CN106370423A - Precision reducer comprehensive performance detection method - Google Patents
Precision reducer comprehensive performance detection method Download PDFInfo
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- CN106370423A CN106370423A CN201611032514.0A CN201611032514A CN106370423A CN 106370423 A CN106370423 A CN 106370423A CN 201611032514 A CN201611032514 A CN 201611032514A CN 106370423 A CN106370423 A CN 106370423A
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- speed end
- end moment
- low speed
- cylinder
- decelerator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a precision reducer comprehensive performance detection method comprising the following steps: (1) fixing the output shaft of a detected reducer to the output end of a low-speed end torque closed module; (2) fixedly connecting the shell of the detected reducer to the top of a low-speed end torque closed cylinder; (3) adjusting the posture of a high-speed end torque closed module by use of a posture adjustment module to make the output end of the high-speed end torque closed module in butt joint with the input shaft of the detected reducer; (4) fixedly connecting the shell of the detected reducer to the bottom of a high-speed end torque closed cylinder; and (5) starting a detector to start detection. The influence of mechanical deformation on the precision of measurement under the action of large torque is solved. By using the posture adjustment module to adjust the posture of the high-speed end torque closed module, the problem on how to detect a reducer of which the input and output are not coaxial is solved. The measurement system is of a vertical structure, the weight of the components is along the axial direction, and no additional bending load is produced.
Description
Technical field
The present invention relates to a kind of precision speed reduction device combination property detection method.
Background technology
Precision speed reduction device is widely used in the every field of national economy and national defense industry, with industrial automation technology
The performance indications of decelerator are required also more and more higher by development, particularly in robot field, the transmission efficiency of decelerator, turn
Speed requirement and load capacity etc. drastically influence system operating accuracy and service life, and therefore the detection of decelerator is become is outstanding
For important.
The development of robot industry and the progressively production domesticization of decelerator, require and demand to the testing equipment of decelerator
More and more higher.And the horizontal type structure of the commonly used multistage parts arranged in series of domestic high accurate speed reducer detecting system at present,
Up to thousands of Newton meters, high torque requires to bring very big challenge to the detection of decelerator the detected moment of torsion of decelerator, detection
Equipment can be distorted deformation under the influence of high pulling torque, has a strong impact on accuracy of detection.Detect under high pulling torque, high speed conditions
Device structure insufficient rigidity, distortion inaccuracy easily transmits, is superimposed or even amplifies, and deflection is introduced in testing result, at present also
Not yet propose a kind of effective method and solve this problem.Domestic existing instrument detecting system is often replaced with single sensor accuracy
For instrument integrated measurement accuracy, the impact that the certainty of measurement of actually existing measuring system is deformed due to examined device structure,
Not only relevant with the precision of each sensor itself, and relevant with the deformation of testing equipment, the structure of only testing equipment is big
Moment of torsion effect under indeformable, could using the precision of single sensor as measuring system precision index.
With the raising of use requirement, it is input shaft that the version of decelerator also becomes varied, common structure
Coaxially arranged with output shaft, there are some occasions to need the input shaft of decelerator not coaxial with output shaft but parallel or angled cloth
Put, the testing equipment of existing decelerator is mostly directed to coaxially arranged decelerator, out-of-alignment version cannot be detected or
Person needs to pay a high price just can complete.
It is therefore proposed that a kind of effective method, solve the problems, such as precision speed reduction device comprehensive detection, improve decelerator performance and can
By property, promote development and the market share of domestic decelerator, make the combination property of domestic decelerator reach external product close
Level, substitutes same kind of products at abroad, is significant.
Content of the invention
The present invention provides a kind of precision speed reduction device combination property detection for solving technical problem present in known technology
Method, this detection method ensure that the certainty of measurement of tested decelerator under high pulling torque effect.
The present invention is adopted the technical scheme that by solving technical problem present in known technology: a kind of precision speed reduction device
Combination property detection method, comprises the following steps: one) output shaft of tested decelerator is fixed on low speed end moment closed module
Outfan on；Described low speed end moment closed module includes the low speed end moment closing cylinder being vertically arranged, at described low speed end
The bottom that moment closes cylinder is provided with fulcrum bearing of turning up, and is sequentially provided with loading electricity from bottom to up in described low speed end moment closing cylinder
Machine, reinforcement decelerator, low speed end torque sensor, low speed end Circular gratings and reducer output shaft converting interface, described decelerator is defeated
Shaft converting interface is affixed with the output shaft of tested decelerator as the outfan of described low speed end moment closed module, described loading
The output shaft of motor is connected with the input shaft of described reinforcement decelerator, and the output shaft of described reinforcement decelerator is turned with described low speed end
The input shaft of square sensor connects, and the output shaft of described low speed end torque sensor is connected with the input shaft of described low speed end Circular gratings
Connect, the output shaft of described low speed end Circular gratings is connected with the lower mouth of described reducer output shaft converting interface, described loading motor and
Described low speed end torque sensor shell is affixed with described low speed end moment closing cylinder；Two) by the shell of tested decelerator and institute
State low speed end moment closing cylinder top affixed；Three) adopt attitude regulation module to adjust the attitude of high speed end moment closed module, make
The outfan of described high speed end moment closed module is docked with the input shaft of tested decelerator；Described high speed end moment closed module
Including the high speed end moment closing cylinder being vertically arranged, in described high speed end moment closing cylinder, it is sequentially provided with speed end from top to bottom
Torque sensor, speed end Circular gratings and reducer input shaft converting interface, described reducer input shaft converting interface is as described height
The outfan of fast end moment closed module is affixed with the input shaft of tested decelerator, the input shaft of described speed end torque sensor
It is connected with motor, the shell of described motor is fixed in the top that described high speed end moment closes cylinder, described speed end
The output shaft of torque sensor is connected with the input shaft of described speed end Circular gratings, the output shaft of described speed end Circular gratings and institute
State the connection suitable for reading of reducer input shaft converting interface, described speed end torque sensor and described speed end Circular gratings shell and institute
State high speed end moment closing cylinder affixed；Described high speed end moment closes the bottom of cylinder and described low speed end moment closes the top of cylinder
By the cage connection of tested decelerator together, the shell of the shell of described motor and tested decelerator passes through described height
Fast end moment closing cylinder links together, and the shell of the shell of described loading motor and tested decelerator is by described low speed end power
Square closing cylinder links together；Described attitude regulation module includes column, the horizontal guide rail and cooperation cross sliding clock inside it
And turntable, the central axis of the rotary shaft of described turntable and described high speed end moment closing cylinder, described column is fixed in described
Low speed end moment close cylinder top, be provided with vertical slideway inside described column, the outside of described horizontal guide rail be provided with
The upright slide block of described vertical slideway cooperation, described turntable is arranged on the medial surface of described cross sliding clock, described turntable and institute
State high speed end moment closing cylinder affixed；Four) will be affixed with described high speed end moment closing cylinder bottom for the shell of tested decelerator；
Five) then start detector start detect.
Described low speed end moment closing cylinder and described high speed end moment closing cylinder central axes.
Described low speed end moment closing cylinder and described high speed end moment closing cylinder cross section are circle.
The speed reducer housing transfer panel affixed with it is set with the shell of tested decelerator, described speed reducer housing turns
Flange is fixed in described low speed end moment and closes between the top of cylinder and the bottom of described high speed end moment closing cylinder.
Detect the vibration information of tested decelerator using vibrating sensor, tested deceleration is detected using second temperature sensor
The temperature information of device, detects the temperature letter of described motor and described loading motor respectively using two the first temperature sensors
Breath.
The present invention has the advantages and positive effects that: by high speed end moment close cylinder by motor shell with tested
Speed reducer housing connects together, and the output shaft of motor is connected with tested reducer input shaft, the output torque of motor
It is applied on the input shaft of tested decelerator, its anti-torque is delivered to high speed end moment through the shell of tested decelerator
Closing cylinder, constitutes closing moment by the output torque of motor shell and motor, realizes equalising torque, in the same manner negative
Carry motor side, also can form a moment closed-loop, complete machine structure ensures that systemic effect has two moment closed-loops, can be each
From offsetting moment, moment closes the design of cylinder, reduces the impact to detector work moment for the supporting construction, and work moment is shielded
Cover in moment closing cylinder, affected by extraneous factor less, and then ensure that certainty of measurement；Additionally, in volume identical feelings
Under condition, the ability that tubular structure resists torsional deflection is the strongest, therefore can effectively reduce casing deformation using cylindrical case, and then
Solve the impact to certainty of measurement for the mechanically deform；Tubular structure makes deformation rule simple, reduces the measuring precision and traces to the source and miss
The difficulty that difference compensates, so the present invention solves the lower impact to certainty of measurement for the mechanically deform of high pulling torque effect.Pass through to adopt simultaneously
Adjust the attitude of high speed end moment closed module with attitude regulation module, the detection solving input and exporting not coaxial speed reducer
Problem.Measuring system adopts vertical structure, and each part is conducted oneself with dignity in axial direction, will not produce addition bend load, additionally, tubular
Structure, facilitates internals circumferentially symmetrically to fix, and will not change the mechanical property of tubular structure.
Brief description
Fig. 1 is applied to the structural representation of the input shaft tested decelerator coaxial or parallel with output shaft for the present invention；
Fig. 2 is applied to the structural representation of the tested decelerator that input shaft is at an angle of with output shaft for the present invention.
In figure: 1, motor, 2, high speed end moment closing cylinder, 3, speed end torque sensor, 4, speed end Circular gratings,
5th, reducer input shaft converting interface, 6, speed reducer housing transfer panel, 7, reducer output shaft converting interface, 8, low speed end Circular gratings,
9th, low speed end torque sensor, 10, reinforcement decelerator, 11, loading motor, the 12, first temperature sensor, 13, support base, 14,
Low speed end moment closes cylinder, and 15, tested decelerator, 16, second temperature sensor, 17, vibrating sensor, 18, turntable, 19, water
Smooth block, 20, horizontal guide rail, 21, column.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows:
Refer to Fig. 1～Fig. 2, a kind of precision speed reduction device combination property detection method, comprise the following steps:
One) output shaft of tested decelerator 15 is fixed on the outfan of low speed end moment closed module.
Described low speed end moment closed module includes the low speed end moment closing cylinder 14 being vertically arranged, in described low speed end power
The bottom that square closes cylinder 14 is provided with fulcrum bearing 13 of turning up, and is sequentially provided with from bottom to up and adds in described low speed end moment closing cylinder 14
Carry motor 11, reinforcement decelerator 10, low speed end torque sensor 9, low speed end Circular gratings 8 and reducer output shaft converting interface 7, institute
State the output shaft of the outfan as described low speed end moment closed module for the reducer output shaft converting interface 7 and tested decelerator 15
Affixed, the output shaft of described loading motor 11 is connected with the input shaft of described reinforcement decelerator 10, described reinforcement decelerator 10
Output shaft is connected with the input shaft of described low speed end torque sensor 9, the output shaft of described low speed end torque sensor 9 with described
Input shaft connection, the output shaft of described low speed end Circular gratings 8 and the described reducer output shaft converting interface 7 of low speed end Circular gratings 8
Lower mouth connect, the shell of described loading motor 11 and described low speed end torque sensor 9 closes cylinder with described low speed end moment
14 is affixed.
Two) will be affixed with described low speed end moment closing cylinder 14 top for the shell of tested decelerator 15.
Three) adopt attitude regulation module to adjust the attitude of high speed end moment closed module, make described high speed end moment closing
The outfan of module is docked with the input shaft of tested decelerator 15.
Described high speed end moment closed module includes the high speed end moment closing cylinder 2 being vertically arranged, in described speed end power
It is sequentially provided with motor 1, speed end torque sensor 3, speed end Circular gratings 4 and decelerator from top to bottom in square closing cylinder 2
Input shaft converting interface 5, described reducer input shaft converting interface 5 as described high speed end moment closed module outfan with tested
The input shaft of decelerator 15 is affixed, and the input shaft of described speed end torque sensor 3 is connected with described motor 1, described drive
The shell of galvanic electricity machine 1 is fixed in the top that described high speed end moment closes cylinder 2, the output shaft of described speed end torque sensor 3
It is connected with the input shaft of described speed end Circular gratings 4, the output shaft of described speed end Circular gratings 4 and described reducer input shaft turn
The connection suitable for reading of interface 5, described speed end torque sensor 3 and described speed end Circular gratings 4 shell and described high speed end moment
Closing cylinder 2 is affixed.
Described high speed end moment closes the bottom of cylinder 2 and described low speed end moment closes the top of cylinder 14 by tested deceleration
Together, the shell of described motor 1 and the shell of tested decelerator 15 are by described speed end power for the cage connection of device 15
Square closing cylinder 2 links together, and the shell of described loading motor 11 and the shell of tested decelerator 15 are by described low speed end power
Square closing cylinder 14 links together.
Described attitude regulation module includes column 21, the horizontal guide rail 20 and cooperation cross sliding clock 19 inside it and turntable
18, the rotary shaft of described turntable 18 closes the central axis of cylinder 2 with described high speed end moment, and described column 21 is fixed in described
Low speed end moment closes the top of cylinder 14, is provided with vertical slideway, in the outside of described horizontal guide rail 20 inside described column 21
It is provided with the upright slide block coordinating with described vertical slideway, described turntable 18 is arranged on the medial surface of described cross sliding clock 19, institute
State turntable 18 affixed with described high speed end moment closing cylinder 2.
Four) will be affixed with described high speed end moment closing cylinder 2 bottom for the shell of tested decelerator 15.
Five) then start detector start detect.
In the present embodiment, described low speed end moment closing cylinder 14 and described high speed end moment closing cylinder 2 central axis weight
Close, cylindrical case mechanical property can be made more excellent.Described low speed end moment closing cylinder 14 and described high speed end moment closing cylinder 2 are horizontal
Section is circle, makes the ability of cylindrical case opposing torsional deformation higher.This detector also includes speed reducer housing transfer panel 6,
The inside of described speed reducer housing transfer panel 6 is affixed with the shell of tested decelerator 15, described speed reducer housing transfer panel 6 and institute
The bottom stating the top and described high speed end moment closing cylinder 2 that low speed end moment closes cylinder 14 is respectively and fixedly connected with, and can make decelerator
Shell forms effectively connection with described low speed end moment closing cylinder 14 and described high speed end moment closing cylinder 2.In the present embodiment,
Detect the vibration information of tested decelerator 15 using vibrating sensor 17, tested decelerator is detected using second temperature sensor 16
15 temperature information, detects described motor 1 and described loading motor 11 respectively using two the first temperature sensors 12
Temperature information.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in
The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of forms, these belong within protection scope of the present invention.
Claims (5)
1. a kind of precision speed reduction device combination property detection method is it is characterised in that comprise the following steps:
One) output shaft of tested decelerator is fixed on the outfan of low speed end moment closed module；
Described low speed end moment closed module includes the low speed end moment closing cylinder being vertically arranged, in the closing of described low speed end moment
The bottom of cylinder is provided with fulcrum bearing of turning up, and is sequentially provided with loading motor, reinforcement from bottom to up in described low speed end moment closing cylinder
Decelerator, low speed end torque sensor, low speed end Circular gratings and reducer output shaft converting interface, described reducer output shaft switching
Mouthful affixed with the output shaft of tested decelerator as the outfan of described low speed end moment closed module, described loading motor defeated
Shaft is connected with the input shaft of described reinforcement decelerator, the output shaft of described reinforcement decelerator and described low speed end torque sensor
Input shaft connect, the output shaft of described low speed end torque sensor is connected with the input shaft of described low speed end Circular gratings, described
The output shaft of low speed end Circular gratings is connected with the lower mouth of described reducer output shaft converting interface, described loading motor and described low speed
End torque sensor shell is affixed with described low speed end moment closing cylinder；
Two) will be affixed with described low speed end moment closing cylinder top for the shell of tested decelerator；
Three) adopt attitude regulation module to adjust the attitude of high speed end moment closed module, make described high speed end moment closed module
Outfan dock with the input shaft of tested decelerator；
Described high speed end moment closed module includes the high speed end moment closing cylinder being vertically arranged, in the closing of described high speed end moment
It is sequentially provided with speed end torque sensor, speed end Circular gratings and reducer input shaft converting interface from top to bottom in cylinder, described subtract
Fast device input shaft converting interface is affixed with the input shaft of tested decelerator as the outfan of described high speed end moment closed module, institute
The input shaft stating speed end torque sensor is connected with motor, and the shell of described motor is fixed in described speed end power
Square closes the top of cylinder, and the output shaft of described speed end torque sensor is connected with the input shaft of described speed end Circular gratings, institute
State the output shaft of speed end Circular gratings and the connection suitable for reading of described reducer input shaft converting interface, described speed end torque sensor
Affixed with described high speed end moment closing cylinder with described speed end Circular gratings shell；
The outer of tested decelerator is passed through at the top of bottom and described low speed end moment closing cylinder that described high speed end moment closes cylinder
Shell links together, and the shell of the shell of described motor and tested decelerator is closed cylinder by described high speed end moment and connected
Together, the shell of the shell of described loading motor and tested decelerator is closed cylinder by described low speed end moment and is connected to one
Rise；
Described attitude regulation module includes column, the horizontal guide rail and cooperation cross sliding clock inside it and turntable, described turntable
Rotary shaft and described high speed end moment close the central axis of cylinder, described column is fixed in described low speed end moment closing cylinder
Top, be provided with vertical slideway inside described column, be provided with and the cooperation of described vertical slideway in the outside of described horizontal guide rail
Upright slide block, described turntable is arranged on the medial surface of described cross sliding clock, described turntable and described high speed end moment closing
Cylinder is affixed；
Four) will be affixed with described high speed end moment closing cylinder bottom for the shell of tested decelerator；
Five) then start detector start detect.
2. precision speed reduction device combination property detection method according to claim 1 is it is characterised in that described low speed end moment
Closing cylinder and described high speed end moment closing cylinder central axes.
3. precision speed reduction device combination property detection method according to claim 1 is it is characterised in that described low speed end moment
Closing cylinder and described high speed end moment closing cylinder cross section are circle.
4. precision speed reduction device combination property detection method according to claim 1 is it is characterised in that in tested decelerator
The speed reducer housing transfer panel affixed with it is set with shell, described speed reducer housing transfer panel is fixed in described low speed end power
Square closes the top of cylinder and described high speed end moment is closed between the bottom of cylinder.
5. precision speed reduction device combination property detection method according to claim 1 is it is characterised in that adopt vibrating sensor
Detect the vibration information of tested decelerator, detect the temperature information of tested decelerator using second temperature sensor, using two
First temperature sensor detects described motor and the temperature information of described loading motor respectively.
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| CN201611032514.0A CN106370423B (en) | 2016-11-18 | 2016-11-18 | A kind of precision speed reduction device comprehensive performance detection method |
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| CN201611032514.0A CN106370423B (en) | 2016-11-18 | 2016-11-18 | A kind of precision speed reduction device comprehensive performance detection method |
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Cited By (7)
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|---|---|---|---|---|
| CN107764544A (en) * | 2017-09-08 | 2018-03-06 | 天津大学 | A kind of application method of Quick clamping device applied to decelerator detection |
| CN108362576A (en) * | 2018-02-23 | 2018-08-03 | 安徽江淮汽车集团股份有限公司 | A kind of deformation test method of speed changer |
| CN109798350A (en) * | 2019-03-05 | 2019-05-24 | 山东帅克机械制造股份有限公司 | A kind of positioning device based on vertical fine retarder combination property detector |
| CN109909911A (en) * | 2019-03-05 | 2019-06-21 | 山东帅克机械制造股份有限公司 | A kind of switching device based on high-tech precision inspection instrument |
| CN109946070A (en) * | 2019-03-08 | 2019-06-28 | 天津大学 | Robot precision speed reduction device high-precision combination property detector |
| CN109975016A (en) * | 2019-03-08 | 2019-07-05 | 天津大学 | A kind of adapter for precision speed reduction device high-precision combination property detector device |
| CN110068459A (en) * | 2019-03-08 | 2019-07-30 | 天津大学 | A kind of barrel-shaped disk shaped support system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107764544A (en) * | 2017-09-08 | 2018-03-06 | 天津大学 | A kind of application method of Quick clamping device applied to decelerator detection |
| CN107764544B (en) * | 2017-09-08 | 2019-07-19 | 天津大学 | A kind of application method of the Quick clamping device applied to retarder detection |
| CN108362576A (en) * | 2018-02-23 | 2018-08-03 | 安徽江淮汽车集团股份有限公司 | A kind of deformation test method of speed changer |
| CN109798350A (en) * | 2019-03-05 | 2019-05-24 | 山东帅克机械制造股份有限公司 | A kind of positioning device based on vertical fine retarder combination property detector |
| CN109909911A (en) * | 2019-03-05 | 2019-06-21 | 山东帅克机械制造股份有限公司 | A kind of switching device based on high-tech precision inspection instrument |
| CN109946070A (en) * | 2019-03-08 | 2019-06-28 | 天津大学 | Robot precision speed reduction device high-precision combination property detector |
| CN109975016A (en) * | 2019-03-08 | 2019-07-05 | 天津大学 | A kind of adapter for precision speed reduction device high-precision combination property detector device |
| CN110068459A (en) * | 2019-03-08 | 2019-07-30 | 天津大学 | A kind of barrel-shaped disk shaped support system |
| WO2020181649A1 (en) * | 2019-03-08 | 2020-09-17 | 天津大学 | High-precision comprehensive performance test instrument for precise speed reducer for robot |
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| CN110068459B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | Barrel-shaped disc-shaped supporting system |
| CN109946070B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | High-precision comprehensive performance detector of precision speed reducer for robot |
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| CN106370423B (en) | 2018-10-30 |
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