Static index testing platform and method for industrial robot joint decelerator

Abstract

The invention discloses a static index testing platform and method for an industrial robot joint decelerator, and the platform comprises a first automatic loading device which comprises an output shaft. One end of a first tension and pressure sensor is connected with the output shaft of the first automatic loading device, and the other end of the first tension and pressure sensor is connected with one end of a first connecting shaft. One end of the first connecting shaft is connected with one end of a force arm, and one end of the force arm is connected with a second connecting shaft. The other end of the force arm is provided with a first displacement sensor and a second displacement sensor, which are used for measuring the displacement of the force arm. According to the invention, the first automatic loading device employs the large transmission ratio of a spiral lifting machine, can achieve a large pushing force, and is compact in structure. The platform is simple and compact in overall structure, is small in size, and can achieve automatic testing. The method can achieve the testing of bending moment rigidity, torsional rigidity, tooth spaces and return difference through the platform, and is high in precision of testing results.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a static index test platform and a test method for joint reducers of industrial robots. Background technique [0002] As an important carrier of automation, industrial robots have become an important symbol to measure a country's manufacturing level and technological level. The joint reducer is the core component of an industrial robot, and its cost accounts for about 30% of the cost of the entire industrial robot. Joint reducers for industrial robots require high rigidity, high motion precision, high transmission efficiency, small hysteresis, and stable load. Among them, the static performance indicators of the reducer include bending moment rigidity, torsional rigidity, backlash and backlash. These static indicators play a decisive role in the position accuracy, operation stability, working capacity and life of the industrial robot's mechanical arm. [0...

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Problems solved by technology

[0003] At present, in the existing static test methods of industrial robot joint reducers, the indicators of bending moment rigidity, torsional rigidity, backlash and hysteresis are all carried out on multiple dedicated torsional rigidity test equipment, and are manually clamped. , since there is currently no automatic loading device that can achieve a large loading thrust at an ultra-low speed, the loading force can only be loaded manually, and the loading accuracy is poor. It takes a long time to install and adjust during the test, which is time-consuming and laborious. The test efficiency is low and cannot meet the current requirements. Production testing requirements, and the test results fluctuate greatly and the accuracy is low

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