Novel industrial robot RV reducer performance test method

A technology of an industrial robot and a test method, which is applied in the performance test field of a new industrial robot RV reducer, can solve the problems of complex calculation and complicated rotary transmission error, and achieve the effects of simple calculation, simple rotary transmission error and high degree of automation.

Inactive Publication Date: 2018-06-01
CHENGDU YUYA TECH
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Problems solved by technology

[0008] The existing RV reducer rotary transmission accuracy error measurement test bench only considers the influence of the cycloid gear tooth profile error, and does not take into account the errors of other components other than the cycloid gear, and the calculation is complicated
Therefore, when there are RV reducers with multiple crankshafts, double cycloid wheels, and complex input and output mechanisms, as well as processing and assembly errors and clearances of high-speed stages and other components, the rotary transmission can be obtained according to existing methods. The error is more complicated

Method used

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  • Novel industrial robot RV reducer performance test method

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Embodiment Construction

[0022] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

[0023] Such as figure 1 As shown, a new type of industrial robot RV reducer performance test method, the method steps include: (1) instrument zero; (2) forward loading to rated torque; (3) forward unloading to no load; (4) Reversely load to rated torque; (5) Reversely unload to no load; (6) Draw the torque deformation hysteresis curve; (7) Determine the torsional stiffness by the least square method; (8) Whether the crankshaft is self-propagating for a circle, if so, draw the torsion Stiffness curve; (9) If not, rotate the scale to the next position, set the instrument to zero, and retest.

[0024] Furthermore, during the measurement process, the following method is adopted to minimize the measurement distortion caused by the artificial influence f...

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Abstract

The present invention relates to the technical field of industrial robot reducers, especially to a novel industrial robot RV reducer performance test method. The method comprises the steps of: (1) instrument zero setting; (2) forward loading to a rated torque; (3) forward unloading to a zero load; (4) backward loading to a rated torque; and (5) backward unloading to a zero load. The reducer revolution transmission precision error measure method is simple in calculation, few in measurement parameter and simple to obtain revolution transmission errors; and moreover, a test bed is high in measurement precision, simple in structure and easy to operate.

Description

technical field [0001] The invention relates to the technical field of industrial robot reducers, in particular to a performance test method of a novel industrial robot RV reducer. Background technique [0002] The power unit of an industrial robot is mainly composed of a servo motor and a reducer, and its cost accounts for more than 65% of the cost of the whole machine. As the core component of the robot, its accuracy and reliability are crucial. However, the power units of domestic industrial robots mainly rely on imports, and the power units of self-produced industrial robots are immature and have low reliability. The servo motor of the industrial robot power unit has the characteristics of small inertia, fast response speed, and low maintenance and maintenance requirements; the reducer of the industrial robot power unit is one of the key technologies of industrial robots, with high transmission stiffness, large transmission ratio, and small inertia. , large output torqu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M13/02G01M5/00
CPCG01M13/02G01M5/0075
Inventor 汪梅花
Owner CHENGDU YUYA TECH
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