Backlash detection fixture for a robot joint reducer

Abstract

The utility model discloses a kind of backlash detection clamps of robot joint speed reducer, belong to robot precision transmission technical field.The fixture includes bottom plate, fixed mechanism, input end locking mechanism, output end loading mechanism and detection mechanism.Fixed mechanism is used to install measured speed reducer.Input end locking mechanism is used to lock speed reducer input end.Output end loading mechanism is connected to output end, for applying preset torque of clockwise and counterclockwise.Detection mechanism is also connected to output end, for measuring the angular displacement difference of output end according to above-mentioned torque, to obtain backlash value.The utility model directly locks input end and quantitative loading by mechanical structure, directly measures in combination with high-precision angle sensor, effectively eliminates the hunting and transmission error in measurement process, realizes high-precision, high repeatability fast detection to speed reducer backlash under low-cost premise, structure is solid, easy to operate, especially suitable for batch inspection in production site.

Description

Technical Field

[0001] This utility model relates to the field of precision transmission technology for robots, and in particular to a backlash detection fixture for robot joint reducers. Background Technology

[0002] As a core transmission component of industrial robots, the robot joint reducer's transmission accuracy directly affects the robot's motion performance and control stability. Backlash, also known as hysteresis, refers to the difference in angular displacement between the driving end (connected to the motor) and the driven end (connected to the actuator) during reversal, caused by factors such as gear meshing clearance, shaft assembly errors, and component wear. The presence of backlash causes a series of problems: First, it leads to positioning deviations during robot reversal movements, severely affecting repeatability, especially in circular interpolation or frequent start-stop scenarios. Second, backlash causes a shock from "no contact" to "sudden engagement" during transmission chain reversal, resulting in vibration and noise, affecting machining quality, accelerating component wear, and shortening equipment lifespan. Furthermore, backlash manifests as a non-linear "dead zone" in the control system, posing challenges to high-precision servo control and easily leading to oscillations or instability in low-speed or micro-motion conditions. Therefore, accurate and efficient detection of reducer backlash is a crucial step in ensuring the overall performance of the robot.

[0003] Currently, methods for detecting reducer backlash mainly fall into two categories: one is a high-end solution using a servo motor in conjunction with a high-precision torque sensor. While this method offers high measurement accuracy, it suffers from complex system structure, high cost, and stringent environmental requirements, making it difficult to promote in mass production scenarios for small and medium-sized enterprises. The other is a low-end method relying on manual shaking of the input shaft for judgment, which suffers from strong subjectivity, lack of quantification, poor repeatability, and unreliable results. It is evident that existing traditional technologies struggle to achieve a good balance between low cost, high reliability, and ease of operation. Utility Model Content

[0004] Therefore, it is necessary to provide a backlash detection fixture for robot joint reducers that is simple in structure, low in manufacturing cost, high in detection accuracy, good in repeatability, and easy to operate, in order to address the existing technical problems.

[0005] A backlash detection fixture for a robot joint reducer includes: a base plate, a fixing mechanism, an input end locking mechanism, an output end loading mechanism, and a detection mechanism, wherein the fixing mechanism, the input end locking mechanism, the output end loading mechanism, and the detection mechanism are respectively mounted on the base plate;

[0006] The fixing mechanism is used to install and fix the speed reducer under test;

[0007] The input locking mechanism is used to lock the input end of the speed reducer under test;

[0008] The output loading mechanism is used to connect to the output end of the reducer under test and to load a clockwise preset torque and a counterclockwise preset torque onto the output end of the reducer under test.

[0009] The detection mechanism is used to connect to the output end of the reducer under test and to obtain the backlash of the reducer under test at the preset torque based on the clockwise preset torque and the counterclockwise preset torque.

[0010] In one embodiment, the fixing mechanism includes a bottom block and a top block, the bottom block and the top block are respectively provided with V-shaped through slots, the bottom block is mounted and fixed on the base plate, the top block is detachably connected to the bottom block, and the two V-shaped through slots are arranged opposite to each other to accommodate the speed reducer under test so that the speed reducer under test is clamped and fixed between the bottom block and the top block.

[0011] In one embodiment, the input end locking mechanism includes a locking plate and an input end connector. The locking plate is mounted and fixed on the base plate. The two ends of the input end connector are respectively provided with a cable nozzle structure and a flat position structure. The cable nozzle structure is used to lock and connect with the input shaft of the input end of the reducer under test. The flat position structure is connected with the locking plate in a limiting fit.

[0012] In one embodiment, the locking plate has a limiting fit groove, and the flat structure is embedded in the limiting fit groove and connected and fixed to the locking plate.

[0013] In one embodiment, the locking plate has an internal threaded groove that communicates with the limiting groove. The internal threaded groove is used to drive a screw to abut against the flat structure embedded in the limiting groove.

[0014] In one embodiment, the output loading mechanism includes a standard lever and a force-applying component. The standard lever is used to be mounted and fixed at the output end of the reducer under test. The force-applying component is detachably mounted on the standard lever. The force-applying component is used to apply a clockwise preset torque to one end of the standard lever or to apply a counterclockwise preset torque to the other end of the standard lever.

[0015] In one embodiment, the force-applying component is a standard weight or a miniature thruster.

[0016] In one embodiment, the detection mechanism includes a fixed plate, an angle sensor, and an output connector. The fixed plate is mounted on the base plate, the angle sensor is mounted on the fixed plate, one end of the output connector is used to connect and fix to the output end of the speed reducer under test, and the other end of the output connector is connected to the angle sensor.

[0017] In one embodiment, the standard lever has a clearance through hole, and the output end connector passes through the clearance through hole and connects to the angle sensor.

[0018] In one embodiment, the fixing plate has a clearance through hole, and the input shaft of the angle sensor passes through the clearance through hole and is connected to the output end connector.

[0019] The aforementioned backlash detection fixture for robot joint reducers, through its integrated modular design, effectively solves the core problems of high cost, complex operation, and difficulty in balancing measurement reliability in existing technologies. Specifically, the fixing mechanism ensures stable clamping of the reducer under test during the testing process, providing a foundation for accurate measurement; the input-end locking mechanism reliably locks the input shaft, completely eliminating measurement errors introduced by input-end movement and improving the accuracy and repeatability of the data; the output-end loading mechanism applies controllable clockwise and counterclockwise preset torques to simulate bidirectional loads under actual working conditions, achieving quantitative excitation of the reducer backlash, with strong consistency in torque application and avoiding the uncertainty of human operation; the detection mechanism is directly connected to the output end, and with the support of high-precision sensors, it can accurately capture the angular displacement difference of the output end under positive and negative torques, thereby directly and reliably calculating the backlash value. The overall solution has a simple structure, significantly reduced cost, and is suitable for production line environments. While ensuring high precision and high repeatability, it greatly improves testing efficiency and engineering applicability, providing an effective tool for quality control and performance evaluation of robot joint reducers. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the backlash detection fixture for a robot joint reducer in one embodiment.

[0021] Figure 2 for Figure 1 A schematic diagram of the backlash detection fixture for the robot joint reducer in the embodiment shown from another perspective;

[0022] Figure 3 This is an exploded structural diagram of the backlash detection fixture for a robot joint reducer in one embodiment;

[0023] Figure 4 for Figure 3Another perspective view of the exploded structure of the backlash detection fixture for the robot joint reducer in the illustrated embodiment.

[0024] Figure 5 This is an exploded structural diagram of the input end locking mechanism of the backlash detection fixture for a robot joint reducer in one embodiment. Detailed Implementation

[0025] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below. In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0030] Please see Figure 1 and Figure 2 This utility model provides a backlash detection fixture 10 for a robot joint reducer. The fixture 10 includes a base plate 100, a fixing mechanism 110, an input locking mechanism 120, an output loading mechanism 130, and a detection mechanism 140. The fixing mechanism 110, input locking mechanism 120, output loading mechanism 130, and detection mechanism 140 are respectively mounted on the base plate 100. The fixing mechanism 110 is used to mount and fix the reducer 20 under test. The input locking mechanism 120 is used to lock the input end of the reducer 20 under test. The output loading mechanism 130 is connected to the output end of the reducer 20 under test and applies a clockwise preset torque and a counterclockwise preset torque to the output end of the reducer 20 under test. The detection mechanism 140 is connected to the output end of the reducer 20 under test and obtains the backlash of the reducer 20 under test at the preset torque based on the clockwise and counterclockwise preset torques.

[0031] The aforementioned backlash detection fixture 10 for robot joint reducers, through its integrated modular design, effectively solves the core problems of high cost, complex operation, and difficulty in balancing measurement reliability in existing technologies. Specifically, the fixing mechanism 110 ensures stable clamping of the reducer 20 under test during the testing process, providing a foundation for accurate measurement. The input-end locking mechanism 120 reliably locks the input shaft, completely eliminating measurement errors introduced by input-end movement and improving the authenticity and repeatability of the data. The output-end loading mechanism 130 applies controllable clockwise and counterclockwise preset torques to simulate bidirectional loads under actual working conditions, achieving quantitative excitation of the reducer backlash. The torque application method is highly consistent, avoiding the uncertainty of human operation. The detection mechanism 140 is directly connected to the output end and, with the support of high-precision sensors, can accurately capture the angular displacement difference of the output end under positive and negative torques, thereby directly and reliably calculating the backlash value. The overall solution has a simple structure and significantly reduced costs, making it suitable for production line environments. While ensuring high precision and repeatability, it greatly improves testing efficiency and engineering applicability, providing an effective tool for quality control and performance evaluation of robot joint reducers.

[0032] like Figure 3 and Figure 4 As shown, in order to better clamp the reducer 20 under test and keep it stable during the testing process, in one embodiment, the fixing mechanism 110 includes a bottom block 111 and a top block 112. The bottom block 111 and the top block 112 are each provided with a V-shaped through groove 113. The bottom block 111 is fixedly mounted on the base plate 100, and the top block 112 is detachably connected to the bottom block 111. The two V-shaped through grooves 113 are arranged opposite each other to accommodate the reducer 20 under test, so that the reducer 20 is clamped and fixed between the bottom block 111 and the top block 112. Thus, this embodiment, by providing the bottom block 111 with the opposing V-shaped through grooves 113 and the detachable top block 112, together constitute a wrap-around clamping structure for the reducer under test. The V-shaped through groove 113, also called a V-groove, can effectively adapt to reducer housings of different diameters, achieving good centering and positioning, and ensuring that the axis of the reducer 20 under test remains consistent with the testing reference after clamping. The detachable connection between the bottom block 111 and the top block 112 not only facilitates the quick installation and removal of the reducer and improves the testing efficiency, but also firmly clamps the reducer onto the base plate through the uniform force distribution of the double-sided V-grooves. This effectively avoids loosening or displacement that may occur when the test torque is applied, thus providing a stable and reliable installation foundation for the accurate measurement of back clearance and reducing measurement errors caused by unstable clamping from the source.

[0033] like Figure 3 and Figure 4As shown, in order to eliminate the measurement error caused by the input end movement of the tested reducer 20, in one embodiment, the input end locking mechanism 120 includes a locking plate 121 and an input end connector 122, with the locking plate 121 fixedly mounted on the base plate 100. (Combined with...) Figure 5 As shown, the input connector 122 has a cable nozzle structure 1221 and a flat position structure 1222 at both ends. The cable nozzle structure 1221 is used to lock the input shaft of the input end of the reducer 20 under test, and the flat position structure 1222 is connected to the locking plate 121 in a limiting fit. Thus, this embodiment achieves double locking of the reducer input end through a locking mechanism composed of the locking plate 121 and the input connector 122 with the cable nozzle structure 1221 and the flat position structure 1222. The cable nozzle structure 1221 can quickly and firmly lock the input shaft; at the same time, the flat position structure 1222 of the connector is in a limiting fit with the locking plate 121 fixed to the base plate, effectively preventing any rotational tendency of the connector and its connected input shaft. This double locking mechanism fundamentally eliminates the measurement error introduced by the input end's movement or rotation during the testing process, ensuring that all applied torque is used to overcome the transmission backlash inside the reducer, thereby significantly improving the accuracy and reliability of the backlash detection results.

[0034] Understandable, such as Figure 5 As shown, the cable nozzle structure 1221 is a hollow cylindrical structure composed of two semi-cylindrical plates. These two semi-cylindrical plates extend integrally from the ends of the input end connector 122 outwards, and are elastically connected. The two semi-cylindrical plates form a hollow clamping channel 1223. The input shaft of the reducer under test 20 is embedded in this clamping channel 1223. Each of the two semi-cylindrical plates has an internally threaded clamping through hole 1224, which communicates with the clamping channel 1223. The internally threaded clamping through hole 1224 is used to insert a screw so that the screw abuts against the input shaft of the reducer under test 20 in the clamping channel 1223, thereby further securing the input shaft firmly. Thus, by integrally forming the cable nozzle structure from two elastic semi-cylindrical plates, a hollow clamping channel that can adaptively wrap around the input shaft is created. This flexible design allows it to accommodate input shafts with certain dimensional tolerances, ensuring initial alignment and fit. Furthermore, by screwing in a screw with an internally threaded clamping hole in the semi-cylindrical plate, the end of the screw directly abuts against the input shaft surface, transforming the flexible fit into a rigid, multi-point radial locking mechanism. This combination of "elastic self-adaptation" and "screw active pressure" achieves rapid, secure, and slip-free locking of the input shaft, effectively eliminating relative movement between the input end and the connector, and providing crucial input end fixation conditions for accurate backlash measurement.

[0035] like Figure 3 , Figure 4 as well as Figure 5 As shown, further, the locking plate 121 has a limiting fit groove 1211, and the flat structure 1222 is embedded in the limiting fit groove 1211 and connected and fixed to the locking plate 121. In order to directly lock the input shaft of the input end of the reducer 20 under test, in this embodiment, the shape of the flat structure 1222 is adapted to the shape of the limiting fit groove 1211. Furthermore, internal thread tightening through holes 1212 are respectively provided on both sides of the locking plate 121. The internal thread tightening through holes 1212 are connected to the limiting fit groove 1211. The internal thread tightening through holes 1212 are used to drive screws so that the screws abut against the flat structure 1222 in the limiting fit groove 1211, thereby further restricting the flat structure 1222. In this way, by adapting the shape of the limiting fit groove 1211 to the flat structure 1222, the circumferential restriction of the input end connector is first realized, fundamentally preventing its rotation. Building upon this, the added internally threaded tightening through-hole 1212 and screw constitute an active mechanical locking mechanism: by tightening the screw to make it directly abut against the flat structure 1222, a strong radial locking force is generated, thereby further eliminating all potential axial and radial runout clearances on top of circumferential limiting. This dual locking strategy, combining "shape-fit limiting" and "active screw pressure," ensures that the input end is absolutely locked during testing, laying a solid and reliable foundation for accurate backlash measurement.

[0036] like Figures 1 to 4As shown, in one embodiment, the output loading mechanism 130 includes a standard lever 131 and a force-applying component 132. The standard lever 131 is used to be fixedly mounted on the output end of the reducer 20 under test. The force-applying component 132 is detachably mounted on the standard lever 131. The force-applying component 132 is used to apply a clockwise preset torque to one end of the standard lever 131 or to apply a counterclockwise preset torque to the other end of the standard lever 131. It should be noted that the force-applying component 132 is detachably mounted on the standard lever 131 so that it is first installed on one end of the standard lever 131. The force-applying component 132 first applies a clockwise preset torque to one end of the standard lever 131. After the standard lever 131 stabilizes and stops moving, the angle value recorded by the detection mechanism 140 is zeroed. Then, it is removed and reinstalled on the other end of the standard lever 131, and a counterclockwise preset torque is applied to the other end of the standard lever 131. After the standard lever 131 stabilizes and stops moving again, the reading of the detection mechanism 140 is recorded. The absolute value of this reading is the output backlash of the reducer under the preset torque. Thus, by combining a standard lever with a detachable force-applying component, a simple and precisely controllable torque loading method is achieved. Utilizing the gravity or micro-thrust of the force-applying component, preset torques of constant value but opposite direction can be applied to both ends of the lever, accurately simulating the forward and reverse switching conditions of the reducer during actual operation. The process of alternately installing the same force-applying component at both ends of the lever not only ensures the consistency of the forward and reverse test torques, eliminating systematic errors caused by using different force sources, but also makes the entire testing process standardized and repeatable through the standard procedure of "loading-stabilizing-zeroing-reversing-reloading-reading". This design cleverly transforms complex torque control into a simple operation of loading and repositioning heavy objects, greatly reducing the operational threshold and equipment cost while ensuring measurement accuracy and repeatability, making it ideal for rapid, batch testing on production lines.

[0037] In one embodiment, the force-applying component 132 is a standard weight or a miniature thruster. Thus, by specifying the force-applying component as a standard weight or a miniature thruster, an optimal loading scheme is provided for different application scenarios. When using a standard weight, its gravity generates a constant, accurate, and directly calculable test torque, fundamentally eliminating potential fluctuations and errors in electrical or hydraulic systems. This ensures high consistency of test conditions for each test, providing the highest level of accuracy and repeatability for backlash measurement, with extremely low cost, no external energy required, and simple and reliable operation. When using a miniature thruster, automated torque application and switching are achieved without manual weight disassembly and assembly, significantly improving testing efficiency and enabling automation and integration of the testing process, making it particularly suitable for high-cycle, fully automated testing production lines. These two configurations allow the fixture to combine economy and reliability in basic scenarios with automation and high efficiency in high-end scenarios, demonstrating excellent adaptability and scalability.

[0038] like Figures 1 to 4 As shown, in one embodiment, the detection mechanism 140 includes a fixing plate 141, an angle sensor 142, and an output connector 143. The fixing plate 141 is mounted on the base plate 100, the angle sensor 142 is mounted on the fixing plate 141, one end of the output connector 143 is used to connect and fix to the output end of the reducer 20 under test, and the other end of the output connector 143 is connected to the angle sensor 142. Thus, through the combination of the fixing plate, the angle sensor, and the output connector, an independent, stable, and high-precision detection unit is constructed. The fixing plate provides a stable mounting reference for the angle sensor, effectively isolating it from potential vibration interference from the base plate. The output connector is directly and rigidly connected to the output end of the reducer under test, ensuring that the sensor can synchronously and without hysteresis capture the true angular displacement of the output shaft. This direct measurement path of "output end - connector - sensor" avoids deformation or clearance errors that may be introduced by intermediate transmission links such as levers. As a result, it can most realistically and directly reflect the backlash value of the reducer body under torque, fundamentally ensuring the accuracy and reliability of the measurement results.

[0039] like Figures 1 to 4 As shown, in one embodiment, the standard lever 131 has a clearance through-hole 1311, through which the output connector 143 passes and connects to the angle sensor 142. Further, in one embodiment, the fixing plate 141 has a clearance through-hole 1411, through which the input shaft of the angle sensor 142 passes and connects to the output connector 143. Thus, by creating a clearance through-hole on the standard lever, an independent through-channel is provided for the output connector, achieving physical isolation between the loading path and the detection path. This design ensures that the output connector directly and without interference connects the sensor to the reducer output, thereby completely avoiding the negative impact on angle measurement accuracy caused by bending or deformation of the standard lever under load. Simultaneously, the clearance through-hole on the fixing plate provides precise alignment and connection space for the sensor input shaft, ensuring coaxiality of the transmission. The combination of these two elements creates a high-fidelity, intermediary-free detection path, enabling the angle sensor to accurately capture the pure backlash angular displacement at the output end, greatly improving the authenticity and accuracy of the measurement.

[0040] The back gap detection workflow in each of the above implementations is as follows:

[0041] Step 1, Clamping and Fixing: First, place the reducer under test stably in the V-block of the fixing mechanism, ensuring its axis is aligned. Then, insert the cable nozzle structure of the input end connector into the input shaft of the reducer and tighten the screws on the cable nozzle to secure it firmly. At the same time, embed the flat structure at the other end of the connector into the limiting groove of the locking plate and tighten it with the side screws to achieve complete locking of the input end.

[0042] Step 2, Output Connection: Install and fix the standard lever to the output end of the reducer under test. At the same time, lock one end of the output connector to the output end of the reducer, and after passing the other end through the clearance hole of the standard lever, reliably connect it to the high-precision angle sensor that has been installed on the fixed plate.

[0043] Step 3, Initial Zeroing: Suspend a standard weight as the force-applying component at one end of a standard lever (defined as positive direction), and apply a preset clockwise torque to the output end. After the lever movement is completely stable, reset the current reading of the angle sensor to zero to establish a measurement reference.

[0044] Step 4, Reversal Measurement and Reading: Remove the standard weight from one end of the lever and move it to the other end (defined as reversal), thereby applying a pre-set counterclockwise torque of equal value but opposite direction to the output end. After the system stabilizes again, record the value displayed by the angle sensor. The absolute value of this reading is the output backlash of the reducer under the preset torque.

[0045] It is worth mentioning that, based on the technical solutions of the above embodiments, this utility model also provides a method for detecting the backlash of a robot joint reducer, which is implemented based on the aforementioned detection fixture. The method for detecting the backlash of a robot joint reducer specifically includes the following steps:

[0046] S1. Clamping and Input End Locking: The reducer under test is placed in the fixing mechanism of the fixture base plate, and centered and radially limited by its V-groove. Then, the cable end structure of the input end connector is fitted into the input shaft of the reducer, and the screw on the cable end is tightened to radially lock the input shaft; at the same time, the flat structure of the connector is embedded into the limiting fit groove of the locking plate, and the lateral screw is screwed in to tighten it, thereby completing the double locking of the input end and completely eliminating the possibility of rotation and movement.

[0047] S2. Output Connection and Testing Preparation: Install and fix the standard lever to the output end of the reducer under test. Simultaneously, lock one end of the output connector to the reducer's output end, and pass the other end through the clearance hole in the center of the standard lever to achieve a coaxial connection with the high-precision angle sensor mounted on an independent mounting plate. This step establishes an independent measurement path, ensuring physical isolation between the loading and testing systems.

[0048] S3. Forward Loading and Measurement Reference Establishment: A standard weight is used as the force-applying component and suspended on a designated side (e.g., the right end) of the standard lever to apply a precisely calculated, known-direction, forward (e.g., clockwise) preset torque to the reducer output. After the lever movement has completely stopped and the system has reached a stable state, the current reading of the angle sensor is reset to zero, and this position is used as the absolute reference zero point for subsequent backlash calculations.

[0049] S4. Reverse Loading and Backlash Calculation: Remove the standard weight from the current side of the standard lever and transfer it to the opposite side (e.g., the left end), thereby applying a preset torque to the output end in the opposite direction (e.g., counterclockwise) to the equal value in step S3. After the system stabilizes again, read and record the reading of the angle sensor in this state. The absolute value of this reading is the output end angular displacement backlash exhibited by the tested reducer during the transition from forward to reverse under the preset torque, which is also the calculated backlash value.

[0050] Thus, the back gap detection method provided by this utility model constructs a complete and reliable technical closed loop through a series of logically rigorous and interconnected operation steps, realizing the optimization of the entire process from clamping and loading to measurement, and ultimately achieving a series of significant technical effects.

[0051] Firstly, regarding the accuracy and reliability of the measurement, this method fundamentally eliminates key error sources by combining "double locking at the input end" with "direct measurement at the output end." The locking of the cable lug and the tightening of the flat position in step S1 ensure that the input end is absolutely locked, avoiding false displacements caused by input shaft movement or rotation. The independent detection path established in step S2 allows the angle sensor to directly capture the true angular displacement of the output shaft through the output end connector, effectively isolating the interference of standard lever deformation on the measurement results. These two factors work together to ensure that the measured angular displacement difference purely reflects the transmission backlash inside the reducer, making the data accurate and reliable.

[0052] Secondly, regarding the consistency and repeatability of the tests, this method achieves precise control of test conditions through "standardized lever and weight loading." In steps S3 and S4, the gravity of standard weights generates a constant and calculable preset torque on a standard lever. This torque value is accurate and reproducible in each test, completely avoiding the fluctuations and uncertainties caused by manual force application or electric loading. This standardized loading method ensures that tests performed by different batches and different operators are conducted under completely consistent torque conditions, thus giving the measurement results extremely high repeatability and comparability.

[0053] Finally, regarding ease of operation and efficiency, this method streamlines the complex backlash detection process into a few clear steps, significantly reducing the operational threshold and improving efficiency. The entire process is logically clear, forming a smooth workflow from clamping and zeroing to reversing the reading. Ordinary production line workers can quickly master it after simple training. Each test is short, making it ideal for rapid sampling or large-scale full inspection on the production floor, greatly improving quality control efficiency while ensuring detection accuracy.

[0054] In summary, this backlash detection method successfully achieves an excellent balance between high precision, high repeatability, high efficiency, and low operational threshold, providing an effective and standardized solution for the quality control of robot joint reducers.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A backlash detection fixture for a robot joint reducer, characterized in that, include: The base plate, fixing mechanism, input locking mechanism, output loading mechanism, and detection mechanism are all included. The fixing mechanism, the input locking mechanism, the output loading mechanism, and the detection mechanism are respectively installed on the base plate; The fixing mechanism is used to install and fix the speed reducer under test; The input locking mechanism is used to lock the input end of the speed reducer under test; The output loading mechanism is used to connect to the output end of the reducer under test and to load a clockwise preset torque and a counterclockwise preset torque onto the output end of the reducer under test. The detection mechanism is used to connect to the output end of the reducer under test and to obtain the backlash of the reducer under test at the preset torque based on the clockwise preset torque and the counterclockwise preset torque.

2. The backlash detection fixture for a robot joint reducer according to claim 1, characterized in that, The fixing mechanism includes a bottom block and a top block. The bottom block and the top block are respectively provided with V-shaped through slots. The bottom block is installed and fixed on the base plate. The top block is detachably connected to the bottom block. The two V-shaped through slots are arranged opposite to each other to accommodate the speed reducer under test so that the speed reducer under test is clamped and fixed between the bottom block and the top block.

3. The backlash detection fixture for a robot joint reducer according to claim 1, characterized in that, The input end locking mechanism includes a locking plate and an input end connector. The locking plate is mounted and fixed on the base plate. The two ends of the input end connector are respectively provided with a cable nozzle structure and a flat position structure. The cable nozzle structure is used to lock and connect with the input shaft of the input end of the reducer under test. The flat position structure is connected with the locking plate in a limiting fit.

4. The backlash detection fixture for a robot joint reducer according to claim 3, characterized in that, The locking plate has a limiting fit groove, and the flat structure is embedded in the limiting fit groove and connected and fixed to the locking plate.

5. The backlash detection fixture for a robot joint reducer according to claim 4, characterized in that, The locking plate has an internal threaded groove that communicates with the limiting groove. The internal threaded groove is used to drive a screw to abut against the flat structure embedded in the limiting groove.

6. The backlash detection fixture for a robot joint reducer according to claim 1, characterized in that, The output loading mechanism includes a standard lever and a force-applying component. The standard lever is used to be installed and fixed at the output end of the reducer under test. The force-applying component is detachably installed on the standard lever. The force-applying component is used to apply a clockwise preset torque to one end of the standard lever or to apply a counterclockwise preset torque to the other end of the standard lever.

7. The backlash detection fixture for a robot joint reducer according to claim 6, characterized in that, The force-applying component is a standard weight or a miniature thruster.

8. The backlash detection fixture for a robot joint reducer according to claim 6, characterized in that, The detection mechanism includes a fixed plate, an angle sensor, and an output end connector. The fixed plate is mounted and fixed on the base plate, the angle sensor is mounted and fixed on the fixed plate, one end of the output end connector is used to connect and fix to the output end of the speed reducer under test, and the other end of the output end connector is connected to the angle sensor.

9. The backlash detection fixture for a robot joint reducer according to claim 8, characterized in that, The standard lever has a clearance through hole, and the output end connector passes through the clearance through hole and connects to the angle sensor.

10. The backlash detection fixture for a robot joint reducer according to claim 9, characterized in that, The fixing plate has a clearance through hole, and the input shaft of the angle sensor passes through the clearance through hole and is connected to the output end connector.

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