CN110567716A - Robot reduction gear test rack - Google Patents
Robot reduction gear test rack Download PDFInfo
- Publication number
- CN110567716A CN110567716A CN201911024777.0A CN201911024777A CN110567716A CN 110567716 A CN110567716 A CN 110567716A CN 201911024777 A CN201911024777 A CN 201911024777A CN 110567716 A CN110567716 A CN 110567716A
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- bearing seat
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- 238000012360 testing method Methods 0.000 title claims abstract description 59
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 43
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Classifications
-
- 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
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a robot speed reducer testing bench which comprises a testing integral base (1), a driving motor base (2), a load motor base (3) and a tested speed reducer support (4), wherein the driving motor base (2), the load motor base (3) and the tested speed reducer support (4) are arranged on the testing integral base (1), a driving motor support (5), an input bearing seat (6), an input angle encoder (7) and a coupling (8) connected with a tool are arranged on the driving motor base (2), and a load motor support (9), an output bearing seat (10), an output angle encoder (11) support and a coupling (8) connected with the tool are arranged on the load motor base (3). The invention adopts the idea of modular design, and realizes a plurality of performance parameter test tests on different types or the same type of robot speed reducers with different models on the same test bed to the maximum extent by replacing different tools.
Description
Technical Field
The invention relates to the field of intelligent measurement and control, in particular to a robot speed reducer testing rack.
Background
The reducer is a popular transmission device, and has the advantages of compact structure, stable transmission, large transmission ratio, strong bearing capacity and the like, so that the reducer is widely applied to the engineering fields of construction machinery, aerospace, vehicle systems and the like. In recent years, with the rapid development of drive application industries (such as automobiles, energy consumption equipment and the like), the performance requirements of the market on the speed reducer are higher and higher, but a test testing technology and a related evaluation method aiming at the speed reducer are very short, and at present, a scientific research institution in China starts to develop the speed reducer, so that a test testing platform of the speed reducer is urgently required to be built in order to promote the localization of the speed reducer.
Disclosure of Invention
The invention aims to solve the problems and provides a robot speed reducer testing bench.
The utility model provides a reduction gear test rack of robot, is including the whole base of test and set up driving motor base, load motor base and the reduction gear support of being surveyed on the whole base of test, be provided with driving motor support, input bearing frame, input angle encoder and connect the shaft coupling of driving motor and input bearing frame, input bearing frame and input angle encoder on the driving motor base, be provided with load motor support, output bearing frame, output angle encoder support and connect the shaft coupling of load motor and output bearing frame, output bearing frame and output angle encoder on the load motor base, input angle encoder on the driving motor base with be surveyed on reduction gear, the load motor base output angle encoder with be surveyed through the coupling joint between the reduction gear.
Furthermore, the test is provided with a guide rail on the whole base, and the centering hand wheel device arranged on the base of the driving motor and the base of the load motor is matched with the guide rail, so that the tested speed reducer can be conveniently installed and detached.
Further, an input torque sensor and an output torque sensor are respectively arranged between the driving motor and the input bearing seat and between the output bearing seat and the load motor.
Furthermore, a gearbox used for improving the running efficiency of the load motor is arranged between the output torque sensor and the load motor.
Further, the driving frequency converter which is connected with the driving motor in a matched mode adopts a Siemens S120 servo driving system, and the load frequency converter which is connected with the load motor in a matched mode adopts a Siemens S120 servo loading system.
Furthermore, the integral transparent protective cover with the window is arranged on the testing integral base to protect all testing tools in the testing bench.
Furthermore, a temperature sensor is also arranged on the bracket of the reducer to be detected.
The invention has the beneficial effects that: the driving motor base and the load motor base which are positioned on two sides of the tested piece support are respectively arranged on the testing integral base, the testing tool for testing the speed reducer is arranged on the base, a plurality of parameters of the tested speed reducer can be tested by flexibly adjusting the testing tool, and meanwhile, the quick centering transpose is arranged on the driving motor base and the load motor base, so that the tested speed reducer and the testing tool can be conveniently mounted and dismounted, the testing efficiency is greatly improved, and the testing and production progress of a product is promoted.
Drawings
FIG. 1 is a schematic view of the test bench of the present invention.
in the figure: 1-integral base; 2-driving the motor base; 3-loading a motor base; 4-the reducer bracket to be tested; 5-driving motor support; 6-input bearing seat; 7-input angle encoder; 8-a coupler; 9-load motor support; 10-an output bearing seat; 11-output angle encoder; 12-the reducer to be tested; 13-centering hand wheel
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
As shown in figure 1, the robot speed reducer testing bench comprises a testing integral base 1, a driving motor base 2, a load motor base 3 and a tested speed reducer bracket 4 which are arranged on the testing integral base 1, the driving motor base 2 is provided with a driving motor bracket 5, an input bearing seat 6, an input angle encoder 7 and a coupling 8 for connecting the driving motor and the input bearing seat 6, and connecting the input bearing seat 6 and the input angle encoder 7, the load motor base 3 is provided with a load motor bracket 9, an output bearing seat 10, an output angle encoder 11 bracket and a coupler for connecting the load motor and the output bearing seat 10, the output bearing seat 10 and the output angle encoder 11, and the input angle encoder 7 on the driving motor base 2 is connected with the detected speed reducer 12, and the output angle encoder 11 on the load motor base 3 is connected with the detected speed reducer 12 through a coupler 8.
Preferably, the test is provided with a guide rail on the whole base 1, and the tested speed reducer 12 is conveniently mounted and dismounted through the matching of the centering hand wheel 13 device arranged on the driving motor base 2 and the load motor base 3. An input torque sensor and an output torque sensor are respectively arranged between the driving motor and the input bearing seat 6 and between the output bearing seat 10 and the load motor. A gearbox used for improving the running efficiency of the load motor is also arranged between the output torque sensor and the load motor.
Preferably, the driving frequency converter which is connected with the driving motor in a matching way adopts a Siemens S120 servo driving system, and the load frequency converter which is connected with the load motor in a matching way adopts a Siemens S120 servo loading system. The integral transparent protective cover with the window is arranged on the testing integral base 1 to protect all testing tools in the testing bench. The measured speed reducer bracket 4 is also provided with a temperature sensor.
Example 1: and testing the efficiency and rigidity of the speed reducer.
In this embodiment, during the transmission efficiency test, the input end torque sensor is arranged between the driving motor and the reducer 13 to be tested, the output end torque sensor is arranged between the reducer 13 to be tested and the reducer to be tested, and the rigidity angle encoder is arranged between the output end of the piece to be tested and the torque sensor. The method comprises the steps of fixing a tested piece on a tested piece support, driving the tested piece through a drive end permanent magnet synchronous servo motor, carrying out loading efficiency test on a load end permanent magnet synchronous servo motor, simultaneously collecting data of each data measuring point, including input and output end torque, rotating speed and power, calculating transmission efficiency according to the collected data, and drawing an efficiency curve (efficiency-output torque).
In this embodiment, during the torsional rigidity test, the tested piece is fixed on the tested piece bracket, the input end is locked, the rigidity performance test is performed by driving the load end permanent magnet synchronous servo motor, and simultaneously data of each data measurement point are collected from zero torque to a rated torque in the forward direction to zero torque to a rated torque in the reverse direction to zero torque. At this time, the applied torque and the angle value of the encoder are recorded, and a torsional rigidity curve is obtained by calculating (the ratio of the rated load torque to the corresponding elastic deformation rotation angle) through a formula.
Example 2: and testing the transmission error of the speed reducer and the allowable maximum input speed of the speed reducer.
In this embodiment, when the reduction gear transmission error is tested, the coupler of the tested reduction gear and the output torque sensor is detached, only the driving motor is started, the input end torque sensor is arranged between the driving motor and the tested reduction gear, the input angle encoder is arranged between the torque sensor and the tested reduction gear, and the output angle encoder is arranged at the rear end of the tested reduction gear. The measured piece is fixed on the measured piece support, the measured piece is driven through the driving end permanent magnet synchronous servo motor, and meanwhile data of each data measuring point are collected. The tested piece is driven by the motor to be in a loaded running state (the output end rotates by 360 degrees), the rotation angle values V1 and V2 of the encoders at the input end and the output end are recorded at the moment, and a transmission error is obtained through formula calculation and an error curve is drawn. (output shaft angle- -angle error).
In this embodiment, when the speed reducer allows the highest input rotation speed test, the coupling of the tested speed reducer and the output bearing seat is detached, only the driving motor is started, the tested piece is fixed on the tested piece bracket, the tested piece is driven by the driving motor to be in the highest allowed rotation speed operation of the tested piece, and the rotation speed is recorded.
Example 3: other test items.
The test procedure is shown in the following table:
In this embodiment, the test bench adopts the modularization design thought, through changing different frocks, furthest realizes on same test bench a plurality of performance parameter test to the robot speed reducer of different types or the same type different models.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A robot reducer testing bench is characterized by comprising a testing integral base (1), a driving motor base (2), a load motor base (3) and a reducer support (4) to be tested, wherein the driving motor base (2) is arranged on the testing integral base (1), the driving motor base (2) is provided with a driving motor support (5), an input bearing seat (6), an input angle encoder (7) and a coupling (8) for connecting the driving motor with the input bearing seat (6) and the input bearing seat (6) with the input angle encoder (7), the load motor base (3) is provided with a load motor support (9), an output bearing seat (10), an output angle encoder (11) support and a coupling (8) for connecting the load motor with the output bearing seat (10) and the output angle encoder (11), the input angle encoder (7) on the driving motor base (2) is connected with the tested speed reducer, and the output angle encoder (11) on the load motor base (3) is connected with the tested speed reducer (12) through a coupler (8).
2. The robot reducer testing bench according to claim 1, characterized in that the testing integrated base (1) is provided with guide rails, and the centering handwheel (13) device arranged on the driving motor base (2) and the load motor base (3) is matched with the guide rails to realize convenient installation and disassembly of the reducer to be tested.
3. A robot decelerator testing stand according to claim 1, wherein an input torque sensor and an output torque sensor are respectively provided between the driving motor and the input bearing seat (6), and between the output bearing seat (10) and the load motor.
4. A robot decelerator testing stand as claimed in claim 1, wherein a gearbox is provided between the output torque sensor and the load motor for improving the operating efficiency of the load motor.
5. The robot reducer test bench of claim 1, wherein the drive motor and the drive frequency converter connected therewith are Siemens S120 servo drive system, and the load motor and the load frequency converter connected therewith are Siemens S120 servo load system.
6. The robot reducer test bench according to claim 1, characterized in that an integral transparent protective cover with a window is arranged on the test integral base (1) to protect all test tools in the test bench.
7. A robot decelerator testing stand according to claim 1, characterized in that the decelerator support (4) to be tested is also equipped with a temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911024777.0A CN110567716A (en) | 2019-10-25 | 2019-10-25 | Robot reduction gear test rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911024777.0A CN110567716A (en) | 2019-10-25 | 2019-10-25 | Robot reduction gear test rack |
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| Publication Number | Publication Date |
|---|---|
| CN110567716A true CN110567716A (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911024777.0A Pending CN110567716A (en) | 2019-10-25 | 2019-10-25 | Robot reduction gear test rack |
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| CN (1) | CN110567716A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113984382A (en) * | 2021-12-27 | 2022-01-28 | 四川诚邦浩然测控技术有限公司 | Angle sensor installation tool |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
| CN105181329A (en) * | 2015-10-13 | 2015-12-23 | 西安交通大学 | Comprehensive test platform for industrial robot joint reducer |
| CN105241664A (en) * | 2015-11-18 | 2016-01-13 | 南京康尼机电股份有限公司 | Testing device suitable for detecting integrated performance of multi-model precision speed reducer |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN210834164U (en) * | 2019-10-25 | 2020-06-23 | 四川诚邦浩然测控技术有限公司 | Robot reduction gear test rack |
-
2019
- 2019-10-25 CN CN201911024777.0A patent/CN110567716A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
| CN105181329A (en) * | 2015-10-13 | 2015-12-23 | 西安交通大学 | Comprehensive test platform for industrial robot joint reducer |
| CN105241664A (en) * | 2015-11-18 | 2016-01-13 | 南京康尼机电股份有限公司 | Testing device suitable for detecting integrated performance of multi-model precision speed reducer |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN210834164U (en) * | 2019-10-25 | 2020-06-23 | 四川诚邦浩然测控技术有限公司 | Robot reduction gear test rack |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113984382A (en) * | 2021-12-27 | 2022-01-28 | 四川诚邦浩然测控技术有限公司 | Angle sensor installation tool |
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