CN106855462A - A kind of Combined Loading device for robot joint speed reducer performance test - Google Patents
A kind of Combined Loading device for robot joint speed reducer performance test Download PDFInfo
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- CN106855462A CN106855462A CN201611176079.9A CN201611176079A CN106855462A CN 106855462 A CN106855462 A CN 106855462A CN 201611176079 A CN201611176079 A CN 201611176079A CN 106855462 A CN106855462 A CN 106855462A
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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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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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
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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Abstract
The present invention relates to simulation loading experiment class field, more particularly to a kind of analog loading device of robot joint speed reducer performance test.For the Combined Loading device of robot joint speed reducer performance test, including：Workbench base, tested decelerator module, loading torsion bar module, moment of torsion load-on module, loading lever modules, leading screw load-on module and lift heavy rack module.The loading axis of tested decelerator module is connected with the twiot arm of loading torsion bar module；Twiot arm is connected with the output flange of moment of torsion load-on module；Loading axis is arranged in the loading lever of loading lever modules；The cantilever both sides for loading lever have two groups of leading screw load-on modules；Loading lever modules are arranged on the inside of lift heavy rack module.The present invention is capable of achieving five kinds of loadings of load such as moment of torsion, moment of flexure, axial force, moment of torsion and moment of flexure combined load, moment of torsion and axial force combined load of decelerator, and loading performance stabilization is easy to use, contributes to the service behaviour for carrying out decelerator to test.
Description
Technical field
It is more particularly to a kind of to be surveyed for robot joint speed reducer performance the present invention relates to simulation loading experiment class field
The analog loading device of examination, is capable of achieving moment of torsion, moment of flexure, axial force Combined Loading.
Background technology
Joint speed reducer is the core component of robot, the bearing capacity of the performance for robot system of decelerator, peace
Full property and working life etc. have decisive role, and carrying out effective assessment to the service behaviour of decelerator has important valency
Value.When robot joint speed reducer works, the load working condition that its output end is born is affected by many factors, it is necessary to the output for considering
The service load that end is born has the Specifeca tion speeifications such as moment of torsion, moment of flexure, axial force.Therefore, for accurate evaluation joint of robot
The effect of service behaviour and various load of the decelerator under Action of Combined Loads, design one kind can simulate decelerator load
Various load Combined Loading devices of operating mode have important meaning.
Found by being retrieved to existing document, devising one at present, the need for decelerator performance test is directed to both at home and abroad is
The analog loading device of row, for example, disclosed in the patent of application number CN201310042776.5 it is a kind of for decelerator test
A kind of loading experiment machine of winding speed reducer of crane disclosed in the patent of electro-hydraulic loading device and CN201010186216.3, it is right
The scheme of corresponding Combined Loading is proposed the need for decelerator load working condition is simulated.By to existing various decelerators
Combined Loading device carries out investigation discovery, existing decelerator Combined Loading device Shortcomings：1) loading type is single, mainly
It is directed to moment of torsion, moment of flexure, the loading of the single load of axial force, Combined Loading type is few, it is difficult to the reality of accurate simulation decelerator
Load；2) degree of modularity is low, and the decelerator model being applicable is more single.
The performance test of object manipulator joint speed reducer of the present invention, proposes a kind of for simulating the load of decelerator output end
Combined Loading device.By the combination of each module of adjusting means, can flexible modulation Combined Loading operating mode, more accurately, have
Load during effect simulation decelerator real work, contributes to the service behaviour for carrying out robot joint speed reducer to test.
The content of the invention
The purpose of the present invention is directed to the technical problem of existing decelerator simulation loading test device, proposes that one kind is used for
The Combined Loading device of robot joint speed reducer performance test, the device accurately can apply various combined loads to expect mould
The actual service conditions of decelerator are drawn up, so that increase the reliability of experiment, while device is applicable Multiple Type decelerator and behaviour
Make convenient.To reach above-mentioned purpose, the present invention is adopted the following technical scheme that and is achieved.
Combined Loading device of the present invention for robot joint speed reducer performance test, it is characterised in that including work
Sewing platform base (40), is separately positioned on tested decelerator module, loading torsion bar module, moment of torsion loading mould on Workbench base (40)
Block, loading lever modules, leading screw load-on module (1) and lift heavy rack module, wherein：
Tested decelerator module includes tested decelerator (39) and loading axis (16)；The loading axis (16) is flanged rank
Terraced axle；Tested decelerator (39) output end is connected by mounting hole thereon with the side end face of flange of loading axis (16)；
Loading torsion bar module includes shaft coupling A (25), flange shaft (26), twiot arm (28), output flange (32)；It is described
The small end of the multi-diameter shaft of loading axis (16) is connected by shaft coupling A (25) with flange shaft (26)；The flange shaft (26) and elasticity
Torsion bar (28) is relatively fixed；And torque sensor (27) is installed between the flange shaft (26) and twiot arm (28)；
Moment of torsion load-on module includes decelerator (33), shaft coupling B (34), torque motor (35)；The output flange (32)
Side end face of flange be connected with decelerator (33) output end；Decelerator (33) input passes through shaft coupling B (34) and power
Torque motor (35) output shaft is connected；
Loading lever modules include loading lever (11)；Loading lever (11) is a tube-in-tube structure part, and along sleeve
Diameter of axle direction stretch out symmetrical cantilever；The loading axis (16) is sleeved in the sleeve of loading lever (11)；
The axis of leading screw load-on module (1) is and plane-parallel；Two leading screw load-on modules (1), described in one of them
One end of leading screw load-on module (1) is fixedly connected with the end of described loading lever (11) upper cantilever, another described silk
One end of thick stick load-on module (1) is fixedly connected with the end of another cantilever on loading lever (11)；The loading lever
(11) force sensor A (10) is installed and each described leading screw load-on module (1) between；
Lift heavy rack module includes base (19), back timber (21) and the support frame for supporting the back timber (21)
(20)；The sleeve of loading lever (11) is arranged on support frame (20) inner side；The top of loading lever (11) and back timber
(21) connect；Force sensor B (13) is installed between loading lever (11) and back timber (21).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The flange
Axle (26) is rotatably arranged on a bearing block C (31) by a bearing；The twiot arm (28) is by two axles
Hold and be rotatably arranged on two bearing block B (29).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：It is described tested
Decelerator (39) is fixed on decelerator bearing B (38)；The bearing block B (29), bearing block C (31) are fixed on box-packed base A
(30) on；The decelerator (33) is fixed on decelerator bearing A (37), and the decelerator bearing A (37), torque motor
(35) it is fixed on box-like base B (36)；The leading screw load-on module (1) is fixed on bearing (9)；The decelerator bearing B
(38), the base (19) of box-packed base A (30), box-like base B (36), bearing (9), lift heavy rack module is by screw bolt and nut
It is fixed on Workbench base (40).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The leading screw
Load-on module (1) includes bearing block A (2), leading screw (3), Mobile Slide (4), rope A (5), suspension ring A (6), slide rail (7)；It is described
The two ends of leading screw (3) are machined with shaft part, by between two bearing block A (2) that bearing is rotatably arranged on bearing (9)；Institute
State Mobile Slide (4) to be arranged on the slide rail (7) of bearing (9) one end, moving direction and the loading axis (16) of Mobile Slide (4)
Axis direction is parallel；Feed screw nut is installed with the Mobile Slide (4), and it is relative with leading screw (3) by feed screw nut
It is rotatably assorted；It is rope A (5) on the Mobile Slide (4), rope A (5) other ends are connected with suspension ring A (6), suspension ring A (6)
Coordinated by screw thread and be fixed on force snesor A (10).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The leading screw
Rotary handle (8) is installed on the outside of load-on module (1)；The rotary handle (8) is for controlling Mobile Slide (4) in slide rail
(9) position on, and the pulling force on rope A (5) is adjusted, and then adjusting force sensors A (10) is used in (11) one, lever of loading
Pulling force on cantilever.
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The loading
Lever modules also include bearing (ball) cover A (17), bearing (ball) cover B (18), round nut (22), taper roll bearing A (23), circular cone rolling
Sub- bearing B (24)；The loading axis (16) is rotatably installed in by taper roll bearing A (23) and taper roll bearing B (24)
In the shafting sleeve of loading lever (11)；Described loading axis (16) one end is coordinated by the shaft shoulder with taper roll bearing B (24), separately
One section of screw thread is made in one end, is equipped with round nut (22) and coordinates with taper roll bearing A (23)；The bearing (ball) cover A (17) and institute
State the shafting sleeve two ends that bearing (ball) cover B (18) is installed on loading lever (11) by screw.
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The lift heavy
Rack module also includes adjusting screw rod (12), suspension ring B (14), rope B (15)；Described loading lever (11) top passes through rope B
(15) it is connected with suspension ring B (14)；The suspension ring B (14) is coordinated with force snesor B (13) lower ends by screw thread fixes；The power is passed
Sensor B (13) upper ends are coordinated with adjusting screw rod (12) by screw thread to be fixed；The adjusting screw rod (12) and back timber (21) upper surface
It is fastenedly connected；The adjusting screw rod (12) for controlled loading lever (11) in the vertical direction installation site, and adjusting rope
Rope B (15) acts on the pulling force of loading lever (11).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The leading screw
(3) use the T-shaped leading screw of single thread, for realize the leading screw (3) after rotating to an angle can self-locking, so as to keep described
Loading force of the leading screw load-on module (1) to loading lever (11).
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The elasticity
Torsion bar (28) material selection spring steel 60Si2Mn, with rigidity it is low the characteristics of, tested decelerator (39) output end can be filtered
High frequency torsional fluctuation.
The described Combined Loading device for robot joint speed reducer performance test, it is characterised in that：The shaft coupling
Device A (25) uses sliding cross coupling, can accommodate the error between loading axis (16) and flange shaft (26) two ends axis, and
Can be with transmitting torque.
Present invention advantage compared with prior art is：
(1) five kinds of loading conditions are capable of achieving.The service load that tested decelerator output end is born can be directed to, can be simulated
Five kinds of loads such as moment of torsion loading, moment of flexure loading, axial force loading, moment of torsion and moment of flexure Combined Loading, moment of torsion and axial force Combined Loading
Lotus operating mode, loading system simple structure can verify service behaviour of the main shaft decelerator in the case of composite force or torque.
(2) constant force/moment of flexure loading.In product operation process, constant force or permanent curved can be accurately applied to tested decelerator
Square, meets measuring accuracy requirement.
(3) modularized design.Using modularized design, each module uses moveable workbench, can be adjusted flexibly each
The individual installation site for installing module on Workbench base, while so that experimental provision convenient disassembly.
(4) it is applicable the tested decelerator of different model.Size and interface for the tested decelerator of different model need, only
The transition pieces such as the base of corresponding tested decelerator bearing and each module need to be changed.
(5) load steadily, it is handsome in appearance.The coherent smooth and transitions smooth of mechanism's loading procedure, is adjusted by leading screw and loaded
The size of power, it is reliable, it is manually operated safe, will not be because there is locking state the problems such as power-off, integral layout is attractive in appearance
It is generous.
Brief description of the drawings
Fig. 1 is a kind of Combined Loading schematic device for robot joint speed reducer performance test of the invention；
Fig. 2 is loading torsion bar modular structure schematic diagram in the present invention；
Fig. 3 is moment of torsion load-on module structural representation in the present invention；
Fig. 4 is the shafting partial sectional view of loading lever modules structure in the present invention；
Fig. 5 is leading screw load-on module structural representation in the present invention；
Fig. 6 is lift heavy rack module structural representation in the present invention；
Fig. 7 is that the moment of flexure and moment of torsion of the Combined Loading device for robot joint speed reducer performance test of the invention are answered
Close loading operation principle schematic diagram；
Fig. 8 is the axial force and moment of torsion of the Combined Loading device for robot joint speed reducer performance test of the invention
Combined Loading operation principle schematic diagram.
Have in figure above：Leading screw load-on module (1), bearing block A (2), leading screw (3), Mobile Slide (4), rope A
(5), suspension ring A (6), slide rail (7), rotary handle (8), bearing (9), force snesor A (10), loading lever (11), adjusting screw rod
(12), force snesor B (13), suspension ring B (14), rope B (15), loading axis (16), bearing (ball) cover A (17), bearing (ball) cover B
(18), base (19), support frame (20), back timber (21), round nut (22), taper roll bearing A (23), taper roll bearing B
(24), shaft coupling A (25), flange shaft (26), torque sensor (27), twiot arm (28), bearing block B (29), box-like base A
(30), bearing block C (31), output flange (32), decelerator (33), shaft coupling B (34), torque motor (35), box-like base B
(36), decelerator bearing A (37), decelerator bearing B (38), tested decelerator (39), Workbench base (40).
Specific embodiment
Below in conjunction with the accompanying drawings and instantiation is described in further detail to the present invention, but implementation of the invention is not limited to
This.
In the present invention, it is to be understood that, term "front", "rear", "left", "right", " vertical ", " level ", " top ",
The position relation such as " bottom ", " interior ", " outward " is, based on position relation shown in the drawings, only to be retouched for ease of describing simplification of the invention
State, rather than the position relation and construction that indicate or imply signified device or original paper must have, it is impossible to be interpreted as to the present invention
The limitation of protection domain.
As shown in figure 1, a kind of Combined Loading device for robot joint speed reducer performance test, it is characterised in that
Including Workbench base 40, the tested decelerator module being separately positioned on Workbench base 40, loading torsion bar module, moment of torsion add
The parts such as module, loading lever modules, leading screw load-on module 1 and lift heavy rack module are carried, for being tested decelerator 39
Output end carries out the loading of moment of flexure, moment of torsion and axial force.
Tested retarder parts are main to be made up of decelerator bearing B38, tested decelerator 39 and loading axis 16；According to tested
The output end structure of decelerator 39, loading axis 16 can select various suitable attachment structures；In the present embodiment, preferred loading
Axle 16 is a flanged multi-diameter shaft；The tested output end of decelerator 39 is bolted to connection with the flange end of loading axis 16；It is excellent
The decelerator bearing B42 upper surfaces of choosing are engaged by seam and bolt with the bottom interface of tested decelerator 43, and detail is such as
Shown in Fig. 1 and Fig. 4.
Loading torsion bar module is main by shaft coupling A25, flange shaft 26, twiot arm 28, output flange 32 and box-like base
A30 etc. is constituted；Flange shaft 26 is connected with loading axis 16 by shaft coupling A25；Shaft coupling A25 is preferably sliding cross coupling,
The error between loading axis 16 and the two ends axis of flange shaft 26 can be accommodated, again can be with transmitting torque；Flange shaft 26 passes through moment sensing
Device 27 is fixedly connected with twiot arm 28；Torque sensor 27 could alternatively be different types of sensor, in order to test not
The data of same type, for the test of multiple projects.Flange shaft 26 is arranged on an axle by a bearing rotational support
On bearing C31；Twiot arm 28 is arranged on two bearing block B29 by two bearing rotational supports；Bearing block B29,
Bearing block C31 is fixed by screws on box-packed base A30.The material selection spring steel 60Si2Mn of twiot arm 28, with firm
The characteristics of spending low, the high frequency torsional for filtering the output end of tested decelerator 39 fluctuates, and is added with the dynamic for improving torque motor 35
Precision is carried, detail is as shown in Figure 2.
Moment of torsion load-on module by output flange 32, decelerator 33, shaft coupling B34, torque motor 35, box-like base B36, subtract
Fast device bearing A37 compositions；The output end of decelerator 33 is bolted with the flange end of preferred output flange 32；Shaft coupling slows down
The input of device 33 is connected with shaft coupling B34 one end keyway, and the output shaft of torque motor 35 is connected with shaft coupling B34 other end keyways,
B34 is preferably bellow spring coupling；Decelerator 33 is bolted on decelerator bearing A37；Torque motor 35 leads to
Cross and be bolted on box-like base B36；Torque motor 35 drives decelerator 33 to rotate and carries out moment of torsion loading, 33 torsions of decelerator
Square amplification, detail is as shown in Figure 3.
Loading lever modules are by loading lever 11, bearing (ball) cover A17, bearing (ball) cover B18, round nut 22, taper roller axle
Hold A23, taper roll bearing B24 composition；Loading lever 11 can be various suitable shapes, in the present embodiment, load lever
11 is a tube-in-tube structure part, and symmetrical cantilever is stretched out in diameter of axle direction along sleeve；Load lever 11 shafting sleeve inner be
The supporting form of the back-to-back installation of a pair of bearings, is made up of taper roll bearing A23 and taper roll bearing B24；Loading axis 16
It is rotatably installed in the shafting sleeve of loading lever 11 by taper roll bearing A23 and taper roll bearing B24, loading axis 16
One end is coordinated by the shaft shoulder with taper roll bearing B24, and the other end makes one section of screw thread, is equipped with round nut 22 and taper roller axle
Hold A23 cooperations, 12.8 grades of bearing steels of round nut material, the axially maximum loading force F=6000N that can be born；Bearing (ball) cover
A17 and bearing (ball) cover B18 is installed on the shafting sleeve two ends of loading lever 11 by screw；Loading lever 11 can be by axial force
Or moment of flexure is delivered in loading axis 16, the output end of tested decelerator 39 is then delivered to by the flange in loading axis 16 again
On, so as to realize applying axial force or moment of flexure to the output end for being tested decelerator 39, detail is as shown in Figure 4.
Further, the end of each cantilever of loading lever 11 is fixedly connected with a leading screw load-on module 1 respectively, plus
Carry and force sensor A10 is installed between lever 11 and each described leading screw load-on module 1, force snesor A10 is by bolt and adds
The cantilever for carrying lever 11 is fixed；In addition, axle of two axis directions of leading screw load-on module 1 parallel to the loading sleeve of lever 11
Line, detail is as shown in Figure 1.
Leading screw load-on module 1 is two, and the axis of each leading screw load-on module 1 is and plane-parallel；In the present invention, silk
Thick stick load-on module is made up of bearing block A2, leading screw 3, Mobile Slide 4, rope A5, suspension ring A6, slide rail 7, rotary handle 8；Leading screw 3
From the T-shaped leading screw of single thread, helical pitch R=4mm, 30 ° of T-shaped screw threads of model can provide the pulling force of maximum 3000N, with drawing
Try hard to keep the ability held, the two ends of leading screw 3 are machined with shaft part, two bearing block A2 on bearing 9 are rotatably arranged on by bearing
Between；Mobile Slide 4 is arranged on the slide rail 7 of the one end of bearing 9, the moving direction of Mobile Slide 4 and the axis side of loading axis 16
To parallel；The bottom of Mobile Slide 4 is mounted by means of screws with feed screw nut, and is relatively rotated with leading screw 3 by feed screw nut
Coordinate；It is rope A5 on Mobile Slide 4, the rope A5 other ends are connected with suspension ring A6, suspension ring A6 is fixed on by screw thread cooperation
On force snesor A10；Force snesor A10 is bolted with loading lever 11, force snesor A10 except can in addition to dynamometry,
Also act as the effect of loading；Rotary handle 8 is installed in the end of leading screw 3, and rotary handle 8 is rotated and drives leading screw 3 to rotate, and regulation is mobile to be slided
The position of platform 4 simultaneously adjusts the pulling force on rope A5, and by force snesor A10 dynamometry, accurate adjustment pulling force is simultaneously applied to loading lever
On 11；Bearing block A2 and slide rail 7 are fixed by screws on bearing 9.Using the attachment force sensors A 10 of rope A5 and suspension ring A6
Carry out load mode, it is ensured that deformation windup-degree of the loading lever 11 under the loading force effect of leading screw load-on module 1 is not
The degree of accuracy to the loading force of leading screw load-on module 1 is impacted, and detail is as shown in Figure 5.
Lift heavy rack module can use various suitable shape and structures, with base 19, back timber 21 and for supporting
The support frame 20 of the back timber 21.In the present embodiment, preferred lift heavy rack module, the bottom of support frame 20 is with base 19 by weldering
Fixation is connect, the square groove on 21 4 angles of back timber is combined with the projection of four column portions of support frame 20, back timber 21 can be with
Dismounting, forms an open receiving space, for the installation of subsequent parts between back timber 21 and base 19；The four of support frame 20
Individual column support can be set support beam, and to strengthen the structural strength and stability of the support 20 of lift heavy support 23, detail is such as
Shown in Fig. 6.
Further, the sleeve part of loading lever 11 is arranged on the inner side of support frame 20, loads top and the back timber of lever 11
21 connections；Can be various suitable attachment structures between loading lever 11 and back timber 21, in the present embodiment, loading lever 11
Top is had four hangers and is connected with suspension ring B14 by rope B15；Suspension ring B14 and force snesor B13 is matched somebody with somebody lower end by screw thread
Close and fix；The upper end of adjusting screw rod 12 is coordinated by two nuts with back timber 21, and the lower end of adjusting screw rod 12 is sensed by nut with power
Device B13 upper ends coordinate；Adjusting screw rod 12 is used for the installation site of the in the vertical direction of controlled loading lever 11, it is possible to convenient to adjust
Axiality between section loading axis 16 and the output end of tested decelerator 39；Adjusting screw rod 12 can be used for the B15 effects of regulation rope
In the pulling force of loading lever 11, it is ensured that the weight of loading lever modules and loading axis 16 all acts on lift heavy rack module
On, without producing extra moment of flexure to the output end for being tested decelerator 39, detail is as shown in Figure 6.
Decelerator bearing B38, box-packed base A30, box-like base B36, bearing 9, lift heavy rack module base 19 can be with
Using various suitable shape and structures, in the present embodiment, decelerator bearing B38, box-packed base A30, box-like base B36, bearing
9th, the height of the base 19 of lift heavy rack module can be adjusted according to the model of the tested decelerator 39 of difference；Decelerator bearing
B38, box-packed base A30, box-like base B36, bearing 9, it is designed with U-shaped hole on the bottom of the base 19 of lift heavy rack module,
And be fixed on 44 on Workbench base by screw bolt and nut.
The operation principle of the Combined Loading device for robot joint speed reducer performance test of the invention is as follows,
Operative scenario 1：Refering to Fig. 1 and Fig. 7, the moment of flexure and moment of torsion Combined Loading of the tested output end of decelerator 39 are carried out.Work
Make principle, be bolted on decelerator to be measured 39 on decelerator bearing B38 by (1)；(2) it is bolted to be measured subtracting
The flange end of the output end of fast device 39 and loading axis 16；(3) small end of the multi-diameter shaft of loading axis 16 is connected by shaft coupling A25 and is added
Carry the flange shaft 26 of torsion bar module；(4) when leading screw load-on module 1 is not loaded, two leading screw load-on modules 1 are loading lever 11
Two symmetrical centres of cantilever are the axis of origin symmetry distribution and preferred original state (when not loading) leading screw load-on module 1
Direction when leading screw load-on module 1 is loaded, by rotating rotary handle 8, adjusts silk perpendicular to the axis of the cantilever of loading lever 11
1 pair of loading pulling force of lever 11 of thick stick load-on module；(5) by adjusting two rope A5 pulling force of leading screw load-on module 1 to identical, enter
And moment of flexure is applied to loading axis 16；(6) staring torque motor 35 drives decelerator 33 and twiot arm 28, and loading axis 16 is applied
Moment of torsion；(7) moment of torsion and moment of flexure combined load are applied by the output end of 16 pairs of tested decelerators 39 of loading axis.
Operative scenario 2：Refering to Fig. 1 and Fig. 8, in other apparatus structures, installation position, operating process with operative scenario 1
In the case of similar, only the installation site of leading screw load-on module 1 is adjusted, carries out the axial force of the tested output end of decelerator 39
With moment of torsion Combined Loading.When leading screw load-on module 1 is not loaded, two leading screw load-on modules 1 are loading the axle of the sleeve of lever 11
Line is that symmetry axis is symmetrical and axis direction of preferred original state (when not loading) leading screw load-on module 1 is perpendicular to loading
The axis of the cantilever of lever 11.Realize applying the output end for being tested decelerator 39 moment of torsion and the compound load of axial force by this structure
Lotus.
Operative scenario 3：Refering to Fig. 2, Fig. 3 and Fig. 7, in other apparatus structures, installation position, operation with operative scenario 1
In the case that process is similar, loading torsion bar module and moment of torsion load-on module do not work, and shaft coupling A25 disconnects the company with loading axis 16
Connect, carry out the axial force loading of the tested output end of decelerator 39.Realize applying the output end for being tested decelerator 39 by this structure
Plus independent axial force load.
Operative scenario 4：Refering to Fig. 2, Fig. 3 and Fig. 8, in other apparatus structures, installation position, operation with operative scenario 2
In the case that process is similar, loading torsion bar module and moment of torsion load-on module do not work, and shaft coupling A25 disconnects the company with loading axis 16
Connect, carry out the moment of flexure loading of the tested output end of decelerator 39.Realize applying the output end for being tested decelerator 39 by this structure
Independent bending load.
Operative scenario 5：Refering to Fig. 5 and Fig. 7, in other apparatus structures, installation position, operating process with operative scenario 1
In the case of similar, leading screw load-on module does not work, and force snesor A10 disconnects the connection with loading lever 11, carries out tested subtracting
The moment of torsion loading of the output end of fast device 39.Realize applying independent torque load to the output end for being tested decelerator 39 by this structure.
The above, only this is used for the Combined Loading device specific embodiment of robot joint speed reducer performance test,
Be for the ease of those skilled in the art the invention discloses technical scope in understand and apply the invention, but this hair
Bright protection domain is not limited to this, and the equivalent structure for needing not move through creative work is made on the basis of the technical program
Change or various replacements are all within protection scope of the present invention.
Claims (10)
1. a kind of Combined Loading device for robot joint speed reducer performance test, it is characterised in that including work stylobate
Seat (40), be separately positioned on tested decelerator module on Workbench base (40), loading torsion bar module, moment of torsion load-on module,
Loading lever modules, leading screw load-on module (1) and lift heavy rack module, wherein：
The tested decelerator module includes tested decelerator (39) and loading axis (16)；The loading axis (16) is flanged rank
Terraced axle；Tested decelerator (39) output end is connected by mounting hole thereon with the side end face of flange of loading axis (16)；
The loading torsion bar module includes shaft coupling A (25), flange shaft (26), twiot arm (28), output flange (32)；It is described
The small end of the multi-diameter shaft of loading axis (16) is connected by shaft coupling A (25) with flange shaft (26)；The flange shaft (26) and elasticity
Torsion bar (28) is relatively fixed；And torque sensor (27) is installed between the flange shaft (26) and twiot arm (28)；
The moment of torsion load-on module includes decelerator (33), shaft coupling B (34), torque motor (35)；The output flange (32)
Side end face of flange be connected with decelerator (33) output end；Decelerator (33) input passes through shaft coupling B (34) and power
Torque motor (35) output shaft is connected；
The loading lever modules include loading lever (11)；Loading lever (11) is a tube-in-tube structure part, and along sleeve
Diameter of axle direction stretch out symmetrical cantilever；The loading axis (16) is sleeved in the sleeve of loading lever (11)；
The axis of the leading screw load-on module (1) is and plane-parallel；Two leading screw load-on modules (1), described in one of them
One end of leading screw load-on module (1) is fixedly connected with the end of described loading lever (11) upper cantilever, another described silk
One end of thick stick load-on module (1) is fixedly connected with the end of another cantilever on loading lever (11)；The loading lever
(11) force sensor A (10) is installed and each described leading screw load-on module (1) between；
The lift heavy rack module includes base (19), back timber (21) and the support frame for supporting the back timber (21)
(20)；The sleeve of loading lever (11) is arranged on support frame (20) inner side；The top of loading lever (11) and back timber
(21) connect；Force sensor B (13) is installed between loading lever (11) and back timber (21).
2. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The flange shaft (26) is rotatably arranged on a bearing block C (31) by a bearing；The twiot arm (28)
It is rotatably arranged on two bearing block B (29) by two bearings.
3. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The tested decelerator (39) is fixed on decelerator bearing B (38)；The bearing block B (29), bearing block C (31) are fixed
On box-packed base A (30)；The decelerator (33) is fixed on decelerator bearing A (37), and the decelerator bearing A
(37), torque motor (35) is fixed on box-like base B (36)；The leading screw load-on module (1) is fixed on bearing (9)；Institute
State the base (19) of decelerator bearing B (38), box-packed base A (30), box-like base B (36), bearing (9), lift heavy rack module
It is fixed on Workbench base (40) by screw bolt and nut.
4. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The leading screw load-on module (1) includes bearing block A (2), leading screw (3), Mobile Slide (4), rope A (5), suspension ring A (6), cunning
Rail (7)；The two ends of the leading screw (3) are machined with shaft part, and two bearing block A on bearing (9) are rotatably arranged on by bearing
(2) between；The Mobile Slide (4) is arranged on the slide rail (7) of bearing (9) one end, the moving direction of Mobile Slide (4) with plus
The axis direction for carrying axle (16) is parallel；Feed screw nut is installed with the Mobile Slide (4), and by feed screw nut and silk
Thick stick (3) is relatively rotated and coordinated；It is rope A (5) on the Mobile Slide (4), rope A (5) other ends are connected with suspension ring A (6),
Suspension ring A (6) is fixed on force snesor A (10) by screw thread cooperation.
5. the Combined Loading device for robot joint speed reducer performance test according to claim 1 or 4, its feature
It is：Rotary handle (8) is installed on the outside of the leading screw load-on module (1)；The rotary handle (8) is for controlling to move cunning
Position of the platform (4) on slide rail (9), and the pulling force on rope A (5) is adjusted, and then adjusting force sensors A (10) is used in loading thick stick
Pulling force on (11) cantilevers of bar.
6. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The loading lever modules also include bearing (ball) cover A (17), bearing (ball) cover B (18), round nut (22), taper roll bearing A
(23), taper roll bearing B (24)；The loading axis (16) is by taper roll bearing A (23) and taper roll bearing B (24)
It is rotatably installed in the shafting sleeve of loading lever (11)；Described loading axis (16) one end is by the shaft shoulder and taper roll bearing B
(24) coordinate, the other end makes one section of screw thread, be equipped with round nut (22) and coordinate with taper roll bearing A (23)；The bearing end
Lid A (17) and the bearing (ball) cover B (18) are installed on the shafting sleeve two ends of loading lever (11) by screw.
7. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The lift heavy rack module also includes adjusting screw rod (12), suspension ring B (14), rope B (15)；On loading lever (11)
Portion is connected by rope B (15) with suspension ring B (14)；The suspension ring B (14) coordinates solid with force snesor B (13) lower ends by screw thread
It is fixed；Force snesor B (13) upper ends are coordinated with adjusting screw rod (12) by screw thread to be fixed；The adjusting screw rod (12) and back timber
(21) upper surface is fastenedly connected；Installation position of the adjusting screw rod (12) for controlled loading lever (11) in the vertical direction
Put, and adjust the pulling force that rope B (15) acts on loading lever (11).
8. the Combined Loading device for robot joint speed reducer performance test according to claim 1 or 4, its feature
It is：The leading screw (3) uses the T-shaped leading screw of single thread, for realizing that the leading screw (3) can be certainly after rotating to an angle
Lock, so as to keep the leading screw load-on module (1) to loading the loading force of lever (11).
9. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：Twiot arm (28) the material selection spring steel 60Si2Mn, with rigidity it is low the characteristics of, tested decelerator can be filtered
(39) the high frequency torsional fluctuation of output end.
10. the Combined Loading device for robot joint speed reducer performance test according to claim 1, its feature exists
In：The shaft coupling A (25) uses sliding cross coupling, can accommodate loading axis (16) and flange shaft (26) two ends axis
Between error, again can be with transmitting torque.
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| CN201611176079.9A CN106855462B (en) | 2016-12-19 | 2016-12-19 | A kind of Combined Loading device for robot joint speed reducer performance test |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611176079.9A CN106855462B (en) | 2016-12-19 | 2016-12-19 | A kind of Combined Loading device for robot joint speed reducer performance test |
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| CN106855462B CN106855462B (en) | 2019-03-26 |
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| CN107860570A (en) * | 2017-10-31 | 2018-03-30 | 华中科技大学无锡研究院 | A kind of industrial robot stiffness measurement loading device and measuring method |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
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| CN113865861A (en) * | 2021-09-26 | 2021-12-31 | 华中农业大学 | High-precision robot joint reducer comprehensive performance testing device and assembling method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107860570B (en) * | 2017-10-31 | 2019-11-08 | 华中科技大学无锡研究院 | A kind of industrial robot stiffness measurement loading device and measurement method |
| CN107860570A (en) * | 2017-10-31 | 2018-03-30 | 华中科技大学无锡研究院 | A kind of industrial robot stiffness measurement loading device and measuring method |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
| CN108709683B (en) * | 2018-05-25 | 2020-06-16 | 哈尔滨工业大学 | Flexible torque sensor dynamic test platform for modular joints |
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
| CN109288615A (en) * | 2018-11-12 | 2019-02-01 | 天津理工大学 | Bone pulp cavity pretightning force loads monitoring device |
| CN109288615B (en) * | 2018-11-12 | 2024-02-23 | 天津理工大学 | Bone marrow cavity pretightening force loading monitoring device |
| CN109374281A (en) * | 2018-12-06 | 2019-02-22 | 河南送变电建设有限公司 | A kind of tension and torque simultaneous determination device suitable for rotary connector |
| CN110757508A (en) * | 2019-10-31 | 2020-02-07 | 中国科学院长春光学精密机械与物理研究所 | Device and method for measuring axial rigidity of rotary joint of robot |
| CN110879142A (en) * | 2019-11-08 | 2020-03-13 | 昆明理工大学 | Single-degree-of-freedom articulated arm motion test bed |
| CN110926801A (en) * | 2019-12-23 | 2020-03-27 | 北京工业大学 | Small-size joint comprehensive properties test machine of service robot |
| CN110962163A (en) * | 2019-12-23 | 2020-04-07 | 北京工业大学 | Small-size joint comprehensive properties test machine mechanism of service robot |
| CN110962163B (en) * | 2019-12-23 | 2021-07-23 | 北京工业大学 | Small-size joint comprehensive properties test machine mechanism of service robot |
| CN112240827A (en) * | 2020-04-02 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Composite loading device and test bed for speed reducer test |
| CN111537220A (en) * | 2020-04-21 | 2020-08-14 | 安徽科技学院 | Quality detection device for cycloidal pin gear speed reducer |
| CN111537220B (en) * | 2020-04-21 | 2022-04-19 | 安徽科技学院 | Quality detection device for cycloidal pin gear speed reducer |
| CN112033592A (en) * | 2020-09-04 | 2020-12-04 | 东南大学 | Robot joint torque calibration test device |
| CN112033592B (en) * | 2020-09-04 | 2022-04-12 | 东南大学 | Robot joint torque calibration test device |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN113310687A (en) * | 2021-04-14 | 2021-08-27 | 昆明理工大学 | Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table |
| CN113310687B (en) * | 2021-04-14 | 2022-08-26 | 昆明理工大学 | Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table |
| CN113865861A (en) * | 2021-09-26 | 2021-12-31 | 华中农业大学 | High-precision robot joint reducer comprehensive performance testing device and assembling method thereof |
| CN113865861B (en) * | 2021-09-26 | 2024-01-26 | 华中农业大学 | High-precision robot joint reducer comprehensive performance test device and assembly method thereof |
| CN117302540A (en) * | 2023-09-14 | 2023-12-29 | 成都飞机工业（集团）有限责任公司 | Device and method for testing actuator of folding bolt of airplane wing |
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