Synchronous belt transmission precision testing device for robot

Abstract

The utility model relates to the technical field of robot transmission precision testing, in particular to a synchronous belt transmission precision testing device for a robot, which comprises a retainer ring, a bearing, a shaft sleeve, a bearing seat, an encoder and a support plate. An inner ring of the bearing is installed on an outer ring of the upper side of the shaft sleeve, the bearing seat is installed on the outer ring of the bearing, and the encoder is fixed to the bearing seat through a screw and fixedly connected with the lower side of the cylindrical face of the shaft sleeve. The utility model provides a synchronous belt transmission precision testing device for a robot, which solves the problems that the transmission precision of a synchronous belt cannot be directly tested in the prior art, so that the synchronous belt is poor in installation and inappropriate in type selection, and the tail end precision of the robot is influenced. And by arranging the adapter shaft sleeve, the universality of the synchronous belt transmission precision testing device in practical application is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot transmission accuracy testing, and specifically relates to a synchronous belt transmission accuracy testing device for robots. Background Art

[0002] In medium and small industrial robots and SCARA robots, synchronous belts are widely used. For example, in six-axis robots, the application is: synchronous belt + harmonic reducer; for SCARA robots, it is: synchronous belt + ball screw spline. The relatively high positioning accuracy and repeated positioning accuracy of robots put higher requirements on the transmission accuracy of synchronous belts. For example, improper installation of synchronous belts, inappropriate selection of synchronous belts, and insufficient machining accuracy of synchronous pulley tooth profiles will all have a certain impact on the end accuracy of robots. However, synchronous belts are often part of the transmission chain and the transmission accuracy of synchronous belts cannot be directly measured. Summary of the Invention

[0003] In order to solve the above technical problems, the utility model proposes a synchronous belt transmission accuracy testing device for robots.

[0004] The technical problems to be solved by the utility model are realized by adopting the following technical solutions:

[0005] A synchronous belt transmission accuracy testing device for robots includes a retaining ring, a bearing, a bushing, a bearing housing, an encoder, and a support plate. The retaining ring is installed on the support plate through a column, the retaining ring is attached to the upper end face of the bearing, the inner ring of the bearing is installed on the outer circle of the upper side of the bushing, the bearing housing is installed on the outer ring of the bearing, and the encoder is fixed on the bearing housing by screws and is fixedly connected to the lower side of the cylindrical surface of the bushing.

[0006] As a further improvement of the utility model, the inner ring of the bearing is fixed on the bushing by a shaft circlip, and the outer ring of the bearing is fixed in the bearing housing by the retaining ring.

[0007] As a further improvement of the utility model, the encoder includes a stator and a rotor. The stator is fixed on the bearing housing by screws, and the rotor is fixedly connected to the lower side of the cylindrical surface of the bushing by a set screw.

[0008] As a further improvement of the utility model, an adapter bushing is provided on the bushing, and the adapter bushing is fixedly connected to the rotor by a set screw.

[0009] The beneficial effects of the utility model are:

[0010] The utility model provides a synchronous belt transmission accuracy test device for a robot, thereby solving the problem that the transmission accuracy of the synchronous belt cannot be directly measured, resulting in poor installation of the synchronous belt and inappropriate selection of the synchronous belt, which affects the terminal accuracy of the robot; and by providing an adapter sleeve, the versatility of the synchronous belt transmission accuracy test device in practical applications is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a schematic diagram of the explosion structure of the utility model;

[0014] Figure 3 It is a structural schematic diagram of the encoder in the utility model;

[0015] Figure 4 This is a schematic diagram of the application of the utility model on SCARA;

[0016] Figure 5 It is a structural diagram of the ball screw spline;

[0017] Figure 6 It is a structural schematic diagram of a spline nut.

[0018] In the figure:

[0019] 1. retaining ring; 2. elastic retaining ring for shaft; 3. bearing; 4. bushing; 5. bearing seat; 6. encoder; 601. stator; 602. rotor; 7. adapter bushing; 8. column; 9. support plate; 20. ball screw spline; 201. screw; 202. screw nut; 203. spline nut; 2031. spline nut fixing part; 2032. spline nut rotating part; 21. SCARA; 22. synchronous belt transmission accuracy test device. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] like Figures 1 to 3 As shown, a synchronous belt transmission accuracy testing device for a robot includes a retaining ring 1, an elastic retaining ring 2 for a shaft, a bearing 3, a shaft sleeve 4, a bearing seat 5, an encoder 6, an adapter sleeve 7, a column 8, and a support plate 9.

[0022] The retaining ring 1 is mounted on the supporting plate 9 via a column 8 .

[0023] The inner ring of the bearing 3 is mounted on the outer ring of the shaft sleeve 4 through the shaft elastic retaining ring 2, and the outer ring of the bearing 3 is fixed in the bearing seat 5 through the retaining ring 1.

[0024] The encoder 6 includes a stator 601 and a rotor 602. The stator 601 is fixed to the bearing seat 5 by screws, and the rotor 602 is fixedly connected to the lower side of the cylindrical surface of the shaft sleeve 4 by a jackscrew.

[0025] The adapter sleeve 7 can be fixedly connected to the rotor 602 via a jackscrew, and the adapter sleeve 7 plays a role of adapter to improve the versatility of the device in actual use.

[0026] The support plate 9 is used to support the device and also serves to connect the device to the SCARA 21 .

[0027] A method for testing the transmission accuracy of a synchronous belt for a robot, using the above-mentioned device for testing the transmission accuracy of a synchronous belt for a robot, specifically, Figures 4 to 6 As shown, it includes SCARA21, a synchronous belt transmission accuracy testing device 22, and a ball screw spline 20 arranged on the SCARA21. The ball screw spline 20 includes a screw rod 201, a screw nut 202, and a spline nut 203. The spline nut 203 includes a spline nut fixing part 2031 and a spline nut rotating part 2032, wherein the spline nut rotating part 2032 drives the screw rod 201 to rotate together.

[0028] The following steps are involved:

[0029] Step 1: The synchronous belt transmission accuracy test device 22 is matched with the spline nut fixing part 2031 through the support plate 9 and fixed on the SCARA 21 arm casting, and the sleeve 4 is fixed on the spline nut rotating part 2032 of the spline nut 203 in the ball screw spline 20 through the top screw, or the sleeve 4 is first fixed on the adapter sleeve 7 through the top screw, and then the adapter sleeve 7 is fixed on the spline nut rotating part 2032 of the spline nut 203 in the ball screw spline 20 through the top screw;

[0030] Step 2: After the synchronous belt transmission accuracy test device 22 is installed, SCARA21 is enabled, and the motor and the encoder 6 on the synchronous belt transmission accuracy test device 22 are checked and confirmed to be operating normally. The motor controls the lead screw to run to the mechanical zero position, and the current data of the encoder 6 on the synchronous belt transmission accuracy test device 22 is read, which is recorded as δ;

[0031] Step 3: The motor on SCARA 21 controls the screw 201 in the ball screw spline 20 to rotate clockwise at a certain speed by a certain angle θx, and reads the current data of the encoder 6 on the synchronous belt transmission accuracy test device 22, which is recorded as α1;

[0032] Step 4: The motor on the SCARA21 controls the screw rod 201 in the ball screw spline 20 to rotate counterclockwise at a certain speed by the same angle θx again, and read the current data of the encoder 6 on the synchronous belt transmission accuracy test device 22, denoted as α2;

[0033] Step 5: Repeat Steps 3 to 4 multiple times according to actual needs, and record the data as shown in the following table.

[0034]

[0035] Calculate the test result through the repeat positioning accuracy calculation formula. The repeat positioning accuracy calculation formula is as follows:

[0036]

[0037] Assume that the resolution of the encoder is 2n, and it is converted into an angular deviation

[0038]

[0039] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A synchronous belt transmission accuracy testing device for a robot, characterized in that: The invention comprises a retaining ring (1), a bearing (3), a shaft sleeve (4), a bearing seat (5), an encoder (6), and a support plate (9), wherein the retaining ring (1) is mounted on the support plate (9) via a column (8), the retaining ring (1) is fitted to the upper end surface of the bearing (3), the inner ring of the bearing (3) is mounted on the upper outer ring of the shaft sleeve (4), the bearing seat (5) is mounted on the outer ring of the bearing (3), and the encoder (6) is fixed to the bearing seat (5) via screws and is fixedly connected to the lower side of the cylindrical surface of the shaft sleeve (4).

2. A synchronous belt transmission accuracy testing device for a robot according to claim 1, characterized in that: The inner ring of the bearing (3) is fixed on the shaft sleeve (4) via an axial elastic retaining ring (2), and the outer ring of the bearing (3) is fixed in the bearing seat (5) via the retaining ring (1).

3. A synchronous belt transmission accuracy testing device for a robot according to claim 1, characterized in that: The encoder (6) comprises a stator (601) and a rotor (602); the stator (601) is fixed to the bearing seat (5) by means of screws, and the rotor (602) is fixedly connected to the lower side of the cylindrical surface of the shaft sleeve (4) by means of a jackscrew.

4. A synchronous belt transmission accuracy testing device for a robot according to claim 3, characterized in that: The shaft sleeve (4) is provided with an adapter shaft sleeve (7), and the adapter shaft sleeve (7) is fixedly connected to the rotor (602) via a top screw.

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