Wide-torque high-precision comprehensive performance test equipment and test method for robot speed reducer

Abstract

The invention discloses wide-torque high-precision comprehensive performance testing equipment and a testing method for a robot speed reducer. A butt joint lead screw part is in transmission linkage with a first lead screw part, a second lead screw part and a loading lead screw part; when the butt joint lead screw part moves, the movement of the first lead screw part relative to the butt joint lead screw part and the movement of the loading lead screw part relative to the butt joint lead screw part are opposite to the movement direction of the second lead screw part relative to the butt joint lead screw part. According to the wide-torque high-precision comprehensive performance test equipment and test method for the robot speed reducer, transmission of the whole comprehensive performance test equipment can be met through work of the butt joint lead screw part. Precision measurement and other performance test items are integrated on the same test bench, various test items can be completed through one-time clamping of the tested speed reducer, the requirements of multi-model speed reducers, multiple test items and high test precision are met to the maximum extent, and the assembly test period is shortened. Through the work of the butt joint screw rod part, the installation and debugging links are reduced, the assembling and testing period is shortened, and the testing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of speed reducer testing, and in particular to a wide-torque, high-precision comprehensive performance testing device and a testing method for a robot speed reducer. Background Art

[0002] A reducer is a mechanical transmission device that reduces output shaft speed and increases torque accordingly. It's primarily used to match the speed and torque requirements between a motor and a working machine. Reducers are widely used in various mechanical equipment, such as machine tools and automation equipment. Key types include gear, planetary, and worm reducers. When applying a reducer, factors such as reduction ratio, torque, and environmental factors should be considered.

[0003] Precision reducers for robots include planetary cycloid reducers, harmonic reducers, and cycloid pinwheel reducers. These reducers are characterized by high transmission accuracy, a wide speed ratio range, high torsional stiffness, low backlash, and high transmission efficiency. As a core component for precision motion and positioning, the transmission performance of precision reducers for robots significantly impacts the ability of industrial robots to achieve specific functions. Therefore, testing the accuracy and key performance characteristics of precision reducers for robots has become particularly important. A transmission accuracy and performance test bench for precision reducers for robots requires precise measurement of rotation angles, wide speed range drive capabilities, precise load control over a wide torque range, and a variety of test items. The starting torque of a precision reducer differs by approximately two to three orders of magnitude from its rated torque. Therefore, it is virtually impossible to maintain the accuracy of both measurements while simultaneously testing multiple reducer models on the same device.

[0004] At present, the transmission performance test benches for precision reducers generally have low test accuracy, single functions, and weak comprehensiveness and versatility. They often require repeated disassembly and assembly or the use of multiple test tools to complete the process. The process is cumbersome, inefficient, has a long test cycle, and a poor operating experience. Summary of the Invention

[0005] The main purpose of the present invention is to provide a wide-torque, high-precision comprehensive performance testing equipment and testing method for robot reducers, aiming to solve the problems that reducer test benches generally have a single testing function, lack comprehensiveness and versatility, often require repeated disassembly and assembly or multiple test tooling to complete, the process is cumbersome, inefficient, the test cycle is long, and the operating experience is poor.

[0006] In order to achieve the above object, the present invention provides a wide torque and high precision comprehensive performance testing device for a robot reducer, comprising:

[0007] Support platform;

[0008] A docking screw portion is mounted on the support platform along the width direction of the support platform;

[0009] A docking module, mounted on the docking screw portion and used for mounting the reducer;

[0010] A first screw portion is mounted on the support platform along the length direction and is located on one side of the docking screw portion;

[0011] a first driving portion, mounted on the first screw portion;

[0012] a second screw portion, mounted on the support platform and arranged side by side with the first screw portion in the width direction;

[0013] a second driving portion, mounted on the second screw portion, wherein the first screw portion and the second screw portion provide torques in different output ranges when docked with the reducer;

[0014] A loading screw portion is mounted on the support platform and is located on the other side of the docking screw portion and is arranged corresponding to the length direction of the first screw portion;

[0015] A loading module is installed and driven on the loading screw portion, and applies torque when the loading module is docked with the reducer;

[0016] In which, the transmission of the docking screw part is linked to the first screw part, the second screw part and the loading screw part; when the docking screw part moves, the movement of the first screw part relative to the docking screw part and the loading screw part relative to the docking screw part is opposite to the movement direction of the second screw part relative to the docking screw part.

[0017] Furthermore, a transmission shaft is rotatably provided on the support platform corresponding to the lower side of the docking screw rod portion, and the docking screw rod portion is linked to the first screw rod portion, the second screw rod portion and the loading screw rod portion through the transmission shaft.

[0018] Furthermore, the position of the transmission shaft in the width direction of the support platform is adjustable.

[0019] Furthermore, the first drive portion is adjustable in a fixed position in the length direction of the first screw portion; the second drive portion is adjustable in a fixed position in the length direction of the second screw portion; and the loading module is adjustable in a fixed position in the length direction of the loading screw portion.

[0020] Furthermore, the output part of the first screw rod part is a first movable platform, the first driving part is slidably set on the first movable platform, and the first movable platform is provided with a first handwheel assembly that drives the first driving part; the output part of the second screw rod part is a second movable platform, the second driving part is slidably set on the second movable platform and is provided with a second handwheel assembly that drives the second driving part; the output part of the loading screw rod part is a third movable platform, the loading module is slidably set on the third movable platform and is provided with a third handwheel assembly that drives the second driving part.

[0021] Furthermore, an active driving structure is provided corresponding to the docking screw rod portion, wherein when the source driving structure is working, the docking module is driven to move.

[0022] Furthermore, the first driving part includes a first driving motor, a first torque sensor and a first coupling connected in sequence; the second driving part includes a second driving motor, a second torque sensor and a second coupling connected in sequence; the loading module includes a loading motor, a loading end torque sensor and a third coupling connected in sequence; the docking module includes a reducer mounting seat and an input high-precision grating angle measurement module and an output high-precision grating angle measurement module arranged at both ends of the reducer mounting seat.

[0023] The present invention also provides a testing method, which is applied to the above-mentioned wide torque and high precision comprehensive performance testing equipment for robot reducers, comprising:

[0024] S1. Install the reducer on the docking module;

[0025] S2. After controlling the docking screw portion to position the docking module to the first drive portion, the reducer is connected to the first drive portion and the loading module, and a test is performed on the reducer.

[0026] S3, disconnecting the reducer from the first drive unit and the loading module, controlling the docking screw to move the docking module to the second drive unit, completing the connection between the reducer and the second drive unit, and performing a test on the reducer;

[0027] Repeat steps S2 to S3.

[0028] Furthermore, the output portion of the first screw rod portion is a first movable platform, the first driving portion is slidably disposed on the first movable platform, and a first handwheel assembly for driving the first driving portion is provided on the first movable platform; the output portion of the second screw rod portion is a second movable platform, the second driving portion is slidably disposed on the second movable platform, and a second handwheel assembly for driving the second driving portion is provided; the output portion of the loading screw rod portion is a third movable platform, the loading module is slidably disposed on the third movable platform, and a third handwheel assembly for driving the loading module is provided;

[0029] The steps between step S1 and step S2 include:

[0030] After controlling the docking screw portion to move the docking module to the position of the first driving portion, operating the first handwheel assembly and the third handwheel assembly to adjust the positions of the first driving portion and the loading module;

[0031] After the docking screw part is controlled to move the docking module to the position of the second driving part, the second hand wheel assembly is operated to adjust the position of the second driving part.

[0032] Furthermore, a transmission shaft is rotatably provided on the support platform corresponding to the lower portion of the docking screw portion, and the docking screw portion is linked to the first screw portion, the second screw portion and the loading screw portion through the transmission shaft, and the position of the transmission shaft in the width direction of the support platform is adjustable;

[0033] The steps between step S1 and step S2 include:

[0034] Moving the transmission shaft to disconnect the linkages between the docking screw portion and the first screw portion, the second screw portion, and the loading screw portion, and adjusting the positions of the first drive portion, the loading module, and the second drive portion;

[0035] The transmission shaft is moved to form a linkage between the docking screw part and the first screw part, the second screw part and the loading screw part.

[0036] The present invention provides a wide-torque, high-precision comprehensive performance testing equipment and a testing method for a robot reducer. The docking module is installed and driven on the docking screw part in reciprocating motion. The first drive part is installed and driven on the first screw part, and the second drive part is driven and arranged on the second screw part. The loading screw part is arranged corresponding to the length direction of the first screw part. The loading module is installed and driven on the loading screw part. The torque output of the first drive part and the second drive part and the matching of the torque sensor can be different. Through different combinations of the two drive modules with other modules, the loading test of the same reducer and the testing requirements of high-precision and small torque can be achieved; the transmission of the docking screw part is linked to the first screw part, the second screw part and the loading screw part. When the docking screw part moves, the movement of the second screw part relative to the docking screw part and the loading screw part relative to the docking screw part is opposite to the movement direction of the first screw part relative to the docking screw part, so that the transmission of the entire comprehensive performance testing equipment can be met through the work of the docking screw part. By integrating precision measurement with other performance test items on the same test bench, the reducer under test can complete all test items in one installation, maximizing compatibility with multiple reducer models, multiple test items, and the need for high test accuracy, shortening the assembly and testing cycle. By docking the screw rod, the installation and debugging process is reduced, the assembly and testing cycle is shortened, and testing efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of a wide torque and high precision comprehensive performance testing device for a robot reducer according to a first embodiment of the present invention (the docking module is located at the first screw rod portion);

[0038] Figure 2 1 is a schematic diagram of a docking module in a wide torque and high precision comprehensive performance testing device for a robot reducer according to a first embodiment of the present invention;

[0039] Figure 3 Schematic diagram of a wide torque and high precision comprehensive performance testing device for a robot reducer according to a first embodiment of the present invention (the docking module is located at the second screw rod portion);

[0040] Figure 4 This is a transmission diagram of a wide-torque, high-precision comprehensive performance testing device for a robot reducer according to a second embodiment of the present invention (viewed from above with the docking module at the first screw rod position);

[0041] Figure 5 yes Figure 4 Local magnification in;

[0042] Figure 6 This is a transmission diagram of a wide-torque, high-precision comprehensive performance testing device for a robot reducer according to a second embodiment of the present invention (from a bottom perspective with the docking module at the first screw rod position);

[0043] Figure 7yes Figure 6 A magnified view of part A in FIG;

[0044] Figure 8 yes Figure 6 Enlarged view of part B in .

[0045] Figure markings: 100-support platform, 110-transmission shaft, 200-docking screw part, 300-docking module, 400-first screw part, 410-first moving platform, 500-first driving part, 600-second screw part, 610-second moving platform, 700-second driving part, 800-loading screw part, 810-third moving platform, 900-loading module.

[0046] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "said", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the described features, integers, steps, operations, elements, units, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0049] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0050] Reference Figures 1 to 8 In one embodiment of the present invention, a wide torque and high precision comprehensive performance testing device for a robot reducer includes:

[0051] Support platform 100;

[0052] The connecting screw part 200 is installed on the support platform 100 along the width direction of the support platform 100;

[0053] A docking module 300 is mounted on the docking screw portion 200 and is used to install the reducer;

[0054] A first screw rod portion 400 is mounted on the support platform 100 along the length direction and is located on one side of the docking screw rod portion 200;

[0055] A first driving part 500 is mounted on the first screw part 400;

[0056] The second screw rod portion 600 is mounted on the support platform 100 and arranged side by side with the first screw rod portion 400 in the width direction;

[0057] The second driving part 700 is mounted on the second screw part 600, wherein the first screw part 400 and the second screw part 600 respectively provide different output torque ranges when docked with the reducer;

[0058] The loading screw part 800 is installed on the support platform 100 at the other side of the docking screw part 200 and is arranged corresponding to the length direction of the first screw part 400;

[0059] A loading module 900 is installed and driven on the loading screw part 800, and the loading module 900 loads torque when docking with the reducer;

[0060] In which, the transmission of the docking screw part 200 is linked to the first screw part 400, the second screw part 600 and the loading screw part 800; when the docking screw part 200 moves, the movement of the first screw part 400 relative to the docking screw part 200 and the loading screw part 800 relative to the docking screw part 200 is opposite to the movement direction of the second screw part 600 relative to the docking screw part 200.

[0061] In the existing technology, precision reducer transmission performance test benches generally have low test accuracy, single functions, and weak comprehensiveness and versatility. They often require repeated disassembly and assembly or the use of multiple test tools to complete the process. The process is cumbersome, inefficient, has a long test cycle, and a poor operating experience.

[0062] In the wide torque and high precision comprehensive performance testing equipment for a robot reducer provided by the present invention, the support platform 100 serves as the entire structural foundation to support various components.

[0063] The docking screw rod part 200 is installed on the support platform 100 along the width direction of the support platform 100. The docking screw rod part 200 is installed on the support platform 100 along the width direction of the support platform 100. The docking screw rod part 200 includes a third base (including a base and a guide rod), a third screw rod and a third movable platform 810. The third screw rod is consistent with the length direction of the third base and can be rotatably arranged. The third movable platform 810 is slidably arranged on the third base and forms a threaded fit with the third screw rod. Thereby, the docking screw rod part 200 can work. Specifically, when the third movable platform 810 slides, the third screw rod is driven to rotate; when the third screw rod rotates, the third movable platform 810 is driven to slide.

[0064] The docking module 300 is installed and driven on the docking screw part 200. When the docking screw part 200 is working, the docking module 300 reciprocates in the width direction of the support platform 100.

[0065] The docking module 300 mainly consists of a reducer mounting seat, a bearing seat, an input high-precision grating angle measurement module, and an output high-precision grating angle measurement module. The reducer mounting seat is mounted on the third base so that the entire docking module 300 can move in the width direction of the support platform 100.

[0066] The first screw rod portion 400 is mounted on the support platform 100 along the length direction and is located on one side of the docking screw rod portion 200. The first screw rod portion 400 includes a first base (including a base and a guide rod), a first screw rod and a first movable platform 410. The first screw rod is consistent with the length direction of the first base and is rotatable. The first movable platform 410 is slidably arranged on the first base and forms a threaded fit with the first screw rod. Thereby, the first screw rod portion 400 can work. Specifically, when the first movable platform 410 slides, the first screw rod is driven to rotate; when the first screw rod rotates, the first movable platform 410 is driven to slide. The setting direction of the first screw rod portion 400 is perpendicular to the setting direction of the docking screw rod portion 200.

[0067] The first drive unit 500 is installed and driven on the first screw rod unit 400. The first drive unit 500 is used to provide driving torque and can be composed of a first drive motor, a first torque sensor, a first drive end bearing seat, a first locking module, a first coupling and a first support member. The core components of the first drive unit 500 are the first drive motor, the first torque sensor and the first coupling. The power of the first drive motor is output to the input end of the reducer under test through the first coupling, and the output torque value is monitored by the first torque sensor. The operation of the first screw rod unit 400 can adjust the position of the first drive unit 500 in the length direction of the support platform 100.

[0068] The second screw rod portion 600 is mounted on the support platform 100 and is arranged side by side with the first screw rod portion 400 in the width direction. The setting direction of the second screw rod portion 600 is perpendicular to the setting direction of the docking screw rod portion 200. The second screw rod portion 600 includes a second base (including a base and a guide rod), a second screw rod and a second movable platform 610. The second screw rod is consistent with the length direction of the second base and can be rotatably arranged. The second movable platform 610 is slidably arranged on the second base and forms a threaded fit with the second screw rod. Thereby, the second screw rod portion 600 can work. Specifically, when the second movable platform 610 slides, the second screw rod is driven to rotate; when the second screw rod rotates, the second movable platform 610 is driven to slide.

[0069] The second drive unit 700 is driven and arranged on the second screw rod part 600. The second drive unit 700 is installed and driven on the second screw rod part 600. The second drive unit 700 is used to provide driving torque and can be composed of a second drive motor, a second torque sensor, a second drive end bearing seat, a second locking module, a second coupling and a second support member. The core components of the second drive unit 700 are the second drive motor, the second torque sensor and the second coupling. The power of the second drive motor is output to the input end of the reducer to be measured through the second coupling, and the output torque value is monitored by the second torque sensor. The operation of the second screw rod part 600 can adjust the position of the second drive unit 700 in the length direction of the support platform 100. It is connected to the output end of the reducer to be measured through the third coupling. The output torque range of the second drive unit 700 is different from that of the first drive unit 500. When the reducer needs the input of the corresponding torque, it selectively forms a docking with the second drive unit 700 and one of the first drive units 500.

[0070] The loading screw part 800 is installed on the support platform 100 and is located on the other side of the docking screw part 200. The loading screw part 800 is arranged corresponding to the length direction of the first screw part 400. The length direction of the loading screw part 800 is consistent with the length direction of the support platform 100. The loading screw part 800 includes a fourth base (including a base and a guide rod), a fourth screw and a fourth movable platform. The fourth screw is consistent with the length direction of the fourth base and can be rotatably arranged. The fourth movable platform is slidably arranged on the fourth base and forms a threaded fit with the fourth screw. Thereby, the loading screw part 800 can work. Specifically, when the fourth movable platform slides, the fourth screw is driven to rotate; when the fourth screw rotates, the fourth movable platform is driven to slide.

[0071] The loading module 900 is mounted and driven by the loading screw unit 800. It consists of a loading motor, a loading-end bearing housing, a loading-end torque sensor, a third coupling, and a third support mechanism. The loading motor is connected to the loading-end torque sensor via the third coupling, which in turn is connected to the loading-end bearing housing via a coupling. The third coupling is installed at the front end of the loading-end bearing housing and is connected to the output of the reducer under test via the third coupling.

[0072] The transmission of the docking screw rod part 200 is linked to the first screw rod part 400, the second screw rod part 600 and the loading screw rod part 800. When the docking screw rod part 200 moves, the movement of the second screw rod part 600 relative to the docking screw rod part 200 and the loading screw rod part 800 relative to the docking screw rod part 200 is opposite to the movement direction of the first screw rod part 400 relative to the docking screw rod part 200.

[0073] During the test, the reducer is installed on the docking module 300. When the docking screw rod part 200 completes the forward drive, the first screw rod part 400 and the loading screw rod part 800 respectively drive the first drive part 500 and the loading module 900 close to the docking screw rod part 200. At this time, the second screw rod part 600 drives the second drive part 700 away from the docking screw rod part 200. By adjusting the initial working positions of the docking screw rod part 200, the first screw rod part 400 and the loading screw rod part 800, it is possible to make the docking screw rod part 200 drive the docking module 300 to the working position, so that the first drive part 500 and the loading module 900 respectively match the input and output ends of the reducer. After the connection is completed, the test work can be started. After the test process is completed at the position of the first drive part 500, the connection between the input and output ends of the reducer is removed, and the docking screw rod part 200 is driven to drive in the opposite direction. The first screw rod part 400 and the loading screw rod part 800 respectively drive the first drive part 500 and the loading module 900 away from the docking screw rod part 200. At this time, the second screw rod part 600 drives the second drive part 700 close to the docking screw rod part 200. By adjusting the initial working position of the second screw rod part 600, it is possible to make the input end of the second drive part 700 correspond to the reducer when the docking module 300 arrives at the working position. The second drive part 700 is connected to the input end of the reducer and the test work is started. Repeat the above process to efficiently and accurately test the reducer of the same model. In one test mode, the torque output corresponding to the first drive unit 500 can be relatively large, and the first torque sensor installed thereon can also match the test range. The first drive unit 500 corresponds to the loading module 900, and can perform test items such as loaded transmission accuracy testing, efficiency testing, hysteresis curve testing, return error testing, and backlash testing. In another test mode, the torque output corresponding to the second drive unit 700 can be relatively small (such as a servo motor with low inertia), and the second torque sensor installed thereon can also match the test range. The loading module 900 is not involved, and can perform small torque high-precision test items such as no-load starting, no-load running torque, and no-load transmission accuracy testing, while ensuring measurement accuracy.

[0074] In the process of adapting the wide torque and high precision comprehensive performance testing equipment for robot reducers, by setting the transmission ratio between the docking screw part 200 and the first screw part 400, the second screw part 600 and the loading screw part 800, and by setting the initial working positions of the docking screw part 200, the first screw part 400, the second screw part 600 and the loading screw part 800 (that is, the initial positions of the third moving platform 810, the first moving platform 410, the second moving platform 610 and the fourth moving platform), when the docking screw part 200 drives the docking module 300, the following process of the first drive part 500, the second drive part 700 and the loading module 900 is accurate.

[0075] During the test, for example, when the first driving unit 500 is used for testing, test items such as load transmission accuracy test, efficiency test, hysteresis curve test, return error test and backlash test can be implemented. The specific test method is as follows:

[0076] Loaded transmission error: Start the test piece from the input end and apply a specified load to the output end. After the speed and load stabilize, record the real-time input and output angle values ​​within one full rotation of the output end. During the test, the number of angle value samples must be no less than 1000, the input and output sampling synchronization must be no more than 1ms, and the output speed must be no more than 5r / min. The sampling position should be the same for each consecutive measurement to avoid measurement errors introduced by the superposition of measurement results at different positions. Based on the real-time sampling results, a transmission error curve is plotted with the output end angle as the horizontal axis and the transmission error value corresponding to this angle as the vertical axis.

[0077] Hysteresis curve: Lock the input shaft with a locking device, gradually load the output end to the rated torque and then unload it, then gradually load it in the opposite direction to the rated torque and then unload it, record the torque and angle values ​​corresponding to the output end, and draw a hysteresis curve at the same time.

[0078] Mechanical efficiency: Load from zero to rated torque at different speeds, record input / output torque and input / output speeds, collect at least five sets of data at each speed (also record housing temperature, noise, and operating time), calculate the transmission efficiency based on the recorded data, and then draw the torque-efficiency curve at different speeds.

[0079] Return error: The output end rotates one circle and then rotates in the opposite direction. During this process, the real-time angular displacement of the input and output is continuously collected. The difference in angular displacement between the output end and the initial position when the input end returns to the initial position is recorded, which is the return error value.

[0080] Torsional stiffness: Torsional stiffness is calculated from the hysteresis curve. The torsional stiffness should be segmented according to the hysteresis curve. Generally, the unidirectional loading and unloading curves can be divided into two or three segments based on their slopes, or further segmented based on the test requirements. A least-squares linear fit is performed on each loading and unloading data set to obtain the slope k = a / b for that segment. The inverse of the slope is the torsional stiffness within that torque range.

[0081] Backlash: When the input end and the housing are fixed and ±3% rated torque is applied to the output end and the reducer rotates clockwise and counterclockwise, there is a small angular displacement at the output end of the reducer. This angular displacement value is the backlash.

[0082] During the test, for example, when the second driving unit 700 is used for testing, test items such as no-load starting, no-load running torque, and no-load transmission accuracy test can be implemented. The specific test method is as follows:

[0083] No-load transmission error: Start the test piece at the input end, leaving the output end unloaded. After the speed stabilizes, record the real-time rotation angle values ​​at the input and output ends within one full rotation of the output end. During the test, the number of rotation angle samples should be no less than 1000, the input and output sampling synchronization should be no more than 1ms, and the output speed should be no more than 5r / min. The sampling position should be the same for each consecutive measurement to avoid measurement errors introduced by the superposition of measurement results at different positions. Based on the real-time sampling results, draw a transmission error curve with the output end angle as the horizontal axis and the transmission error value corresponding to this angle as the vertical axis.

[0084] No-load starting torque: There is no load on the output end. The test piece is slowly started from the input end until the output end starts. During this period, the input end torque is collected in real time (the sampling frequency should be not less than 1kHz), and the maximum value is taken as the starting torque.

[0085] No-load running torque: When the output end is in a no-load state, start the test piece from the input end and run it stably at different speeds. The input speed and torque of the test piece are collected in real time to draw a speed-torque curve.

[0086] In the course of a work;

[0087] The first driving unit (500) is docked with the loading module (900) via the docking module (300). The first driving unit (500) can be composed of a variable frequency motor and a medium-sized torque sensor, and can realize loading performance test items such as load transmission accuracy test, efficiency test, hysteresis curve test, return error test and backlash test.

[0088] In another typical work process;

[0089] The docking module (300) docks with the second drive unit (700), and the loading module (900) does not participate. The second drive unit (700) uses a servo motor with small inertia, and the torque sensor uses a small-range torque sensor, and the range of the torque sensor is at least one order of magnitude smaller than the range of the torque sensor in the first drive unit (500), so that small torque high-precision test items such as no-load starting, no-load running torque, and no-load transmission accuracy test can be achieved, while ensuring measurement accuracy.

[0090] In some embodiments, a redundant loading screw portion 800 may be provided corresponding to the second screw portion 600, and a redundant loading module 900 may be provided on the loading screw portion 800. Thus, when the reducer is tested at the second driving portion 700 on the second screw portion 600, its output end may also be connected to the loading module 900.

[0091] In summary, the wide torque and high precision comprehensive performance test equipment for robot reducers is provided with a first drive unit 500 and a second drive unit 700, which are configured differently in terms of drive motors and torque sensors. Through different combinations of the two drive modules with other modules, the same reducer loading test and high-precision small torque test requirements can be achieved. The docking module 300 is installed and driven on the docking screw part 200 in reciprocating motion, the first drive unit 500 is installed and driven on the first screw part 400, the second drive unit 700 is driven and set on the second screw part 600, the loading screw part 800 is set corresponding to the length direction of the first screw part 400, the loading module 900 is installed and driven on the loading screw part 800, the torque output of the first drive unit 500 and the second drive unit 700 and the matching of the torque sensor can be different, and through different combinations of the two drive modules with other modules, it can be achieved. The present invention meets the requirements of the same reducer loading test and high-precision small torque test; the transmission of the docking screw part 200 is linked to the first screw part 400, the second screw part 600 and the loading screw part 800. When the docking screw part 200 moves, the movement of the second screw part 600 relative to the docking screw part 200 and the loading screw part 800 relative to the docking screw part 200 is opposite to the movement direction of the first screw part 400 relative to the docking screw part 200. Therefore, the operation of the docking screw part 200 can meet the transmission of the entire comprehensive performance test equipment. Accuracy measurement and other performance test items are integrated on the same test bench. The reducer under test can complete various test items with one installation, which is compatible with multiple models of reducers, multiple test items and high test accuracy requirements to the greatest extent, shortening the assembly test cycle, further expanding the scope of application of reducer test models, and improving equipment utilization. Through the operation of the docking screw part 200, the installation and debugging links are reduced, the assembly and test cycle is shortened, and the test efficiency is improved.

[0092] Reference Figures 4 to 8In one embodiment, a transmission shaft 110 is rotatably provided on the support platform 100 corresponding to the lower portion of the docking screw rod portion 200 , and the docking screw rod portion 200 is driven and linked to the first screw rod portion 400 , the second screw rod portion 600 and the loading screw rod portion 800 through the transmission shaft 110 .

[0093] In this embodiment, by the introduction of the transmission shaft 110, the structure of the docking screw rod portion 200 is simplified, and the adjustment of the transmission ratio is also simplified. The initial position adjustment of the first drive unit 500, the second drive unit 700 and the loading screw rod portion 800 is also easier. For example, the docking screw rod portion 200 includes a third base (including a base and a guide rod), a third screw rod and a third movable platform 810, and the third screw rod is consistent with the length direction of the third base and can be rotatably arranged. The third movable platform 810 is slidably arranged on the third base and forms a threaded fit with the third screw rod. Thus, the docking screw rod portion 200 can work, and when the third movable platform 810 slides, the third screw rod is driven to rotate; when the third screw rod rotates, the third movable platform 810 is driven to slide. The third screw rod forms a gear fit with the transmission shaft 110 (specifically, a gear that can form an engagement can be set on each of the two), and then the third screw rod can drive the transmission shaft 110 to rotate. The transmission shaft 110 corresponds to the three screw parts on the first screw part 400, the second screw part 600 and the loading screw part 800, and is respectively provided with a worm gear, thereby forming three worm combinations. At this time, when the third screw of the docking screw part 200 rotates, the transmission shaft 110 is driven to rotate, and the rotation of the transmission shaft 110 drives the first screw part 400, the second screw part 600 and the loading screw part 800 to work. By adjusting the gear transmission ratio between the third screw and the transmission shaft 110, the movement ratio of the first screw part 400, the second screw part 600 and the loading screw part 800 relative to the docking screw part 200 can be achieved. Of course, by adjusting the transmission ratio of the three worm combinations, the above movement ratio can also be adjusted. It should be noted that the positions of the first screw rod part 400, the second screw rod part 600 and the loading screw rod part 800 in conjunction with the transmission shaft 110 need to be set so that when the docking screw rod part 200 moves, the movement of the second screw rod part 600 relative to the docking screw rod part 200 and the loading screw rod part 800 relative to the docking screw rod part 200 are opposite to the movement direction of the first screw rod part 400 relative to the docking screw rod part 200.

[0094] In one embodiment, the position of the transmission shaft 110 in the width direction of the support platform 100 is adjustable.

[0095] In this embodiment, the position of the transmission shaft 110 is adjustable, which can greatly improve the configuration flexibility of the wide torque and high precision comprehensive performance test equipment for the entire robot reducer. During the operation of the docking screw rod portion 200, the first screw rod portion 400, the second screw rod portion 600 and the loading screw rod portion 800 will also move. If different reducers are required at this time, the linkage between the above four screw rod functional parts needs to be adjusted; that is, the initial positions of the first screw rod portion 400, the second screw rod portion 600 and the loading screw rod portion 800 need to be adjusted to a certain extent. At this time, by adjusting the position of the transmission shaft 110 in the width direction of the support platform 100, the linkage relationship between the transmission shaft 110 and the first screw rod portion 400, the second screw rod portion 600 and the loading screw rod portion 800 is disengaged. At this time, the positions of the first screw rod portion 400, the second screw rod portion 600 and the loading screw rod portion 800 can be adjusted. After the adjustment is completed, the transmission shaft 110 is moved to the appropriate position.

[0096] In one embodiment, the first driving part 500 is adjustable at a fixed position in the length direction of the first screw part 400; the second driving part 700 is adjustable at a fixed position in the length direction of the second screw part 600; and the loading module 900 is adjustable at a fixed position in the length direction of the loading screw part 800.

[0097] In this embodiment, the test requirements for reducers of different models and specifications can be met by adjusting the position of the first drive unit 500 in the length direction of the first screw rod portion 400. The test requirements for reducers of different models and specifications can be met by adjusting the position of the second drive unit 700 in the length direction of the second screw rod portion 600. The test requirements for reducers of different models and specifications can be met by adjusting the position of the loading module 900 in the length direction of the loading screw rod portion 800. The corresponding size changes of the first drive unit 500, the second drive unit 700 and the loading module 900 can also be adapted through the characteristics of their respective movable positions.

[0098] Reference Figures 4 to 8 In one embodiment, the output part of the first screw rod part 400 is a first movable platform 410, the first driving part 500 is slidably set on the first movable platform 410, and the first movable platform 410 is provided with a first handwheel assembly for driving the first driving part 500; the output part of the second screw rod part 600 is a second movable platform 610, the second driving part 700 is slidably set on the second movable platform 610 and is provided with a second handwheel assembly for driving the second driving part 700; the output part of the loading screw rod part 800 is a third movable platform 810, the loading module 900 is slidably set on the third movable platform 810 and is provided with a third handwheel assembly for driving the second driving part 700.

[0099] In this embodiment, taking the first screw rod portion 400 as an example, the first screw rod portion 400 includes a first base (including a base and a guide rod), a first screw rod, and a first movable platform 410. The first screw rod is aligned with the length of the first base and is rotatable. The first movable platform 410 is slidably mounted on the first base and forms a threaded engagement with the first screw rod. This enables the first screw rod portion 400 to operate. Specifically, when the first movable platform 410 slides, the first screw rod is driven to rotate; when the first screw rod rotates, the first movable platform 410 is driven to slide. A first handwheel assembly is provided on the first movable platform 410. The first wheel assembly includes a first handwheel bracket and a first handwheel. The first handwheel can be rotated in and out of the first handwheel bracket. One end of the first handwheel is movably connected to the first drive unit 500, and the rotation of the first handwheel is not restricted by the first drive unit 500. Through the function of the first handwheel assembly, while adapting to first drive units 500 of different sizes, it can also serve to compensate and correct the position of the first movable platform 410.

[0100] In one embodiment, an active driving structure is provided corresponding to the docking screw rod portion 200 , wherein when the active driving structure is in operation, the docking module 300 is driven to move.

[0101] In this embodiment, the docking screw rod part 200 includes a third base (including a base and a guide rod), a third screw rod and a third movable platform 810. The third screw rod is consistent with the length direction of the third base and is rotatable. The third movable platform 810 is slidably arranged on the third base and forms a threaded fit with the third screw rod. Thus, the docking screw rod part 200 can work. Specifically, when the third movable platform 810 slides, the third screw rod is driven to rotate; when the third screw rod rotates, the third movable platform 810 is driven to slide. The source drive structure can be a linear drive mechanism or a rotary drive structure. When the source drive structure is a linear drive mechanism, it drives the third movable platform 810 to slide, thereby driving the third movable platform 810 to rotate in turn; when the source drive structure is a rotary drive structure, it drives the third screw rod to rotate, thereby driving the third movable platform 810 to slide. The introduction of the source drive structure allows the position adjustment of the docking module 300, the operation of the first screw rod part 400, the operation of the second screw rod part 600, and the operation of the loading screw rod part 800 to follow.

[0102] In one embodiment, the first driving part 500 includes a first driving motor, a first torque sensor and a first coupling connected in sequence; the second driving part 700 includes a second driving motor, a second torque sensor and a second coupling connected in sequence; the loading module 900 includes a loading motor, a loading end torque sensor and a third coupling connected in sequence; the docking module 300 includes a reducer mounting seat and an input high-precision grating angle measurement module and an output high-precision grating angle measurement module arranged at both ends of the reducer mounting seat.

[0103] In this embodiment, the structural forms of the first drive unit 500, the second drive unit 700, the loading module 900 and the docking module 300 are given. The structural forms of the first drive unit 500, the second drive unit 700 and the loading module 900 are diverse. Taking the first drive unit 500 as an example, a first torque sensor is connected between the output end of the first drive motor and the first coupling. The relevant parts of the first drive unit 500 can be matched with a first drive end bearing seat, a first locking module and a first support member to complete the smooth operation of the overall structure. On the docking module 300, the reducer mounting seat is used to install the reducer, and the input high-precision grating angle measurement module and the output high-precision grating angle measurement module are set at both ends of the corresponding reducer mounting seat to test the angle data of the reducer during operation.

[0104] The present invention also provides a testing method, which is applied to the above-mentioned wide torque and high precision comprehensive performance testing equipment for robot reducers, comprising:

[0105] S1. Install the reducer on the docking module 300;

[0106] S2. After controlling the docking screw part 200 to move the docking module 300 to the position of the first driving part 500, the reducer is connected to the first driving part 500 and the loading module 900, and the reducer is tested;

[0107] S3. Disconnect the reducer from the first drive unit 500 and the loading module 900, control the docking screw unit 200 and move the docking module 300 to the position of the second drive unit 700, complete the connection between the reducer and the second drive unit 700, and perform a test on the reducer.

[0108] Repeat steps S2 to S3.

[0109] This embodiment demonstrates the use of a wide-torque, high-precision, comprehensive performance testing device for robotic reducers. After the reducer is installed, the docking screw unit 200 is used to position the docking module 300, first drive unit 500, second drive unit 700, and loading module 900. The torque outputs of the first and second drive units 500 and 700, as well as the matching of the torque sensors, can be different. By combining the two drive modules with other modules, both loading tests and high-precision, low-torque tests can be performed on the same reducer.

[0110] In one embodiment, the output portion of the first screw rod portion 400 is a first movable platform 410, the first driving portion 500 is slidably disposed on the first movable platform 410, and the first movable platform 410 is provided with a first handwheel assembly that drives the first driving portion 500; the output portion of the second screw rod portion 600 is a second movable platform 610, the second driving portion 700 is slidably disposed on the second movable platform 610, and a second handwheel assembly that drives the second driving portion 700 is provided; the output portion of the loading screw rod portion 800 is a third movable platform 810, the loading module 900 is slidably disposed on the third movable platform 810, and a third handwheel assembly that drives the loading module 900 is provided;

[0111] The steps between step S1 and step S2 include:

[0112] After controlling the docking screw part 200 to move the docking module 300 to the position of the first driving part 500, operating the first hand wheel assembly and the third hand wheel assembly to adjust the positions of the first driving part 500 and the loading module 900;

[0113] After the docking screw part 200 is controlled to move the docking module 300 to the position of the second driving part 700 , the second hand wheel assembly is operated to adjust the position of the second driving part 700 .

[0114] In this embodiment, a method for adapting to different reducers is provided. Specifically, the lengthwise positions of the first drive unit 500, the second drive unit 700 and the loading module 900 are adjusted respectively through the first handwheel assembly, the second handwheel assembly and the third handwheel assembly, so that the reducer can successfully complete the docking action after reaching the corresponding position.

[0115] In one embodiment, a transmission shaft 110 is rotatably provided on the support platform 100 corresponding to the lower portion of the docking screw rod portion 200, and the docking screw rod portion 200 is driven and linked to the first screw rod portion 400, the second screw rod portion 600 and the loading screw rod portion 800 through the transmission shaft 110, and the position of the transmission shaft 110 in the width direction of the support platform 100 is adjustable;

[0116] The steps between step S1 and step S2 include:

[0117] Move the transmission shaft 110 to disconnect the linkage between the docking screw part 200 and the first screw part 400, the second screw part 600, and the loading screw part 800, and adjust the positions of the first driving part 500, the loading module 900, and the second driving part 700;

[0118] The transmission shaft 110 is moved to form a linkage between the docking screw part 200 and the first screw part 400 , the second screw part 600 and the loading screw part 800 .

[0119] In this embodiment, a method for adapting to different reducers is provided, specifically by disconnecting the linkage structure of the docking screw part 200, and completing the position adjustment by operating the first screw part 400, the second screw part 600, the loading screw part 800 and the docking screw part 200, so that the reducer can successfully complete the docking action after reaching the corresponding position.

[0120] In summary, the present invention provides a wide torque and high precision comprehensive performance test equipment and test method for a robot reducer, wherein the docking module 300 is installed and driven on the docking screw rod part 200 in reciprocating motion, the first drive part 500 is installed and driven on the first screw rod part 400, the second drive part 700 is driven and arranged on the second screw rod part 600, the loading screw rod part 800 is arranged corresponding to the length direction of the first screw rod part 400, the loading module 900 is installed and driven on the loading screw rod part 800, the torque output of the first drive part 500 and the second drive part 700 and the matching of the torque sensor can be different, through the two By combining different drive modules with other modules, the requirements for loading test and high-precision micro-torque test of the same reducer can be realized; the transmission of the docking screw part 200 is linked to the first screw part 400, the second screw part 600 and the loading screw part 800. When the docking screw part 200 moves, the movement of the second screw part 600 relative to the docking screw part 200 and the loading screw part 800 relative to the docking screw part 200 is opposite to the movement direction of the first screw part 400 relative to the docking screw part 200, so that the operation of the docking screw part 200 can meet the transmission of the entire comprehensive performance test equipment. Accuracy measurement and other performance test items are integrated on the same test bench, and the reducer under test can complete various test items with one installation, which is compatible with multiple models of reducers, multiple test items and high test accuracy requirements to the greatest extent, shortening the assembly and testing cycle. Through the operation of the docking screw part 200, the installation and debugging links are reduced, the assembly and testing cycle is shortened, and the test efficiency is improved.

[0121] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A wide torque and high precision comprehensive performance testing equipment for robot reducers, characterized in that: include: Support platform; A docking screw portion is mounted on the support platform along the width direction of the support platform; A docking module, mounted on the docking screw portion and used for mounting the reducer; A first screw portion is mounted on the support platform along the length direction and is located on one side of the docking screw portion; a first driving portion, mounted on the first screw portion; a second screw portion, mounted on the support platform and arranged side by side with the first screw portion in the width direction; a second driving portion, mounted on the second screw portion, wherein the first screw portion and the second screw portion provide torques in different output ranges when docked with the reducer; A loading screw portion is mounted on the support platform and is located on the other side of the docking screw portion and is arranged corresponding to the length direction of the first screw portion; A loading module is installed and driven on the loading screw portion, and applies torque when the loading module is docked with the reducer; In which, the transmission of the docking screw part is linked to the first screw part, the second screw part and the loading screw part; when the docking screw part moves, the movement of the first screw part relative to the docking screw part and the loading screw part relative to the docking screw part is opposite to the movement direction of the second screw part relative to the docking screw part.

2. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 1 is characterized in that: A transmission shaft is rotatably provided on the support platform corresponding to the lower portion of the docking screw rod portion, and the docking screw rod portion is linked to the first screw rod portion, the second screw rod portion and the loading screw rod portion through the transmission shaft.

3. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 2 is characterized in that: The position of the transmission shaft in the width direction of the support platform is adjustable.

4. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 1 is characterized in that: The first drive unit is adjustable at a fixed position in the length direction of the first screw rod unit; the second drive unit is adjustable at a fixed position in the length direction of the second screw rod unit; and the loading module is adjustable at a fixed position in the length direction of the loading screw rod unit.

5. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 4 is characterized in that: The output portion of the first screw rod portion is a first movable platform, the first driving portion is slidably disposed on the first movable platform, and the first movable platform is provided with a first handwheel assembly that drives the first driving portion; The output portion of the second screw rod portion is a second movable platform, the second driving portion is slidably arranged on the second movable platform and is provided with a second hand wheel assembly for driving the second driving portion; The output portion of the loading screw rod portion is a third moving platform, and the loading module is slidably arranged on the third moving platform and is provided with a third handwheel assembly that drives the second driving portion.

6. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 1 is characterized in that: An active driving structure is provided corresponding to the docking screw rod portion, wherein when the source driving structure is working, the docking module is driven to move.

7. The wide torque and high precision comprehensive performance testing equipment for robot reducers according to claim 1 is characterized in that: The first driving part includes a first driving motor, a first torque sensor and a first coupling connected in sequence; the second driving part includes a second driving motor, a second torque sensor and a second coupling connected in sequence; the loading module includes a loading motor, a loading end torque sensor and a third coupling connected in sequence; the docking module includes a reducer mounting seat and an input high-precision grating angle measurement module and an output high-precision grating angle measurement module arranged at both ends of the reducer mounting seat.

8. A testing method, applied to the wide torque and high precision comprehensive performance testing equipment for robot reducers according to any one of claims 1 to 7, characterized in that: include: S1. Install the reducer on the docking module; S2. After controlling the docking screw portion to position the docking module to the first drive portion, the reducer is connected to the first drive portion and the loading module, and a test is performed on the reducer. S3, disconnecting the reducer from the first drive unit and the loading module, controlling the docking screw to move the docking module to the second drive unit, completing the connection between the reducer and the second drive unit, and performing a test on the reducer; Repeat steps S2 to S3.

9. The testing method according to claim 8, characterized in that: The output portion of the first screw rod portion is a first movable platform, the first driving portion is slidably disposed on the first movable platform, and a first handwheel assembly for driving the first driving portion is provided on the first movable platform; the output portion of the second screw rod portion is a second movable platform, the second driving portion is slidably disposed on the second movable platform, and a second handwheel assembly for driving the second driving portion is provided; the output portion of the loading screw rod portion is a third movable platform, the loading module is slidably disposed on the third movable platform, and a third handwheel assembly for driving the loading module is provided; The steps between step S1 and step S2 include: After controlling the docking screw portion to move the docking module to the position of the first driving portion, operating the first handwheel assembly and the third handwheel assembly to adjust the positions of the first driving portion and the loading module; After the docking screw part is controlled to move the docking module to the position of the second driving part, the second hand wheel assembly is operated to adjust the position of the second driving part.

10. The testing method according to claim 8, characterized in that: A transmission shaft is rotatably provided on the support platform below the docking screw portion, and the docking screw portion is linked to the first screw portion, the second screw portion and the loading screw portion through the transmission shaft, and the position of the transmission shaft in the width direction of the support platform is adjustable; The steps between step S1 and step S2 include: Moving the transmission shaft to disconnect the linkages between the docking screw portion and the first screw portion, the second screw portion, and the loading screw portion, and adjusting the positions of the first drive portion, the loading module, and the second drive portion; The transmission shaft is moved to form a linkage between the docking screw part, the first screw part, the second screw part and the loading screw part.

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