CN109443757A - A kind of RV retarder life cycle management precision degradation testing device - Google Patents
A kind of RV retarder life cycle management precision degradation testing device Download PDFInfo
- Publication number
- CN109443757A CN109443757A CN201811636137.0A CN201811636137A CN109443757A CN 109443757 A CN109443757 A CN 109443757A CN 201811636137 A CN201811636137 A CN 201811636137A CN 109443757 A CN109443757 A CN 109443757A
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- Prior art keywords
- retarder
- life cycle
- cycle management
- testing device
- plate
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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
- G01M13/021—Gearings
-
- 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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a kind of RV retarder life cycle management precision degradation testing devices.The slide plate driven by driving mechanism is set on plate；It is fixed with mounting bracket on slide plate, and is fixed with servo motor and RV retarder to be tested in mounting bracket, the output end of servo motor is connect with the input terminal of RV retarder；It is further fixed on bearing bracket on plate, there are left risers and right risers on bearing bracket, bearing assembly and encoder are installed in left risers, output flange is set to left risers and is capable of fixing transmission close to RV retarder side, and after the two contact；Loading axis is equipped with by bearing assembly in right risers, output flange axis is connect by shaft coupling with loading axis one end after passing through bearing assembly and encoder inner hole, and the loading axis other end is connected with the load bar with counterweight.The present invention can carry out real-time tracking test to retarder driving error in the fatigue life test complete period, can also test the driving error under retarder receiving varying load condition.
Description
Technical field
The present invention relates to a kind of test devices, more particularly to a kind of move back for testing RV retarder life cycle management precision
The test device of change.
Background technique
RV retarder has small in size, light-weight, gear range as most important joint of robot retarder
Greatly, the series of advantages such as bearing capacity height, high, the high-efficient, stable drive of precision.The quality of its transmission performance directly affects industry
The overall performance of robot.
With the continuous improvement of industrial production automation and precise treatment degree, the demand of industrial robot is quicklyd increase,
It is just more important to develop and develop high performance retarder.Nothing is concentrated on for the equipment of RV retarder drive error testing at present
It carries, the single measurement of even load acquisition driving error, is still directed in RV retarder fatigue life test process without a kind of to transmission
The test equipment of error progress real-time and accurate measurement.
Summary of the invention
The present invention is provided and is subtracted during a kind of variable load fatigue test to RV for certain or certain defects in the prior art
The test macro that fast device life cycle management precision degenerate case is studied.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
RV retarder life cycle management precision degradation testing device, it includes plate, be provided on plate guide rail and with
Guide rail cooperation constitutes the sliding block of sliding pair, and sliding block is fixedly arranged above horizontal slide plate；Slide plate side, which is fixed with, drives slide plate edge to lead
The driving mechanism of rail direction sliding；Mounting bracket is fixed on the slide plate, and be fixed in mounting bracket servo motor and
The output end of RV retarder to be tested, servo motor is connect with the input terminal of RV retarder, the glide direction of the sliding pair
It is identical as RV retarder axis direction；It is further fixed on bearing bracket on the plate, there are left risers on bearing bracket
And right risers, bearing assembly and encoder are installed in the left risers, output flange is set to left risers close to RV retarder
Side, and it is coaxial with the output end of RV retarder, transmission is capable of fixing after contacting the two；Pass through bearing group in the right risers
Part is equipped with loading axis, and output flange axis passes through shaft coupling and load after passing through bearing assembly and encoder inner hole in left risers
The connection transmission of axis one end, the loading axis other end are connected with the load bar with counterweight.
Preferably, the driving mechanism is gear & rack structure, middle rack is fixed on slide plate side, and gear passes through
Axis and bearing are fixed on plate, and wheel and rack constitutes transmission cooperation.
Further, the gear has handwheel driving rotation.
Preferably, the left risers and right risers center on bearing bracket open up circular hole, axis is respectively set in circular hole
Bearing assembly constitutes twin spans supporting bearing base.
Preferably, the counterweight is set to the end of load bar.
Preferably, the guide rail has two, and be parallel to each other, the flat plate bottom by least 4 pieces of sliding blocks into
Row smooth sliding.
Preferably, the servo motor, RV retarder, output flange, encoder, shaft coupling, loading axis are coaxial
Setting.
Preferably, the flat plate bottom is set up on bracket.
Preferably, the sliding pair is equipped with the locking device of limit slippage.
Preferably, Plane of rotation of the load bar under loading axis drive is vertical with loading axis axis direction.
The present invention in terms of existing technologies, has the advantages that
1) present invention is carried out using compositions such as guide rail, sliding block, slide plate, locking device, handwheel and rack-and-pinion
The sliding equipment of axial movement adjusts axial mounting distance, convenience and high-efficiency according to the difference of retarder model.
2) change that clump weight of the invention passes through counterweight and centre of gyration distance during own wt and circular motion
Change, alternating load is applied to retarder, the drive error testing under varying load condition can be carried out.
3) present invention utilizes servo motor itself encoder, cooperates with peripheral hardware encoder, carries out driving error measurement, structure
Simply.
4) present invention can synchronize the uninterrupted real-time testing for carrying out driving error, entirely while fatigue life test
Process avoids retarder, encoder etc. and repeats dismounting to accuracy testing, fatigue life test without dismantling to retarder
As a result influence, test result are more accurate.
Detailed description of the invention
Fig. 1 is RV retarder life cycle management precision degradation testing device side view；
Fig. 2 is RV retarder life cycle management precision degradation testing device axonometric drawing；
Fig. 3 is RV retarder life cycle management precision degradation testing device top view；
Fig. 4 is the assembling schematic diagram of bearing bracket and other assemblies；
In figure: plate 1, guide rail 2, sliding block 3, handwheel 4, servo motor 5, RV retarder 6, mounting bracket 7, output method
Orchid 8, bearing bracket 9, encoder 10, shaft coupling 11, loading axis 12, load bar 13, counterweight 14, gear & rack structure 15, branch
Frame 16, locking device 17, slide plate 18.
Specific embodiment
The present invention is further elaborated and is illustrated with reference to the accompanying drawings and detailed description.Each implementation in the present invention
The technical characteristic of mode can carry out the corresponding combination under the premise of not conflicting with each other.
As shown in Figures 1 to 3, a kind of RV retarder life cycle management precision degradation testing device of the invention, it includes flat
Plate 1, guide rail 2, sliding block 3, handwheel 4, servo motor 5, RV retarder 6, mounting bracket 7, output flange 8, bearing bracket
9, encoder 10, shaft coupling 11, loading axis 12, load bar 13, counterweight 14, gear & rack structure 15, bracket 16, locking device
17, slide plate 18.
Wherein, 1 bottom shelf of plate is set on bracket 16, and in order to operate, plate 1 itself should have certain counterweight,
It is set to keep homeostasis not shake during the test.It is provided with two parallel guide rails 2 on plate 1, has on every guide rail 2
There are two pieces of sliding blocks 3, sliding block 3 and the cooperation of guide rail 2 constitute sliding pair.1 bottom shelf of plate is set on 4 pieces of sliding blocks 3, is carried out with sliding block flat
Stable sliding is dynamic.18 side of slide plate is fixed with the driving mechanism for driving slide plate 18 to slide along 2 direction of guide rail.Driving mechanism can be any
The equipment that can be driven, but consider easy to use and manufacturing cost, using gear & rack structure 15 in the present embodiment.Its
Middle rack is fixed on 18 side of slide plate, and gear is fixed on plate 1 by axis and bearing, can rotate, and wheel and rack is nibbled
It closes and constitutes transmission cooperation.Gear has the driving rotation of handwheel 4, can rotate with moving gear when rotating handwheel, and then drive
Rack gear and slide plate 18 are moved along sliding block 3.The mounting bracket 7 of L-type is fixed on slide plate 18, and on the facade of mounting bracket 7
It is fixed with servo motor 5 and RV retarder 6 to be tested, the output end of servo motor 5 is connect with the input terminal of RV retarder 6,
RV retarder 6 is driven by motor.Since the model of retarder is different, size is also different, therefore by slide plate
18 and top carry equipment can integrally move, to adapt to various sizes of retarder.Therefore, it is necessary to guarantee sliding pair
Glide direction is identical as 6 axis direction of RV retarder, i.e. the laying direction of guide rail 2 is identical as 6 axis direction of RV retarder.It is leading
Bearing bracket 9 is further fixed on the plate 1 of 2 one end of rail, 9 bottom of bearing bracket is fixed, and top has left risers and the right side vertical
Plate, left risers and right risers center on bearing bracket 9 open up circular hole, bearing assembly are respectively set in circular hole, constitute double
Across supporting bearing base.Bearing assembly and encoder 10 are installed, output flange 8 is set to left risers and slows down close to RV in left risers
6 side of device, and it is coaxial with the output end of RV retarder 6.After being adjusted to position by sliding pair, output flange 8 and RV subtracts
Fast device 6 is bonded, and is fastened by screw, therefore the two is capable of fixing transmission.It is equipped with and is added by bearing assembly in right risers
Axis 12 is carried, output flange axis passes through shaft coupling 11 and loading axis 12 after passing through 10 inner hole of bearing assembly and encoder in left risers
One end connection transmission.Servo motor 5, RV retarder 6, output flange 8, encoder 10, shaft coupling 11, loading axis 12 are coaxially set
It sets.12 other end of loading axis is connected with the load bar 13 with counterweight 14.Counterweight 14 is set to the end of load bar 13, Er Qiejia
It is vertical with 12 axis direction of loading axis to carry Plane of rotation of the bar 13 under the drive of loading axis 12.Clump weight passes through own wt, with
And during circular motion clump weight and centre of gyration distance variation, to retarder apply variation load.
The engine bench test of usual retarder driving error mostly uses no-load or even load, and RV retarder is in use
Because of the continuous variation of mechanical arm position posture, each joint speed reducer bears live load more, tests under no-load, even load state
The driving error of RV retarder not can accurately reflect the real-time driving error data of retarder in actual use, this
Invention reduces robot single joint operating status, and test process applies alternating load, and test result can more reflect actual conditions.
In addition, limitation slide plate 18 no longer slides in order to after adjusting in place, need to be equipped with limit slippage on sliding pair
Locking device 17.The type of locking device can choose diversified forms, such as by opening on two components for constituting sliding pair
If a series of pin holes, limit then is fixed by being inserted into pin, or component is passed through one of by compression bar and with can
The form of release compresses branch and peaks on another component, forms temporary spacing.Any feasible locking limit method can answer
For in the present invention, without limitation.
Below based on above-mentioned test device, a kind of RV retarder life cycle management precision degeneration survey using the device is introduced
Method for testing, comprising the following steps:
1) after RV retarder 6 is installed, specified or counterweight 14 greater than rated weight is installed in 13 end of load bar, is watched
Taking motor 5 drives entire mechanism to carry out forward and reverse 360 ° of rotary motions, and the counterweight 14 for being connected to 13 end of load bar is doing 360 °
Since the distance to the centre of gyration constantly changes during rotary motion, apply the torque of variation to retarder；
2) by the angular encoder built in servo motor 5, and it is mounted on the angle volume of 9 left side vertical plate of bearing bracket
When code device 10 obtains the input of RV retarder 6, the operation of output end single direction, value of angular displacement within the scope of 360 °, in 360 ° of periods
Theoretical output angle subtract reality output angle maximum value be a cycle maximum driving error；
3) RV retarder 6 continuous service 6000 or 6000 hours or more in a fully loaded state, record every group of positive and negative rotation respectively
The driving error data in period draw the curve that forward and reverse driving error changes over time respectively, and it is complete to obtain tested RV retarder 6
Life cycle transmission accuracy deterioration law.
It is described below in detail where advantage of the invention, so that those skilled in the art more fully understand reality of the invention
Matter.Traditional engine bench test retarder driving error is mostly that retarder inputs, output end respectively sets encoder, and theoretical output angle subtracts
The actual angle for going output coder to record is driving error, has objectively responded the transmission accuracy situation of retarder.Because often
Encoder scheme is set before rule, need to additionally increase transition axis, shaft coupling etc., the precision of transition axis, shaft coupling, the installation essence of encoder
Degree, can impact test result.Present invention eliminates the encoders of front end setting, directly compile using servo motor is built-in
Code device and peripheral hardware encoder, which cooperate, to be measured, and retarder input gear axle is directly installed on motor shaft, and is mounted on bracket
On retarder planetary gear engagement driving retarder operating, simplify structure, not only precision has a distinct increment, the weight of test result
Renaturation is also preferable, and concrete outcome see the table below 1 test data.
The identical operating condition underdrive error testing data with 1 40E of table 1
In addition, traditional scheme fatigue life test and drive error testing separately carry out, retarder, encoder not can avoid
Test result is impacted Deng the systematic error generated in repeating disassembly process, is embodied as repeating that measurement accuracy is installed
Variation range is larger, it is contemplated that RV retarder is high-accuracy drive apparatus, and influence of the systematic error to test result has surpassed
The result of variations of retarder precision cyclical regression is gone out, therefore can not judge that the degeneration of retarder complete period precision still subtracts
Speed thinks highly of the variation of test result caused by multiple installation.The present invention carries out precision degradation experiment, and test process need to only start installation one
Secondary, avoiding being dismounted for multiple times influences the discreteness of test result, and test result is more accurate, efficient.In addition cooperate host computer,
Driving error can (6000 hours or more) uninterrupted real-time measurement in a long time, draw forward and reverse driving error at any time
Between the precision change curve that elapses, it is intuitive to reflect precision deterioration law.It with 24 hours was what the period carried out that following table, which is two schemes,
Life cycle management precision degradation experiment data: wherein scheme one is experimental rig testing scheme of the present invention, and data are small every 24
When extract each one group of 360 ° of driving error maximum value datas of positive and negative rotation；Scheme two is disassembly retarder peace after fatigue test 24 hours
It is attached to drive error testing rack, is reinstalled tired rack progress fatigue life test after testing driving error.It is surveyed from table 2
Examination data are visible: testing stand of the present invention forward and reverse more first inspection of driving error after retarder testing fatigue 24 hours is subtracted
It is small, it is increased slightly over time later, substantially conforms to precision deterioration law.And forward and reverse transmission in traditional scheme 288 hours
Max value of error, the difference of minimum value are respectively 12.4arc.sec., 14arc.sec., and test result discreteness is larger, without obvious
Rule, preliminary analysis are the test result for repeating the systematic error that installation test generates and affecting driving error.
The identical operating condition underdrive error degradation testing data with 2 40E of model of table 2
Above-mentioned embodiment is only a preferred solution of the present invention, so it is not intended to limiting the invention.Have
The those of ordinary skill for closing technical field can also make various changes without departing from the spirit and scope of the present invention
Change and modification.Therefore all mode technical solutions obtained for taking equivalent substitution or equivalent transformation, all fall within guarantor of the invention
It protects in range.
Claims (10)
1. a kind of RV retarder life cycle management precision degradation testing device, it is characterised in that: including plate (1), on plate (1)
It is provided with guide rail (2) and cooperates the sliding block (3) for constituting sliding pair with guide rail (2), sliding block (3) is fixedly arranged above horizontal slide plate
(18)；Slide plate (18) side is fixed with the driving mechanism for driving slide plate (18) to slide along guide rail (2) direction；The slide plate (18)
On be fixed with mounting bracket (7), and be fixed with servo motor (5) and RV retarder (6) to be tested in mounting bracket (7), watch
The output end for taking motor (5) is connect with the input terminal of RV retarder (6), the glide direction of the sliding pair and RV retarder (6)
Axis direction is identical；Be further fixed on bearing bracket (9) on the plate (1), on bearing bracket (9) have left risers and
Right risers are equipped with bearing assembly and encoder (10) in the left risers, and output flange (8) is set to left risers and subtracts close to RV
Fast device (6) side, and it is coaxial with the output end of RV retarder (6), transmission is capable of fixing after contacting the two；In the right risers
It is equipped with loading axis (12) by bearing assembly, output flange axis passes through the bearing assembly and encoder (10) inner hole in left risers
Transmission, loading axis (12) other end and the load for having counterweight (14) are connect with loading axis (12) one end by shaft coupling (11) afterwards
Bar (13) is connected.
2. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: the drive
Motivation structure is gear & rack structure (15), and middle rack is fixed on slide plate (18) side, and gear is fixed on flat by axis and bearing
On plate (1), and wheel and rack constitutes transmission cooperation.
3. RV retarder life cycle management precision degradation testing device as claimed in claim 2, it is characterised in that: the tooth
Wheel has handwheel (4) driving rotation.
4. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: bearing block branch
Left risers and right risers center on frame (9) open up circular hole, and bearing assembly is respectively set in circular hole, constitute twin spans spring bearing
Seat.
5. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described matches
Weight (14) is set to the end of load bar (13).
6. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described leads
Rail (2) has two, and is parallel to each other, and the plate (1) bottom carries out smooth sliding by least 4 pieces of sliding blocks (3).
7. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described watches
Motor (5), RV retarder (6), output flange (8), encoder (10), shaft coupling (11), loading axis (12) is taken to be coaxially disposed.
8. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described is flat
Plate (1) bottom shelf is set on bracket (16).
9. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: the cunning
The dynamic secondary locking device (17) for being equipped with limit slippage.
10. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described
Plane of rotation of the load bar (13) in the case where loading axis (12) drive is vertical with loading axis (12) axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636137.0A CN109443757A (en) | 2018-12-29 | 2018-12-29 | A kind of RV retarder life cycle management precision degradation testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636137.0A CN109443757A (en) | 2018-12-29 | 2018-12-29 | A kind of RV retarder life cycle management precision degradation testing device |
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| CN109443757A true CN109443757A (en) | 2019-03-08 |
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| CN201811636137.0A Pending CN109443757A (en) | 2018-12-29 | 2018-12-29 | A kind of RV retarder life cycle management precision degradation testing device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916622A (en) * | 2019-03-27 | 2019-06-21 | 江苏胜立特机械有限公司 | A kind of RV speed reducer testing stand and its connecting tooling |
| CN110160777A (en) * | 2019-06-10 | 2019-08-23 | 北京工业大学 | A kind of experimental provision measuring the plastic gear planetary reduction gear service life |
| CN110243711A (en) * | 2019-07-05 | 2019-09-17 | 大连交通大学 | A kind of constant speed formula frictional wear experiment data measuring method and testing machine |
| CN111879513A (en) * | 2020-07-31 | 2020-11-03 | 河北工业大学 | Right-angle suspension type RV reducer comprehensive performance testing device |
| CN112504670A (en) * | 2020-11-20 | 2021-03-16 | 北京工业大学 | RV reduction gear precision retentivity and fatigue life testing arrangement |
| CN114199553A (en) * | 2021-11-11 | 2022-03-18 | 华中科技大学 | Lightweight RV reduction gear comprehensive properties testing arrangement |
| CN114812894A (en) * | 2022-04-20 | 2022-07-29 | 银川威马电机有限责任公司 | Motor type test quick installation detection device |
| CN117347049A (en) * | 2023-12-04 | 2024-01-05 | 枣庄市高晟实业有限公司 | Speed reducer test machine with quick positioning function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109916622A (en) * | 2019-03-27 | 2019-06-21 | 江苏胜立特机械有限公司 | A kind of RV speed reducer testing stand and its connecting tooling |
| CN110160777A (en) * | 2019-06-10 | 2019-08-23 | 北京工业大学 | A kind of experimental provision measuring the plastic gear planetary reduction gear service life |
| CN110243711A (en) * | 2019-07-05 | 2019-09-17 | 大连交通大学 | A kind of constant speed formula frictional wear experiment data measuring method and testing machine |
| CN110243711B (en) * | 2019-07-05 | 2021-12-10 | 大连交通大学 | Constant-speed friction and wear experiment data measuring method and testing machine |
| CN111879513A (en) * | 2020-07-31 | 2020-11-03 | 河北工业大学 | Right-angle suspension type RV reducer comprehensive performance testing device |
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| WO2022105458A1 (en) * | 2020-11-20 | 2022-05-27 | 北京工业大学 | Precision retentivity and fatigue life testing device for rv reducer |
| CN114199553A (en) * | 2021-11-11 | 2022-03-18 | 华中科技大学 | Lightweight RV reduction gear comprehensive properties testing arrangement |
| CN114199553B (en) * | 2021-11-11 | 2023-06-16 | 华中科技大学 | Lightweight RV reduction gear comprehensive performance testing arrangement |
| CN114812894A (en) * | 2022-04-20 | 2022-07-29 | 银川威马电机有限责任公司 | Motor type test quick installation detection device |
| CN117347049A (en) * | 2023-12-04 | 2024-01-05 | 枣庄市高晟实业有限公司 | Speed reducer test machine with quick positioning function |
| CN117347049B (en) * | 2023-12-04 | 2024-02-02 | 枣庄市高晟实业有限公司 | Speed reducer test machine with quick positioning function |
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