Comprehensive servo motor and harmonic speed reducer testing platform

Abstract

The invention discloses a comprehensive servo motor and harmonic speed reducer testing platform. The comprehensive servo motor and harmonic speed reducer testing platform comprises a machine frame, a vibration isolation platform, a linear guide rail and a magnetic powder brake, wherein the vibration isolation platform is arranged on the machine frame, and the linear guide rail and the magnetic powder brake are installed on the vibration isolation platform in a matched mode. The linear guide rail is provided with a wide-range torque revolving speed sensor, a first angle encoder, a harmonic speed reducer, a second angle encoder, a narrow-range torque revolving speed sensor and a servo motor. The comprehensive servo motor and harmonic speed reducer testing platform is simple and reasonable in structure, the load torque is not prone to fluctuation, data detecting accuracy is high, the system error is small, and assembling and adjusting are convenient.

Description

technical field [0001] The invention relates to the technical field of mechanical testing equipment, in particular to a comprehensive test platform for servo motors and harmonic reducers, which is used to solve the problem of comprehensive testing of harmonic reducers and servo motors. Background technique [0002] With the continuous progress of society, industrial development is increasingly dependent on high-precision control technology. In the field of joint robots, harmonic reducers and servo motors are key power sources and transmission components, and their performance directly affects joint robots. reliability. Since harmonic reducers and servo motors are high-precision components, high-precision detection methods are required for comprehensive testing. [0003] The main performance parameters of the harmonic reducer include transmission efficiency, no-load starting torque, stiffness, backlash, air travel, angle transmission accuracy, and transition process, etc. Th...

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Problems solved by technology

[0005] However, the above-mentioned "harmonic reducer dynamic performance comprehensive detection system" has the following defects: first, since the first servo motor and the second servo motor are respectively set, the loading function is realized by controlling the motion of the two servo motors during work. In the actual application process, due to the influence of various environmental factors, it is easy to cause fluctuations in the loading torque, resulting in inaccurate final detection data; second, when measuring the deflection angle of the input and output ends of the harmonic The encoder is connected to the output shaft of the harmonic reducer under test through the first connection shaft, and the rotary encoder is connected to the input shaft of the harmonic reducer under test through the second connection shaft. During the actual test , due to the stiffness of the connecting shaft, a corresponding elastic deformation will occur when subjected to a certain torque, and the deformation will be added to the measured value, resulting in a system error much greater than the actual measured value; third, in the actual assembly process, The problem of reduced coaxiality caused by the processing accuracy of each component and human factors is very serious. Since the entire test system has very high requirements for coaxiality, the requirements for the processing accuracy and assembly accuracy of each bracket are very strict, especially in the adjustment test. It is very time-consuming and laborious to target or test items. Even after adjustment, the influence of human factors is relatively large, resulting in relatively low accuracy of the entire test system

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