CN113804436B - Method for improving rotation angle detection precision of robot joint speed reducer testing equipment - Google Patents
Method for improving rotation angle detection precision of robot joint speed reducer testing equipment Download PDFInfo
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- CN113804436B CN113804436B CN202111049695.9A CN202111049695A CN113804436B CN 113804436 B CN113804436 B CN 113804436B CN 202111049695 A CN202111049695 A CN 202111049695A CN 113804436 B CN113804436 B CN 113804436B
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Abstract
The utility model relates to a method for improving the rotation angle detection precision of a robot joint reducer test device, which comprises the following steps: the method is characterized in that a torque transmission and rotation angle detection connecting device is respectively arranged, a spline is arranged on a loading shaft, and an elastic connecting sleeve is coaxially arranged on the rotation angle detection device; and torque is transmitted by using the connection of the internal spline and the external spline, and the rotation angle is detected by using the connection of the elastic connecting sleeve. The torque transmission and the rotation angle detection form an independent transmission channel, so that rotation angle errors caused by the torque are eliminated, and the rotation angle detection precision is improved. Meanwhile, the elastic connecting sleeve is connected with the tested piece in an elastic connection mode, the requirement on coaxiality is low, and even if different shafts exist, the elastic deformation of the elastic piece can be utilized to generate small radial and axial displacement for compensation. The additional force and moment generated by different shafts can be eliminated, and the rotation angle can be accurately detected; meanwhile, quick connection can be realized, time required by connection is reduced, and detection efficiency is improved.
Description
Technical Field
The utility model belongs to the field of reducer testing, and particularly relates to a method for improving the corner detection precision of robot joint reducer testing equipment.
Background
The robot joint speed reducer is widely applied to the field of industrial robots as a high-precision speed reducer, is one of core parts of the industrial robots, and the transmission performance of the robot joint speed reducer directly influences the positioning precision and the working performance of the industrial robots. With the development of the robot industry, the requirements of people on the performance of the robot joint reducer are higher and higher. The angle transmission error, backlash, idle stroke, torsional rigidity, friction moment, running efficiency and the like are important detection indexes of the robot joint reducer.
When the performance test of the robot joint reducer is carried out, the torque of the loading shaft and the rotation angle of the output end of the reducer are required to be detected simultaneously, so that the rotation angle detection device and the loading shaft system are required to be connected to the output end of the robot joint reducer simultaneously. The rotation angle detection device is usually arranged on a loading shaft, the loading shaft is connected with the output end of the robot joint speed reducer, the loading shaft applies torque to the robot joint speed reducer, and the torque and the rotation angle of the loading shaft are measuredThe mode is used for indirect detection. Because the position for detecting the rotation angle of the loading shaft is not at the output end of the robot joint speed reducer, but is at a distance from the output end of the robot joint speed reducer, that is, the length of the position for detecting the rotation angle of the loading shaft from the output end of the robot joint speed reducer is L, the loading shaft will generate torsion deformation under the action of torque, and the rotation angle isTherefore the detected rotation angle is +.>The error of (2) is +.>When the torque is large, a larger rotation angle error will be generated, so that a better method is necessary to be adopted to eliminate the influence of the torque on the rotation angle detection so as to improve the precision of the rotation angle detection.
Through patent search, the patents related to the utility model mainly comprise the following patents:
1. the application number is 201810516935.3, the application date is 2018.05.25, the publication number is CN108709683A, the publication date is 2018.10.26, the name is a modular joint-oriented flexible torque sensor dynamic test platform, and the application is a Chinese utility model patent of Harbin industrial university, and the modular joint-oriented flexible torque sensor dynamic test platform belongs to the field of joint torque sensor dynamic test. The testing platform solves the problems that the existing testing platform can only be used for calibrating the static rigidity and the static damping characteristic of the flexible element, the dynamic rigidity and the dynamic damping characteristic cannot be tested, the testing accuracy of the testing platform is low, and the testing accuracy of the testing platform on the unbalanced load characteristic of the large flexible torque sensor is affected. The power of the output of the driving assembly is sequentially transmitted to the transmission shaft through the main coupler, the torque calibration sensor, the auxiliary coupler and the driving shaft, the transmission shaft drives the inner ring of the torque sensor to be measured to rotate, the rotation angle measuring assembly measures the rotation angle of the inner ring, and the torque calibration sensor is used for detecting the torque of the output of the driving assembly.
2. The utility model provides an integrated joint with an elastic moment compensation element, which is provided by Chinese patent application No. 201811366918.2, application date 2018.11.16, publication No. CN 109176596A, publication date 2019.01.11, and name of integrated joint with an elastic moment compensation element, and application No. Shanghai Kaolin Robotic science and technology Co., ltd, and comprises the following components: the device comprises a motor, an angle encoder, a reduction gearbox, a torque sensor and an elastic element; wherein, the elastic element is installed between gearbox shell and gearbox output shaft, and torque sensor installs between acceleration box and load. The utility model has the beneficial effects that: the torque output by the motor and the reduction gearbox has the intermediate value of 0, and a smaller motor and the reduction gearbox can be used for outputting a larger effective working torque; elastic elements are additionally arranged between the output shaft of the reduction gearbox and the shell to form an integrated joint, the mechanical legs are combined by connecting rods and the integrated joint, and the mechanical legs and the running system are simpler and more convenient to construct and control; the moment sensor can be arranged behind the joint output end compensated by the elastic element, so that the actual output moment of the joint can be fed back, and the moment, the position and the speed of the integrated joint and the force position speed can be controlled.
3. The utility model relates to an online testing system of an RV reducer, which comprises a driving measuring module, a vertical lifting mechanism, a reducer mounting module and a loading measuring module; the driving measurement module comprises an input end base, a servo motor is arranged on the base, an output shaft of the servo motor is connected with an input end transmission shaft, an input end angle sensor matched with the input end transmission shaft is arranged on the input end transmission shaft, the input end transmission shaft is also connected with an input end torque sensor through a coupling, and the input end torque sensor is connected with a speed reducer input shaft through a rigid coupling; the speed reducer mounting module comprises an operation table, and a switching disc and an automatic clamping device are arranged on the operation table; the loading measurement module comprises a speed reducer output shaft, wherein the speed reducer output shaft is connected with an output end transmission shaft, an output end angle sensor and an output end torque sensor are arranged on the output end transmission shaft, the loading measurement module further comprises an electromagnetic clutch, one end of the electromagnetic clutch is connected with the output end transmission shaft, and the other end of the electromagnetic clutch is connected with a torque motor.
4. The application number is "201880032427.6", the application date is "2018.05.17", the publication number is "CN110662636a", the publication date is "2020.01.07", the names are "speed reducer angle transmission error identification system and speed reducer angle transmission error identification method", and the application is "kawasaki heavy industry corporation" chinese patent utility model, the speed reducer angle transmission error identification system and speed reducer angle transmission error identification method comprises: a fluctuation data acquisition unit (42) that acquires 1 st fluctuation data and 2 nd fluctuation data, wherein the 1 st fluctuation data is data representing periodic fluctuation of the motion of the 2 nd joint due to the angle transmission error of the 1 st motor after rotating the output shaft (16 a) of the 2 nd motor (16) at a constant 2 nd target speed while rotating the output shaft (11 a) of the 1 st motor (11) at a constant 1 st target speed in the 1 st direction by the 1 st joint control unit (24), and the 2 nd fluctuation data is data representing periodic fluctuation of the motion of the 2 nd joint due to the angle transmission error of the 1 st motor when rotating the output shaft of the 2 nd motor at a constant 2 nd target speed by the 2 nd joint control unit while rotating the output shaft of the 1 st motor in the 2 nd direction by the 1 st joint control unit (24); a periodic function calculation unit (43) for calculating the 1 st and 2 nd periodic functions obtained by modeling the 1 st and 2 nd fluctuation data; an average phase calculation unit (44) that calculates an average phase of the periodic function; and an angle transmission error identification unit (46) for calculating the periodic variation of the angle transmission error of the 1 st speed reducer based on the average phase.
5. The utility model discloses a comprehensive test board for an RV reducer, which can test various performance parameters such as angle transmission errors, return differences, torsional rigidity, service life, temperature rise, efficiency, torque and the like of the high-precision RV reducer. The intelligent testing device comprises a base, a servo motor, a linear motor, a first torque sensor, a first high-precision angle encoder, a RV reducer bracket to be tested, a mounting flange, a temperature sensor, a second torque sensor, a second high-precision angle encoder, a diaphragm coupler and a brake, wherein the servo motor, the linear motor, the first torque sensor, the first high-precision angle encoder, the RV reducer bracket to be tested, the mounting flange can be replaced, and testing of multiple types of reducers can be achieved. Compared with other test instruments, the utility model greatly improves the test efficiency and the accurate test precision, has reliable performance, better test repeatability, simple operation for replacing the tested object, high installation and positioning precision and lower cost.
6. The utility model provides an utility model patent with application number of '201521125142.7', application date of '2015.12.31', publication number of 'CN 205317389U', publication date of '2016.06.15', name of 'joint bearing no-load starting moment test fixture', and application of artificial 'Zhejiang national inspection and detection technology Co., ltd', and provides a joint bearing no-load starting moment test fixture which is used for fixing a joint bearing through axial clamping force, so that radial load is not applied to the joint bearing, and experimental precision is not affected. The utility model comprises a left torsion seat, a left outer ring top block, a supporting rod, an inner ring top block, a right outer ring top block, a supporting plate, a right torsion seat and a right side shaft; a left clamping rod is fixed on the outer side surface of the left torsion seat; the left outer ring top block is fixed on the left torsion seat; the end part of the left outer ring ejector block is provided with a circular left top surface; one end of the supporting rod is fixed with the left torsion seat, and the other end of the supporting rod is fixed with the supporting plate; the right torsion seat is fixedly connected with the supporting plate through threads; the end part of the right torsion seat is provided with a circular right top surface, and the left top surface and the right top surface are oppositely arranged; the inner ring jacking blocks are two and are connected to the right shaft in a threaded manner; the outer end of the right side shaft is fixed with a right clamping rod.
However, the above patents do not relate to the problem of torque influence on the rotation angle, and the adopted rotation angle detection method cannot meet the detection precision requirement of the robot joint speed reducer with high precision and large torque.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a method for improving the rotation angle detection precision of the robot joint reducer testing equipment aiming at the defects in the prior art.
In order to solve the technical problems, the utility model adopts the following technical scheme: a method for improving the rotation angle detection precision of a robot joint speed reducer testing device utilizes a loading shaft to be in transmission connection with a tested piece to transmit torque, and utilizes a rotation angle detection device to be in rotation connection with the tested piece to detect rotation angle. The rotation angle detection and the torque transmission are coaxially separated, so that an independent transmission channel is formed between the torque transmission and the rotation angle detection, the rotation angle detection is not affected by the torque, and the rotation angle error caused by the torque is eliminated.
Further, by coaxially arranging the connecting devices on the loading shaft and the corner detecting device respectively, the loading shaft is provided with a torque transmission connecting device to be connected with the output part of the tested piece, and the corner detecting device is rotationally connected with the output part of the tested piece through the corner detecting connecting device, so that corner detection is realized; the rotating part of the rotation angle detection device rotates along with the output part of the tested piece, is independent of the loading shaft and can rotate relative to the loading shaft; torque is applied through the loading shaft, and rotation angle detection is performed through the rotation angle detection device. In this way, it is ensured that the detected rotational angle is the true rotational angle of the output part of the test piece and is not influenced by the deformation of the loading shafting under torsion.
Further, the output part of the tested piece is an output disc, and the corner detection connecting device is an elastic connecting sleeve; the elastic connecting sleeve is arranged on the rotating part of the rotation angle detection device, is connected with the output disc in a rotating way through the elastic connecting sleeve, rotates along with the output part of the tested piece, and detects the rotation angle of the tested piece through the rotation angle detection device. The loading shaft penetrates through the central hole of the elastic connecting sleeve, the elastic connecting sleeve can rotate relative to the loading shaft, and the influence of elastic deformation of the loading shaft on corner detection is avoided, so that the corner detection precision is improved.
Further, in order to realize the universality of the connection of the output discs of various tested pieces, a transition disc is arranged on the output disc, and the transition disc is provided with a compatibility connecting hole and is detachably connected with the output disc; the other side surface of the transition disc is rotationally connected with the elastic connecting sleeve and the loading shaft. The transition disc is utilized to convert the output disc of the tested piece into a universal and uniform connection mode, so that the tested pieces of various types can be mounted on the testing equipment of the robot joint reducer, and the adaptability of the testing equipment of the robot joint reducer is improved.
Further, the transition disc is detachably connected with the tested piece, the loading shaft is rotationally connected with the inner ring of the transition disc, and the elastic connecting sleeve is rotationally connected with the outer ring of the transition disc, so that two independent mutually noninterfere rotary connection modes are formed.
Further, the elastic connecting sleeve is of a dish-shaped hollow structure, an inner ring of the elastic connecting sleeve and an inner hole of the elastic connecting sleeve are arranged on the elastic connecting sleeve, and an elastic sheet is arranged on the inner ring of the elastic connecting sleeve; the outer peripheral surface of the transition disc is provided with a clamping step, the elastic connecting sleeve is pressed on the clamping step of the transition disc through an elastic connecting sleeve elastic sheet, and the elastic connecting sleeve rotates along with the transition disc by utilizing static friction force between the elastic sheet and the clamping step of the transition disc. The connection mode has low requirements on the machining precision of the connection part and the coaxiality of the test piece installation, can realize quick connection, reduces the time required by connection, and improves the detection efficiency.
Further, the shrapnel is more than 3 circular arc metal sheets and is uniformly distributed on the inner ring of the elastic connecting sleeve. Automatic centering can be achieved during connection.
Further, the spring plate is made of spring steel, the width range is 5-20 mm, and the thickness range is 0.5-2 mm.
Further, the elastic connecting sleeve is disc-shaped, an elastic piece is arranged on one side, facing the tested piece, of the elastic connecting sleeve, and the elastic connecting sleeve is in elastic rotation connection with the tested piece through the elastic piece. The direct connection mode has simple structure.
Further, the elastic pieces are more than 3 circular arc-shaped metal sheets and are uniformly distributed on one side of the elastic connecting sleeve, which faces to the tested piece.
Further, the elastic piece is a disc spring and is axially arranged on one side of the elastic connecting sleeve, which faces to the tested piece.
The beneficial effects of the utility model are as follows: the rotation angle detection is separated from torque transmission, so that the rotation angle detection is free from torque. The rotation angle of the tested piece is detected by arranging an elastic connecting sleeve on the rotation angle detection device, rotating the elastic connecting sleeve along with the output part and detecting the rotation angle of the elastic connecting sleeve. In addition, a torque transmission connecting device is arranged to connect the tested piece output part with the loading shaft so as to transmit torque, so that independent transmission channels are formed by the torque and the rotation angle detection, and therefore rotation angle errors caused by the torque are eliminated, and rotation angle detection precision is improved. Meanwhile, the elastic connecting sleeve is connected with the tested piece rotating part in a radial or axial elastic connection mode, even if slight different axes exist, the elastic deformation of the elastic sheet can be utilized to generate small radial and axial displacement for compensation, so that the rotating angle can be accurately detected, and additional force and moment generated by the different axes can be eliminated; therefore, the requirement on coaxiality is reduced, so that quick connection can be realized, the time required by connection is reduced, and the detection efficiency is improved.
Drawings
Figure 1 is a schematic diagram of torque versus rotational angle,
figure 2 is a schematic diagram of a three-dimensional structure of a robot joint reducer detection system,
figure 3 is a schematic front view of a robot joint reducer detection system,
figure 4 is a schematic top view of a robotic joint reducer inspection system,
figure 5 is a schematic cross-sectional view of A-A in figure 4,
figure 6 is an enlarged schematic view of part B of figure 5 (embodiment 1 of the elastic connecting sleeve),
figure 7 is a schematic view of the loading shaft of figure 6 after being rotatably connected to the test piece (embodiment 1 of the elastic connecting sleeve),
figure 8 is a schematic diagram of the direct rotational connection of the loading shaft to the test piece,
figure 9 is a schematic perspective view of a loading shaft,
figure 10 is a schematic diagram of the structure of a tested piece,
figure 11 is a schematic perspective view of a transition disc,
figure 12 is a schematic front view of a transition disc,
figure 13 is a schematic cross-sectional view of C-C of figure 12,
figure 14 is a schematic perspective view of an elastic connecting sleeve embodiment 1,
figure 15 is a schematic front view of an embodiment 1 of an elastic connecting sleeve,
figure 16 is a schematic view in section D-D of figure 15,
figure 17 is a schematic perspective view of an elastic connecting sleeve in embodiment 2,
figure 18 is a schematic cross-sectional view of figure 17,
fig. 19 is a schematic cross-sectional view of an embodiment 3 of an elastic connecting sleeve.
In the figure: 1-frame, 2-loading motor, 3-speed reducer, 4-torque detector, 5-loading shaft, 501-loading shaft external spline, 6-grating support, 7-grating, 8-transition disc, 801-transition disc clamping step, 802-transition disc internal spline, 803-transition disc mounting hole, 9-tested piece, 901-tested piece mounting hole, 902-tested piece clamping step, 903-output disc, 904-mounting screw hole, 905-output shaft hole, 906-input shaft hole, 10-tested piece mounting seat, 11-input shaft, 12-coupler, 13-input motor, 14-rack, 15-guide rail, 16-locking device, 17-elastic connecting sleeve, 1701-elastic connecting sleeve inner ring, 1702-elastic sheet, 1703-elastic connecting sleeve inner hole, 1704-elastic connecting sleeve body, 1705-disc spring, mt-loading torque, M-input torque, l-torsion bar length.
Detailed Description
The utility model is further described below by means of specific embodiments in connection with the accompanying drawings:
when the performance test of the robot joint speed reducer is carried out, the torque and the rotation angle are required to be detected simultaneously, the common practice is that a loading shaft is rigidly connected with the output end of the robot joint speed reducer through a flange plate, the loading shaft applies the torque to the robot joint speed reducer, and the torque sensor and the rotation angle detection are arranged on the loading shaftThe device measures the torque and the rotation angle of the loading shaft, and indirectly detects the torque and the rotation angle of the robot joint speed reducer. Because the position for detecting the rotation angle of the loading shaft is not at the top end of the loading shaft but is at a distance from the output end of the robot joint speed reducer, that is, the length of the position for detecting the rotation angle of the loading shaft from the output end of the robot joint speed reducer is l, the loading shaft can generate torsional deformation under the action of torque, and the rotation angle generated by the loading shaft is
As shown in fig. 1:
therefore, the rotation angle detected by the prior art exists with the real rotation angle of the output end of the robot joint speed reducerThe error of (2) is +.>When the torque is large, a larger rotational angle error will be generated.
The robot joint reducer test apparatus of the present utility model is as shown in fig. 2 to 5: the device is used for detecting technical parameters such as angle transmission errors, back clearances, idle strokes, torsional rigidity, friction moment, operation efficiency and the like of the robot joint speed reducer. The tested piece is a robot joint speed reducer, the loading piece is a loading shaft, the follower is a rotating part of a rotation angle detection device, namely a rotation angle detector used for detecting rotation angles, a grating sensor or a rotating disc marked with scales, the torque transmission connecting device is a loading shaft external spline 501 and a matched internal spline, and the rotation angle detection connecting device is an elastic connecting sleeve 17. The loading shaft is quickly connected with a rotating part of the robot joint reducer through the external spline 501 of the loading shaft, so that torque transmission is realized; the rotation angle detection device is quickly connected with the rotating part of the robot joint reducer through the elastic connecting sleeve 17, so that the rotating part of the rotation angle detection device rotates along with the rotating part of the robot joint reducer, and the rotation angle of the robot joint reducer is detected by detecting the rotation angle of the elastic connecting sleeve. The mode of separating the rotation angle detection from the torque transmission can avoid the rotation angle influence of the deformation of the loading shaft caused by the torsion to the rotation angle detection, so that the rotation angle detection precision is improved.
The robot joint reducer test apparatus includes: the device comprises a frame 1, a loading motor 2, a speed reducer 3, a torque detector 4, a loading shaft 5, a grating bracket 6, a grating 7, a transition disc 8, a tested piece 9, a tested piece mounting seat 10, an input shaft 11, a coupler 12 and an input motor 13. The loading motor 2, the speed reducer 3 and the torque detector 4 are coaxially fixed on the frame 1, and after the loading motor 2 is decelerated by the speed reducer 3, larger torque can be formed and the torque detector 4 and the loading shaft 5 are driven to rotate. A rack 14 and two parallel guide rails 15 are arranged on the frame 1 along the axial direction of the loading motor 2, and a grating bracket 6, a tested piece mounting seat 10, a coupler 12 and an input motor 13 are sequentially arranged on the guide rails 15. The grating bracket 6, the tested piece mounting seat 10, the coupler 12 and the input motor 13 can be matched with the rack 14 through the gear and the rack, slide on the guide rail 15 and are locked and fixed through the locking device 16. The grating 7 is rotatably arranged on the grating bracket 6, the grating 7 is axially connected with the elastic connecting sleeve 17 through bolts, and the grating 7 can rotate on the grating bracket 6 along with the elastic connecting sleeve 17.
The loading shaft 5 is as shown in fig. 9: a loading shaft external spline 501 or a key groove is arranged at the top of the loading shaft 5 and is used for realizing transmission connection with the transition disc 8 or the tested piece 9, transmitting the torque of the loading motor 2 to the tested piece 9 and detecting the torque through the torque detector 4.
The test piece 9 is shown in fig. 10: the tested piece 9 is a robot joint reducer, and a tested piece mounting hole 901 for fixing is formed in the periphery of the shell of the tested piece 9; an input shaft hole 906 rotationally connected with the input shaft 11 is arranged on one side of the tested piece 9 and is rotationally connected with the input shaft 11 through a spline or a flat key; an output disc 903 or an output shaft is arranged on the other side of the tested piece 9, a mounting screw hole 904 is arranged on the output disc 903, a tested piece clamping and positioning step 902 is arranged on the outer peripheral surface of the output disc 903, an output shaft hole 905 is arranged in the center of the output disc 903, and part of the tested piece takes the output shaft hole 905 as a clamping and positioning step.
The number of the tested pieces 9 is numerous, so that the transition disc 8 is arranged at the rotation output end of the tested piece 9, the rotation output end of the tested piece 9 is converted into the universal and uniform transition disc 8, and the tested pieces 9 of various types can be arranged on the robot joint reducer testing equipment, so that the adaptability of the robot joint reducer testing equipment is improved.
The transition disc 8 is shown in fig. 11 to 13: the transition disc 8 adopts a one-to-two structure, one side of the transition disc 8 is connected with the tested piece 9, and the other side is connected with the loading shaft 5 and the elastic connecting sleeve 17. The inner ring of the transition disc 8 is connected with the loading shaft 5, and the outer ring of the transition disc 8 is connected with the elastic connecting sleeve 17 to form two independent mutually noninterfere rotary connection modes. The transition disc 8 is a disc shape, a transition disc clamping step 801 is arranged on the outer peripheral surface of the disc shape, a transition disc internal spline 802 is arranged in a central hole of the disc shape, and a transition disc mounting hole 803 is arranged on the disc surface.
The elastic connection sleeve 17 embodiment 1 is shown in fig. 14 to 16: the elastic connection sleeve 17 is dish-shaped and comprises: elastic sleeve inner ring 1701 and elastic sleeve inner hole 1703, elastic piece 1702 is set on elastic sleeve inner ring 1701. The elastic piece 1702 is arc-shaped, V-shaped or W-shaped, and the elastic piece 1702 can be an integral elastic piece along the inner ring 1701 of the elastic connecting sleeve, or a plurality of elastic pieces 1702 can be uniformly distributed along the inner ring 1701 of the elastic connecting sleeve and fixed by bolts or clamping.
The spring piece 1702 is made of spring steel or stainless steel, the width of the spring piece 1702 ranges from 5 mm to 20mm, and the thickness ranges from 0.5 mm to 2mm.
Example 1 the connection procedure is as shown in figures 6 to 7:
1) The transition disc 8 is bolted to the output disc 903 such that the transition disc 8 can rotate with the output disc 903.
2) The test piece 9 is fixedly mounted on the test piece mounting seat 10, and the output disk 903 faces the loading shaft 5 and is coaxial with the loading shaft 5.
3) The grating support 6 is moved towards the tested piece mounting seat 10, so that the elastic connecting sleeve 17 is connected with the transition disc 8.
4) The tested piece mounting seat 10 and the grating support 6 slide towards the loading shaft 5, so that the loading shaft external spline 501 passes through the inner hole 1703 of the elastic connecting sleeve and then is inserted into the transition disc internal spline 802.
The elastic connection sleeve 17 is pressed on the transition disc clamping step 801 by a plurality of elastic sheets 1702, and static friction force is generated between the elastic connection sleeve 17 and the transition disc 8 by the elastic force of deformation of the elastic sheets 1702. Since the rotation friction force of the elastic connecting sleeve 17 is small, the static friction force between the elastic connecting sleeve 17 and the transition disc 8 is enough to drive the elastic connecting sleeve 17 to rotate on the grating bracket 6. The grating 7 rotates along with the elastic connecting sleeve 17, and a photoelectric sensor in the grating 7 can detect the rotation angle. Because there is almost no torque between the elastic connecting sleeve 17 and the transition disc 8, there is no corner error caused by the torque, so that a detection mode of separating corner detection from torque detection is realized, and the precision of corner detection is improved.
When detecting, the method comprises the following steps: the input motor 13 drives the test piece 9 to rotate, and the test piece 9 is decelerated by the gear set and then outputs a torque M on the output disc 903. At the same time, the loading motor 2 outputs a loading torque Mt through the speed reducer 3, the torque detector 4 and the loading shaft 5, and the loading torque Mt is opposite to the output torque M output by the output disc 903, so as to balance the output torque M. When the loading torque Mt is balanced with the output torque M, the output disk 903 and the transition disk 8 are no longer rotated. At the same time, the rotation angle of the elastic connection sleeve 17 detected by the grating 7 is the same as the rotation angle of the output disc 903. By the detection mode and the detection device, the real torque and the real rotation angle of the tested piece 9 can be detected, the influence of the torque on the rotation angle detection can be eliminated, and the rotation angle detection precision is improved.
Even if the elastic connecting sleeve 17 is not coaxial with the output disc 903, the elastic deformation of the elastic sheet 1702 is utilized, so that the elastic connecting sleeve 17 can compensate small radial and axial displacement relative to the output disc 903, but cannot generate angular displacement relative to the output disc 903. Therefore, the quick elastic rotation connection mode can not only eliminate additional force and moment generated by different shafts of the connecting parts, but also accurately detect the rotation angle.
Example 2 as shown in fig. 17 to 18, the difference from example 1 is that: the elastic connecting sleeve 17 is different from the elastic connecting sleeve 17 in the embodiment 1 in structure, the elastic connecting sleeve 17 in the embodiment 2 is disc-shaped, a disc spring 1705 is arranged on one side of the elastic connecting sleeve body 1704 facing the tested piece 9, when the elastic connecting sleeve 17 moves along the axial direction and is pressed on the output disc 903, the disc spring 1705 generates elastic deformation, the generated elastic force enables the elastic connecting sleeve 17 and the output disc 903 to generate static friction force, the elastic connecting sleeve 17 can rotate along with the output disc 903 by utilizing the static friction force, and the output rotation angle of the tested piece 9 is detected by detecting the rotation angle of the elastic connecting sleeve 17.
Example 3 as shown in fig. 19, the difference from example 2 is that: the disc spring 1705 in embodiment 2 is replaced by a plurality of elastic sheets 1702 uniformly distributed on one side of the elastic connecting sleeve body 1704 so as to reduce and control the axial elastic force, so that the rotation angle detection device is prevented from being influenced by the overlarge axial elastic force.
In summary, the beneficial effects of the utility model are as follows: the rotation angle detection is separated from torque transmission, so that the rotation angle detection is free from torque. The rotation angle of the tested piece is detected by arranging an elastic connecting sleeve on the rotation angle detection device, rotating the elastic connecting sleeve along with the output part and detecting the rotation angle of the elastic connecting sleeve. In addition, a torque transmission connecting device is arranged to connect the tested piece output part with the loading shaft so as to transmit torque, so that independent transmission channels are formed by the torque and the rotation angle detection, and therefore rotation angle errors caused by the torque are eliminated, and rotation angle detection precision is improved. Meanwhile, the elastic connecting sleeve is connected with the tested piece rotating part in a radial or axial elastic connection mode, even if slight different axes exist, the elastic deformation of the elastic sheet can be utilized to generate small radial and axial displacement for compensation, so that the rotating angle can be accurately detected, and additional force and moment generated by the different axes can be eliminated; therefore, the requirement on coaxiality is reduced, so that quick connection can be realized, the time required by connection is reduced, and the detection efficiency is improved.
The above embodiments are only for illustrating the present utility model, not for limiting the present utility model, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the present utility model, so that all equivalent technical solutions shall fall within the scope of the present utility model, which is defined by the claims.
Claims (8)
1. The utility model provides a method for improving robot joint reduction gear test equipment corner detection precision utilizes loading axle and is connected the transmission moment of torsion by the test piece transmission, utilizes corner detection device and is connected the detection corner by the test piece rotation, its characterized in that: a torque transmission connecting device is arranged on the loading shaft and is connected with an output part of the tested piece, and torque is applied through the loading shaft; the rotation angle detection device is provided with a rotation angle detection connecting device which is connected with the output part of the tested piece, the rotation part of the rotation angle detection device rotates along with the output part of the tested piece, and the rotation angle detection device can rotate relative to the loading shaft and is used for carrying out rotation angle detection; the rotation angle detection and the torque transmission are coaxially separated, so that an independent transmission channel is formed by the torque transmission and the rotation angle detection, the rotation angle detection is not affected by the torque, and the rotation angle error caused by the torque is eliminated; the output part of the tested piece is an output disc, and the corner detection connecting device is an elastic connecting sleeve; the elastic connecting sleeve is rotationally connected with the output disc, rotates along with the output part of the tested piece, and can rotate relative to the loading shaft.
2. The method for improving the rotation angle detection precision of the robot joint reducer testing equipment according to claim 1, wherein the method comprises the following steps of: a transition disc is further arranged between the elastic connecting sleeve and the output disc, the transition disc is detachably connected with the output disc, and the elastic connecting sleeve is elastically and rotatably connected with the transition disc through an elastic piece.
3. The method for improving the rotation angle detection precision of the robot joint reducer testing equipment according to claim 2, wherein the method comprises the following steps of: the elastic connecting sleeve is dish-shaped, an inner ring of the elastic connecting sleeve and an inner hole of the elastic connecting sleeve are arranged on the elastic connecting sleeve, and an elastic sheet is arranged on the inner ring of the elastic connecting sleeve; the transition disc is provided with transition disc joint step in the outer peripheral face, and the transition disc is pressed on transition disc joint step through the shell fragment, utilizes the static friction between shell fragment and the transition disc joint step, and the elastic connection cover rotates along with the transition disc.
4. The method for improving the rotation angle detection precision of the robot joint reducer testing device according to claim 3, wherein the method comprises the following steps of: the elastic sheets are more than 3 circular arc-shaped metal sheets and are uniformly distributed on the inner ring of the elastic connecting sleeve.
5. The method for improving the rotation angle detection precision of the robot joint reducer testing device according to claim 4, wherein the method comprises the following steps: the spring plate is made of spring steel, the width range is 5-20 mm, and the thickness range is 0.5-2 mm.
6. The method for improving the rotation angle detection precision of the robot joint reducer testing equipment according to claim 2, wherein the method comprises the following steps of: the elastic connecting sleeve is disc-shaped, an elastic piece is arranged on one side, facing the tested piece, of the elastic connecting sleeve, and the elastic connecting sleeve is elastically connected with the tested piece in a rotating mode through the elastic piece.
7. The method for improving the rotation angle detection precision of the robot joint reducer testing device according to claim 6, wherein the method comprises the following steps: the elastic pieces are more than 3 circular arc-shaped metal sheets and are uniformly distributed on one side of the elastic connecting sleeve, which faces to the tested piece.
8. The method for improving the rotation angle detection precision of the robot joint reducer testing device according to claim 6, wherein the method comprises the following steps: the elastic piece is a disc spring and is axially arranged on one side of the elastic connecting sleeve, which faces to the tested piece.
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