University | High-precision comprehensive performance test instrument for precise speed reducer for robot |
| CN110068459B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | Barrel-shaped disc-shaped supporting system |
| CN110441052A (en) * | 2019-07-23 | 2019-11-12 | 清远敏实汽车零部件有限公司 | A kind of RV speed reducer comprehensive performance parameter test special plane |
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