CN113008549A - Variable-size RV reducer planetary gear stress measuring device and method - Google Patents
Variable-size RV reducer planetary gear stress measuring device and method Download PDFInfo
- Publication number
- CN113008549A CN113008549A CN202110388420.1A CN202110388420A CN113008549A CN 113008549 A CN113008549 A CN 113008549A CN 202110388420 A CN202110388420 A CN 202110388420A CN 113008549 A CN113008549 A CN 113008549A
- Authority
- CN
- China
- Prior art keywords
- gear
- planetary gear
- torque
- adjusting
- planetary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Retarders (AREA)
Abstract
A variable-size RV reducer planetary gear stress measuring device and method comprises a strain measuring device, a planetary gear mechanism, a planetary gear adjusting mechanism, a planetary gear carrier displacement mechanism, a gear ring carrier displacement mechanism, a sun gear shaft displacement mechanism, a torque braking device and a torque driving device; the strain measuring device is used for measuring the strain of a sun gear and a planet gear of the planetary gear mechanism, the planet gear adjusting mechanism is connected with the planet gear and is used for adjusting the position of a planet gear shaft, the planet gear carrier displacement mechanism is arranged at the lower part of the torque braking device and is used for adjusting the horizontal displacement of a planet gear carrier, the sun gear shaft displacement mechanism is arranged at the lower part of the torque driving device and is used for adjusting the horizontal displacement of the sun gear shaft and the torque driving device, and the gear ring carrier displacement mechanism is connected with a gear ring of the planetary gear mechanism and is used for adjusting the vertical displacement of the gear ring. The invention realizes the measurement of the tooth root stress of the planet gears with different sizes and specifications.
Description
Technical Field
The invention relates to the technical field of gear measurement, in particular to a variable-size device and method for measuring stress of a planetary gear of an RV reducer.
Background
Planetary gear transmissions have many unique advantages over conventional gear transmissions. The most remarkable characteristic is that power splitting can be carried out when power is transmitted, and the input shaft and the output shaft are on the same horizontal line. Planetary gear transmissions have been widely used in reduction, speed-increasing and speed-changing devices in various mechanical transmission systems. The reducer part is used as a precision transmission device in the joint of the industrial robot, and directly determines the dynamic characteristic, the bearing characteristic and the motion positioning precision of the industrial robot. The RV (Rotary vector) reducer has a series of advantages of large transmission ratio, small volume, light weight, long service life, high transmission precision, high transmission efficiency, good precision retentivity and the like, and is the first choice for the precision reducer of the joint of the heavy-duty industrial robot. The RV reducer is formed by connecting a primary involute planetary transmission gear train and a primary cycloid wheel planetary transmission gear train in series. The involute planetary gear structure directly connected with the input end plays a determining role in the dynamic transmission characteristics of the RV transmission system, and the cycloid wheel of the part has important influence on the transmission precision, the service life, the vibration noise and other performances of the complete machine of the RV reducer.
At present, the strain of the planetary gear mainly depends on a photoelastic method and an electrical measurement method, wherein a test system required by the electrical measurement method is simpler, but an actual planetary gear box is difficult to provide enough installation space for a resistance strain gauge, great difficulty exists in the installation process of the test system, planetary gears with different sizes are difficult to share one set of measurement equipment, stress measurement is carried out on the planetary gears with different sizes, different experiment tables are required to be configured, and the required cost is overlarge.
Disclosure of Invention
The invention provides a device and a method for measuring the stress of a planetary gear of an RV reducer with variable size to overcome the prior art, and realizes the measurement of the stress of tooth roots of planetary gears with different sizes and specifications.
A variable-size RV reducer planetary gear stress measuring device comprises a strain measuring device, a planetary gear mechanism, a planetary gear adjusting mechanism, a planetary gear carrier displacement mechanism, a gear ring carrier displacement mechanism, a sun gear shaft displacement mechanism, a torque braking device and a torque driving device;
the strain measuring device is used for measuring the strain of a sun gear and a planetary gear of the planetary gear mechanism, the planetary gear adjusting mechanism is connected with the planetary gear and used for adjusting the position of a planetary gear shaft, the planetary gear carrier displacement mechanism is arranged at the lower part of the torque braking device and used for adjusting the horizontal displacement of the torque braking device and the planetary gear adjusting mechanism, the sun gear shaft displacement mechanism is arranged at the lower part of the torque driving device and used for adjusting the horizontal displacement of the sun gear shaft driven by the torque driving device, and the gear ring carrier displacement mechanism is connected with a gear ring of the planetary gear mechanism and used for adjusting the vertical displacement of the gear ring.
A stress measurement method for planet gears of RV reducers with variable sizes comprises the following steps:
1) preparing a gear ring on a planetary gear to be detected;
2) selecting a proper gear ring bracket according to the size of the gear ring, and vertically adjusting the gear ring to a proper position by using a gear ring bracket displacement mechanism;
3) respectively arranging a torque sensor at the output end of the first motor and the output end of the magnetic powder brake, wherein the torque sensor is connected with a measurement and control system;
4) a sun gear and a planet gear are arranged;
4.1) connecting a sun gear shaft with a torque driving device, attaching a strain sensor to the tooth root of the sun gear, connecting the output end of the strain sensor with a wireless data acquisition card, and adjusting the sun gear to a corresponding position through a sun gear shaft displacement mechanism;
4.2) respectively arranging the planetary gears to be detected on the planetary gear carrier, and adjusting the positions of the planetary gear shafts through a planetary gear adjusting mechanism according to the size of the planetary gear to be measured so that the planetary gear shafts and the planetary gears are positioned at the positions capable of being meshed with the measured sun gear;
4.3) attaching the strain sensor to the tooth root and the tooth side of the planetary gear, connecting the output end of the strain sensor with a wireless data acquisition card, finely adjusting the angle of the planetary gear, and adjusting the planetary gear to a corresponding position through a planetary gear carrier displacement mechanism so that the planetary gear can be meshed with the sun gear and the gear ring;
5) starting a first motor to drive a sun gear to rotate and drive a planetary gear to rotate, starting a magnetic powder brake to simulate the load on the planetary gear, adjusting the load by adopting a controllable steady-flow power supply, and collecting corresponding load information by a torque sensor and transmitting the load information to a measurement and control system;
6) generating corresponding electric signals after the strain sensor is stressed, transmitting the signals to a measurement and control system through a wireless acquisition card, and observing and collecting data;
7) and the measurement and control system calculates the root strain of the planet gears and the sun gear under different loads according to the collected data.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the detection of the stress generated when the RV reducer planetary gears with different sizes work, has high measurement precision, can realize the separation and the engagement of the planetary gear and the sun gear, and has simple operation and good adaptability.
The invention can realize the movement with 4 degrees of freedom, the planet gear adjusting mechanism can realize the position of the planet gear relative to the gear ring and the sun gear, and the gear ring bracket displacement mechanism can realize the vertical displacement adjustment of the gear ring so as to ensure that the sun gear, the planet gear and the gear ring are mutually meshed during the experiment and can also realize the position adjustment of the gear ring and the planet gear which are suitable for different specifications and sizes so as to realize the measurement of different tooth root stresses. The planet gear carrier displacement mechanism can realize the horizontal displacement of the torque braking device and the planet gear carrier, so that the installation, the replacement and the adjustment of the planet gear are convenient, and the sun gear shaft displacement mechanism can realize the horizontal displacement of the torque driving device and the sun gear shaft, so that the installation, the replacement and the adjustment of the sun gear are convenient. The planetary gear adjusting mechanism, the planetary gear carrier displacement mechanism, the gear ring carrier displacement mechanism, the sun gear shaft displacement mechanism, the torque braking device and the torque driving device are matched with each other to realize the stress measurement of the planetary gear of the RV reducer.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a planetary gear adjustment mechanism;
FIG. 3 is a partial cross-sectional view of the planetary gear adjustment mechanism;
FIG. 4 is a schematic structural view of the ring gear carrier displacement mechanism;
FIG. 5 is a schematic view of a planetary gear mechanism;
FIG. 6 is a schematic view of the torque drive and sun gear shaft displacement mechanism;
FIG. 7 is a schematic illustration of a torque braking device and a planet carrier shifting mechanism.
Detailed Description
Referring to fig. 1, a planetary gear stress measuring device of an RV reducer with variable size comprises a strain measuring device 1, a planetary gear mechanism 2, a planetary gear adjusting mechanism 3, a planetary gear carrier displacement mechanism 6, a ring gear carrier displacement mechanism 7, a sun gear shaft displacement mechanism 8, a torque braking device 5 and a torque driving device 9;
as shown in fig. 5, the strain measuring device 1 is used for measuring the strain of the sun gear 18 and the planet gears 27 of the planetary gear mechanism 2, the planet gear adjusting mechanism 3 is connected with the planet gears 27 and is used for adjusting the radial position of the planet gear shaft, the planet gear carrier displacement mechanism 6 is arranged at the lower part of the torque braking device 5 and is used for adjusting the horizontal displacement of the torque braking device 5 and the planet gear adjusting mechanism 3 so as to mount, dismount and adjust the planet gears, the sun gear shaft displacement mechanism 8 is arranged at the lower part of the torque driving device 9 and is used for adjusting the horizontal displacement of the sun gear shaft 19 driven by the torque driving device 9, and the ring gear carrier displacement mechanism 7 is connected with the ring gear 29 of the planetary gear mechanism 2 and is used for adjusting the vertical displacement. When the strain sensor is used, the output end of the strain sensor 17 is connected with the measurement and control system 10 through the wireless data acquisition card 16 so as to realize data acquisition and actuator control.
The strain measuring device 1 comprises a strain sensor 17 and a wireless data acquisition card 16 connected with the strain sensor 17, and the strain sensor 17 is respectively arranged on the tooth root and the tooth side of the sun gear 18 of the planetary gear mechanism 2 and the planetary gear 27 to be detected in order to accurately and reliably measure the stress.
Usually, the strain sensors 17 are strain gauge sensors, and are adhered in a full-bridge manner, two of the strain gauge sensors are adhered to the tooth root, the other two strain gauge sensors are adhered to the tooth side as temperature compensation plates, and are connected with the measurement and control system 10 through a wireless data acquisition card 16.
The planetary gear mechanism 2 includes a ring gear 29, planetary gears 27, and a sun gear 18.
Further, as shown in FIG. 2, the planetary gear adjusting mechanism 3 comprises a connecting slider 3-41, a planet carrier 3-40, an adjusting knob 3-43, a bevel gear one 3-46, three bevel gears two 3-47 and three first ball screw pairs, wherein the three first ball screw pairs are uniformly distributed along the circumferential direction and rotatably arranged on the planet carrier 3-40, one side of the connecting slider 3-41 is rotatably connected with the planetary gear 27, the other side of the connecting slider 3-41 is fixedly connected with a first nut of a knob on the first ball screw 3-42, one end of the first ball screw 3-42 is connected with the bevel gear two 3-47, the adjusting knob 3-43 is rotatably arranged in the middle of the planet carrier 3-40, and the output end of the adjusting knob 3-43 is connected with the bevel gear one 3-46, bevel gears one 3-46 mesh with three bevel gears two 3-47, and the output of the torque braking device 5 is connected to the planet gear carriers 3-40.
As shown in FIG. 5, for the convenience of adjustment, the connecting slider 3-41 is connected with the planetary gear 27 through the first coupling 3-28 and two planetary gear shafts 3-48, the two planetary gear shafts 3-48 are arranged at two sides of the first coupling 3-28 and connected together, one planetary gear shaft 3-48 is rotatably connected with the connecting slider 3-41, and the other planetary gear shaft 3-48 is fixedly connected with the planetary gear 27 through a key. The wireless data acquisition card 16 is disposed on the sun gear shaft 19 and the planet gear shafts 3-48.
As shown in FIG. 3, in the above solution, the adjusting knob 3-43 is fixed on the planet carrier 3-40 through a fixing ring 3-45 and a bearing 3-44, one end of the adjusting knob 3-43 is connected with a first bevel gear 3-46, the first bevel gear 3-46 is engaged with a second bevel gear 3-47, the second bevel gear 3-47 is fixed at the end of the first ball screw 3-42, the adjusting knob 3-43 drives the first ball screw 3-42 to rotate through bevel gear pair transmission, and further drives the connecting slider 3-41 and the shaft 3-48 to move along the axial direction of the first ball screw 3-42, so as to realize radial change of the planet gear 27 relative to the ring gear 29 and the sun gear 18. The adjusting knobs 3-43 can be selected from micro motors.
As shown in fig. 7, the torque brake device 5 optionally comprises torque sensors 9-14 and magnetic particle brakes 5-23; the magnetic powder brakes 5-23 and the torque sensors 9-14 are driven by the planet carrier displacement mechanism 6 to realize linear movement, and two sides of the torque sensors 9-14 are respectively connected with the planet carrier 3-40 and the magnetic powder brakes 5-23.
Normally, the magnetic particle brakes 5-23 are mounted on the planet carrier displacement mechanism 6 via the magnetic particle brake interface slide 24, while the torque sensors 9-14 are mounted on the planet carrier displacement mechanism 6 via the torque measurement interface slide 15 to achieve a horizontal displacement of the magnetic particle brakes 5-23 and the torque sensors 9-14. The torque sensors 9-14 are connected to the magnetic particle brakes 5-23 via a second coupling 12. The torque sensors 9-14 are connected to the planet carrier 3-40 via the torque connection shafts 5-22 in order to enable measurement of the torque of the planet carrier 3-40 during the experiment.
As shown in fig. 7, further, the planet carrier displacement mechanism 6 includes a fourth ball screw pair, a fourth slide rail base 6-25 and a fourth motor 6-22, the fourth motor 6-22 is fixed on the fourth slide rail base 6-25, the fourth ball screw pair is disposed in a groove of the fourth slide rail base 6-25, the fourth ball screw 6-26 is rotatably disposed on the fourth slide rail base 6-25, one end of the fourth ball screw 6-26 is connected with an output end of the fourth motor 6-22, the magnetic powder brake 5-23 and the torque sensor 9-14 are respectively fixed on a corresponding fourth nut which is rotatably turned on the fourth ball screw 6-26, and an axis of the fourth ball screw 6-26 is collinear with an axis of the sun gear shaft 19. At this time, the torque sensors 9-14 are mounted on the fourth nuts through the torque measuring connection blocks 5-15, and the magnetic powder brakes 5-23 are mounted on the fourth nuts through the magnetic powder brake connection blocks 5-24, so as to realize linear displacements of the magnetic powder brakes 5-23 and the torque sensors 9-14. In addition, in order to ensure reliable movement of the fourth ball screw 6-26, the fourth ball screw 6-26 is connected to the output terminal of the fourth motor 6-22 through a third coupling 6-21. Generally, the fourth motor 6-22 is a stepper motor.
Further, as shown in fig. 4, the gear ring bracket displacement mechanism 7 comprises a gear ring bracket 7-30, a lifting platform 7-31, a double output shaft motor 7-39, a base 7-36, two worm gears 7-38, two worm screws 7-37 and two second ball screw pairs, the gear ring 7-30 is connected with the gear ring 7-29 at the upper side and connected with the lifting platform 7-31 at the lower side, the two second ball screws 7-33 of the two second ball screw pairs are vertically arranged, the upper ends of the second ball screws 7-33 are connected with the lifting platform 7-31, the second ball screws 7-33 extend into the base 7-36 and can vertically move relative to the base 7-36, the worm gears 7-38 are fixedly connected with second nuts of knobs on the second ball screws 7-33 and can be rotatably arranged on the base 7-36, the double-output-shaft motor 7-39 is fixed on the base 7-36, two output shafts of the double-output-shaft motor 7-39 are respectively connected with a worm 7-37, the worm 7-37 is rotatably arranged on the base 7-36 through a bearing 7-35, and the corresponding worm wheel 7-38 is meshed with the worm 7-37. The second ball screw pair is driven to rotate through worm and gear transmission, the lifting tables 7-31 and the gear ring brackets 7-30 are driven to move up and down, vertical displacement adjustment of the gear ring 29 is achieved, and then the gear ring 29, the planetary gear 27 and the sun gear 18 are meshed with each other. The ring gear carriers 7-30 can be exchanged for different sizes of ring gears 29. Two holes are formed in the bottom of the lifting platform 7-31, positioning blocks 7-32 are arranged in the two holes, and the positioning blocks 7-32 are connected with second ball screws 7-33.
Preferably, as shown in fig. 6, the torque drive means 9 comprises a first electric motor 9-11 and a torque sensor 9-14; the first motors 9-11 and the torque sensors 9-14 are driven by the sun gear shaft displacement mechanism 8 to realize linear movement, and two sides of the torque sensors 9-14 are respectively connected with output shafts of the first motors 9-11 and the sun gear shaft 19. Typically, the first electric motor 9-11 is mounted on the sun gear shaft displacement mechanism 8 via a motor coupling block 9-13, while the torque sensor 9-14 is mounted on the sun gear shaft displacement mechanism 8 via a torque measuring coupling block 5-15 to effect movement of the first electric motor 9-11 and the torque sensor 9-14 in a horizontal direction. The torque sensors 9-14 are connected with the first motors 9-11 through the second couplings 12, and the torque sensors 9-14 are connected with the sun gear 18 through the sun gear shaft 19, so as to supply power to the sun gear 18 during experiments. Typically, the first electrical machine 9-11 is a magnetic torque machine.
Further, as shown in fig. 6, the sun gear shaft displacement mechanism 8 includes a third ball screw pair, a third slide rail base 8-19 and a third motor 8-22, the third motor 8-22 is fixed on the third slide rail base 8-19, the third ball screw pair is disposed in a groove of the third slide rail base 8-19, an axis of the third ball screw 8-20 is collinear with an axis of the sun gear shaft 19, the third ball screw 8-20 is rotatably disposed on the third slide rail base 8-19, one end of the third ball screw 8-20 is connected with an output end of the third motor 8-22, the first motor 9-11 and the torque sensor 9-14 are respectively fixed on a third nut corresponding to the third ball screw 8-20, and the sun gear 18 is fixedly connected with the sun gear shaft 19. Usually, the first motor 9-11 and the torque sensor 9-14 are mounted on the third nut by means of a motor coupling block 9-13 and a torque measuring coupling block 5-15, respectively, to enable movement of the first motor 9-11 and the torque sensor 9-14 in a horizontal direction. Typically, the third motor 8-22 is a stepper motor.
In the scheme, guide grooves are formed in the third slide rail bases 8-19 and the fourth slide rail bases 6-25, corresponding connecting sliding blocks longitudinally move along the guide grooves under the action of rotation of the ball screws, holes are formed in the slide rail bases and are rotatably connected with one ends of the ball screws, and corresponding stepping motors are arranged on one sides of the corresponding slide rail bases and are connected with the corresponding ball screws. The measurement and control system 10 is connected with a strain sensor 17 and torque sensors 9-14 through a wireless data acquisition card 16; or the measurement and control system 10 is connected with the third motors 8-22, the fourth motors 6-22, the first motors 9-11 and the magnetic powder brakes 5-23 through the motor controllers to realize control.
In another embodiment, as shown in fig. 1-7, a method for measuring stress of a planetary gear of an RV reducer with variable dimensions is further provided, comprising the following steps:
1) preparing the ring gear 29 on the planetary gear 27 to be detected;
2) selecting a proper gear ring bracket 7-30 according to the size of the gear ring 29, and vertically adjusting the gear ring 29 to a proper position by using the gear ring bracket displacement mechanism 7;
3) torque sensors 9-14 are respectively arranged at the output ends of the first motors 9-11 and the output ends of the magnetic powder brakes 5-23, and the torque sensors 9-14 are connected with a measurement and control system 10;
4) a sun gear 18 and a planetary gear 27 are provided;
4.1) connecting a sun gear shaft 19 with a torque driving device 9, attaching a strain sensor 17 to the tooth root and the tooth side of a sun gear 18, connecting the output end of the strain sensor 17 with a wireless data acquisition card 16, and adjusting the sun gear 18 to a corresponding position through a sun gear shaft displacement mechanism 8;
4.2) respectively arranging the planetary gears 27 to be detected on the planetary gear carrier 40, and adjusting the positions of the planetary gear shafts through the planetary gear adjusting mechanism 3 according to the size of the planetary gears 27 to be measured, so that the planetary gear shafts and the planetary gears 27 are positioned at the positions capable of being meshed with the measured sun gear 18;
4.3) attaching the strain sensor 17 to the tooth root and the tooth side of the planetary gear 27, connecting the output end of the strain sensor 17 with the wireless data acquisition card 16, finely adjusting the angle of the planetary gear 27, and adjusting the planetary gear 27 to a corresponding position through the planetary gear carrier displacement mechanism 6, so that the planetary gear 27 can be meshed with the sun gear 18 and the gear ring 29;
5) starting a first motor 9-11 to drive a sun gear 18 to rotate, driving a planetary gear 27 to rotate, starting a magnetic powder brake 5-23 to simulate the load on the planetary gear 27, adjusting the load size by adopting a controllable steady-flow power supply, and collecting corresponding load information by a torque sensor 9-14 and transmitting the load information to a measurement and control system 10;
6) the strain sensor 17 generates corresponding electric signals after being stressed, and the signals are transmitted to the measurement and control system 10 through the wireless data acquisition card 16 for observation and data collection;
7) the measurement and control system 10 calculates the root strain of the planet gears 27 and the sun gear 18 at different loads from the collected data.
As an embodiment, in step 6), the wireless data acquisition card 16 transmits a signal to the measurement and control system 10, and the data is observed and collected in the LabVIEW.
The output ends of the magnetic powder brakes 5-23 are used for being connected with the torque sensors 9-14 and the planet gear carriers 3-40, the magnetic powder brakes 5-23 generate resisting torque, the output ends of the first motors 9-11 are connected with the torque sensors 9-14 and the sun gear shaft 19, the sun gear 18 is driven to rotate by the first motors 9-11, the gear ring carrier displacement mechanism 7 is used for adjusting the position of the gear ring 29 to adapt to the planet gear mechanisms 2 with different sizes, and the measurement and control system 10 is respectively connected with the torque sensors 9-14 and the strain sensors 17.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (10)
1. The utility model provides a but RV reduction gear planetary gear stress measuring device of variable size which characterized in that: the system comprises a strain measuring device (1), a planetary gear mechanism (2), a planetary gear adjusting mechanism (3), a planetary gear carrier displacement mechanism (6), a gear ring carrier displacement mechanism (7), a sun gear shaft displacement mechanism (8), a torque braking device (5) and a torque driving device (9);
the strain measuring device (1) is used for measuring the strain of a sun gear (18) and a planet gear (27) of a planetary gear mechanism (2), a planet gear adjusting mechanism (3) is connected with the planet gear (27) and used for adjusting the position of a planet gear shaft, a planet gear carrier displacement mechanism (6) is arranged at the lower part of a torque braking device (5) and used for adjusting the horizontal displacement of the torque braking device (5) and the planet gear adjusting mechanism (3), a sun gear shaft displacement mechanism (8) is arranged at the lower part of a torque driving device (9) and used for adjusting the horizontal displacement of a sun gear shaft (19) driven by the torque driving device (9), and a ring gear carrier displacement mechanism (7) is connected with a ring gear (29) of the planetary gear mechanism (2) and used for adjusting the vertical displacement of the ring gear (29).
2. The variable-size planetary gear stress measuring device for the RV reducer of claim 1, wherein: the planetary gear adjusting mechanism (3) comprises a connecting slide block (3-41), a planetary gear carrier (3-40), an adjusting knob (3-43), a bevel gear I (3-46), three bevel gears II (3-47) and three first ball screw pairs, wherein the three first ball screw pairs are uniformly distributed along the circumferential direction and are rotatably arranged on the planetary gear carrier (3-40), one side of the connecting slide block (3-41) is rotatably connected with the planetary gear (3-27), the other side of the connecting slide block (3-41) is fixedly connected with a first nut of a knob on the first ball screw (3-42), one end of the first ball screw (3-42) is connected with the bevel gear II (3-47), and the adjusting knob (3-43) is rotatably arranged in the middle of the planetary gear carrier (3-40), and the output end of the adjusting knob (3-43) is connected with a first bevel gear (3-46), the first bevel gear (3-46) is meshed with a second bevel gear (3-47), and the output end of the torque braking device (5) is connected with the planet gear carrier (3-40).
3. The variable-size planetary gear stress measuring device for the RV reducer of claim 1, wherein: the gear ring bracket displacement mechanism (7) comprises a gear ring bracket (7-30), a lifting platform (7-31), a double-output-shaft motor (7-39), a base (7-36), two worm gears (7-38), two worms (7-37) and two second ball screw pairs, wherein the upper side of the gear ring bracket (7-30) is connected with a gear ring (7-29), the lower side of the gear ring bracket is connected with the lifting platform (7-31), the two second ball screws (7-33) of the two second ball screw pairs are vertically arranged, the upper ends of the second ball screws (7-33) are connected with the lifting platform (7-31), the second ball screws (7-33) extend into the base (7-36) and can vertically move relative to the base (7-36), and the inner rings of the worm gears (7-38) are fixedly connected with second nuts of knobs on the second ball screws (7-33), the double-output-shaft motor is rotatably arranged on the base (7-36), the double-output-shaft motor (7-39) is fixed on the base (7-36), two output shafts of the double-output-shaft motor (7-39) are respectively connected with a worm (7-37), the worm (7-37) is rotatably arranged on the base (7-36), and the corresponding worm wheel (7-38) is meshed with the worm (7-37).
4. A variable-size RV reducer planetary stress measuring device according to claim 2 or 3, characterized in that: the torque driving device (9) comprises a first motor (9-11) and a torque sensor (9-14);
the first motors (9-11) and the torque sensors (9-14) are driven by the sun gear shaft displacement mechanism (8) to realize linear movement, and two sides of the torque sensors (9-14) are respectively connected with output shafts of the first motors (9-11) and the sun gear shaft (19).
5. The variable-size RV reducer planetary gear stress measurement device of claim 4, characterized in that: the sun gear shaft displacement mechanism (8) comprises a third ball screw pair, a third sliding rail base (8-19) and a third motor (8-22), the third motor (8-22) is fixed on the third sliding rail base (8-19), the third ball screw pair is arranged in a groove of the third sliding rail base (8-19), the axis of the third ball screw (8-20) is collinear with the axis of the sun gear shaft (19), the third ball screw (8-20) is rotatably arranged on the third sliding rail base (8-19), one end of the third ball screw (8-20) is connected with the output end of the third motor (8-22), the first motor (9-11) and the torque sensor (9-14) are respectively fixed on a third nut which is turned on the third ball screw (8-20) and corresponds to the knob, the sun wheel (18) is fixedly connected with the sun wheel shaft (19).
6. A variable-size RV reducer planetary stress measuring device according to claim 2 or 3, characterized in that: the torque brake device (5) comprises a torque sensor (9-14) and a magnetic powder brake (5-23);
the magnetic powder brakes (5-23) and the torque sensors (9-14) are driven by the planet carrier displacement mechanism (6) to realize linear movement, and two sides of the torque sensors (9-14) are respectively connected with the planet carrier (3-40) and the magnetic powder brakes (5-23).
7. The variable-size RV reducer planetary gear stress measurement device of claim 6, characterized in that: the planet carrier displacement mechanism (6) comprises a fourth ball screw pair, the fourth motor (6-22) is fixed on the fourth slide rail base (6-25), the fourth ball screw pair is arranged in a groove of the fourth slide rail base (6-25), the fourth ball screw (6-26) is rotatably arranged on the fourth slide rail base (6-25), one end of the fourth ball screw (6-26) is connected with the output end of the fourth motor (6-22), the magnetic powder brake (5-23) and the torque sensor (9-14) are respectively fixed on a fourth nut corresponding to a knob on the fourth ball screw (6-26), and the axis of the fourth ball screw (6-26) is collinear with the axis of the sun gear shaft (19).
8. A variable-size RV reducer planetary stress measurement device according to claim 1 or 2, characterized in that: the strain measuring device (1) comprises a strain sensor (17) and a wireless data acquisition card (16) connected with the strain sensor (17), wherein the strain sensor (17) is respectively arranged on a sun gear (18) of the planetary gear mechanism (2) and the tooth root and the tooth side of a planetary gear (27) to be detected, and the strain sensor (17) is adhered in a full-bridge mode.
9. The variable-size RV reducer planetary stress measurement device of claim 8, wherein: the adjusting knobs (3-43) are micro motors.
10. A variable-size RV reducer planetary gear stress measurement method is characterized in that: comprises the following steps:
1) preparing a gear ring (29) on a planetary gear (27) to be detected;
2) selecting a proper gear ring bracket (7-30) according to the size of the gear ring (29), and vertically adjusting the gear ring (29) to a proper position by using a gear ring bracket displacement mechanism (7);
3) torque sensors (9-14) are respectively arranged at the output ends of the first motors (9-11) and the output ends of the magnetic powder brakes (5-23), and the torque sensors (9-14) are connected with a measurement and control system (10);
4) a sun gear (18) and a planetary gear (27) are provided;
4.1) connecting a sun gear shaft (19) with a torque driving device (9), attaching a strain sensor (17) to the tooth root and the tooth side of a sun gear (18), connecting the output end of the strain sensor (17) with a wireless data acquisition card (16), and adjusting the sun gear (18) to a corresponding position through a sun gear shaft displacement mechanism (8);
4.2) the planetary gears (27) to be detected are respectively arranged on the planetary gear carrier (40), and the positions of the planetary gear shafts are adjusted through the planetary gear adjusting mechanism (3) according to the size of the planetary gears (27) to be measured, so that the planetary gear shafts and the planetary gears (27) are positioned at the positions capable of being meshed with the measured sun gear (18);
4.3) attaching the strain sensor (17) to the tooth root and the tooth side of the planetary gear (27), connecting the output end of the strain sensor (17) with a wireless data acquisition card (16), finely adjusting the angle of the planetary gear (27), and adjusting the planetary gear (27) to a corresponding position through a planetary gear carrier displacement mechanism (6) so that the planetary gear (27) can be meshed with the sun gear (18) and the gear ring (29);
5) starting a first motor (9-11) to drive a sun gear (18) to rotate, driving a planetary gear (27) to rotate, starting a magnetic powder brake (5-23) to simulate the load on the planetary gear (27), adjusting the load by adopting a controllable steady-flow power supply, and collecting corresponding load information by a torque sensor (9-14) and transmitting the load information to a measurement and control system (10);
6) the strain sensor (17) generates corresponding electric signals after being stressed, and the signals are transmitted to the measurement and control system (10) through the wireless data acquisition card (16) for observation and data collection;
7) the measurement and control system (10) calculates the root strain of the planet gear (27) and the sun gear (18) under different loads according to the collected data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388420.1A CN113008549B (en) | 2021-04-12 | 2021-04-12 | Variable-size RV reducer planetary gear stress measurement device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388420.1A CN113008549B (en) | 2021-04-12 | 2021-04-12 | Variable-size RV reducer planetary gear stress measurement device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113008549A true CN113008549A (en) | 2021-06-22 |
| CN113008549B CN113008549B (en) | 2023-07-21 |
Family
ID=76388284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110388420.1A Active CN113008549B (en) | 2021-04-12 | 2021-04-12 | Variable-size RV reducer planetary gear stress measurement device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113008549B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113984545A (en) * | 2021-12-30 | 2022-01-28 | 华北理工大学 | Multi-tooth meshing photoelastic instrument |
| CN115380649A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive double-drive agricultural machinery opposite-row transverse moving device |
Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1205473A (en) * | 1957-04-17 | 1960-02-03 | Continuously variable gear transmission mechanism | |
| DE4134055A1 (en) * | 1991-10-15 | 1993-04-22 | Klein Schanzlin & Becker Ag | Adjusting reducing gear for turbo machine - has take-off shaft, connected to sun wheel, and reduction stage with three planet wheels, meshing with sun wheel and hollow wheel |
| US5307676A (en) * | 1992-08-12 | 1994-05-03 | Gei Systems, Inc. | Controllable gear testing system |
| TW200422541A (en) * | 2003-04-24 | 2004-11-01 | Zahnradfabrik Friedrichshafen | Planetary gear transmission system |
| CN101135358A (en) * | 2006-09-01 | 2008-03-05 | 吴小杰 | Engaged surface adjustable planet wheel decelerator |
| CN201241791Y (en) * | 2008-07-11 | 2009-05-20 | 天津减速机股份有限公司 | Paddle-changeable gear reduction machine for wind power generation |
| CN201311349Y (en) * | 2008-11-25 | 2009-09-16 | 崔敏 | Novel gear pitch error detection device |
| CN201340335Y (en) * | 2009-01-04 | 2009-11-04 | 南车戚墅堰机车车辆工艺研究所有限公司 | Gear fatigue test fixture |
| CN101963544A (en) * | 2010-08-19 | 2011-02-02 | 北京理工大学 | Testing and loading device of meshing stress of gear pair of transmission |
| CN102128607A (en) * | 2010-12-25 | 2011-07-20 | 中国第一汽车集团公司 | Strain testing method for transmission and main speed reducer gear bench test |
| CN102472367A (en) * | 2009-06-30 | 2012-05-23 | 株式会社捷太格特 | Planetary gear mechanism |
| CN103091061A (en) * | 2013-01-21 | 2013-05-08 | 北京理工大学 | Vibration testing device of planetary transmission mechanism |
| CN103104664A (en) * | 2013-01-21 | 2013-05-15 | 北京理工大学 | Vehicle two-gear planetary speed change mechanism and vibration test device |
| CN202992042U (en) * | 2013-01-08 | 2013-06-12 | 余波 | Double-arc gear planetary reducer |
| CN103591222A (en) * | 2013-11-26 | 2014-02-19 | 徐州徐工施维英机械有限公司 | Speed reducer for concrete mixing main machine |
| CN204164290U (en) * | 2014-06-25 | 2015-02-18 | 陈驰川 | The gear of radial roller spiral |
| CN108458872A (en) * | 2018-04-18 | 2018-08-28 | 清华大学 | A kind of Harmonic Gears deformation of flexible wheel characteristic test system and method |
| CN108757847A (en) * | 2018-08-16 | 2018-11-06 | 南通振康焊接机电有限公司 | A kind of big retarding than RV speed reducers |
| CN109357605A (en) * | 2018-11-15 | 2019-02-19 | 中国航发湖南动力机械研究所 | The installation method of the narrow Gear Root strain gauge of bottom clearance |
| CN109505965A (en) * | 2018-11-26 | 2019-03-22 | 安徽大学 | Planetary gear tooth side clearance adjustment mechanism |
| CN208872518U (en) * | 2018-11-09 | 2019-05-17 | 国电联合动力技术有限公司 | A kind of planetary wheel of wind turbine gearbox fault detection mechanism |
| CN110231167A (en) * | 2019-07-09 | 2019-09-13 | 南京农业大学 | A kind of Double gear box fault diagnostic test platform |
| CN111189632A (en) * | 2020-01-10 | 2020-05-22 | 重庆交通大学 | Comprehensive test bed for fatigue life of gear |
| CN111795820A (en) * | 2020-06-30 | 2020-10-20 | 宁波大学 | Measuring system and method for obtaining inherent frequency of cycloidal gear of speed reducer under different working conditions |
| CN112268716A (en) * | 2020-10-26 | 2021-01-26 | 中铁二院工程集团有限责任公司 | Rack rail test bogie |
-
2021
- 2021-04-12 CN CN202110388420.1A patent/CN113008549B/en active Active
Patent Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1205473A (en) * | 1957-04-17 | 1960-02-03 | Continuously variable gear transmission mechanism | |
| DE4134055A1 (en) * | 1991-10-15 | 1993-04-22 | Klein Schanzlin & Becker Ag | Adjusting reducing gear for turbo machine - has take-off shaft, connected to sun wheel, and reduction stage with three planet wheels, meshing with sun wheel and hollow wheel |
| US5307676A (en) * | 1992-08-12 | 1994-05-03 | Gei Systems, Inc. | Controllable gear testing system |
| TW200422541A (en) * | 2003-04-24 | 2004-11-01 | Zahnradfabrik Friedrichshafen | Planetary gear transmission system |
| CN101135358A (en) * | 2006-09-01 | 2008-03-05 | 吴小杰 | Engaged surface adjustable planet wheel decelerator |
| CN201241791Y (en) * | 2008-07-11 | 2009-05-20 | 天津减速机股份有限公司 | Paddle-changeable gear reduction machine for wind power generation |
| CN201311349Y (en) * | 2008-11-25 | 2009-09-16 | 崔敏 | Novel gear pitch error detection device |
| CN201340335Y (en) * | 2009-01-04 | 2009-11-04 | 南车戚墅堰机车车辆工艺研究所有限公司 | Gear fatigue test fixture |
| CN102472367A (en) * | 2009-06-30 | 2012-05-23 | 株式会社捷太格特 | Planetary gear mechanism |
| CN101963544A (en) * | 2010-08-19 | 2011-02-02 | 北京理工大学 | Testing and loading device of meshing stress of gear pair of transmission |
| CN102128607A (en) * | 2010-12-25 | 2011-07-20 | 中国第一汽车集团公司 | Strain testing method for transmission and main speed reducer gear bench test |
| CN202992042U (en) * | 2013-01-08 | 2013-06-12 | 余波 | Double-arc gear planetary reducer |
| CN103104664A (en) * | 2013-01-21 | 2013-05-15 | 北京理工大学 | Vehicle two-gear planetary speed change mechanism and vibration test device |
| CN103091061A (en) * | 2013-01-21 | 2013-05-08 | 北京理工大学 | Vibration testing device of planetary transmission mechanism |
| CN103591222A (en) * | 2013-11-26 | 2014-02-19 | 徐州徐工施维英机械有限公司 | Speed reducer for concrete mixing main machine |
| CN204164290U (en) * | 2014-06-25 | 2015-02-18 | 陈驰川 | The gear of radial roller spiral |
| CN108458872A (en) * | 2018-04-18 | 2018-08-28 | 清华大学 | A kind of Harmonic Gears deformation of flexible wheel characteristic test system and method |
| CN108757847A (en) * | 2018-08-16 | 2018-11-06 | 南通振康焊接机电有限公司 | A kind of big retarding than RV speed reducers |
| CN208872518U (en) * | 2018-11-09 | 2019-05-17 | 国电联合动力技术有限公司 | A kind of planetary wheel of wind turbine gearbox fault detection mechanism |
| CN109357605A (en) * | 2018-11-15 | 2019-02-19 | 中国航发湖南动力机械研究所 | The installation method of the narrow Gear Root strain gauge of bottom clearance |
| CN109505965A (en) * | 2018-11-26 | 2019-03-22 | 安徽大学 | Planetary gear tooth side clearance adjustment mechanism |
| CN110231167A (en) * | 2019-07-09 | 2019-09-13 | 南京农业大学 | A kind of Double gear box fault diagnostic test platform |
| CN111189632A (en) * | 2020-01-10 | 2020-05-22 | 重庆交通大学 | Comprehensive test bed for fatigue life of gear |
| CN111795820A (en) * | 2020-06-30 | 2020-10-20 | 宁波大学 | Measuring system and method for obtaining inherent frequency of cycloidal gear of speed reducer under different working conditions |
| CN112268716A (en) * | 2020-10-26 | 2021-01-26 | 中铁二院工程集团有限责任公司 | Rack rail test bogie |
Non-Patent Citations (2)
| Title |
|---|
| 李发家等: "行星齿轮系动力学特性分析及试验研究", 南京航空航天大学学报 * |
| 韩振华等: "新型变曲率椭圆内齿型少齿差行星齿轮副的啮合特性与传动性能", 西安交通大学学报 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113984545A (en) * | 2021-12-30 | 2022-01-28 | 华北理工大学 | Multi-tooth meshing photoelastic instrument |
| CN113984545B (en) * | 2021-12-30 | 2022-03-04 | 华北理工大学 | Multi-tooth meshing photoelastic instrument |
| CN115380649A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive double-drive agricultural machinery opposite-row transverse moving device |
| CN115380649B (en) * | 2022-01-11 | 2024-03-22 | 浙江理工大学 | Electric drive double-drive agricultural machinery opposite-row transverse moving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113008549B (en) | 2023-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113008549B (en) | Variable-size RV reducer planetary gear stress measurement device and method | |
| US7272985B2 (en) | Transmission device of layshaft type | |
| CN105738105B (en) | A kind of high pulling torque large deflection angle Hooks coupling universal coupling testing stand | |
| CN108871773B (en) | Helicopter electric tail speed reducer test bed | |
| CN110864898B (en) | High-power bevel gear comprehensive performance test bed capable of being quickly replaced and assembled | |
| CN101520353B (en) | Device for testing constant thrust load of continuous linear motor | |
| CN204041890U (en) | A kind of planet little tooth difference speed reducer | |
| KR101391412B1 (en) | Device for testing planitary gear box | |
| CN104786235B (en) | A kind of differential joint | |
| CN103134668A (en) | Pulley rotating flexibility detection device and detection method using same | |
| CN205843951U (en) | A kind of train transmission performance test system | |
| CN105784358A (en) | Fan-shaped tooth universal coupler test stand | |
| CN110255410A (en) | Raising gear and jack up unit | |
| CN115750686A (en) | High-rigidity large-load precise speed reduction closed-loop transmission device | |
| CN104006028B (en) | hydrostatic actuator | |
| CN202453176U (en) | Pulley rotation flexibility detecting device | |
| CN202073988U (en) | Transmission case of load trailer | |
| CN211979141U (en) | Comprehensive performance test bed for rail vehicle driving motor | |
| CN208621318U (en) | A kind of electronic tail gearbox testing stand of helicopter | |
| CN102507183A (en) | Gear train experimental apparatus capable of freely transforming gear train types | |
| CN110879359A (en) | Comprehensive performance test bed for rail vehicle driving motor | |
| CN205280355U (en) | PX type power branch converges and XP type power branch planet transmission system test system that converges | |
| CN221485537U (en) | Electric control assembly testing device based on multiple power output of power source | |
| CN201258959Y (en) | Electromechanical integral stepless transmission | |
| CN216132694U (en) | High-low temperature test bench for cycloidal pin gear speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |