Comprehensive test platform for RV speed reducer of industrial robot

Abstract

The utility model discloses an industrial robot RV speed reducer comprehensive test platform, and relates to the industrial robot RV speed reducer comprehensive test platform technology field, the industrial robot RV speed reducer comprehensive test platform comprises a pedestal, an adjusting mechanism and a test piece, the adjusting mechanism comprises two elevating seats and a position adjusting assembly, the two lifting seats are arranged at the two ends of the position adjusting assembly respectively so that the horizontal distance and the vertical height of the two lifting seats can be adjusted through the position adjusting assembly, the test piece comprises a test input piece and a test output piece, and the test input piece and the test output piece are installed on the two lifting seats respectively; according to the technical scheme provided by the utility model, the RV speed reducer can be quickly mounted and dismounted, and compared with a traditional test platform in structure, the RV speed reducer test platform is higher in flexibility, can be adjusted and set according to actual conditions, and has a better application prospect.

Description

Technical Field

[0001] The utility model relates to the field of an industrial robot RV reducer comprehensive test platform, in particular to an industrial robot RV reducer comprehensive test platform. Background Art

[0002] With the rapid development of industrial robots, RV reducers are used in the joints of industrial robots and are one of the core components of the entire robot. Its accuracy is crucial in industrial robots. Industrial robots require RV reducers to have large transmission ratios, large rigidity, high motion accuracy, high transmission efficiency, and small hysteresis. The performance indicators of RV reducers include: hysteresis, angle transmission error, torsional stiffness, transmission efficiency, temperature rise, torque rigidity, etc.

[0003] For example, a comprehensive test bench for RV reducers disclosed in the utility model with authorization announcement number CN205879529U can better ensure the positioning accuracy of repeated installation of RV reducers to be tested; it can realize multi-model and multi-performance parameter testing. However, the existing test platform needs to disassemble an RV reducer after the inspection is completed, and replace it with another RV reducer, and reinstall it for positioning inspection. However, the structural height of most existing test platforms is difficult to adjust, which makes it particularly inconvenient when installing or disassembling the RV reducer, affecting the subsequent inspection efficiency of the RV reducer. Utility Model Content

[0004] The main purpose of the utility model is to propose an industrial robot RV reducer comprehensive test platform, aiming to solve the problem that the traditional test platform is not convenient enough for the installation and disassembly of the RV reducer, the adjustability of the test platform is poor, and it is easy to affect the detection efficiency of the RV reducer.

[0005] To achieve the above purpose, the industrial robot RV reducer comprehensive test platform proposed in the utility model includes:

[0006] Pedestal;

[0007] An adjustment mechanism, comprising two lifting seats and a position adjustment assembly, wherein the two lifting seats are respectively arranged at two ends of the position adjustment assembly, so that the horizontal distance and vertical height of the two lifting seats can be adjusted through the position adjustment assembly; and,

[0008] The test piece includes a test input piece and a test output piece, and the test input piece and the test output piece are respectively installed on two of the lifting seats.

[0009] In one embodiment, the adjustment assembly includes a horizontal adjustment member and a vertical adjustment member, and two vertical adjustment members are provided corresponding to the two lifting seats;

[0010] Wherein, the vertical adjustment member comprises:

[0011] Moving seats are arranged at both ends of the horizontal adjustment member;

[0012] A support frame is arranged on the movable seat, the support frame includes two rotating frames and a connecting shaft, the two rotating frames are cross-arranged corresponding to the middle positions thereof, and the connecting shaft is rotatably connected to the middle positions of the two rotating frames, the downward ends of the two rotating frames are slidably mounted on the movable seat, and the upward ends of the two rotating frames are slidably mounted on the bottom of the lifting seat; and,

[0013] The driving member is installed on the moving seat and is used for driving one end of the two rotating frames to slide back and forth on the moving seat.

[0014] In one embodiment, two sliding blocks are provided at the bottom of the lifting seat for sliding connection therewith, and the upward ends of the two rotating frames are respectively rotatably connected to the two sliding blocks.

[0015] In one embodiment, guide rods are provided on two opposite inner side walls of the movable seat, two slide rods sliding therewith are provided between the two guide rods, and the downward ends of the two rotating frames are rotatably mounted on the two slide rods respectively.

[0016] In one embodiment, the driving member includes two cylinders, the two cylinders are mounted on the moving seat corresponding to the downward ends of the two rotating frames, and the output ends of the two cylinders are respectively connected to the two sliding rods;

[0017] A protrusion is provided at the bottom of the movable seat, and a spring is provided between the slide bar and the protrusion; and / or,

[0018] Guide blocks are respectively arranged on the two ends of the slide rod, and the guide blocks are slidably mounted on the guide rod.

[0019] In one embodiment, the level adjustment member comprises:

[0020] A driving member, comprising a bidirectional motor and two threaded rods, wherein the bidirectional motor is installed in the base, the two threaded rods are respectively installed at two output ends of the bidirectional motor, and the other ends of the two threaded rods are rotatably connected to the inner wall of the base; and

[0021] The guide structure includes a plurality of guide grooves on the base, a plurality of guide plates are provided at the bottom of the two movable seats corresponding to the plurality of guide grooves, the bottoms of the two movable seats are attached to the upper end surfaces of the base, and at least one of the plurality of guide plates on the two movable seats is threadedly connected to the two threaded rods respectively.

[0022] In one embodiment, the test output comprises:

[0023] an output motor, mounted on one of the lifting seats, an output shaft being provided on the output end of the output motor, and a first coupling and a second coupling being provided on the output motor; and,

[0024] The output end torsion sensor is installed on the lifting seat corresponding to the output motor, the output end torsion sensor is connected to the output shaft, the first coupling is located between the output end torsion sensor and the output motor, and the second coupling is arranged at the end position of the output shaft.

[0025] In one embodiment, the test input comprises:

[0026] An input motor is installed on the other lifting seat, an input shaft is provided on the output end of the input motor, a third coupling is provided on the input shaft, and the axis of the input shaft is arranged in the same direction as the axis of the output shaft; and,

[0027] An input end torsion sensor is installed on the lifting seat corresponding to the input motor, the input end torsion sensor is connected to the input shaft, and the third coupling is arranged at the middle position between the input end torsion sensor and the input motor.

[0028] In one embodiment, a detection platform fixedly connected to the base is provided at a middle position of the base corresponding to the two movable seats.

[0029] In one embodiment, a control panel fixedly connected to the base is provided on an outer end surface of one end of the base.

[0030] The technical solution of the utility model utilizes the combination of the provided cylinder, the moving block and the rotating rod to realize the longitudinal lifting processing of the lifting seat, so that it is convenient to lift one end of the subsequent test platform after being disassembled from the industrial robot RV reducer, and then it is convenient to disassemble the other end of the RV reducer in the subsequent time, which is more convenient and quick. When the cylinder pushes the moving block laterally, the moving block will push the rotating rod connected to its top end to rotate, so that the rotating rods can rotate around the rotating axis, and when the rotating rod rotates around the rotating axis, the other end of the rotating rod will be slidably connected to the lifting seat through the slider, so that the rotating rod pushes the lifting seat to realize the height adjustment of the lifting seat, which is convenient for the subsequent disassembly of the RV reducer.

[0031] In addition, by using the combination of the bidirectional motor, threaded rod and threaded sleeve, the lateral position of the entire lifting seat can be adjusted according to actual installation requirements, so that the subsequent installation or disassembly of the industrial robot RV reducer can be facilitated, and it has higher practicality. When the bidirectional motor is working, the threaded rods on both sides will rotate accordingly, and because the threaded rods are threadedly connected with the threaded sleeves through threads, when the threaded rods rotate, the lateral movement of the threaded sleeves on both sides can be realized, thereby realizing the lateral position adjustment of the lifting seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1 This is a schematic diagram of the structure of the comprehensive test platform for industrial robot RV reducer provided by the utility model;

[0034] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0035] Figure 3 for Figure 1 Schematic diagram of the structure of the middle base;

[0036] Figure 4 for Figure 1 Schematic diagram of the structure of the moving seat.

[0037] Description of Figure Numbers:

[0038] 1. Base; 2. Moving seat; 3. Threaded sleeve; 4. Cylinder; 5. Sliding rod; 6. Protrusion; 7. Rotating frame; 8. Sliding block; 9. Spring; 10. Guide block; 11. Guide rod; 12. Lifting seat; 13. Output motor; 14. Output shaft; 15. First coupling; 16. Output end torsion sensor; 17. Second coupling; 18. Testing table; 19. Bidirectional motor; 20. Threaded rod; 21. Input motor; 22. Input shaft; 23. Third coupling; 24. Input end torsion sensor; 25. Guide groove.

[0039] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0043] With the rapid development of industrial robots, RV reducers are used in the joints of industrial robots and are one of the core components of the entire robot. Its accuracy is crucial in industrial robots. Industrial robots require RV reducers to have large transmission ratios, large rigidity, high motion accuracy, high transmission efficiency, and small hysteresis. The performance indicators of RV reducers include: hysteresis, angle transmission error, torsional stiffness, transmission efficiency, temperature rise, torque rigidity, etc.

[0044] For example, a comprehensive test bench for RV reducers disclosed in the utility model with authorization announcement number CN205879529U can better ensure the positioning accuracy of repeated installation of RV reducers to be tested; it can realize multi-model and multi-performance parameter testing. However, the existing test platform needs to disassemble an RV reducer after the inspection is completed, and replace it with another RV reducer, and reinstall it for positioning inspection. However, the structural height of most existing test platforms is difficult to adjust, which makes it particularly inconvenient when installing or disassembling the RV reducer, affecting the subsequent inspection efficiency of the RV reducer.

[0045] The utility model provides an industrial robot RV reducer comprehensive testing platform.

[0046] See also Figures 1 to 4 In one embodiment of the utility model, the industrial robot RV reducer comprehensive test platform is different from the conventional test platform. The test platform mainly uses the adjustment structure to test the centering and positioning of the RV reducer. Specifically, the test input and test output parts to be tested are respectively installed on two corresponding lifting seats 12 in the horizontal direction, and then the horizontal position and vertical height of the test input and test output parts are adjusted by the adjustment component to connect the test input and test output parts with the two ends of the RV reducer. During the connection process, the positions of the test input and test output parts are adjusted so that both can achieve good centering and positioning of the RV reducer. After the fixation is completed, the test input and test output parts can be started to work simultaneously to test the angle transmission error, torsional stiffness, transmission efficiency, etc. of the RV reducer. After the test is completed, the two lifting seats 12 are controlled to separate by the adjustment component to release the fixed connection of the RV reducer, and then the RV reducer to be tested can be replaced, and the test output and test input parts are driven by the adjustment component to fix them. Connecting and fixing the RV reducer in the above manner changes the traditional testing process in which when the RV reducer needs to be replaced, it is usually necessary to dismantle the corresponding fixings. After replacing the new RV reducer, it is necessary to install fixings to fix it and perform positioning detection. This can effectively improve the detection efficiency of the RV reducer.

[0047] The adjustment assembly includes a horizontal adjustment member and two vertical adjustment members. The horizontal adjustment member is arranged on the base 1, and is used to drive the test input member and the test output member to move toward or away from each other on the base 1 at the same time, so as to fix and release the RV reducer. The vertical adjustment member mainly makes the test input member correspond to the test output member in vertical height, so that the industrial robot RV reducer comprehensive test platform can test different types of RV reducers, and can adjust the docking position in the vertical direction according to actual conditions, so as to achieve good centering and positioning of the RV reducer. Specifically, the two vertical adjustment members are arranged at the two ends of the base 1, wherein the two rotating frames 7 are arranged in a square frame, and the middle position of the two ends is connected by a connecting shaft (not marked in the figure) to form a foldable support frame. The driving member drives one end of the two rotating frames 7 to move toward or away from each other at the same time, so as to realize the expansion and folding of the support frame, and then adjust the vertical height of the lifting seat 12.

[0048] In the process of unfolding and folding the support frame, the upward ends of the two rotating frames 7 follow the two sliding blocks 8 to slide at the bottom of the lifting seat 12 .

[0049] At the same time, a guide rod 11 is provided on the movable seat 2, and two slide rods 5 are provided on the guide rod 11. The downward ends of the two rotating frames 7 are respectively rotatably installed on the two slide rods 5. During the rotation of the two rotating frames 7, their ends are guided and slid on the guide rod 11.

[0050] In this embodiment, the driving member is set as two cylinders 4, and the two cylinders 4 are respectively connected to the two slide bars 5. When the two cylinders 4 are working, they drive the slide bars 5 to slide on the guide bars 11, thereby realizing the vertical movement of the lifting seat 12. In order to make the movement of the slide bars 5 more stable, a spring 9 is provided between the slide bars 5 and the protrusion 6. Specifically, guide blocks 10 are provided at both ends of the slide bars 5, and the guide blocks 10 are slidably connected to the guide bars 11.

[0051] Specifically, the horizontal adjustment member includes a driving member and a guide structure. When working, the bidirectional motor 19 in the driving member drives the threaded rods 20 on its two output ends to rotate simultaneously. When the threaded rods 20 rotate, the guide plate 3 in the guide structure guides and slides in the guide groove 25, thereby realizing the movement of the two moving seats 2 toward or away from each other, thereby realizing the above-mentioned convenient fixing and release of the RV reducer.

[0052] The test output part includes an output motor 13, the output shaft 14 of the output motor 13 is connected to the output end torsion sensor, and the output shaft 14 is also provided with a first coupling 15 and a second coupling 17. At the same time, the test input part includes an input motor 21, and the input shaft 22 of the input motor 21 is arranged in the same direction as the axis of the output shaft 14. When testing, the RV reducer is fixed between the second coupling 17 and the input shaft 22. During the fixing process, the vertical height of the lifting seat 12 is synchronously adjusted to ensure the coaxiality of the two ends of the RV reducer after fixing. After the fixing is completed, the two motors work at the same time. In combination with the multiple couplings and torsion sensors, the industrial robot RV reducer can be tested.

[0053] In addition, a testing table 18 is provided on the base 1. When testing, the RV reducer is placed on the testing table 18. The testing table 18 is located between two test pieces. During the testing operation, the bottom of the RV reducer is supported by the testing table 18.

[0054] During the use of the entire detection platform, operations can be performed through a control panel (not shown in the figure), and the cylinder 4, input motor 21, output motor 13 and bidirectional motor 19 are all connected to the control panel.

[0055] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An industrial robot RV reducer comprehensive test platform, characterized in that: include: Pedestal; The adjustment mechanism includes two lifting seats and a position adjustment assembly, wherein the two lifting seats are respectively arranged at two ends of the position adjustment assembly, so as to adjust the horizontal distance and vertical height of the two lifting seats through the position adjustment assembly; as well as, The test piece includes a test input piece and a test output piece, and the test input piece and the test output piece are respectively installed on two of the lifting seats.

2. The industrial robot RV reducer comprehensive test platform according to claim 1, characterized in that: The adjustment assembly includes a horizontal adjustment member and a vertical adjustment member, and two vertical adjustment members are provided corresponding to the two lifting seats; Wherein, the vertical adjustment member comprises: Moving seats are arranged at both ends of the horizontal adjustment member; A support frame is arranged on the movable seat, the support frame includes two rotating frames and a connecting shaft, the two rotating frames are cross-arranged corresponding to the middle positions thereof, and the connecting shaft is rotatably connected to the middle positions of the two rotating frames, the downward ends of the two rotating frames are slidably mounted on the movable seat, and the upward ends of the two rotating frames are slidably mounted on the bottom of the lifting seat; and, The driving member is installed on the moving seat and is used for driving one end of the two rotating frames to slide back and forth on the moving seat.

3. The industrial robot RV reducer comprehensive test platform as claimed in claim 2, characterized in that: The bottom of the lifting seat is provided with two sliding blocks slidably connected thereto, and the upward ends of the two rotating frames are respectively rotatably connected to the two sliding blocks.

4. The industrial robot RV reducer comprehensive test platform as claimed in claim 2, characterized in that: Guide rods are arranged on two opposite inner side walls of the movable seat, two slide rods sliding with the guide rods are arranged between the two guide rods, and the downward ends of the two rotating frames are rotatably mounted on the two slide rods respectively.

5. The industrial robot RV reducer comprehensive test platform as claimed in claim 4, characterized in that: The driving member comprises two cylinders, the two cylinders are mounted on the moving seat corresponding to the downward ends of the two rotating frames, and the output ends of the two cylinders are respectively connected to the two sliding rods; A protrusion is provided at the bottom of the movable seat, and a spring is provided between the slide bar and the protrusion; and / or, Guide blocks are respectively arranged on the two ends of the slide rod, and the guide blocks are slidably mounted on the guide rod.

6. The industrial robot RV reducer comprehensive test platform as claimed in claim 2, characterized in that: The horizontal adjustment member comprises: A driving member, comprising a bidirectional motor and two threaded rods, wherein the bidirectional motor is installed in the base, the two threaded rods are respectively installed at two output ends of the bidirectional motor, and the other ends of the two threaded rods are rotatably connected to the inner wall of the base; and The guide structure includes a plurality of guide grooves on the base, a plurality of guide plates are provided at the bottom of the two movable seats corresponding to the plurality of guide grooves, the bottoms of the two movable seats are attached to the upper end surfaces of the base, and at least one of the plurality of guide plates on the two movable seats is threadedly connected to the two threaded rods respectively.

7. The industrial robot RV reducer comprehensive test platform as claimed in claim 2, characterized in that: The test output comprises: an output motor, mounted on one of the lifting seats, an output shaft being provided on the output end of the output motor, and a first coupling and a second coupling being provided on the output motor; and, The output end torsion sensor is installed on the lifting seat corresponding to the output motor, the output end torsion sensor is connected to the output shaft, the first coupling is located between the output end torsion sensor and the output motor, and the second coupling is arranged at the end position of the output shaft.

8. The industrial robot RV reducer comprehensive test platform according to claim 7, characterized in that: The test input comprises: An input motor is installed on the other lifting seat, an input shaft is provided on the output end of the input motor, a third coupling is provided on the input shaft, and the axis of the input shaft is arranged in the same direction as the axis of the output shaft; and, An input end torsion sensor is installed on the lifting seat corresponding to the input motor, the input end torsion sensor is connected to the input shaft, and the third coupling is arranged at the middle position between the input end torsion sensor and the input motor.

9. The industrial robot RV reducer comprehensive test platform as claimed in claim 2, characterized in that: A detection platform fixedly connected to the base is provided at a middle position corresponding to the two movable seats.

10. The industrial robot RV reducer comprehensive test platform according to claim 1, characterized in that: A control panel fixedly connected to one end of the base is provided on the outer end surface of the base.

Images