CN111189634B - Large RV reducer transmission error testing device and testing method - Google Patents
Large RV reducer transmission error testing device and testing method Download PDFInfo
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- CN111189634B CN111189634B CN202010190604.2A CN202010190604A CN111189634B CN 111189634 B CN111189634 B CN 111189634B CN 202010190604 A CN202010190604 A CN 202010190604A CN 111189634 B CN111189634 B CN 111189634B
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- G01M13/00—Testing of machine parts
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Abstract
The invention relates to a large RV reducer transmission error testing device and a testing method, which are characterized in that: the output shaft of the servo input motor is connected with the input shaft of the torque sensor through a flexible coupling; the speed reducer to be tested is arranged on a speed reducer mounting seat through a switching disc, the middle part of an input shaft of the speed reducer is matched with an input end cover through a bearing supporting part, an insertion end of the input shaft of the speed reducer is coaxially and fixedly connected with a duplex gear at the input end of the speed reducer through a tensioning sleeve, an exposed end of the input shaft of the speed reducer is coaxially and fixedly connected with an output shaft of a torque sensor through an input rigid coupling, and an input encoder is directly connected to the input shaft of the speed reducer; the output disc is fixedly connected with the power output end of the speed reducer, a boss with a mounting hole is arranged on the output disc, four screw holes are uniformly distributed around the mounting hole, and the right end of the output shaft of the speed reducer is inserted into the mounting hole and is coaxially and fixedly connected with the output disc through four aligning screws; the left end of the output shaft of the speed reducer is coaxially connected with the input shaft of the output encoder through an output rigid coupler. The invention eliminates or reduces the error of the test system to the maximum extent.
Description
Technical Field
The invention belongs to the field of precision mechanical testing, relates to a large RV reducer transmission error testing technology, and particularly relates to a large RV reducer transmission error testing device and a large RV reducer transmission error testing method.
Background
The RV reducer has the performance characteristics of high precision, large torque, high reliability and the like, and is widely applied to different intelligent manufacturing fields such as industrial robots, transfer turntables and the like. In order to ensure the high stability of the performance of the RV reducer product, the performance of the reducer needs to be tested in a key mode, and the transmission error is the most critical performance index. However, the RV reducer belongs to a high-precision transmission product, the influence of the error of a test system on the whole test performance is very large, and particularly the large hollow RV type reducer such as 320C is adopted. The high rotation precision of the input end and the output end of the RV reducer is guaranteed, and the high connection stability and the matching precision between the testing tools are guaranteed. The existing testing device can not meet the requirements.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a large RV reducer transmission error testing device and a testing method, wherein the testing device is convenient to install, coaxial and adjustable, has high testing precision and can eliminate or reduce the errors of a testing system to the greatest extent; the test method is easy to implement.
The above object of the present invention is achieved by the following technical solutions:
the utility model provides a large-scale RV reduction gear transmission error testing arrangement which characterized in that: the device comprises a servo input motor, a torque sensor, an input encoder, a reducer mounting seat, a reducer input shaft coaxially connected with the input end of a reducer to be tested, a reducer output shaft coaxially connected with the output end of the reducer to be tested, and an output encoder; the servo input motor is fixed on the motor mounting seat, the torque sensor is fixed on the sensor mounting seat, and the output encoder is arranged on the encoder mounting seat; the encoder mounting seat, the reducer mounting seat, the sensor mounting seat and the motor mounting seat are arranged in sequence from left to right;
the output shaft of the servo input motor and the input shaft of the torque sensor are coaxially arranged and are connected through a flexible coupling; the speed reducer to be tested is mounted on the speed reducer mounting seat through the adapter plate, the input shaft of the speed reducer is matched with the input end of the speed reducer in a mode that one end of the input shaft of the speed reducer is inserted into and one end of the input shaft is exposed, the middle part of the input shaft of the speed reducer is in rotating fit with the input end cover which is coaxially and fixedly connected with the adapter plate through the bearing supporting part, the insertion end of the input shaft of the speed reducer is coaxially and fixedly connected with the input end dual gear of the speed reducer through the tensioning sleeve, the exposed end of the input shaft of the speed reducer is coaxially and fixedly connected with the output shaft of the torque sensor through the input rigid coupling, and the input encoder is directly connected to the input shaft of the speed reducer; an output disc is arranged between an output shaft of the speed reducer and the output end of the speed reducer, the output disc is connected with the power output end of the speed reducer through screws, a boss is arranged at the center of the outer side of the output disc, a mounting hole is formed in the center of the boss, four screw holes in the radial direction are uniformly distributed around the mounting hole, and the right end of the output shaft of the speed reducer is inserted into the mounting hole and is coaxially and fixedly connected with the output disc of the speed reducer through alignment screws arranged in the four screw holes; the left end of the output shaft of the speed reducer is coaxially connected with the input shaft of the output encoder through an output rigid coupling.
A large RV reducer transmission error testing method is characterized in that based on the large RV reducer transmission error testing device, the method comprises the following steps:
s1, installing and connecting a servo input motor and a torque sensor:
firstly, mounting a sensor mounting seat and a motor mounting seat on the left and right; then fixing the servo input motor and the torque sensor on respective mounting seats respectively, adjusting the heights and the front and rear positions of the servo input motor and the torque sensor by increasing and decreasing gaskets at the lower ends of the sensor mounting seat and the motor mounting seat and adjusting the front and rear positions of the two mounting seats, ensuring that the mutual rotation center of the servo input motor and the torque sensor is within an error range of 0.05mm, and connecting an output shaft of the servo input motor with an input shaft of the torque sensor by using a flexible coupling;
s2, mounting the speed reducer to be tested:
firstly, mounting a speed reducer mounting seat on the left side of a sensor mounting seat; then, an adapter plate is arranged on the reducer mounting seat, and finally, the tested RV reducer is fixedly connected to the adapter plate;
s3 installing each component of the input end and each component of the output end of the speed reducer:
s31, firstly, installing the input shaft of the speed reducer, the input end cover and the bearing supporting part, then installing the tensioning sleeve between the insertion end of the input shaft of the speed reducer and the inner cavity wall of the duplicate gear from the output side to realize tensioning and fixed connection of the input shaft of the speed reducer and the duplicate gear, and finally installing an input end encoder outside the input end cover on the input shaft of the speed reducer;
s32 an output disc and a reducer output shaft are sequentially installed;
s4, adjusting the height and the front and rear position of the input shaft of the speed reducer by increasing and decreasing gaskets at the lower end of the speed reducer mounting seat and adjusting the front and rear position of the speed reducer mounting seat, ensuring that the coaxiality of the input shaft and the output shaft of the torque sensor is less than 0.02mm, and connecting the exposed end of the input shaft and the output shaft of the torque sensor by an input rigid coupling;
s5, adjusting the jumping error of the output shaft by four alignment screws, and ensuring that the error of rotary jumping is less than 0.01 mm;
s6 mounting output encoder:
an encoder mounting seat is mounted on the left side of the speed reducer case seat, an output encoder is mounted on the encoder mounting seat, the coaxiality of an input shaft of the output encoder and an output shaft of the speed reducer is ensured to be less than 0.02mm by reducing a gasket at the lower end of the encoder mounting seat and adjusting the front and rear positions of the encoder mounting seat, and the left end of the output shaft of the speed reducer and the input shaft of the output encoder are connected by an output rigid coupling;
s7, after the installation is completed, starting the servo input motor, and outputting driving motion by the servo input motor to drive the tested RV reducer to rotate at a low speed; the torque sensor measures a torque value of the input end, the input encoder acquires a rotation angle of the input end, the output encoder acquires a rotation angle of the output end, and a transmission error of the speed reducer is calculated according to the acquired rotation angle values of the input end and the output end.
The invention has the advantages and positive effects;
1. in the test device, all connections from the torque sensor to the output encoder are in rigid connection, so that the synchronism of motion test data is ensured to the maximum extent;
2. the input end of the tested RV reducer is directly connected with the input encoder, the coupling transitional connection between the input reducer and the input encoder is eliminated, and the problem that the rotation center of an input shaft in the testing device is not coaxial with the rotation center of the input encoder is solved, so that the testing error caused by installation is directly eliminated;
3. the input shaft of the reducer is fastened with a duplicate gear of the tested RV reducer by adopting a tensioning sleeve to serve as the input of motion, and meanwhile, a bearing supporting structure is adopted to ensure the requirement of precise rotation precision;
4. the output shaft of the speed reducer is connected with the speed reducer through an output disc, four alignment screws are designed for ensuring high rotation precision of the output shaft, and the purpose of adjusting the rotation precision of the output shaft of the speed reducer is realized by screwing/unscrewing the alignment screws; in addition, the requirement of high coaxiality between the output shaft of the speed reducer and the central shaft of the output encoder is also met;
5. the input encoder, the tested speed reducer and the output encoder are connected through an input rigid coupling and an output rigid coupling, rotation jump errors among the connecting parts are consistent to the maximum extent, and the influence of system errors on transmission error test results is reduced.
6. The testing method synchronously realizes the installation of the tested speed reducer in the assembling process of the testing device, and has simple operation process and easy realization.
In conclusion, the testing device has the advantages of coaxial adjustability, high testing precision, convenience in installation and capability of eliminating or reducing errors of a testing system to the maximum extent; the test method is easy to realize.
Drawings
FIG. 1 is a schematic diagram of the connection of the test apparatus of the present invention;
FIG. 2 is a schematic view of the RV reducer under test installed, 2a, right side view; 2b, front view, 2c, left view;
FIG. 3 is a sectional view of the RV reducer under test installed;
FIG. 4 is a schematic perspective view of the RV reducer under test.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative, not restrictive, and the scope of the invention is not limited thereto.
The invention relates to a large RV reducer transmission error testing device, please refer to fig. 1-4, the invention points are:
the device comprises a servo input motor 12, a torque sensor 10, an input encoder 7, a speed reducer mounting seat 15, a speed reducer input shaft 8 coaxially connected with the input end of a speed reducer to be tested, a speed reducer output shaft 3 coaxially connected with the output end of the speed reducer to be tested and an output encoder 1. The servo input motor is fixed on the motor mounting seat 13, the torque sensor is fixed on the sensor mounting seat 14, and the output encoder is mounted on the encoder mounting seat 17; the encoder mounting seat, the reducer mounting seat, the sensor mounting seat and the motor mounting seat are sequentially arranged from left to right.
The output shaft of the servo input motor and the input shaft of the torque sensor are coaxially arranged and are connected through a flexible coupling 11. The tested speed reducer 100 is installed on the speed reducer installation seat through the adapter plate 5, specifically, a sleeve body part of the adapter plate is inserted into an installation hole in the vertical edge of the speed reducer installation seat, a flange part of the adapter plate is fixedly connected with the vertical edge of the speed reducer installation seat through a circle of bolts connected to the outer ring, and an outer ring shell of the tested speed reducer is connected with the flange part of the adapter plate through a circle of screws connected to the inner ring. The reduction gear input shaft inserts the input cooperation of the exposed mode of one end and reduction gear with one end, and the middle part of reduction gear input shaft passes through bearing support component 18 and the 6 normal running fit of the coaxial fixed connection's of switching dish input end cover, and is concrete, and the left end of input end cover inserts in the mounting hole on the reduction gear mount pad stile, through the coaxial fixed connection of screw and switching dish, and the right-hand member of input end cover sets up the shaft hole, installs bearing support component in the shaft hole, and the reduction gear input shaft passes from bearing support component. The insertion end of the input shaft of the speed reducer is coaxially and fixedly connected with an input end duplicate gear 101 of the speed reducer through a tensioning sleeve 19. The exposed end of the input shaft of the speed reducer is coaxially and fixedly connected with the output shaft of the torque sensor through an input rigid coupling 9, and the input encoder is directly connected to the input shaft of the speed reducer. An output disc 4 is arranged between an output shaft of the speed reducer and an output end of the speed reducer, the output disc is connected with a power output end of the speed reducer through screws, a boss is arranged at the center of the outer side of the output disc, a mounting hole is formed in the center of the boss, four radial screw holes are uniformly distributed around the mounting hole, the right end of the output shaft of the speed reducer is inserted into the mounting hole, and the output disc is coaxially and fixedly connected with the output disc of the speed reducer through aligning screws 16 installed in the four screw holes. The left end of the output shaft of the speed reducer is coaxially connected with the input shaft of the output encoder through an output rigid coupling 2.
The speed reducer input shaft, the input end cover and the bearing support part are power input interface parts which are used for connecting the speed reducer body to be tested with the torque sensor and the input encoder; the reducer output shaft and the output disc are power output interface components which are used for testing the connection of the reducer body and the output encoder; the adapter plate is a transition connecting piece arranged on the vertical edge for mounting the speed reducer to be tested on the speed reducer mounting seat. According to the speed reducers of different models, interface pieces of different specifications and sizes are required to be configured so as to meet the installation requirements of the speed reducers of different models and expand the applicability of the testing device.
A large RV reducer transmission error testing method is based on the large RV reducer transmission error testing device and comprises the following steps:
s1, installing and connecting a servo input motor and a torque sensor:
firstly, mounting a sensor mounting seat and a motor mounting seat on the left and right; then fixing the servo input motor and the torque sensor on respective mounting seats respectively, adjusting the heights and the front and rear positions of the servo input motor and the torque sensor by increasing and decreasing gaskets at the lower ends of the sensor mounting seat and the motor mounting seat and adjusting the front and rear positions of the two mounting seats, ensuring that the mutual rotation center of the servo input motor and the torque sensor is within an error range of 0.05mm, and connecting an output shaft of the servo input motor with an input shaft of the torque sensor by using a flexible coupling;
s2, mounting the speed reducer to be tested:
firstly, a speed reducer mounting seat is mounted on the left side of a sensor mounting seat; then, an adapter plate is arranged on the reducer mounting seat, and finally, the tested RV reducer is fixedly connected to the adapter plate;
s3 installing each component of the input end and each component of the output end of the speed reducer:
s31, firstly, installing the input shaft of the speed reducer, the input end cover and the bearing supporting part, then installing the tensioning sleeve between the insertion end of the input shaft of the speed reducer and the inner cavity wall of the duplicate gear from the output side to realize tensioning and fixed connection of the input shaft of the speed reducer and the duplicate gear, and finally installing an input end encoder outside the input end cover on the input shaft of the speed reducer;
s32 an output disc and a reducer output shaft are sequentially installed;
s4, adjusting the height and the front and rear position of the input shaft of the speed reducer by increasing and decreasing gaskets at the lower end of the speed reducer mounting seat and adjusting the front and rear position of the speed reducer mounting seat, ensuring that the coaxiality of the input shaft and the output shaft of the torque sensor is less than 0.02mm, and connecting the exposed end of the input shaft and the output shaft of the torque sensor by an input rigid coupling;
s5, adjusting the jump error of the output shaft by four alignment screws to ensure that the error of the rotary jump is less than 0.01 mm;
s6 mounting output encoder:
an encoder mounting seat is mounted on the left side of the speed reducer case seat, an output encoder is mounted on the encoder mounting seat, the coaxiality of an input shaft of the output encoder and an output shaft of the speed reducer is ensured to be less than 0.02mm by reducing a gasket at the lower end of the encoder mounting seat and adjusting the front and rear positions of the encoder mounting seat, and the left end of the output shaft of the speed reducer and the input shaft of the output encoder are connected by an output rigid coupling;
s7, after the installation is completed, starting the servo input motor, and outputting driving motion by the servo input motor to drive the tested RV reducer to rotate at a low speed; the torque sensor measures a torque value of the input end, the input encoder acquires a rotation angle of the input end, the output encoder acquires a rotation angle of the output end, and a transmission error of the speed reducer is calculated according to the acquired rotation angle values of the input end and the output end.
The transmission error is a performance index of the speed reducer, the specific definition refers to the difference between the theoretical output angle and the actual output angle of the speed reducer, the input encoder is used for measuring the rotation angle A of the input end, the output encoder is used for measuring the rotation angle B of the output end, and the transmission error is A/i-B (i is the reduction ratio of the speed reducer). The transmission error is a calculated value, and how many values are qualified is not limited.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Although the embodiments and figures of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and figures.
Claims (1)
1. A large RV reducer transmission error testing method is characterized in that: the device comprises a servo input motor, a torque sensor, an input encoder, a reducer mounting seat, a reducer input shaft coaxially connected with the input end of a reducer to be tested, a reducer output shaft coaxially connected with the output end of the reducer to be tested and an output encoder; the servo input motor is fixed on the motor mounting seat, the torque sensor is fixed on the sensor mounting seat, and the output encoder is arranged on the encoder mounting seat; the encoder mounting seat, the reducer mounting seat, the sensor mounting seat and the motor mounting seat are arranged in sequence from left to right;
the output shaft of the servo input motor and the input shaft of the torque sensor are coaxially arranged and are connected through a flexible coupling; the speed reducer to be tested is mounted on the speed reducer mounting seat through the adapter plate, the input shaft of the speed reducer is matched with the input end of the speed reducer in a mode that one end of the input shaft of the speed reducer is inserted into one end of the input shaft to be exposed, the middle part of the input shaft of the speed reducer is in rotating fit with the input end cover which is coaxially and fixedly connected with the adapter plate through the bearing supporting part, the insertion end of the input shaft of the speed reducer is coaxially and fixedly connected with the input end dual gear of the speed reducer through the tensioning sleeve, the exposed end of the input shaft of the speed reducer is coaxially and fixedly connected with the output shaft of the torque sensor through the input rigid coupler, and the input encoder is directly connected to the input shaft of the speed reducer; an output disc is arranged between an output shaft of the speed reducer and the output end of the speed reducer, the output disc is connected with the power output end of the speed reducer through screws, a boss is arranged at the center of the outer side of the output disc, a mounting hole is formed in the center of the boss, four screw holes in the radial direction are uniformly distributed around the mounting hole, and the right end of the output shaft of the speed reducer is inserted into the mounting hole and is coaxially and fixedly connected with the output disc of the speed reducer through alignment screws arranged in the four screw holes; the left end of the output shaft of the speed reducer is coaxially connected with the input shaft of the output encoder through an output rigid coupling;
the method comprises the following steps:
s1, installing and connecting a servo input motor and a torque sensor:
firstly, mounting a sensor mounting seat and a motor mounting seat; then respectively fixing the servo input motor and the torque sensor on respective mounting seats, adjusting the heights and the front and rear positions of the servo input motor and the torque sensor by increasing and decreasing gaskets at the lower ends of the sensor mounting seat and the motor mounting seat and adjusting the front and rear positions of the two mounting seats, ensuring that the mutual rotation center of the servo input motor and the torque sensor is within an error range of 0.05mm, and connecting an output shaft of the servo input motor with an input shaft of the torque sensor by using a flexible coupling;
s2, installing a speed reducer to be tested:
firstly, a speed reducer mounting seat is mounted on the left side of a sensor mounting seat; then, an adapter plate is installed on the reducer installation seat, and finally, the RV reducer to be tested is fixedly connected to the adapter plate;
s3 installing each component of the input end and each component of the output end of the speed reducer:
s31, firstly, installing the input shaft of the speed reducer, the input end cover and the bearing supporting part, then installing the tensioning sleeve between the insertion end of the input shaft of the speed reducer and the inner cavity wall of the duplicate gear from the output side to realize tensioning and fixed connection of the input shaft of the speed reducer and the duplicate gear, and finally installing an input end encoder outside the input end cover on the input shaft of the speed reducer;
s32 an output disc and a reducer output shaft are sequentially installed;
s4, adjusting the height and the front and rear position of the input shaft of the speed reducer by increasing and decreasing gaskets at the lower end of the speed reducer mounting seat and adjusting the front and rear position of the speed reducer mounting seat, ensuring that the coaxiality of the input shaft and the output shaft of the torque sensor is less than 0.02mm, and connecting the exposed end of the input shaft and the output shaft of the torque sensor by an input rigid coupling;
s5, adjusting the jumping error of the output shaft by four alignment screws to ensure that the rotation jumping error is less than 0.01 mm;
s6 mounting output encoder:
installing an encoder installation seat on the left side of the reducer installation seat, installing an output encoder on the encoder installation seat, ensuring that the coaxiality of an input shaft of the output encoder and an output shaft of the reducer is less than 0.02mm by increasing and decreasing gaskets at the lower end of the encoder installation seat and adjusting the front and rear positions of the encoder installation seat, and connecting the left end of the output shaft of the reducer and the input shaft of the output encoder by using an output rigid coupling;
s7, after the installation is finished, starting a servo input motor, and outputting driving motion by the servo input motor to drive the RV reducer to be tested to rotate at a low speed; the torque sensor measures a torque value of the input end, the input encoder acquires a rotation angle of the input end, the output encoder acquires a rotation angle of the output end, and a transmission error of the speed reducer is calculated according to the acquired rotation angle values of the input end and the output end.
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| TWM607568U (en) * | 2020-10-12 | 2021-02-11 | 東培工業股份有限公司 | Angle transmission accuracy module testing machine for speed reducer |
| CN112857795A (en) * | 2020-10-28 | 2021-05-28 | 库卡机器人(广东)有限公司 | Device and method for testing transmission error of speed reducer |
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| CN113984382B (en) * | 2021-12-27 | 2022-03-25 | 四川诚邦浩然测控技术有限公司 | Angle sensor installation tool |
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