CN209820768U - Accurate testing arrangement of robot RV reduction gear transmission error - Google Patents
Accurate testing arrangement of robot RV reduction gear transmission error Download PDFInfo
- Publication number
- CN209820768U CN209820768U CN201920454793.2U CN201920454793U CN209820768U CN 209820768 U CN209820768 U CN 209820768U CN 201920454793 U CN201920454793 U CN 201920454793U CN 209820768 U CN209820768 U CN 209820768U
- Authority
- CN
- China
- Prior art keywords
- output
- input
- reducer
- reduction gear
- robot
- 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.)
- Active
Links
Landscapes
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The utility model relates to an accurate testing arrangement of robot RV reduction gear transmission error, including the reduction gear support, adorn reduction gear mounting flange on the reduction gear support admittedly, adorn the RV reduction gear on reduction gear mounting flange admittedly, the input of RV reduction gear, output correspondence are provided with the input shaft that has input circle grating, have the output flange axle of output circle grating, the below correspondence of input circle grating, output circle grating is equipped with input circle grating reading head, output circle grating reading head. The utility model reduces the transition connecting pieces between the circular grating and the reducer by installing the circular grating at the input end and the output end of the reducer; the method not only further improves the measurement precision, reduces errors caused by adding more transition connecting pieces, but also reduces the test cost, makes the test device more compact, reduces the occupied space of the test device and ensures the reliability of the test device.
Description
Technical Field
The utility model relates to a robot and accurate mechanical transmission field, concretely relates to accurate testing arrangement of robot RV reduction gear transmission error.
Background
The RV reducer is one of the core parts of an industrial robot, is applied to the joint transmission of the industrial robot to finish the precise transmission of the robot joint, and is an important link for realizing the precise control of the robot. The angle transmission error index of the speed reducer is the key for realizing accurate transmission of the robot joint, so that the transmission error performance of the speed reducer needs to be tested and analyzed more accurately.
At present, the angle transmission error testing device for the RV reducer is generally characterized in that a transition coupling is designed between an angle sensor and the reducer and connected, but the measurement error of the angle sensor at the output end can be increased due to the intervention of the coupling, so that the accurate testing purpose is difficult to achieve, and accurate transmission error performance indexes can not be provided for the design and the model selection of a robot joint and the more accurate control of a robot. The testing device without the coupling between the speed reducer and the angle sensor is few, but more transition connecting pieces are still designed in the middle, so that the assembly and manufacturing difficulty is increased, the cost of the whole testing platform is increased, and more measurement errors are inevitably introduced in the testing process due to more transition parts, so that the testing accuracy is reduced.
Disclosure of Invention
In order to solve the problem mentioned in the above-mentioned background art, the utility model provides a robot RV reduction gear transmission error accurate testing arrangement to improve RV reduction gear transmission error's measurement accuracy.
The utility model discloses the technical problem that will solve adopts following technical scheme to realize:
a robot RV reducer transmission error accurate testing device comprises a reducer support, a reducer mounting flange fixedly mounted on the reducer support and an RV reducer fixedly mounted on the reducer mounting flange, wherein an input shaft with an input circular grating and an output flange shaft with an output circular grating are correspondingly arranged at the input end and the output end of the RV reducer;
and an input circular grating reading head and an output circular grating reading head are correspondingly arranged below the input circular grating and the output circular grating.
As a further improvement of the utility model, the RV reduction gear embeds there is the input gear through flat key and input shaft.
As a further improvement of the utility model, the input shaft passes through the bearing and installs on reduction gear mounting flange.
As a further improvement of the utility model, the output flange axle passes through the mounting screw on the RV reduction gear.
As a further improvement, the input circular grating reading head and the output circular grating reading head are fixed on the reducer bracket through the corresponding connected input reading head mounting bracket and the output reading head bracket.
The utility model has the advantages that:
the utility model reduces the transition connecting pieces between the circular grating and the reducer by installing the circular grating at the input end and the output end of the reducer; the method not only further improves the measurement precision, reduces errors caused by adding more transition connecting pieces, but also reduces the test cost, makes the test device more compact, reduces the occupied space of the test device and ensures the reliability of the test device.
Drawings
The invention will be further described with reference to the following figures and examples:
FIG. 1 is a schematic view of the assembly of the present invention;
FIG. 2 is a schematic view of the structure of the output flange shaft of the present invention;
fig. 3 is a schematic diagram of the structure of the input shaft of the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the present invention easy to understand, the present invention will be further explained with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 3, the device for accurately testing the transmission error of the robot RV reducer comprises a reducer support 14, a reducer mounting flange 8 fixedly mounted on the reducer support 14, and an RV reducer 9 connected with the reducer mounting flange 8, wherein an input shaft 3 with an input circular grating 6 and an output flange shaft 11 with an output circular grating 10 are correspondingly arranged at the input end and the output end of the RV reducer 9.
An input circular grating reading head 2 and an output circular grating reading head 12 are correspondingly arranged below the input circular grating 6 and the output circular grating 10, and the input circular grating reading head 2 and the output circular grating reading head 12 are respectively fixed on a speed reducer support 14 through an input reading head mounting support 1 and an output reading head support 13 which are correspondingly connected.
Specifically, the reducer mounting flange 8 is mounted on the reducer bracket 14 through a screw, and the RV reducer 9 is connected with the reducer mounting flange 8 through a screw. The input shaft 3 is connected with a speed reducer mounting flange 8 through a bearing 7, the input circular grating 6 is mounted on the input shaft 3 through a screw, an input gear 4 is arranged inside the RV speed reducer 9, and the input shaft 3 is connected with the input gear 4 through a flat key 5. The output flange shaft 11 is mounted on the RV reducer 9 through screws, and the output circular grating 10 is mounted on the output flange shaft 11 through screws.
This testing arrangement adopts detachable input shaft 3, output flange axle 11 and reduction gear mounting flange 8, only need when testing the RV reduction gear of different models change flange axle and reduction gear mounting flange can, the installation procedure is simple.
Further, this testing arrangement will be used for angle measurement's output circular grating 10 to directly use the fix with screw on output flange axle 11, has guaranteed that output circular grating 10 and RV reduction gear 9's output is complete with the angular rotation, has avoided introducing the corner error that generates heat because of adding more connecting piece between circular grating and the RV reduction gear output, has improved measurement accuracy.
Furthermore, the transition connecting pieces between the circular grating and the RV reducer are fewer through the testing device, the part processing cost can be reduced, the material cost for purchasing various connecting pieces can be reduced, and the cost of the whole testing device is further reduced.
Furthermore, the test device has the advantages that the number of the middle connecting pieces of the circular grating and the RV reducer is small, so that the occupied space of the whole test device can be greatly reduced, the test device is more compact in structure, and the reliability of the test device can be better guaranteed.
And finally, circular gratings are arranged at the input end and the output end of the RV reducer through the testing device, so that the simultaneous measurement of the input and output rotation angles is realized, the transmission error is calculated through the accurate measurement values of the input and output angles, and the measurement precision is further improved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an accurate testing arrangement of robot RV reduction gear transmission error which characterized in that: the system comprises a speed reducer support (14), a speed reducer mounting flange (8) fixedly arranged on the speed reducer support (14) and an RV speed reducer (9) fixedly arranged on the speed reducer mounting flange (8), wherein an input shaft (3) with an input circular grating (6) and an output flange shaft (11) with an output circular grating (10) are correspondingly arranged at the input end and the output end of the RV speed reducer (9);
an input circular grating reading head (2) and an output circular grating reading head (12) are correspondingly arranged below the input circular grating (6) and the output circular grating (10).
2. The device for accurately testing the transmission error of the RV reducer of the robot as claimed in claim 1, characterized in that: an input gear (4) connected with the input shaft (3) through a flat key (5) is arranged in the RV reducer (9).
3. The device for accurately testing the transmission error of the RV reducer of the robot as claimed in claim 1, characterized in that: the input shaft (3) is mounted on a speed reducer mounting flange (8) through a bearing (7).
4. The device for accurately testing the transmission error of the RV reducer of the robot as claimed in claim 1, characterized in that: the output flange shaft (11) is mounted on the RV reducer (9) through screws.
5. The device for accurately testing the transmission error of the RV reducer of the robot as claimed in claim 1, characterized in that: the input circular grating reading head (2) and the output circular grating reading head (12) are fixed on the reducer support (14) through the input reading head mounting support (1) and the output reading head support (13) which are correspondingly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920454793.2U CN209820768U (en) | 2019-04-04 | 2019-04-04 | Accurate testing arrangement of robot RV reduction gear transmission error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920454793.2U CN209820768U (en) | 2019-04-04 | 2019-04-04 | Accurate testing arrangement of robot RV reduction gear transmission error |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209820768U true CN209820768U (en) | 2019-12-20 |
Family
ID=68878843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920454793.2U Active CN209820768U (en) | 2019-04-04 | 2019-04-04 | Accurate testing arrangement of robot RV reduction gear transmission error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209820768U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
| CN111189634A (en) * | 2020-03-18 | 2020-05-22 | 中国船舶重工集团公司第七0七研究所 | Large RV reducer transmission error testing device and testing method |
-
2019
- 2019-04-04 CN CN201920454793.2U patent/CN209820768U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883696A (en) * | 2019-04-04 | 2019-06-14 | 埃夫特智能装备股份有限公司 | A kind of robot RV reducer transmission error precise testing device |
| CN111189634A (en) * | 2020-03-18 | 2020-05-22 | 中国船舶重工集团公司第七0七研究所 | Large RV reducer transmission error testing device and testing method |
| CN111189634B (en) * | 2020-03-18 | 2022-05-10 | 天津旗领机电科技有限公司 | Large RV reducer transmission error testing device and testing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209820768U (en) | Accurate testing arrangement of robot RV reduction gear transmission error | |
| CN106053062A (en) | RV reducer comprehensive test bench | |
| CN206362297U (en) | A kind of displacement transducer demarcation loading attachment | |
| CN103018054B (en) | A kind of automotive axle axle housing Static stiffness and static strength method of testing | |
| CN107036517B (en) | Loading device for calibrating displacement sensor and calibration method | |
| CN109238177B (en) | Combined type angle sensor with measure many rings of angle functions | |
| CN106840517B (en) | Output torque calibrator for speed reducer detector | |
| CN111521212A (en) | Magnetic encoder correction system and method, control terminal and readable storage medium | |
| CN105711566A (en) | Electronic brake pedal assembly | |
| CN204881508U (en) | Gear module, angle sensor and vehicle | |
| CN101614562B (en) | Pointer type reading device with digital function | |
| CN102221649B (en) | Dynamic tester for magnetic driver | |
| CN109406141A (en) | A kind of harmonic speed reducer precision measurer hardware system | |
| CN206347973U (en) | A kind of accurate retarding machine transmission accuracy detection device | |
| CN109883696A (en) | A kind of robot RV reducer transmission error precise testing device | |
| CN110044613B (en) | Rotor six-degree-of-freedom motion test and motion parameter decoupling method based on shaft disc | |
| CN102500842A (en) | Automatic correcting mechanism and correcting system for micro-machine screw grinder and control method of correcting system | |
| CN117232820A (en) | Method and device for detecting maximum return error of precise planetary reducer | |
| CN100558492C (en) | The manufacture method of geared system | |
| CN216480115U (en) | Instrument data acquisition device based on machine vision | |
| CN2831042Y (en) | Practical value measurer of spline with chart | |
| CN106989868B (en) | Method for calibrating output torque of speed reducer detector | |
| CN113221283B (en) | Propeller pitch-phase angle-rotating speed measurement and control test bed and tone wheel design method thereof | |
| CN202041187U (en) | Laser target for shafting alignment | |
| CN112326234A (en) | Input fixing structure of harmonic reducer comprehensive performance test equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |