CN202393592U - Comprehensive laboratory bench for performance parameters of robot harmonic reducer - Google Patents
Comprehensive laboratory bench for performance parameters of robot harmonic reducer Download PDFInfo
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- CN202393592U CN202393592U CN2011205198932U CN201120519893U CN202393592U CN 202393592 U CN202393592 U CN 202393592U CN 2011205198932 U CN2011205198932 U CN 2011205198932U CN 201120519893 U CN201120519893 U CN 201120519893U CN 202393592 U CN202393592 U CN 202393592U
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- speed reducer
- harmonic speed
- robot
- servomotor
- flexbile gear
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Abstract
The utility model discloses a comprehensive laboratory bench for the performance parameters of a robot harmonic reducer, belonging to the technical field of harmonic reducer. The comprehensive laboratory bench for the performance parameters of the robot harmonic reducer comprises a base, a load loading device, a slide seat, a servomotor and a control unit, wherein the load loading device is installed on the base, and the input end of the load loading device is connected with the flexible gear of the harmonic reducer; the slide seat is slidably installed on the base and slides to the load loading device, and a fixing support for fixing the rigid gear of the harmonic reducer is arranged on the slide seat; the servomotor is slidably installed on the slide seat and slides to the fixing support, and the power output shaft of the servomotor is connected with the wave generator of the harmonic reducer; and the comprehensive laboratory bench further comprises a control unit used for processing information and recording the parameters, wherein the control unit is connected with the servomotor and the load loading device. The comprehensive laboratory bench for the performance parameters of the robot harmonic reducer disclosed by the utility model is convenient for operation, can really and accurately detect the performance parameters of the harmonic reducer and is widely applied to performance detection on the harmonic reducer.
Description
Technical field
The utility model relates to the harmonic speed reducer technical field, relates in particular to the fatigue experiment platform of a kind of robot harmonic speed reducer flexbile gear.
Background technology
Harmonic speed reducer comprises the rigid gear (wheel just) that has ring gear, flexible gear (flexbile gear) and the wave producer that has external toothing.Harmonic speed reducer has that volume is little, in light weight, stable drive, no impact, noiselessness, kinematic accuracy is high, ratio of gear is big, the load-bearing capacity advantages of higher, is widely used in industries such as electronics, space flight and aviation, robot.
Therefore harmonic speed reducer need test to the multinomial performance parameter of harmonic speed reducer because the singularity of its usable range needs the stable of its performance of assurance.In use, flexbile gear bears bigger alternate load, and has been engaged transmission between flexbile gear and the firm wheel; Thereby the torsional property of flexbile gear and gear meshing performance all need to detect; The detection means of this project is generally the detection of manual breakage property at present, and harmonic speed reducer is placed on the operational outfit, makes its operation always in working order; Damage of components up to harmonic speed reducer; Writing time, the resulting data of this detection method are not accurate enough, can not truly reflect each performance parameter of harmonic speed reducer.
The utility model content
The utility model technical matters to be solved is: provide a kind of robot harmonic speed reducer performance parameter combined experiment table, and easy to operate, can detect the performance parameter of harmonic speed reducer truly, accurately.
For solving the problems of the technologies described above, the technical scheme of the utility model is: the performance parameter combined experiment table of robot harmonic speed reducer comprises pedestal; The load charger, said load charger is installed on the said pedestal, and the input end of said load charger connects the flexbile gear of harmonic speed reducer; Slide, said slide are slidingly mounted on the said pedestal and slide to said load charger, and said slide is provided with the fixed support of the firm wheel that is used for fixing harmonic speed reducer; Be slidingly mounted on the servomotor on the said slide, said servomotor slides to said fixed support, and the PTO of said servomotor connects the wave producer of harmonic speed reducer; Be used to carry out the control module of information processing and recording parameters, said control module connects said servomotor and load charger.
As a kind of improvement, the input end of said load charger is installed with a holder, and said holder connects a flexbile gear Connection Block through securing member, and said flexbile gear Connection Block connects the end face of flexbile gear through securing member; Said fixed support connects wheel mount pad just through securing member, and said firm wheel mount pad is connected through securing member with the end face of firm wheel.
As further improvement, on the said pedestal imaging device is installed, said imaging device is connected towards harmonic speed reducer and with said control module.
As further improvement, said imaging device is a video camera.
As further improvement, on the said pedestal apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer; Said control module is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means.
As further improvement, said flexbile gear Connection Block is connected with the angular encoder that is used to detect flexbile gear location and return difference precision, and said angular encoder connects control module.
As further improvement, said angular encoder is an absolute value encoder.
After having adopted technique scheme; The beneficial effect of the utility model is: owing to designed the servomotor and load charger that is connected with control module; To just take turns fixing, wave producer input, flexbile gear output; Simulated the user mode of harmonic speed reducer, this detection mode can intuitive and accurately detect the torsion-life parameter of harmonic speed reducer.
Owing to designed the flexbile gear Connection Block and just taken turns mount pad as the middle transition web member; When the model of harmonic speed reducer changes; Can only change the flexbile gear Connection Block and just take turns mount pad, itself and harmonic speed reducer to be detected are complementary, and needn't change other parts; Expand the sensing range of the utility model, realized a tractor serves several purposes.
Owing to designed imaging device towards harmonic speed reducer; Can harmonic speed reducer each details in testing process be noted with the form of image; Can observe flexbile gear intuitively and just take turns in engagement process; When load changed, whether the position of engagement was consistent, and can confirm just wheel and the stable performance situation of flexbile gear in transmission process.
Owing to designed apparatus for receiving audio and audio frequency comparison means; Can the audio frequency of harmonic speed reducer normal operating conditions be collected the audio frequency comparison means, receive the audio frequency of the harmonic speed reducer under the actual working state then with apparatus for receiving audio, compare with existing audio frequency; If frequency has unusually; Then alarm, and writing time detects the performance parameter of harmonic speed reducer more accurately.
Owing to designed the angular encoder that is used to detect flexbile gear location and return difference precision; Under zero load or load condition; Can compare through the input angle of servomotor and the actual transition angle of flexbile gear; Also can compare the poor of angle that flexbile gear turns over and rotating angle, promptly so-called return difference can reflect the performance of harmonic speed reducer intuitively.
Description of drawings
Accompanying drawing is the structural representation of the utility model embodiment;
Among the figure: 1, pedestal, 2, magnetic powder brake, 3, slide, 4, fixed support; 5, servomotor, 6, harmonic speed reducer, 7, holder, 8, the flexbile gear Connection Block; 9, just taken turns mount pad, 10, claw, 11, control module; 12, high-speed camera, 13, audio receiver, 14, absolute value encoder.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Shown in accompanying drawing, the performance parameter combined experiment table of a kind of robot harmonic speed reducer mainly comprises pedestal 1, load charger, slide 3, servomotor 5 and control module 11.Wherein, said load charger is installed on the said pedestal 1, and the input end of said load charger connects the flexbile gear of harmonic speed reducer 6; Said slide 3 is slidingly mounted on the said pedestal 1 and slides to said load charger, and slide 3 is slidingly mounted on the pedestal 1 through slide rail usually, and said slide 3 is provided with the fixed support 4 of the firm wheel that is used for fixing harmonic speed reducer 6; Said servomotor 5 is slidingly mounted on the said slide 3, and said servomotor 5 slides to said fixed support 4, and servomotor 5 is slidingly mounted on the slide 3 through slide rail usually, and the PTO of said servomotor 5 connects the wave producer of harmonic speed reducer 6; Control module 11 is used to carry out information processing and recording parameters; Said control module 11 connects said servomotor 5 and load charger; Said load charger is preferably magnetic powder brake 2; Control module 11 can reflect the load of magnetic powder brake 2 and the rotating speed of servomotor 5 intuitively, and writing time parameter.
The input end of said magnetic powder brake 2 is installed with a holder 7, and said holder 7 connects a flexbile gear Connection Block 8 through securing member, and said flexbile gear Connection Block 8 connects the end face of flexbile gear through securing member; Said fixed support 4 connects wheel mount pad 9 just through securing member, and said firm wheel mount pad 9 is connected through securing member with the end face of firm wheel; The PTO end of servomotor 5 is equipped with claw 10, through the power end of claw 10 clamping wave producers.Flexbile gear Connection Block 8 and firm wheel mount pad 9 are as the middle transition web member; When the model of harmonic speed reducer 6 changes, can only change flexbile gear Connection Block 8 and just take turns mount pad 9, itself and harmonic speed reducer 6 to be detected are complementary; And needn't change other parts, realized a tractor serves several purposes.
On the said pedestal 1 imaging device is installed, said imaging device is connected towards harmonic speed reducer 6 and with said control module 11.Said imaging device is preferably video camera; Especially use high-speed camera 12 effects with better; Through the high-speed camera 12 record flexbile gears and the just engagement process of wheel, and the distortion situation of flexbile gear, can promptly and accurately reflect the performance parameter of harmonic speed reducer 6 under the normal operating conditions.
On the said pedestal 1 apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer 6; Said control module 11 is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means, and said apparatus for receiving audio is preferably audio receiver 13; Said audio frequency comparison means is preferably the audio frequency comparer; The audio frequency of harmonic speed reducer 6 normal operating conditionss is collected the audio frequency comparer, receive the audio frequency of the harmonic speed reducer 6 under the actual working state then with audio receiver 13, compare with existing audio frequency; If frequency has unusually; Then alarm, and writing time detects the performance parameter of harmonic speed reducer 6 more accurately.
Said flexbile gear Connection Block 8 is connected with the angular encoder that is used to detect flexbile gear location and return difference precision; Said angular encoder connects control module 11, and said angular encoder is preferably absolute value encoder 14, under zero load or load condition; Can compare through the input angle of servomotor 5 and the actual transition angle of flexbile gear; Also can compare the poor of angle that flexbile gear turns over and rotating angle, promptly so-called return difference can reflect the performance of harmonic speed reducer 6 intuitively.
In a word; The described performance parameter combined experiment table of the utility model is through the combination of pedestal 1, slide 3, servomotor 5, magnetic powder brake 2, high-speed camera 12, audio receiver 13, absolute value encoder 14 and control module 11; Realized the online detection of harmonic speed reducer multinomial performance index; Not only can carry out the loading simulation experiment and detect, can also carry out data processing and record, can satisfy multi-field application such as production, teaching.Design from the utility model; In order to pursue high precision more, experimental result and improve the precision of each performance detection apparatus more accurately; Figure place of the frame number of high-speed camera, absolute value encoder etc. for example; Perhaps adopt other checkout equipment simple substitution and reach testing goal, accomplish performance parameter combined experiment, all belong to the protection domain of the utility model.
The utility model is not limited to above-mentioned concrete embodiment, and those of ordinary skill in the art is from above-mentioned design, and without performing creative labour, all conversion of having done all drop within the protection domain of the utility model.
Claims (7)
1. the performance parameter combined experiment table of robot harmonic speed reducer is characterized in that, comprising:
Pedestal;
The load charger, said load charger is installed on the said pedestal, and the input end of said load charger connects the flexbile gear of harmonic speed reducer;
Slide, said slide are slidingly mounted on the said pedestal and slide to said load charger, and said slide is provided with the fixed support of the firm wheel that is used for fixing harmonic speed reducer;
Be slidingly mounted on the servomotor on the said slide, said servomotor slides to said fixed support, and the PTO of said servomotor connects the wave producer of harmonic speed reducer;
Be used to carry out the control module of information processing and recording parameters, said control module connects said servomotor and load charger.
2. the performance parameter combined experiment table of robot as claimed in claim 1 harmonic speed reducer; It is characterized in that; The input end of said load charger is installed with a holder; Said holder connects a flexbile gear Connection Block through securing member, and said flexbile gear Connection Block connects the end face of flexbile gear through securing member; Said fixed support connects wheel mount pad just through securing member, and said firm wheel mount pad is connected through securing member with the end face of firm wheel.
3. according to claim 1 or claim 2 the performance parameter combined experiment table of robot harmonic speed reducer is characterized in that on the said pedestal imaging device is installed, said imaging device is connected towards harmonic speed reducer and with said control module.
4. the performance parameter combined experiment table of robot as claimed in claim 3 harmonic speed reducer is characterized in that said imaging device is a video camera.
5. the performance parameter combined experiment table of robot as claimed in claim 3 harmonic speed reducer is characterized in that on the said pedestal apparatus for receiving audio is installed, said apparatus for receiving audio is near harmonic speed reducer; Said control module is provided with the audio frequency comparison means, and said apparatus for receiving audio is connected with the audio frequency comparison means.
6. the performance parameter combined experiment table of robot as claimed in claim 2 harmonic speed reducer is characterized in that, said flexbile gear Connection Block is connected with the angular encoder that is used to detect flexbile gear location and return difference precision, and said angular encoder connects control module.
7. the performance parameter combined experiment table of robot as claimed in claim 6 harmonic speed reducer is characterized in that said angular encoder is an absolute value encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205198932U CN202393592U (en) | 2011-12-13 | 2011-12-13 | Comprehensive laboratory bench for performance parameters of robot harmonic reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205198932U CN202393592U (en) | 2011-12-13 | 2011-12-13 | Comprehensive laboratory bench for performance parameters of robot harmonic reducer |
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| CN202393592U true CN202393592U (en) | 2012-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011205198932U Expired - Fee Related CN202393592U (en) | 2011-12-13 | 2011-12-13 | Comprehensive laboratory bench for performance parameters of robot harmonic reducer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN104568426A (en) * | 2014-07-08 | 2015-04-29 | 蒋桂云 | Comprehensive testing system for dynamic property of harmonic speed reducer |
| CN105571858A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Axial loading device for harmonic wave decelerator vibration detection table |
-
2011
- 2011-12-13 CN CN2011205198932U patent/CN202393592U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN104568426A (en) * | 2014-07-08 | 2015-04-29 | 蒋桂云 | Comprehensive testing system for dynamic property of harmonic speed reducer |
| CN104568426B (en) * | 2014-07-08 | 2017-10-03 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic speed reducer dynamic performance integrated test system |
| CN105571858A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Axial loading device for harmonic wave decelerator vibration detection table |
| CN105571858B (en) * | 2016-02-29 | 2018-02-27 | 华南理工大学 | A kind of harmonic speed reducer vibration detection platform axial loading device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: SHANDONG SHUAIKE MACHINERY MANUFACTURING CO., LTD. Free format text: FORMER NAME: WEIFANG SHK MACHINE CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 261206. 50 meters east of Fenghuang Avenue and South Road, Fangzi District, Shandong, Weifang Patentee after: Shandong Shuaike Machinery Manufacturing Co., Ltd. Address before: 261206. 50 meters east of Fenghuang Avenue and South Road, Fangzi District, Shandong, Weifang Patentee before: Weifang SHKE Machinery Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120822 Termination date: 20201213 |
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| CF01 | Termination of patent right due to non-payment of annual fee |