Device for testing repetition precision of harmonic reducer

Abstract

The utility model discloses test equipment for the repetition precision of a harmonic reducer. The test equipment comprises a rack, a detection table, an integrated test assembly, a torque measurement assembly and a load code disc assembly, the integrated test assembly comprises a first support frame, a servo motor, a second support frame and a tested harmonic reducer, and the servo motor is connected with the tested harmonic reducer; the detection table comprises a first mounting plate, a moving assembly and a second mounting plate, and the first supporting frame and the second supporting frame are both arranged on the second mounting plate; the load code disc assembly comprises a fourth supporting frame and a transmission shaft, a transmission rod is connected to the transmission shaft, a plurality of load code discs are arranged at one end of the transmission rod, and the transmission shaft is connected with a torque sensor. The harmonic reducer repetition precision test equipment provided by the utility model has the advantages of simple structure, high test precision and high automation degree, and can meet the high-precision performance test and detection requirements of an industrial robot on a precision reducer.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical performance detection equipment, in particular to a test device for the repeatability accuracy of a harmonic reducer. Background Art

[0002] In recent years, the global robotics industry has experienced rapid growth, with increasing production of both industrial and service robots. This has led to a growing demand for harmonic reducers within the robotics industry. Core performance parameters for harmonic reducers include transmission efficiency, no-load starting torque, stiffness, backlash, idle travel, angular transmission accuracy, and dynamic response. While current harmonic reducer testing systems are capable of comprehensively measuring these parameters, significant operational errors during assembly make adjusting test items and targets cumbersome, making it difficult to maintain consistently high-precision test results.

[0003] Traditional testing equipment for servo motor performance testing also faces significant human interference issues. This is particularly challenging when it comes to precisely adjusting the coaxiality during installation, which directly impacts the accuracy and reliability of test results. Furthermore, due to the numerous components of a harmonic reducer test system, the accumulation of small deviations between components further exacerbates the overall test result, limiting the maximum accuracy achievable by the entire test system. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the current harmonic reducer testing equipment, the utility model provides a harmonic reducer repeatability accuracy testing equipment with a simple structure, high test accuracy, and a high degree of automation, which meets the high-precision performance testing and detection requirements of industrial robots for precision reducers.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the present invention adopt the following technical solutions:

[0006] A test device for the repeatability of a harmonic reducer comprises a frame, a test bench arranged on the frame, an integrated test assembly arranged on the test bench, a torque measurement assembly and a load code disc assembly;

[0007] The integrated test assembly includes a first support frame, a servo motor arranged on the first support frame, and a second support frame and a harmonic reducer to be tested arranged on the second support frame, wherein the output end of the servo motor is connected to the input end of the harmonic reducer to be tested; the test bench includes a first mounting plate arranged on the frame, a moving assembly arranged on the first mounting plate, and a second mounting plate arranged on the moving assembly, wherein the first support frame and the second support frame are both arranged on the second mounting plate;

[0008] The torque measurement assembly includes a third support frame and a torque sensor arranged on the third support frame, and the output end of the harmonic reducer under test is connected to the input end of the torque sensor; the load code disk assembly includes a fourth support frame and a transmission shaft arranged on the fourth support frame, a transmission rod is connected to the transmission shaft, and one end of the transmission rod is provided with several load code disks, and the transmission shaft is connected to the output end of the torque sensor.

[0009] In one embodiment, the output end of the servo motor is connected to the input end of the harmonic reducer under test through a first connecting flange; the output end of the harmonic reducer under test is connected to the input end of the torque sensor through a first coupling, and the output end of the torque sensor is connected to the transmission shaft through a second coupling and a second connecting flange.

[0010] In one embodiment, the servo motor, the harmonic reducer to be measured and the torque sensor are all installed on the same axis.

[0011] In one embodiment, the moving assembly includes a screw rod and a parallel guide rail, the guide rail is provided with a slidable slider, and the top of the slider is fixedly connected to the second mounting plate; the screw rod is arranged on the first mounting plate, and the screw rod is provided with a screw nut fixedly connected to the bottom of the second mounting plate, and a handle is provided at one end of the screw rod, and the screw rod is driven to rotate by rotating the handle, thereby driving the second mounting plate to move left and right along the screw rod.

[0012] In one embodiment, a limiting bolt is installed on the limiting plate.

[0013] In one embodiment, the transmission rod is L-shaped, the load code disc is arranged at the lower end of the transmission rod, and the transmission shaft drives the transmission rod to rotate, thereby driving the load code disc to rotate with the transmission shaft as the center.

[0014] In one embodiment, a displacement sensor is provided on the frame, and the displacement sensor records data each time the load code disc passes through its detection area.

[0015] In one embodiment, the torque sensor is a dual-range torque sensor.

[0016] In one embodiment, the machine further includes a PLC controller and a signal light installed on the frame, wherein the PLC controller is electrically connected to the servo motor, the torque sensor, and the signal light.

[0017] The beneficial effect of the present invention is that it provides a test equipment for the repeatability of a harmonic reducer. Through integrated design, the test bench, integrated test component, torque measurement component and load code disk component are arranged on the frame, which reduces the equipment installation area, simplifies the operation process and improves the test efficiency. The use of high-precision torque sensors and displacement sensors, combined with the precise control of the PLC controller, ensures the accuracy and reliability of the test data. It can realize the basic performance test, fatigue performance test, repeatability test, motor input torque collection, noise temperature rise oil product recording and wear analysis of the harmonic reducer under test. It has the advantages of compact structure, easy operation, high test accuracy, strong adaptability and high degree of automation. It can meet the needs of high-precision testing of harmonic reducers and improve test efficiency and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic structural diagram of the testing equipment described in the present utility model;

[0020] Figure 2 This is a right isometric view of the test equipment described in the present utility model.

[0021] The accompanying drawings are marked as follows: 1. Frame; 21. First mounting plate; 22. Second mounting plate; 23. Screw; 24. Guide rail; 25. Slider; 26. Handle; 27. Limit plate; 31. First support frame; 32. Harmonic reducer to be measured; 33. Servo motor; 34. First connecting flange; 35. Second support frame; 41. Third support frame; 42. Torque sensor; 43. First coupling; 51. Fourth support frame; 52. Drive shaft; 53. Drive rod; 54. Load code disk; 55. Second coupling; 56. Second connecting flange; 6. Displacement sensor; 7. PLC controller; 8. Signal light. DETAILED DESCRIPTION

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0023] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, features qualified as "first," "second," etc., may explicitly or implicitly include one or more of such features. In the description of this utility model, unless otherwise specified, "plurality" means two or more.

[0024] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] like Figure 1 、 Figure 2 As shown, a test device for the repeatability of a harmonic reducer includes a frame 1, a test bench, an integrated test assembly arranged on the test bench, a torque measurement assembly, and a load code disc assembly.

[0027] The frame 1 serves as the supporting base of the entire test equipment, which is stable and durable. A placement platform is provided on the frame 1 for placing the test bench. In this embodiment, the test bench is provided on the frame 1, and the test bench includes a first mounting plate 21 provided on the frame 1, a moving assembly provided on the first mounting plate 21, and a second mounting plate 22 provided on the moving assembly. Furthermore, the moving assembly includes a screw rod 23 and a parallel guide rail 24, the guide rail 24 is provided with a slidable slider 25, and the top of the slider 25 is fixedly connected to the second mounting plate 22; the screw rod 23 is provided on the first mounting plate 21, and a screw nut fixedly connected to the bottom of the second mounting plate 22 is provided on the screw rod 23. A handle 26 is provided at one end of the screw rod 23. By rotating the handle 26, the screw rod 23 is driven to rotate, so as to realize the left and right precise movement of the second mounting plate 22 and the assembly thereon, so as to facilitate the adjustment of the position of the harmonic reducer 32 to be tested. Limiting plates 27 are provided on both sides of the first mounting plate 21, and limiting bolts are installed on the limiting plates 27 to ensure the safety and controllability of the moving range.

[0028] The integrated test assembly includes a first support frame 31, a servo motor 33 mounted on the first support frame, a second support frame 35, and a harmonic reducer 32 under test mounted on the second support frame 35. The servo motor 33 is connected to the input of the harmonic reducer via a first connecting flange 34, ensuring the accuracy and stability of power transmission. Both the first support frame 31 and the second support frame 35 are mounted on the second mounting plate 22 of the test bench. The second support frame 35 is also provided with a handle for easy lifting and picking. The servo motor 33, the harmonic reducer 32 under test, and the torque sensor 42 are all mounted on the same axis, effectively reducing transmission errors and improving test accuracy.

[0029] The torque measurement assembly includes a third support frame 41 and a torque sensor 42 mounted on the third support frame 41. The output of the harmonic reducer 32 under test is connected to the input of the torque sensor 42 via a first coupling 43. The torque sensor 42 accurately measures the output torque in real time. In this embodiment, the torque sensor 42 is a dual-range torque sensor, which can flexibly meet testing requirements under different load conditions, further improving the adaptability and practicality of the device. By monitoring the input torque of the servo motor 33, key performance parameters of the harmonic reducer 32 under test can be comprehensively evaluated, including the starting torque, the gentle interference of the teeth, the tightness of the fit, the tooth contact surface value, and the fluctuation of the input torque during operation.

[0030] The load code disc assembly includes a fourth support frame 51, a transmission shaft 52, and a transmission rod 53. The transmission rod 53 has an L-shaped structure. The upper end of the transmission rod 53 is connected to the transmission shaft 52, and the lower end is provided with a plurality of load code discs 54. The rotation of the transmission shaft 52 drives the load code discs 54 to rotate about the transmission shaft 52. The rotation of the load code discs 54 reflects the load performance of the harmonic reducer 32 under test. Furthermore, the transmission shaft 52 is connected to the output end of the torque sensor 42 via a second coupling 55 and a second connecting flange 56.

[0031] The displacement sensor 6 is mounted on the frame 1 . The displacement sensor 6 is used to record displacement data each time the load code disc 54 passes through its detection area, providing a basis for evaluating the repeatability accuracy of the harmonic reducer 32 under test.

[0032] The harmonic reducer repeatability test equipment also includes a PLC controller 7 and a signal light 8 mounted on the frame 1. The PLC controller 7 is electrically connected to the servo motor 33, the torque sensor 42, and the signal light 8 to automate the test process. The signal light 8 indicates the test status, improving the convenience of operation.

[0033] The harmonic reducer repeatability test equipment provided by the utility model can realize basic performance testing, fatigue performance testing, repeatability testing, motor input torque collection, noise temperature rise and oil quality recording, and wear analysis of the harmonic reducer 32 under test. These test functions together constitute the evaluation system of the device for the harmonic reducer, providing strong support for the selection, use and maintenance of the equipment.

[0034] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of the present invention patent.

[0035] In order to make it easier for ordinary technicians in this field to understand the improvements of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and for the sake of clarity, some other elements are omitted in this application document. Ordinary technicians in this field should realize that these omitted elements may also constitute the content of the present invention.

Claims

1. A test device for the repeatability of a harmonic reducer, characterized in that: It comprises a frame (1), a test bench arranged on the frame (1), an integrated test assembly arranged on the test bench, a torque measurement assembly and a load code disc assembly; The integrated test assembly comprises a first support frame (31), a servo motor (33) arranged on the first support frame, a second support frame (35), and a harmonic reducer (32) to be tested arranged on the second support frame (35), wherein the output end of the servo motor (33) is connected to the input end of the harmonic reducer (32) to be tested; the test bench comprises a first mounting plate (21) arranged on the frame (1), a moving assembly arranged on the first mounting plate (21), and a second mounting plate (22) arranged on the moving assembly, wherein the first support frame (31) and the second support frame (35) are both arranged on the second mounting plate (22); The torque measurement assembly comprises a third support frame (41) and a torque sensor (42) arranged on the third support frame (41), and the output end of the measured harmonic reducer (32) is connected to the input end of the torque sensor (42); the load code disk assembly comprises a fourth support frame (51) and a transmission shaft (52) arranged on the fourth support frame (51), a transmission rod (53) is connected to the transmission shaft (52), and one end of the transmission rod (53) is provided with a plurality of load code disks (54), and the transmission shaft (52) is connected to the output end of the torque sensor (42).

2. The test equipment for the repeatability of harmonic reducer according to claim 1, characterized in that: The output end of the servo motor (33) is connected to the input end of the harmonic reducer (32) to be measured via a first connecting flange (34); the output end of the harmonic reducer (32) to be measured is connected to the input end of the torque sensor (42) via a first coupling (43); and the output end of the torque sensor (42) is connected to the transmission shaft (52) via a second coupling (55) and a second connecting flange (56).

3. The test equipment for the repeatability of a harmonic reducer according to claim 2, characterized in that: The servo motor (33), the harmonic reducer (32) to be measured, and the torque sensor (42) are all installed on the same axis.

4. The test equipment for the repeatability of a harmonic reducer according to claim 1, characterized in that: The moving assembly comprises a screw rod (23) and a guide rail (24) arranged in parallel, wherein a slidable slider (25) is provided on the guide rail (24), and the top of the slider (25) is fixedly connected to the second mounting plate (22); the screw rod (23) is arranged on the first mounting plate (21), and a screw rod nut fixedly connected to the bottom of the second mounting plate (22) is provided on the screw rod (23), and a handle (26) is provided at one end of the screw rod (23), and the screw rod (23) is driven to rotate by rotating the handle (26), thereby driving the second mounting plate (22) to move left and right along the screw rod (23).

5. The test equipment for the repeatability of a harmonic reducer according to claim 4, characterized in that: Limiting plates (27) are provided on both sides of the first mounting plate (21), and limiting bolts are installed on the limiting plates (27).

6. The test equipment for the repeatability of a harmonic reducer according to claim 1, characterized in that: The transmission rod (53) is in an L-shaped structure, the load code disc (54) is arranged at the lower end of the transmission rod (53), and the transmission shaft (52) drives the transmission rod (53) to rotate, thereby driving the load code disc (54) to rotate with the transmission shaft (52) as the center.

7. The test equipment for the repeatability of a harmonic reducer according to claim 6, characterized in that: A displacement sensor (6) is provided on the frame (1), and the displacement sensor (6) records data each time the load code disc (54) passes through its detection area.

8. The test equipment for the repeatability of a harmonic reducer according to claim 1, characterized in that: The torque sensor (42) is a dual-range torque sensor.

9. The test equipment for the repeatability of a harmonic reducer according to claim 1, characterized in that: It also includes a PLC controller (7) and a signal light (8) installed on the frame (1), wherein the PLC controller (7) is electrically connected to the servo motor (33), the torque sensor (42), and the signal light (8).

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