CN110487544A - A kind of movable-component formula precision speed reduction device is comprehensive performance test bed - Google Patents
A kind of movable-component formula precision speed reduction device is comprehensive performance test bed Download PDFInfo
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- CN110487544A CN110487544A CN201910911731.4A CN201910911731A CN110487544A CN 110487544 A CN110487544 A CN 110487544A CN 201910911731 A CN201910911731 A CN 201910911731A CN 110487544 A CN110487544 A CN 110487544A
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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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Abstract
The invention discloses a kind of movable-component formula precision speed reduction device comprehensive performance tests, the free-standing retarder precision mounting bracket being fixedly mounted using one and four loading measuring and controlling equipments can realize the connection or disengagement not having between one-dimensional movement slide plate along the one-dimensional movement slide plate composition that X-axis moves axially, the handwheel by rotating each platform.Input terminal is sequentially connected small torque sensor by driving servo motor from right to left, input angle encoder, tested retarder, output angle encoder, output torque sensor, accompanies and survey planetary reduction gear and load servo motor.Testing stand meets the comprehensive performance measurement of precision speed reduction device key parameter, and measure the item includes: driving error, return difference, torsion stiffness, back clearance, non-load friction torque, positive detent torque, reverse starting torque, transmission efficiency.
Description
Technical field
The present invention relates to a kind of movable-component formula precision speed reduction device comprehensive performance measuring devices, belong to precision measurement metering
Technology, Precision Instrument and Machinery transmission field.
Background technique
Precision speed reduction device is widely used in artificially representing with industrial machine as a kind of most basic mechanical transmission component
High-precision transmission field.Precision speed reduction device is big by compact-sized, light-weight, transmission ratio, stable drive, with small vibration, noise is low,
A series of features such as high-efficient, service life length, and under certain condition there is self-locking function to become domestic and foreign scholars and research institution
The emphasis of research.
Precision speed reduction device is due to the structure slowed down using cycloidal-pin wheel planetary, and structure is complicated, and processing and manufacturing requires high.It is domestic
It is still in the primary stage for accurate research, for the design for improving precision speed reduction device, improves transmission accuracy, key parameter
Measurement just seems particularly critical.The key index of precision speed reduction device mainly includes driving error, return difference, torsion stiffness, back clearance, rubs
Wipe torque, transmission efficiency etc..
Under present circumstances, had the following problems both at home and abroad for the measurement of precision speed reduction device key index:
(1) by the way of traditional manual loading moment, i.e., personnel using by manual loading counterweight come control moment
Size, this test mode precision is low, poor reliability.
(2) existing precision speed reduction device performance test stand is typically only capable to carry out single index measurement, can not be in an equipment
The upper detection that retarder items Key Performance Indicator is realized by a tooling, and precision is low, poor reliability.
(3) existing testing stand module design, according to latest national standards, " robot is not driven test method with precision gear
Device experiment method " implement
Therefore, it is necessary to a main machine structure, measurement method specification are developed under the guidance of existing national standard, and
In conjunction with the advanced observation and control technology such as light, mechanical, electrical, can be realized retarder tooling of progress on one device can be completed synthesis
The precision speed reduction device of performance indicator detection is comprehensive performance test bed.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, the present invention proposes a kind of movable-component formula precision speed reduction device comprehensive performance
Testing stand, it is characterised in that testing stand is more flexible using movable-component formula design test method and follows newest country's mark
Standard, can be realized retarder tooling of progress on one device can be completed integrated performance index detection.
The measure the item that this testing stand can carry out has: driving error, return difference, torsion stiffness, back clearance, non-load friction torque,
Positive detent torque, reverse starting torque and transmission efficiency.
A kind of movable-component formula precision speed reduction device is comprehensive performance test bed, and the mechanical part of the testing stand connects from right to left
It connects sequence and is followed successively by input electric machine assembly, input angle encoder component, reducer stent component, output angle encoder component
With load support component.
The reducer stent component is fixed on cast iron base 23, other four groups of components are separately mounted to four independent energy
On the slide plate being enough moved one-dimensionally, each slide plate is separately mounted to two groups of linear guides 34 of reducer stent component left and right ends
On, independent axial movement can be carried out in X-axis along linear guide, is equipped with locking and fixing device on each slide plate.
The input electric machine assembly includes driving servo motor 19, the first small torsion coupling 18, the second small torque shaft coupling
Device 16, input torque sensor 17, input electric machine support 20 and input torque sensor stand 21；
The input angle encoder component include entering spindle 15, input angle encoder 27, reducer input shaft 12,
Input light barrier holder 14；
The reducer stent component includes input fixator 11, tested retarder 25, retarder mounting bracket 22；It is described
Output angle encoder component includes output angle encoder 26, output light barrier holder 9；
The load support component includes torsional axis 8, output torque sensor 5, accompanies and survey planetary reduction gear 2, load servo
Motor 1, output torque sensor stand 24, output motor bracket 3 and load supporting support 7.
It is from right to left input terminal to output end, connects in the following manner, driving servo motor 19 is mounted on input motor
On bracket 20, input torque sensor 17 is mounted on input torque sensor stand 21 and input torque sensor stand 21
Both ends pass through the first small torsion coupling 16 respectively, the second small torsion coupling 18 connects entering spindle 15 and driving servo motor
19.Input angle encoder 27 is mounted in entering spindle 15, and end face connects reducer input shaft 12；Reducer input shaft 12 connects
Tested retarder 25 is connect, tested retarder 25 is mounted in retarder mounting bracket 22, and input fixator is being inputted
End is mounted in retarder mounting bracket 22 when fixed；26 component of output angle encoder is equipped with reed structure, reed structure packet
Reed pressure ring and reed are included, output angle encoder 26 is connected using reed pressure ring connection reed and 10 flange of reducer output shaft
It connects.The end of reducer output shaft 10 is connect with torsional axis 8, and torsional axis 8 is mounted in load supporting support 7, and survey planet is accompanied to subtract
Fast device 2 is mounted on output motor bracket 3, and output torque sensor 5 is mounted on output torque sensor stand 24 and exports
The both ends of torque sensor bracket 24 pass through the first big torque clutch 4 respectively, survey planet is accompanied in the connection of the second big torque clutch 6
Retarder 2 and torsional axis 8, load servo motor 1 are connected to the left end accompanied and survey planetary reduction gear 2.
Further, the linear guide 34 is divided to two groups and is mounted on cast iron base 23, and four groups of one-dimensional movement slide plates are equal
Can be carried out along linear guide 34 it is independent be axially moved along X-axis, while cast iron base 23 is equipped with inverted T shaped groove, in inverted T shaped groove
Equipped with sliding block, locking device is mounted on sliding block through bolt, in test for locking each slide plate.
Further, one-dimensional movement slide plate drives wheel and rack engagement by handwheel, and then slide plate is driven to carry out along X
Axis is axially moved.
Further, testing stand module design, test method meet latest national standards " robot are driven with precision gear
Device experiment method " requirement；
Further, this pilot system realizes tested all key indexes of retarder by disposable retarder tooling
Comprehensive performance detection.
Further, it is tested retarder to be mounted in retarder precision mounting bracket by connecting positioning sleeve, passes through customization
Different connecting positioning sleeves realizes various types of precision speed reduction device measurements.
Further, electric machine support is inputted, input torque sensor stand, input light barrier holder, light barrier holder is exported, is defeated
Electric machine support, output torque sensor stand, load supporting support, retarder mounting bracket are L-type support out.
Further, testing stand is diaphragm type coupler using big torque clutch, small torsion coupling.
Further, torque sensor used in testing stand is shaft type strain-type torque sensor.
Further, input terminal fixed form is connected with deceleration using the fixed input flange of input fixator, input flange
Thus device input shaft fixes the input terminal of tested retarder.
Further, the input angle encoder, output angle encoder are all made of double-reading head structure.
Further, the output angle encoder is defeated with retarder by reed using reed pressure ring by reed structure
Shaft flange is connected out.
Further, by the output torque of planetary reduction gear increase load servo motor, meet using load servo electricity
When machine loads, the big needs of the high output torque of retarder speed ratio.
Further, the output end loading method is actively loaded using servo motor, while loading servo motor can be
It is used under particular measurement project as driving motor.
Further, each rotating shaft member is respectively mounted protective cover and is protected.
Compared with prior art, beneficial effects of the present invention are as follows: testing stand module design, test method meet newest state
The requirement of family's draft standard for approval " robot precision gear transmission device test method " has met driving error, return difference, torsion just
The needs of the measure the items such as degree, back clearance, non-load friction torque, positive detent torque, reverse starting torque and transmission efficiency, and
Using four groups of stand alone type skateboards, make each component that can freely connect, disengage, slide board drive device is simple, and locking device is reliable.
Multiple Type precision speed reduction device can be measured by customizing different size connecting positioning sleeve.The present apparatus is easy to operate, measurement
Precision is high.
Detailed description of the invention:
Fig. 1 is the comprehensive performance test bed main view of movable-component formula precision speed reduction device.
Fig. 2 is the comprehensive performance test bed measuring principle figure of movable-component formula precision speed reduction device.
Fig. 3 is the comprehensive performance test bed slide plate schematic diagram of movable-component formula precision speed reduction device.
Fig. 4 is the comprehensive performance test bed mechanical structure total figure of movable-component formula precision speed reduction device (without protective cover).
Fig. 5 is the comprehensive performance test bed mechanical structure total figure of movable-component formula precision speed reduction device (band protective cover).
In figure:
1, servo motor is loaded；2, survey planetary reduction gear is accompanied；3, output motor bracket；
4, the first big torque clutch；5, output torque sensor；6, the second big torque clutch；
7, supporting support is loaded；8, torsional axis；9, light barrier holder is inputted；
10, reducer output shaft；11, fixator is inputted；12, reducer input shaft；
13, input flange；14, light barrier holder is inputted；15, entering spindle；
16, the first small torsion coupling；17, input torque sensor；18, the second small torsion coupling；
19, servo motor is driven；20, electric machine support is inputted；21, input torque sensor stand；
22, retarder mounting bracket；23, grating slide plate is inputted；24, output torque sensor stand；
25, it is tested retarder；26, output angle encoder；27, output angle encoder；
28, subdivider；29, data collecting card；30, industrial personal computer；
31, electric machine controller；32, motor driver；33, support skid is loaded；
34, linear guide；35, grating slide plate is exported；36, grating slide plate is inputted；
37, motor slide plate is inputted；38, motor slide plate handwheel is inputted；
39, motor slide plate locker 40, input grating slide plate handwheel are inputted；
41, the tight device of grating lock for skate board is inputted；42, the tight device of grating lock for skate board is exported；
43, grating slide plate handwheel is exported；44, support skid handwheel is loaded；
45, support skid locker is loaded；
Specific embodiment
Invention is further explained with reference to the accompanying drawing:
As shown in Figure 1, being from right to left input terminal to output end, device connects in the following manner, drives servo motor 19
It is mounted on input electric machine support 20, input torque sensor 17 is mounted on input torque sensor stand 21 and both ends are distinguished
Entering spindle 15 and driving servo motor 19 are connected by the first, second small torsion coupling.Equipped with input in entering spindle 15
Angular encoder 27, end face connect reducer input shaft 12；Output angle encoder component is equipped with reed structure, utilizes reed pressure
Ring connects reed and 10 flanged joint of reducer output shaft.10 end of reducer output shaft is connect with torsional axis 8, and torsional axis 8 is pacified
In load supporting support 7, survey planetary reduction gear 2 is accompanied to be mounted on output motor bracket 3, output torque sensor 5 is installed
On output torque sensor stand 24 and both ends pass through the connection of the first, second big torque clutch respectively and accompany survey planetary reduction gear
2 with torsional axis 8.
As shown in Fig. 2, input angle encoder 26, output angle encoder 27 acquire corner by respective double-reading head respectively
Signal passes through subdivider 28 to data collecting card 29.Industrial personal computer 30 acquires data collecting card signal and senses from input torque
The torque signal of device 17, output torque sensor 5.Industrial personal computer 30 passes through electric machine controller 31, the control driving of motor driver 32
Servo motor 19, load 1 operation of servo motor.
As shown in figure 3, load support skid 33 is mounted in linear guide 34 through sliding block, 45 turns of support skid handwheel are loaded
Dynamic driving rack and pinion engagement, realizes that load support skid 33 is axially moved in X-axis.Using load support skid locking device
46 lock slides prevent its movement.Its excess-three group slide plate driving principle is identical as load support skid 33.
Claims (10)
1. a kind of movable-component formula precision speed reduction device is comprehensive performance test bed, it is characterised in that: the mechanical part of the testing stand
The order of connection is followed successively by input electric machine assembly, input angle encoder component, reducer stent component, output angle from right to left
Encoder component and load support component；
The reducer stent component is fixed on cast iron base, other four groups of components are separately mounted to four and are independently able to carry out
On the slide plate of one-dimensional movement, each slide plate is separately mounted in two groups of linear guides of reducer stent component left and right ends, can
Independent axial movement is carried out in X-axis along linear guide, is equipped with locking and fixing device on each slide plate；
The input electric machine assembly includes driving servo motor, the first small torsion coupling, the second small torsion coupling, input torsion
Square sensor, input electric machine support and input torque sensor stand；
The input angle encoder component includes entering spindle, input angle encoder, reducer input shaft, input grating branch
Frame；
The reducer stent component includes input fixator, tested retarder, retarder mounting bracket；The output angle is compiled
Code device assembly includes output angle encoder, output light barrier holder；
The load support component includes torsional axis, output torque sensor, accompanies and survey planetary reduction gear, load servo motor, is defeated
Torque sensor bracket, output motor bracket and load supporting support out；
It is from right to left input terminal to output end, drives servo motor to be mounted on input electric machine support, input torque sensor
Be mounted on input torque sensor stand and the both ends of input torque sensor stand pass through respectively the first small torsion coupling,
Second small torsion coupling connection entering spindle and driving servo motor；Input angle encoder is mounted in entering spindle, end
Face connects reducer input shaft；Reducer input shaft connects tested retarder, and tested retarder is mounted on retarder mounting bracket
On, input fixator is needing to carry out to be mounted in retarder mounting bracket when input terminal is fixed；Output angle encoder component
Equipped with reed structure, reed structure includes reed pressure ring and reed, output angle encoder using reed pressure ring connection reed with
Reducer output shaft flanged joint；The end of reducer output shaft and torsion axis connection, torsional axis are mounted on load supporting support
On, accompany survey planetary reduction gear to be mounted on output motor bracket, output torque sensor is mounted on output torque sensor stand
Upper and output torque sensor stand both ends pass through the first big torque clutch respectively, survey is accompanied in the connection of the second big torque clutch
Planetary reduction gear and torsional axis, load servo motor are connected to the left end accompanied and survey planetary reduction gear.
2. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
The linear guide is divided to two groups and is mounted on cast iron base, and four groups of one-dimensional movement slide plates can carry out independent along linear guide
Be axially moved along X-axis, while cast iron base is equipped with inverted T shaped groove, and sliding block is equipped in inverted T shaped groove, and locking device is pacified through bolt
On sliding block, in test for locking each slide plate.
3. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
It is moved one-dimensionally slide plate and wheel and rack engagement is driven by handwheel, and then slide plate is driven be axially moved along X-axis.
4. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
This pilot system realizes the comprehensive performance detection of tested all key indexes of retarder by disposable retarder tooling.
5. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
Tested retarder is mounted in retarder precision mounting bracket by connecting positioning sleeve, real by customizing different connecting positioning sleeves
Existing various types of precision speed reduction device measurements.
6. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
Input electric machine support, input torque sensor stand, input light barrier holder, output light barrier holder, output motor bracket, output torsion
Square sensor stand, load supporting support, retarder mounting bracket are L-type support.
7. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
Testing stand is diaphragm type coupler using big torque clutch, small torsion coupling.
8. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
Torque sensor used in testing stand is shaft type strain-type torque sensor.
9. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, it is characterised in that:
Input terminal fixed form is connected with reducer input shaft, is thus fixed using the fixed input flange of input fixator, input flange
The input terminal of tested retarder.
10. a kind of movable-component formula precision speed reduction device according to claim 1 is comprehensive performance test bed, feature exists
In: the input angle encoder, output angle encoder are all made of double-reading head structure；
Reed is connected by the output angle encoder by reed structure using reed pressure ring with reducer output shaft flange；
The output end loading method is actively loaded using servo motor, while loading servo motor can be under particular measurement project
It is used as driving motor；
Each rotating shaft member is respectively mounted protective cover and is protected.
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| CN201910911731.4A CN110487544A (en) | 2019-09-25 | 2019-09-25 | A kind of movable-component formula precision speed reduction device is comprehensive performance test bed |
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| CN201910911731.4A CN110487544A (en) | 2019-09-25 | 2019-09-25 | A kind of movable-component formula precision speed reduction device is comprehensive performance test bed |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272419A (en) * | 2020-02-28 | 2020-06-12 | 广东省智能制造研究所 | Flexible assembly platform for reliability test of coaxial speed reducer |
| CN111520456A (en) * | 2020-04-29 | 2020-08-11 | 浙江大学昆山创新中心 | Intelligent speed reducer |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN112254961A (en) * | 2020-10-15 | 2021-01-22 | 哈尔滨工业大学 | High low temperature testing arrangement of transmission efficiency |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
| CN113267335A (en) * | 2021-05-21 | 2021-08-17 | 北京工业大学 | Precision speed reducer return difference testing device |
| KR102330033B1 (en) * | 2020-05-20 | 2021-11-22 | 한국로봇융합연구원 | Reducer life time test apparatus |
| CN116296373A (en) * | 2023-05-25 | 2023-06-23 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272419A (en) * | 2020-02-28 | 2020-06-12 | 广东省智能制造研究所 | Flexible assembly platform for reliability test of coaxial speed reducer |
| CN111520456A (en) * | 2020-04-29 | 2020-08-11 | 浙江大学昆山创新中心 | Intelligent speed reducer |
| KR102330033B1 (en) * | 2020-05-20 | 2021-11-22 | 한국로봇융합연구원 | Reducer life time test apparatus |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN112254961A (en) * | 2020-10-15 | 2021-01-22 | 哈尔滨工业大学 | High low temperature testing arrangement of transmission efficiency |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
| CN113267335A (en) * | 2021-05-21 | 2021-08-17 | 北京工业大学 | Precision speed reducer return difference testing device |
| CN113267335B (en) * | 2021-05-21 | 2022-08-02 | 北京工业大学 | Precision speed reducer return difference testing device |
| CN116296373A (en) * | 2023-05-25 | 2023-06-23 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
| CN116296373B (en) * | 2023-05-25 | 2023-08-08 | 成都中良川工科技有限公司 | Ultra-precise speed reducer performance test system |
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Application publication date: 20191122 |