| 摘要 |
PURPOSE: A device for measuring a backlash of a planetary reducer is provided to implement the torsional angle of the planetary reducer in respect to an input torque value of a servo motor into a hysteresis curve shape, thereby measures the backlash of the planetary reducer precisely and effectively. CONSTITUTION: A device for measuring a backlash of a planetary reducer includes a servo motor (110), a first torque sensor (120), a second torque sensor (140), a braking device (150), and a control unit (160). The servo motor provides the driving torque and includes an encoder for measuring the torsional angle of a driving shaft. A side of the first torque sensor is axially joined to the driving shaft, and the other side thereof is axially joined to an input shaft of the planetary reducer so that the first torque sensor measures the input torque of the servo motor. A side of the second torque sensor is axially joined to an output shaft of the planetary reducer so that the second torque sensor measures the output torque generated in the output shaft. The braking device is axially joined to the other side of the second torque sensor, thereby controlling the rotation of the second torque sensor. The control unit includes a driving control unit driving the servo motor in order of the forward rotation torque, a pause, a counter-rotation torque, and a pause; and a result processing unit which receives the torsional angle measured by the encoder and the input torque measured by the first torque sensor and data-processes the same.
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