Testing device

Abstract

The present application provides a testing device, comprising: a mounting base, on which a mounting position capable of being connected to a to-be-tested component is defined; a movable multi-head detection module, including at least two detection heads, wherein at least two detection heads have different types of detection parameters, each detection head is configured to be detachably connected to the input end of the to-be-tested component, the detection head is arranged to be reciprocally movable along a first direction, and the distance between the detection head and the mounting base is adjusted by moving along the first direction, wherein at least two detection heads are arranged side by side along a second direction, the movable multi-head detection module is arranged to be reciprocally movable along the second direction, and the detection head corresponding to the mounting position can be switched by moving along the second direction; a driving system, capable of driving each detection head separately; and a load-side detection system, capable of being detachably connected to the output end of the to-be-tested component. This testing device can conveniently measure multiple parameters of a speed reducer and has higher testing accuracy.

Description

Technical Field

[0001] This application relates to the technical field of testing equipment, and particularly relates to a testing device. Background Art

[0002] Reducer parts waiting to be detected often have multiple performance parameters. Currently, when performing performance tests on reducer parts waiting to be detected, the reducer needs to be assembled onto the testing device, and then corresponding sensors are selected and assembled onto the testing device according to the target parameters to be tested for detection. After completing the current target parameter test, the sensors on the testing device are replaced to perform the next target parameter test. In this way, it is often necessary to manually disassemble and replace detection components such as sensors multiple times to conduct different test verifications, resulting in complex operations and low efficiency. At the same time, frequent disassembly and assembly of sensors will also affect the test accuracy. Correspondingly, too low a test accuracy of the reducer will lead to poor performance of equipment containing the reducer (such as robots, etc.). Especially in small industrial robots, parameters such as the torque and transmission error of the reducer have a relatively greater impact on the robot body compared to large robots, and the influence of the reducer performance parameters on the robot control system and positioning accuracy is also particularly obvious. Summary of the Invention

[0003] An object of this application is to provide a testing device that can detect multiple parameters of reducer parts waiting to be detected, without the need to repeatedly load and unload detection components, and has higher test accuracy.

[0004] To solve the above technical problems, this application adopts the following technical solutions:

[0005] A technical solution of this application provides a testing device for testing a part to be detected. The testing device includes: a mounting base, on which a mounting position for connecting with the part to be detected is defined; a movable multi-head detection module, including at least two detection heads, and at least two of the detection heads have different types of detection parameters. Each detection head is configured to be detachably connected to the input end of the part to be detected. The detection head is arranged to reciprocate along a first direction and adjust the distance from the mounting base by moving along the first direction. Among them, at least two of the detection heads are arranged side by side along a second direction. The movable multi-head detection module is arranged to reciprocate along the second direction and can switch the detection head corresponding to the mounting position by moving along the second direction; a drive system that can drive each detection head separately; and a load-side detection system that can be detachably connected to the output end of the part to be detected.

[0006] According to some technical solutions of the present application, the drive system includes at least two drive-side driving members, the drive-side driving members are arranged in one-to-one correspondence with the detection heads, the drive-side driving members are connected to the input ends of the corresponding detection heads, and can move along a first direction together with the corresponding detection heads. The output end of the detection head is configured to be detachably connected to the input end of the workpiece to be detected, or a coupling for detachably connecting to the input end of the workpiece to be detected is provided at the output end of the detection head.

[0007] According to some technical solutions of the present application, the movable multi-head detection module defines a planar motion structure, the planar motion structure defines a first direction for the detection head to move and a second direction for the movable multi-head detection module to move, and makes the movement of the detection head along the first direction and the movement along the second direction form a planar motion relationship.

[0008] According to some technical solutions of the present application, the planar motion structure includes: a first base, on which the drive-side driving members and the detection heads are located; a second base and a first guide rail group, the first guide rail group is arranged between the first base and the second base, and through the first guide rail group, the first base can reciprocate relative to the second base along the first direction; a second guide rail group, connected to the second base, the second guide rail group is arranged at a spatial angle with respect to the first guide rail group, and through the second guide rail group, the second base can reciprocate along the second direction.

[0009] According to some technical solutions of the present application, the testing device further includes: a first driving member configured to drive the first base to move along the first direction, the first driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; a second driving member configured to drive the second base to move along the second direction, the second driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; a lead screw mechanism for transmission is arranged between the first driving member and the first base, and / or a lead screw mechanism for transmission is arranged between the second driving member and the second base.

[0010] According to some technical solutions of the present application, the number of the first bases is at least two, the first bases are arranged in one-to-one correspondence with the detection heads, wherein the first bases are connected together and can move together along the first direction, or the first bases are separated from each other so that each first base can move relative to the second base along the first direction independently.

[0011] According to some technical solutions of the present application, one of the detection heads includes a driving-side torque sensor capable of detecting torque, and the other detection head includes a driving-side angular displacement sensor capable of detecting an angular displacement amount; the load-side detection system includes a load driving member, a load-side torque sensor, and a load-side angular displacement sensor. The load-side detection system has a load-side connection end that can be detachably connected to the output end of the workpiece to be detected. The load-side torque sensor and the load-side angular displacement sensor are connected between the load driving member and the load-side connection end and can be driven by the load driving member.

[0012] According to some technical solutions of the present application, the test device has a workbench, and both the mounting base and the movable multi-head detection module are located on the workbench. The load-side detection system further includes: a third base located on the workbench; a third guide rail set disposed between the workbench and the third base, and the load-side angular displacement sensor is disposed on the third base; a fourth base located on the third base; a fourth guide rail set disposed between the fourth base and the third base, and the load driving member and the load-side torque sensor are disposed on the fourth base. The load-side torque sensor is connected between the load driving member and the load-side angular displacement sensor.

[0013] According to some technical solutions of the present application, the test device further includes: a third driving member configured to drive the third base to move, and the third driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; a fourth driving member configured to drive the fourth base to move, and the fourth driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; a lead screw mechanism for transmission is disposed between the third driving member and the third base, and / or a lead screw mechanism for transmission is disposed between the fourth driving member and the fourth base.

[0014] According to some technical solutions of the present application, the test device further includes: a control panel configured to display the status information of the test device; a power switch disposed on the control panel; an emergency stop switch disposed on the control panel; and a regulation component disposed on the control panel.

[0015] In the present application, the testing device includes a movable multi-head detection device, which defines at least two detection heads, and at least two of the detection heads have different types of detection parameters. For this testing device, after using one of the detection heads to connect to and detect the current parameters of the component to be tested (such as a speed reducer, etc.) on the mounting base, by adjusting the position of the movable multi-head detection device along the second direction, it is possible to switch to using another detection head to connect to and detect another parameter of the component to be tested (such as a speed reducer, etc.) on the mounting base. In this way, multiple parameter detections of the component to be tested are achieved, and different detection heads can be switched to use through position adjustment to obtain different detection parameters accordingly, without frequently disassembling and replacing the detection heads on the testing device, avoiding problems such as time waste and reduced detection accuracy caused by multiple manual disassembly and replacement of detection elements such as sensors, improving the efficiency and accuracy of the test. At the same time, this testing device is more convenient to use and has high reliability, greatly improving the work efficiency and work quality.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present application. Brief Description of the Drawings

[0017] By referring to the accompanying drawings and describing its exemplary embodiments in detail, the above and other objectives, features, and advantages of the present application will become more apparent.

[0018] Figure 1 is a top view structural schematic diagram of the detection device shown in one embodiment.

[0019] Figure 2 is Figure 1 the sectional structural schematic diagram in the A-A direction shown in

[0020] Figure 3 is a front view structural schematic diagram of the detection device shown in one embodiment.

[0021] Figure 4 is a three-dimensional structural schematic diagram of the detection device shown in one embodiment.

[0022] The description of the reference numerals is as follows:

[0023] Mounting base 100; Mounting position 102; Movable multi-head detection module 200; Driving-side torque sensor 210; First driving-side coupling 211; Second driving-side coupling 212; Driving-side angular displacement sensor 220; Third driving-side coupling 221; Fourth driving-side coupling 222; Planar motion structure 230; First base 231; First bracket 2311; Second bracket 2312; Second base 232; First guide rail group 233; Second guide rail group 234; First driving member 251; Second driving member 252; Driving-side driving member 302; Load-side detection system 400; Load driving member 410; Load-side torque sensor 420; First load-side coupling 421; Second load-side coupling 422; Load-side angular displacement sensor 430; Third load-side coupling 431; Third base 441; Third bracket 4411; Fourth base 442; Fourth bracket 4421; Fifth bracket 4422; Locking structure 443; Third guide rail group 451; Fourth guide rail group 452; Third driving member 461; Fourth driving member 462; Workbench 500; Control panel 600; Lead screw mechanism 700; Reducer 10. Detailed implementation mode

[0024] Although the present application can be easily embodied in different forms of implementation modes, only some specific implementation modes are shown in the drawings and will be described in detail in this specification. At the same time, it can be understood that this specification should be regarded as a demonstration of the principle of the present application and is not intended to limit the present application to what is described herein.

[0025] Therefore, a feature pointed out in this specification will be used to illustrate one of the features of one implementation mode of the present application, rather than implying that each implementation mode of the present application must have the described feature. In addition, it should be noted that this specification describes many features. Although some features can be combined to show possible system designs, these features can also be used in other combinations that are not explicitly described. Therefore, unless otherwise stated, the described combination is not intended to be limiting.

[0026] In the implementation mode shown in the drawings, the indication of directions (such as up, down, inside, outside, left, right, front, back, S1, S2, etc.) is used to explain that the structures and movements of various elements of the present application are not absolute but relative. When these elements are in the positions shown in the drawings, these explanations are appropriate. If the position explanations of these elements change, then the indication of these directions also changes accordingly.

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this application will be more thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted.

[0028] The preferred embodiments of this application will be further elaborated in detail below in conjunction with the accompanying drawings of this specification.

[0029] An embodiment of one aspect of this application provides a testing device for testing a workpiece to be detected, such as Figure 2 As shown, the workpiece to be detected may, for example, include a speed reducer 10. Hereinafter, the speed reducer 10 will be mainly used as an example for illustration. That is, without conflict, the workpiece to be detected can be understood as the speed reducer 10. Of course, it can be understood that the specific form of the workpiece to be detected is not limited to the exemplified speed reducer 10, and it can also be a device including the speed reducer 10 (such as an industrial robot, a wrist robot, etc.). Even more, the workpiece to be detected can also be speed reduction and speed increase parts including but not limited to worm gears, chain mechanisms, synchronous belt mechanisms, and gear mechanisms.

[0030] Exemplarily, as Figure 1 shown, the testing device includes a mounting base 100, a movable multi-head detection module 200, a drive system, and a load-side detection system 400, etc.

[0031] The mounting base 100 can also be called a mounting table, a mounting bracket, etc. in the field. The testing device has a workbench 500, and the mounting base 100 is arranged on the workbench 500. The mounting form of the mounting base 100 on the workbench 500 can be fixedly arranged, or it can be a movable arrangement that can adjust or lock the position of the mounting base 100. For example, an orbit group can be arranged between the mounting base 100 and the workbench 500. By using the orbit group, the mounting base 100 can slide, and the locking structure configured on the orbit group can be used to lock or unlock the position of the mounting base 100.

[0032] An installation position 102 for connecting with the workpiece to be detected is defined on the mounting base 100. For example, the installation position 102 can specifically be a clamping disk. In this way, the speed reducer 10 can be detachably clamped and connected by the clamping disk, so that the speed reducer 10 is fixed in position on the mounting base 100. Or the installation position 102 can specifically be set as a fastener connection structure (such as a threaded hole, a through hole, etc.), and the speed reducer 10 can be detachably locked on the mounting base 100 through fasteners.

[0033] The movable multi-head detection module 200 includes at least two detection heads (which can be understood with reference to the driving-side torque sensor 210 and the driving-side angular displacement sensor 220). Each detection head is configured to be detachably connected to the input end of the component to be detected, and at least two detection heads have different types of detection parameters. That is, one detection head is paired with at least one type of detection parameter, and at least two of the detections have different types of detection parameters. In this way, the movable multi-head detection module 200 can provide at least two types of detection parameters.

[0034] Among them, at least two detection heads are arranged along the second direction S2. The movable multi-head detection module 200 is configured to be reciprocally movable along the second direction S2 and can switch the detection head corresponding to the mounting position 102 by moving along the second direction S2; the detection head is configured to be reciprocally movable along the first direction S1 and can adjust the distance from the mounting seat 100 by moving along the first direction S1. In this way, by driving the movable multi-head detection module 200 to move along the second direction S2, it is possible to switch different detection heads to correspond to the position of the speed reducer 10. By driving the detection head along the first direction S1, it is convenient to adjust the distance between the detection head and the speed reducer 10. This makes it more convenient to load and unload between the detection head and the speed reducer 10. At the same time, by adjusting the size of this distance, it is possible to better avoid interference between the detection head and the mounting seat 100 or the speed reducer 10 during the process of switching the detection head along the second direction S2, and the reliability is better.

[0035] The drive system is configured to drive each detection head separately. In this way, by driving the detection head connected to the speed reducer 10 through the drive system, it is possible for the detection head to dynamically obtain parameters such as the torque or angular displacement of the speed reducer 10.

[0036] The load-side detection system 400 is configured to be detachably connected to the output end of the component to be detected. In this way, the detection head performs parameter detection on the drive side of the reducer 10, and the load side detection system 400 performs parameter detection on the load side of the reducer 10. By integrating the detection parameters on the drive side and the detection parameters on the load side, the performance parameters of the reducer 10 can be obtained with high precision. By combining different detection heads with the load side detection system 400, a richer combination mounting method can be formed, so that the test device can detect the performance parameters of the reducer 10 more enriched, and at the same time, there is no need to repeatedly mount and disassemble the sensor, which better guarantees the test accuracy. In addition, the test device sets a plurality of detection heads and switches the detection heads by adjusting the position, so that one of the plurality of detection heads is selected to be assembled with the reducer 10 to obtain parameter information matching the parameter type detected by the detection head. Compared with the embodiment in which a plurality of detection heads are set in series on the drive side to synchronously obtain a plurality of detection parameters, this can reduce the error of the test and further improve the detection accuracy, so that the product can be applied to higher precision detection scenarios, such as the reducer 10 for detecting a small industrial robot.

[0037] A specific embodiment is used to illustrate in more detail:

[0038] like Figure 1 As shown, the testing device includes a mounting base 100, a movable multi-head detection module 200, a driving system and a load-side detection system 400, etc.

[0039] The movable multi-head detection module 200 includes two detection heads, one of which includes a driving side torque sensor 210 that can be used to detect torque, and the other detection head includes a driving side angular displacement sensor 220 that can be used to detect angular displacement. Of course, it can be understood that based on different requirements for the parameters to be measured, detection heads of other types or detection functions can be used, and are not limited to the detection heads including the driving side torque sensor 210 or the detection heads including the driving side angular displacement sensor 220 listed. It can also be understood that the number of detection heads is not limited to 2. In other embodiments, the number of detection heads can be 3, 4, 5 or even more.

[0040] The drive system accordingly comprises two drive-side drive members 302 .

[0041] The driving-side driving member 302 is, for example, a motor.

[0042] like Figure 1As shown, the output end of one of the driving-side driving members 302 is connected to the input end of the driving-side torque sensor 210 via a first driving-side coupling 211, and the driving-side driving member 302 can move along the first direction S1 together with the driving-side torque sensor 210. This can better ensure the connection accuracy between the driving-side driving member 302 and the driving-side torque sensor 210, thereby better ensuring the detection accuracy of torque parameters. A second driving-side coupling 212 is provided at the output end of the driving-side torque sensor 210. When the driving-side torque sensor 210 is used as the selected detection head to detect the speed reducer 10, the second driving-side coupling 212 can be detachably connected to the input end of the speed reducer 10, so that the driving-side torque sensor 210 detects the torque of the speed reducer 10. By using the second driving-side coupling 212, the loading and unloading between the speed reducer 10 and the driving-side torque sensor 210 can be made more convenient, and the assembly accuracy is also easier to ensure.

[0043] As Figure 1 shown, the output end of the other driving-side driving member 302 is connected to the input end of the driving-side angular displacement sensor 220 via a third driving-side coupling 221, and the driving-side driving member 302 can move along the first direction S1 together with the driving-side angular displacement sensor 220. This can better ensure the connection accuracy between the driving-side driving member 302 and the driving-side angular displacement sensor 220, thereby better ensuring the detection accuracy of angular displacement parameters. A fourth driving-side coupling 222 is provided at the output end of the driving-side angular displacement sensor 220. When the driving-side angular displacement sensor 220 is used as the selected detection head to detect the speed reducer 10, the fourth driving-side coupling 222 can be detachably connected to the input end of the speed reducer 10, so that the driving-side angular displacement sensor 220 detects the angular displacement of the speed reducer 10. By using the fourth driving-side coupling 222, the loading and unloading between the speed reducer 10 and the driving-side angular displacement sensor 220 can be made more convenient, and the assembly accuracy is also easier to ensure. Optionally, the fourth driving-side coupling 222 is a rigid coupling.

[0044] Of course, this solution is not limited to this. In other embodiments, it is also possible to use the same motor to drive one of the driving-side torque sensor 210 and the driving-side angular displacement sensor 220 by means of transmission switching. For example, the same motor is connected to a gear box with a switchable output end, and the switching is performed through the gear box to select the object to be driven by the motor between the driving-side torque sensor 210 and the driving-side angular displacement sensor 220.

[0045] Of course, the present solution is not limited to this. In other embodiments, one or more couplings on the driving side can also be omitted. For the positions where the couplings are omitted, a direct connection or a keyway drive fit structure can be used to replace the connection between the two components.

[0046] As Figure 1 shown, the load side detection system 400 includes a load driving member 410, a load side torque sensor 420, and a load side angular displacement sensor 430. The load side detection system has a load side connection end that can be detachably connected to the output end of the component to be detected (the load side connection end can be specifically understood with reference to the load side third coupling 431 shown in the attached drawings). The load side torque sensor 420 and the load side angular displacement sensor 430 are connected between the load driving member 410 and the load side connection end, and the torque sensor and the load side angular displacement sensor 430 can be driven by the load driving member 410.

[0047] In this way, based on this test device, at least one of the following performance parameters can be tested:

[0048] 1. Testing of the no-load frictional torque of the speed reducer:

[0049] Before performing the no-load frictional torque test, the output end of the speed reducer 10 should be disconnected from the load side connection end. Switch to connect the detection head with the driving side torque sensor 210 to the input end of the speed reducer 10. Start the driving side driving member 302 connected to the driving side torque sensor 210. When the driving side torque sensor 210 and the driving side driving member 302 drive the speed reducer 10 to rotate uniformly, the relevant torque value is read by the driving side torque sensor 210, and this torque value is the no-load frictional torque value of the speed reducer 10.

[0050] 2. Testing of the transmission error of the speed reducer:

[0051] Before performing the transmission error test, the output end of the speed reducer 10 should be connected to the load side connection end. Switch to connect the detection head with the driving side angular displacement sensor 220 to the input end of the speed reducer 10. After the driving side driving member connected to the detection head with the driving side angular displacement sensor 220 reaches the specified speed, the load side driving member starts to load. When the load side torque sensor 420 reads the corresponding test torque, the driving side angular displacement sensor 220 and the load side angular displacement sensor 430 respectively collect angular displacement signals and calculate the real-time transmission accuracy. The transmission error of the speed reducer 10 can be known through the transmission accuracy of the load side and the driving side.

[0052] 3. Testing of the transmission efficiency of the speed reducer (as Figure 1 shown):

[0053] Before conducting the transmission efficiency test, the output end of the speed reducer should be connected to the connection end of the load side. Switch to connect the detection head with the driving side torque sensor 210 to the input end of the speed reducer, and use the driving side driving part 302 connected to the detection head with the driving side torque sensor 210 to drive the speed reducer. The load side driving part is loaded, and the mechanical power at the input and output ends of the speed reducer can be obtained through the detection parameters of the driving side torque sensor 210 and the load side torque sensor 420, thereby calculating the transmission efficiency of the speed reducer 10.

[0054] 4. Test of the starting torque of the speed reducer:

[0055] Before conducting the transmission error test, the output end of the speed reducer 10 should be connected to the connection end of the load side. Apply torque to the speed reducer 10 through the load side driving part. After the speed reducer 10 starts as judged by the angle change detected by the load side angular displacement sensor 430, read the relevant torque value by the load side torque sensor 420, and the maximum torque value in the read data is the starting torque value of the speed reducer 10.

[0056] Taking the above two embodiments as examples, it can be seen that through the reasonable configuration of sensors and the adjustable characteristics of the movable multi-head detection device, this test device can, after measuring the no-load friction torque, move the movable multi-head detection device or the detection head to change the position of the detection head to quickly measure the transmission error. For example, by moving the movable multi-head detection device along the second direction S2 and the detection head along the first direction S1, the function of quickly switching the detection head for detection is realized. There is no need to frequently load and unload the sensors in the test device in the traditional way, avoiding the time waste and low efficiency caused by repeatedly manually disassembling and replacing detection elements such as sensors, and also avoiding the problem of poor reliability of detection accuracy that may exist in the repeated or temporary loading and unloading of inspection elements such as sensors. It realizes rapid adjustment and adaptation when different performance parameters need to be tested, quickly measures multiple performance parameters in a short time, works more efficiently, and makes the test results more accurate and reliable, which can provide a more accurate basis for the selection of the speed reducer 10 and the motor on the robot body, and further reduce the failure rate of the speed reducer 10 during the use of the robot.

[0057] The above four test parameters and corresponding scenarios are only illustrative examples of this solution. It can be understood that this test device is not limited to the determination of the performance parameters in the above examples. Based on specific requirements, it can also be used for the calibration of the moment of inertia inside the speed reducer 10, the calibration of the load moment of inertia of specific objects, etc., including but not limited to part structure verification, functional testing, etc.

[0058] In some embodiments, such as Figure 2 and Figure 4As shown, the movable multi-head detection module 200 defines a planar motion structure 230. The planar motion structure 230 defines a first direction S1 for the movement of the detection head and a second direction S2 for the movement of the movable multi-head detection module 200, and enables the movement of the detection head along the first direction S1 and the movement of the detection head along the second direction driven by the movable multi-head detection module 200 to form a planar motion relationship. In this way, while realizing the adjustment of the position of the detection head along the first direction S1 and the switching along the second direction S2, based on the planar motion structure 230, the movement of the detection head in two directions forms a planar motion, which can avoid introducing height position deviation between the detection head and the speed reducer 10, making the detection and calibration of the speed reducer 10 have higher precision, and also making the position adjustment of the detection head and the switching control between detection heads more simplified, and the test device is more convenient to use.

[0059] Of course, this solution is not limited to this. In other embodiments, according to requirements, it is also possible to design a movable multi-head detection module to realize the switching between detection heads by circumferentially rotating along the second direction S2, etc.

[0060] In some specific embodiments, such as Figure 1 and Figure 4 as shown, the planar motion structure 230 includes: a first base 231, a second base 232, a first guide rail group 233, a second guide rail group 234, etc.

[0061] The driving side driving member 302 and the detection head are located on the first base 231. More specifically, a first bracket 2311 and a second bracket 2312 (such as a motor bracket, etc.) are provided on the first base 231. The detection head (such as the driving side torque sensor 210) is arranged on the first bracket 2311, and the driving side driving member 302 is arranged on the second bracket 2312. In this way, it is easier to ensure the relative position accuracy between the detection head and the driving side driving member 302, and it is also easier to ensure the connection accuracy and reliability between the two. A first guide rail group 233 is arranged between the first base 231 and the second base 232. More specifically, the first guide rail group 233 extends along the first direction S1, and via the first guide rail group 233, the first base 231 can reciprocate relative to the second base 232 along the first direction S1. The second guide rail group 234 is arranged on the workbench 500 and is connected to the second base 232. The second guide rail group 234 extends along the second direction S2, and via the second guide rail group 234, the second base 232 can reciprocate along the second direction S2.

[0062] The second guide rail group 234 is arranged at a spatial angle with the first guide rail group 233, so that the movement of the detection head along the first direction S1 and the movement along the second direction S2 can be effectively staggered. In this way, the movement of the detection head along the second direction S2 can adjust the position correspondence or misalignment between the detection head and the reducer 10, thereby realizing the switching of the detection head. The movement of the detection head along the first direction S1 can make the distance between the detection head and the reducer 10 adjustable, which can make the loading and unloading between the detection head and the reducer 10 more convenient, and can better ensure that the detection head will not interfere with the mounting base 100 or the reducer 10 during the switching process.

[0063] Alternatively, if Figure 1 and Figure 2 As shown, the second guide rail group 234 is in a spatial vertical relationship with the first guide rail group 233. In this way, the detection head can perform planar motion based on the plane coordinate system constructed by the vertically distributed first direction S1 and second direction S2, which makes it easier to ensure the position alignment effect between the detection head and the reducer 10, and the structure is simpler.

[0064] Optionally, the testing device further comprises a first driving member 251, which is a manual driving member, such as a hand wheel, and the hand wheel and the first base 231 are transmitted via a screw mechanism 700, so that the position of the detection head in the first direction S1 can be adjusted by operating the hand wheel, which is simple and convenient to operate.

[0065] Of course, the present design is not limited to this. It is understandable that the handwheels described above and below can be replaced by other manual drive components (such as rockers, knobs, etc.), and it is understandable that the screw mechanism 700 used for transmission in the above and below can also be replaced by a gear rack mechanism, a worm gear mechanism, etc. Even the structural form of the drive component is not limited to the manual form. In other embodiments, electric drive components, pneumatic drive components, or hydraulic drive components can also be used to replace the manual drive components.

[0066] Optionally, the testing device also includes a second driving member 252, which is a manual driving member, such as a handwheel. The handwheel and the second base 232 are transmitted via a screw mechanism 700. In this way, the position of the movable multi-head detection device in the second direction S2 can be adjusted by operating the handwheel, and the operation is simple and convenient.

[0067] Optionally, the number of the first bases 231 is at least two, and the first bases 231 are arranged in a one-to-one correspondence with the detection heads. Among them, the first bases 231 are separated from each other so that each first base 231 can move relative to the second base 232 independently along the first direction S1. It can be understood that in this way, different first bases 231 can be controlled separately by the same first driving member 251, or different first bases 231 can be controlled separately by different first driving members 251 in a one-to-one correspondence. By designing that the first base 231 can move relative to the second base 232 independently along the first direction S1, in this way, it is more labor-saving to drive the first base 231 to move along the first direction S1, and it is also beneficial to more precisely control the position accuracy of the first base 231.

[0068] Of course, the present design is not limited to this. In other embodiments, it is also possible to design that the first bases 231 are connected together and can move together along the first direction S1.

[0069] Optionally, the first guide rail group 233 is further provided with a locking structure (not shown in the figure) for locking or unlocking the position of the first base 231.

[0070] Optionally, the second guide rail group 234 is further provided with a locking structure (not shown in the figure) for locking or unlocking the position of the second base 232.

[0071] In some embodiments, as Figure 4 shown, the load side detection system 400 further includes: a third base 441, a third guide rail group 451, a fourth base 442, and a fourth guide rail group 452.

[0072] Specifically, the third base 441 is located on the workbench 500. The third guide rail group 451 is arranged between the workbench 500 and the third base 441, and the load side angular displacement sensor 430 is arranged on the third base 441. More specifically, for example, a third bracket 4411 is arranged on the third base 441, and the load side angular displacement sensor 430 is arranged on the third bracket 4411, so that the relative position accuracy between the load side angular displacement sensor 430 and the speed reducer 10 is easier to ensure, and it is easier to align and connect or disassemble between the load side angular displacement sensor 430 and the speed reducer 10.

[0073] The fourth base 442 is located on the third base 441, the fourth guide rail set 452 is arranged between the fourth base 442 and the third base 441, and the load driver 410 and the load-side torque sensor 420 are arranged on the fourth base 442. In more detail, for example, a fourth bracket 4421 (specifically, a motor bracket) and a fifth bracket 4422 are arranged on the fourth base 442, the load-side torque sensor 420 is arranged on the fifth bracket 4422, and the load-side driver is specifically, for example, a motor and is arranged on the fourth bracket 4421. In this way, the relative position accuracy between the load driver 410 and the load-side torque sensor 420 is easier to ensure, and the connection accuracy and reliability between the two are also easier to ensure.

[0074] The load-side torque sensor 420 is connected between the load-side driver 410 and the load-side angular displacement sensor 430. In more detail, the input end of the load-side torque sensor 420 and the output end of the load-side driver 410 are connected together via a load-side first coupling 421, the output end of the load-side torque sensor 420 and the input end of the load-side angular displacement sensor 430 are connected together via a load-side second coupling 422, and the output end of the load-side angular displacement sensor 430 is provided with a load-side third coupling 431, which is used as a load-side connection end to be detachably connected to the output end of the reducer 10.

[0075] Optionally, the load-side second coupling 422 is a rigid coupling.

[0076] Optionally, the load-side third coupling 431 is a rigid coupling and a detachable coupling to facilitate the loading and unloading between the load-side third coupling 431 and the output end of the reducer 10 .

[0077] Optionally, the load-side first coupling 421 is a flexible coupling.

[0078] Optionally, the testing device also includes a third driving member 461, which is a manual driving member, such as a handwheel. The handwheel and the third base 441 are transmitted via a screw mechanism 700. In this way, the movement of the third base 441 along the third guide rail group 451 can be adjusted by operating the handwheel, which can make it more convenient to connect or disconnect the load-side connection end from the reducer 10, and the operation is simple and convenient.

[0079] Optionally, the testing device also includes a fourth driving member 462, which is a manual driving member, such as a handwheel. The handwheel and the fourth base 442 are transmitted via a screw mechanism 700. In this way, the movement of the fourth base 442 along the fourth guide rail group 452 can be adjusted by operating the handwheel, which is more convenient for the free loading and unloading and combination of the load side torque sensor 420 and the load side angle position sensor in the load side detection system 400.

[0080] Optionally, the third guide rail group 451 is further defined with a locking structure (not shown in the figure) for locking or unlocking the position of the third base 441.

[0081] Optionally, as Figure 3 shown, the fourth guide rail group 452 is further defined with a locking structure 443 for locking or unlocking the position of the fourth base 442.

[0082] Thus, through the testing device described in this embodiment, including the workbench 500, the movable multi-head detection device, the mounting base 100, the guide rail group, the flexible coupling, the rigid coupling, the load-side detection system 400, etc.

[0083] 1) Taking the workbench 500 as the base of the testing device, a movable multi-head detection device (for the movable multi-head detection device equipped with a drive-side torque sensor 210, a drive-side angular displacement sensor, and two corresponding drive-side driving members 302, it can also be called a movable double-head driving mechanism), a mounting base 100, a third base 441, a fourth base 442, etc. are installed on the workbench 500. Among them, the mounting base 100 can be specifically installed on the workbench 500 directly through bolts, and the reducer 10 to be tested is fixed at the mounting position 102 of the mounting base 100 through bolts.

[0084] 2) In the movable double-head driving mechanism of this testing system, the double-head driving mechanism refers to two sets of driving motors (i.e., drive-side driving members 302) that are placed side by side (at an interval along the second direction S2) and have the same driving motors but different calibrated test sensors (and detection heads). One set of calibrated test sensors is the drive-side angular displacement sensor 220, and the other set of calibrated test sensors is the drive-side torque sensor 210. The double-head driving mechanism is installed on a set of planar motion structures 230, and this planar motion structure 230 includes a first guide rail group 233 and a second guide rail group 234. The movable double-head driving mechanism is integrally installed on the first guide rail group 233, that is, the first base 231 equipped with the drive-side torque sensor 210 and the corresponding drive-side driving member 302 and the first base 231 equipped with the drive-side angular displacement sensor 220 and the corresponding drive-side driving member 302 are both installed on the first guide rail group 233 of the second base 232, and a second guide rail group 234 is provided between the second base 232 and the workbench 500. The first guide rail group 233 and the second guide rail group 234 can realize the movement of the double-head driving mechanism in the plane through the movement in two directions, the first direction S1 and the second direction S2. The planar motion structure 230 is driven by two sets of lead screw mechanisms, and the movement of the drive detection head is realized by the tester manually turning the lead screw.

[0085] 3) In the load side detection system 400 of the test system, the load system mounting table (i.e., the third base 441) is integrally mounted on the third guide rail set 451 on the workbench 500. The load side angular displacement sensor 430 and the third bracket 4411 for assembling the load side angular displacement sensor 430 are arranged on the load system mounting table and can be moved on the third guide rail set 451 by means of a hand-operated lead screw. A fourth guide rail set 452 is arranged on the load system mounting table, and a fourth base 442 is arranged on the fourth guide rail set 452. The load motor (i.e., the load driving member 410), the load motor seat for mounting the load motor (i.e., the fourth bracket 4421), the load side torque sensor 420, and the fifth bracket 4422 for mounting the load side torque sensor 420 are arranged on the fourth base 442 and can be moved on the fourth guide rail set 452 by means of a hand-operated lead screw.

[0086] 4) In the transmission structure of the test device, as Figure 2 shown, the movable double-headed drive mechanism is connected to the input end of the reducer 10 as the drive side through a rigid coupling (i.e., such as the drive side second coupling 212 or the drive side fourth coupling 222). The output end of the reducer 10 is connected to the load side angular displacement sensor 430 through a rigid coupling (i.e., such as the load side third coupling 431). The load side angular displacement sensor 430 and the load side torque sensor 420 can be connected through a rigid coupling (i.e., such as the load side second coupling 422). The load side torque sensor 420 can be connected to the load motor through a flexible coupling (i.e., such as the load side first coupling 421).

[0087] In this way, the drive side driving member 302 can be used to provide the initial torque and the uniform acceleration motion trajectory. The drive side torque sensor 210 is used to detect the torque input to the system. The drive side angular displacement sensor 220 is used to detect the position information during the position rotation process. According to different performance test objectives, the load side connection end can choose whether to provide the load loading through the movement of the third guide rail set 451 and the disassembly and assembly of the coupling. The load side driving member, the load side torque sensor 420, and the load side angular position sensor can choose whether to use the load side sensor through the disassembly and assembly of the coupling and the movement of the third guide rail set 451 and the fourth guide rail set 452. In this way, the problems that the performance parameters of the reducer 10 are difficult to accurately measure and the target parameters of the test cannot be quickly switched are solved. The test device provides the initial torque and the uniform acceleration motion trajectory through the motor, and the angular displacement sensor and the torque sensor feedback the position and torque information, so that various performance parameters of the reducer 10 can be accurately calculated. At the same time, the movable double-headed drive mechanism of the test device is equipped with two different test sensors, and the test personnel can quickly switch the target parameters of the performance test by means of a hand-operated lead screw, realizing the high-precision and rapid measurement function of various performance test parameters without manually disassembling and replacing the sensors.

[0088] In any of the above embodiments, as Figure 3 shown, the test device further includes a control panel 600 configured to display the status information of the test device.

[0089] Specifically, the function of the control panel 600 of the test device is to display the status of the test device in real time. For example, the status information may include various parameters detected in real time, such as the driving side torque parameter, the driving side angular displacement parameter, the load side torque parameter, the load side angular displacement parameter, the connection abnormality between the test device and the component to be detected, the working or standby state of the test device, the emergency stop state, the power supply state, etc., or a combination of one or more of them.

[0090] Further optionally, control components such as a power switch and / or an emergency stop switch and / or an adjustment knob are provided on the control panel 600, which can facilitate the observation and operation of the calibration personnel and make the test process safer and more controllable.

[0091] In any of the above embodiments, optionally, the reducer 10 to be tested is specifically, for example, a harmonic reducer 10 or an RV reducer 10 or a planetary reducer 10, etc., which are commonly used in industrial robots.

[0092] Although the present application has been described with reference to several exemplary embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present application can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be broadly construed within the spirit and scope defined by the appended claims. Therefore, all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A testing device for testing a workpiece to be detected, characterized in that, The test device includes: A mounting base, on which a mounting position for connecting with the to-be-detected part is defined; A movable multi-head detection module, which includes at least two detection heads, among which at least two detection heads have different types of detection parameters. Each detection head is configured to be detachably connected to the input end of the to-be-detected part. The detection head is arranged to be reciprocally movable along a first direction, and the distance between the detection head and the mounting base can be adjusted by moving along the first direction. Among them, at least two of the detection heads are arranged side by side along a second direction. The movable multi-head detection module is arranged to be reciprocally movable along the second direction, and can switch the detection head corresponding to the mounting position by moving along the second direction; A driving system, which can drive each detection head separately; A load-side detection system, which can be detachably connected to the output end of the to-be-detected part.

2. The test device according to claim 1, wherein The driving system includes at least two driving-side driving members, which are arranged in one-to-one correspondence with the detection heads. The driving-side driving members are connected to the input ends of the corresponding detection heads, and can move along the first direction together with the corresponding detection heads. The output end of the detection head is configured to be detachably connected to the input end of the to-be-detected part, or a coupling for detachably connecting to the input end of the to-be-detected part is provided at the output end of the detection head.

3. The test device according to claim 2, wherein The movable multi-head detection module defines a planar motion structure, which defines a first direction for the detection head to move and a second direction for the movable multi-head detection module to move, and makes the movement of the detection head along the first direction and the movement along the second direction form a planar motion relationship.

4. The testing device according to claim 3, wherein The planar motion structure includes: A first base, on which the driving-side driving members and the detection heads are located; A second base and a first guide rail group, between which the First guide rail group is provided, and through the first guide rail group, the first base can reciprocally move relative to the second base along the first direction; A second guide rail group, which is connected to the second base. The second guide rail group is arranged at a spatial angle with respect to the first guide rail group, and through the second guide rail group, the second base can reciprocally move along the second direction.

5. The test device according to claim 4, characterized in that, It further includes: A first driving member, configured to drive the first base to move along the first direction. The first driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; A second driving member, configured to drive the second base to move along the second direction. The second driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; A lead screw mechanism for transmission is configured between the first driving member and the first base, and / or a lead screw mechanism for transmission is configured between the second driving member and the second base.

6. The test device according to claim 4, wherein The number of the first bases is at least two, and the first bases are arranged in a one-to-one matching manner with the detection heads. Among them, the first bases are connected together and can move together along the first direction, or the first bases are separated from each other so that each first base can move independently relative to the second base along the first direction.

7. The testing device according to any one of claims 1 to 6, characterized in that One of the detection heads includes a driving-side torque sensor capable of detecting torque, and the other detection head includes a driving-side angular displacement sensor capable of detecting an angular displacement amount; The load-side detection system includes a load driving member, a load-side torque sensor, and a load-side angular displacement sensor. The load-side detection system has a load-side connection end that can be detachably connected to the output end of the workpiece to be detected. The load-side torque sensor and the load-side angular displacement sensor are connected between the load driving member and the load-side connection end and can be driven by the load driving member.

8. The testing device according to claim 7, characterized in that The testing device has a workbench, and both the mounting seat and the movable multi-head detection module are located on the workbench. The load-side detection system further includes: A third base, located on the workbench; A third guide rail set, arranged between the workbench and the third base, and the load-side angular displacement sensor is arranged on the third base; A fourth base, located on the third base; A fourth guide rail set, arranged between the fourth base and the third base, and the load driving member and the load-side torque sensor are arranged on the fourth base. The load-side torque sensor is connected between the load driving member and the load-side angular displacement sensor.

9. The test device according to claim 8, characterized in that, It further includes: A third driving member, configured to drive the third base to move, and the third driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; A fourth driving member, configured to drive the fourth base to move, and the fourth driving member includes at least one of a manual driving member, an electric driving member, a pneumatic driving member, and a hydraulic driving member; A lead screw mechanism for transmission is arranged between the third driving member and the third base, and / or a lead screw mechanism for transmission is arranged between the fourth driving member and the fourth base.

10. The test device according to any one of claims 1 to 6, characterized in that, It further includes: A control panel, configured to display the status information of the testing device; A power switch, arranged on the control panel; An emergency stop switch, arranged on the control panel; A regulating component, arranged on the control panel.

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