CN114046991B - Variable working condition synchronous correlation tracking loading flexible bearing and harmonic reducer testing machine - Google Patents
Variable working condition synchronous correlation tracking loading flexible bearing and harmonic reducer testing machine Download PDFInfo
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- CN114046991B CN114046991B CN202111409328.5A CN202111409328A CN114046991B CN 114046991 B CN114046991 B CN 114046991B CN 202111409328 A CN202111409328 A CN 202111409328A CN 114046991 B CN114046991 B CN 114046991B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- 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
- G01M13/04—Bearings
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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
- G01M13/04—Bearings
- G01M13/045—Acoustic or vibration analysis
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Abstract
The invention discloses a variable working condition synchronous correlation tracking loading flexible bearing and harmonic reducer testing machine, and belongs to the technical field of performance testing of flexible bearings and harmonic reducers. The device comprises a variable-speed synchronous associated driving device, a synchronous variable-speed tracking loading device and a data acquisition device, wherein the synchronous variable-speed tracking loading device and the variable-speed synchronous associated driving device are axially and concentrically arranged, and the data acquisition device is arranged on one side of the variable-speed synchronous associated driving device and one side of a test platform seat. The invention can apply synchronous time-varying speed drive and synchronous tracking load to the flexible bearing for the harmonic reducer under the actual operation condition, can simultaneously realize the measurement of the vibration, static and dynamic harmonic deformation, temperature, rotation precision and rotating speed of the harmonic reducer and the bearing, and has the advantages of ingenious structure, higher test precision, convenient operation and control in the detection process, strong result feedback and the like.
Description
Technical Field
The invention relates to a variable working condition synchronous association tracking loading flexible bearing and a harmonic reducer testing machine, which are suitable for testing dynamic performance of a harmonic reducer and a flexible bearing for the harmonic reducer and belong to the technical field of testing of the flexible bearings for the harmonic reducer and the harmonic reducer.
Background
The harmonic reducer consists of wave generator (flexible bearing), flexible gear, rigid gear and other key parts, and the harmonic transmission meshing principle is that the wave generator forces the flexible gear to produce harmonic elastic deformation moving along the circumference and multi-tooth meshing motion rotating in large range to realize high precision motion or large torque power transmission.
The harmonic reducer is widely applied to high-dynamic precision or large-torque transmission systems in the fields of robots/mechanical arms, aerospace, military equipment and the like by virtue of the characteristics of high transmission ratio, high transmission precision, high transmission stability and the like. The harmonic reducer is used as one of three typical core parts of a high-precision robot to determine the dynamic performance of the high-precision robot or a mechanical arm, and the flexible bearing is used as one of the three typical core parts of the harmonic reducer and plays an important role in the overall performance of the harmonic reducer. Enterprises such as domestic green harmonic drive companies, china technology American harmonic drive companies and the like can provide harmonic speed reducer products with different installation and load forms, but high-performance harmonic speed reducers for key parts still depend on import, and are one of key technical bottlenecks which restrict the development of fields such as robots, aerospace and the like in China.
In a high-precision robot transmission and high-dynamic servo system, a harmonic reducer has frequently-changed rotating speed and load, and larger start-stop torque and external impact load cause the elastic deformation rule and the dynamic characteristic of the harmonic reducer to be more complicated. Under the working state of the flexible bearing, due to the combined action of the wave generator and the load, the flexible bearing bears complex loads such as dynamic acting force, pre-deformation acting force, multi-tooth surface meshing force of the flexible gear and the steel gear and the like. Therefore, the dynamic performance of the harmonic reducer, the vibration, static and dynamic harmonic deformation, the temperature, the rotation precision, the rotating speed and other performances of the flexible bearing under a complex service condition are tested in the research and development process of the harmonic reducer and the flexible bearing.
The existing flexible bearing fatigue life testing machine only meets the stress condition of the flexible bearing under the working condition that the input rotating speed of the harmonic reducer is constant, and the other flexible bearing fatigue life testing machine only meets the requirement that the input rotating speed of the harmonic reducer is constant and can only apply dynamic and static loads to the flexible bearing to carry out a fatigue life test. Meanwhile, dynamic performance detection tests of the harmonic reducer and the flexible bearing can only be carried out by adopting different test platforms, and the performance detection of the flexible bearing is usually separated from the actual working condition of the harmonic reducer. Considering that the input rotating speed of the harmonic reducer can change frequently under the time-varying working condition, the complex stress condition of the flexible bearing in the harmonic reducer, the connection between the flexible bearing and the harmonic reducer in the testing machine and the like, the conventional flexible bearing fatigue life testing machine cannot be applied to the flexible bearing under the time-varying working condition. At present, no good dynamic performance test method exists for a harmonic reducer and a flexible bearing under a time-varying working condition.
Disclosure of Invention
The invention aims to solve the key problems that the conventional flexible bearing testing machine can only test the fatigue life of a flexible bearing under the condition of a specific working condition, cannot simultaneously detect the dynamic performance of the flexible bearing and a harmonic reducer under a time-varying working condition, and the service life test of the flexible bearing usually breaks away from the actual working condition of the harmonic reducer, and has poor synchronous speed change correlation of the flexible bearing and the harmonic reducer. After the load is adjusted and fixed, the load is kept unchanged in the whole process of carrying out dynamic performance test by synchronously rotating the flexible bearing to be tested and the harmonic reducer to be tested. The tracking loading of the flexible bearing to be tested is realized by designing a synchronous variable-speed rotary tracking loading mechanism; by designing a dual-wave generator synchronous speed change driving mechanism and a dual-flexible-gear synchronous correlation connecting mechanism, the output motion condition of a flexible gear in a harmonic speed reducer to be measured is correlated, the inner ring and the outer ring of a flexible bearing to be measured are synchronously driven, and an accurate synchronous time-varying reduction ratio under a time-varying working condition is obtained.
The technical scheme adopted by the invention is as follows: the utility model provides a flexible bearing of synchronous associative tracking loading of variable working condition and harmonic reducer testing machine, includes mounting platform base 1 and installs the synchronous associative drive arrangement of variable speed, synchronous variable speed tracking loading device and data acquisition device on mounting platform base 1, and data acquisition device installs on the synchronous associative drive arrangement of variable speed and synchronous variable speed tracking loading device, and the synchronous associative drive arrangement of variable speed includes: the double-wave generator synchronous variable-speed driving mechanism and the double-flexible-wheel synchronous association connecting mechanism are characterized in that a harmonic reducer is simultaneously controlled by a servo motor controller in the double-wave generator synchronous variable-speed driving mechanism to drive a servo motor 2 and a synchronous generator to drive a servo motor 28, the synchronous generator drives the servo motor 28 to drive a synchronous generator 32 to rotate so as to drive the inner ring of a flexible bearing 33 to be tested to rotate, and the harmonic reducer drives the servo motor 2 to drive a wave generator of a harmonic reducer 9 to be tested; the equivalent synchronous flexible gear 14 and the flexible gear in the harmonic speed reducer 9 to be detected are synchronously connected in a synchronous and associated mode in the double-flexible-gear synchronous associated connecting mechanism, a wave generator in the harmonic speed reducer 9 to be detected is driven to rotate in a time-varying mode, the flexible gear in the harmonic speed reducer 9 to be detected synchronously outputs a time-varying speed to drive the equivalent synchronous flexible gear 14 to rotate, synchronous speed changing is achieved to drive the outer ring of the flexible bearing 33 to be detected to rotate, and accurate synchronous time-varying rotation speed ratio between the inner ring and the outer ring of the flexible bearing 33 to be detected is automatically achieved; the synchronous variable-speed tracking loading device is axially concentric with the synchronous wave generator 32, loading is carried out through a loading needle bearing 17 in the synchronous variable-speed tracking loading device, the loading needle bearing 17 rolls along the surface of the equivalent synchronous flexible gear 14 while revolving along with the synchronous variable-speed tracking loading device in the test process, the load directly acts on the equivalent synchronous flexible gear 14 and is transferred to the flexible bearing 33 to be tested, and the flexible bearing 33 to be tested is loaded and loaded at the same time of the variable-speed rotation of the long shaft of the load tracking synchronous wave generator 32.
Specifically, in addition to the aforementioned harmonic reducer drive servo motor 2, synchronous generator drive servo motor 28, synchronous generator 32, and flexible bearing 33 to be tested, the dual-generator synchronous speed change drive mechanism further includes an elastic coupling 3, a harmonic reducer drive shaft 5, a synchronous generator drive shaft 25, a V belt pulley 26, a V belt 27, a synchronous generator drive servo motor mount 34, and a harmonic reducer drive servo motor mount 35; besides the equivalent synchronous flexible gear 14 and the harmonic reducer 9 to be tested, the double-flexible-gear synchronous association connecting mechanism also comprises a harmonic reducer supporting seat 8 and a connecting shaft 12; the synchronous generator 32 is an elliptical cam and is movably arranged at the front end of the synchronous generator driving shaft 25, the flexible bearing 33 to be tested is arranged on the synchronous generator 32, the V belt wheel 26 is arranged at the rear end of the synchronous generator driving shaft 25, and the synchronous generator drives the servo motor 28 to drive the synchronous generator driving shaft 25 to rotate through the transmission of the V belt 27, so that the synchronous generator 32 is driven to rotate, and the inner ring of the flexible bearing 33 to be tested is driven to rotate; the equivalent synchronous flexible gear 14 is sleeved on the outer ring of the flexible bearing 33 to be tested, and the outer ring of the equivalent synchronous flexible gear 14 is toothless; the harmonic reducer 9 to be tested is fixed on the harmonic reducer supporting seat 8; the rear end of a harmonic reducer driving shaft 5 is connected with a harmonic reducer driving servo motor 2 through an elastic coupling 3, and the front end of the harmonic reducer driving shaft is connected with a wave generator of a harmonic reducer 9 to be tested; the right end of the connecting shaft 12 is connected with a flexible gear of the harmonic reducer 9 to be tested, the left end of the connecting shaft is connected with an equivalent synchronous flexible gear 14, the harmonic reducer drives the servo motor 2 to drive the harmonic reducer driving shaft 5 to rotate through the harmonic reducer, so that the equivalent synchronous flexible gear 14 is driven to rotate, and the outer ring of the flexible bearing 33 to be tested rotates along with the equivalent synchronous flexible gear 14; the harmonic reducer drive servo motor 2 and the synchronous generator drive servo motor 28 are controlled by the same servo controller; in addition to the aforementioned needle bearing 17, the synchronous variable-speed tracking loading device further includes a loading rod 15, a needle bearing fixed block 16, a loading slider 19, a loading spring seat 20, a loading spring 21, a lead screw 23, a rotating disk body 24, a baffle 30 and a seated bearing 31, wherein the center of the rotating disk body 24 is a through hole for allowing a synchronous wave generator driving shaft 25 to pass through, the synchronous wave generator driving shaft 25 is provided with a shaft shoulder, the rotating disk body 24 is connected with the synchronous wave generator driving shaft 25, the baffle 30 is fixed on the rotating disk body 24, the seated bearing 31 is fixed on the baffle 30, the middle part of the loading slider 19 is provided with a boss with threads, sliding grooves are formed on the left side and the right side and can move radially on the rotating disk body 24, the loading seat 29 is connected with the loading slider 19, the loading slider 19 is provided with threads to be matched with the lead screw 23, one end of the lead screw 23 extends into a radial small hole of the rotating disk body 24, the other end of the lead screw is concentric with the seated bearing 31, raised baffles are arranged on both sides of the loading seat 29, holes are arranged on the baffles, one end of the loading spring 21 is in contact with the loading spring seat 20, the other end of the baffle is connected with the loading rod, the loading rod 15, the loading spring seat is connected with the loading rod 15, and the loading spring seat, the loading rod, and the loading spring seat 16 is connected with the loading spring seat, and the loading rod, and the loading spring seat, the loading rod 15; the loading needle bearing 17 is positioned in the needle bearing fixing block 16; temperature sensors are respectively arranged at the cup bottom end of the equivalent synchronous flexible gear 14 and the input end of the harmonic reducer 9 to be detected, and rotating speed sensors are respectively arranged above the synchronous generator driving shaft 25, the connecting shaft 12 and the harmonic reducer driving shaft 5; and displacement sensors are respectively arranged above the cup bottom end side of the equivalent synchronous flexible gear 14 and right above the flexible gear of the harmonic reducer 9 to be detected.
Preferably, the rotating disc 24 is connected to a synchronizing wave generator drive shaft 25 by means of a flat key connection.
Preferably, the mounting platform base 1 is further provided with four sets of supporting devices, one set of supporting device comprises a bearing seat supporting seat 6 and a bearing seat 7 above the bearing seat supporting seat, two ends of the synchronous wave generator driving shaft 25 are respectively supported by the two sets of supporting devices, the lower end of the harmonic reducer driving shaft 5 is supported by the one set of supporting device, and the lower end of the connecting shaft 12 is supported by the one set of supporting device.
Preferably, the right end of the connecting shaft 12 is connected with a flexible gear of the harmonic reducer 9 to be tested through a right end flange 10, and the left end is connected with an equivalent synchronous flexible gear 14 through a left end flange 13.
Specifically, the first temperature sensor 42 is located at the bottom of the equivalent synchronous flexspline 14, the second temperature sensor 41 is located at the input end of the harmonic reducer 9 to be measured, and both the first temperature sensor 42 and the second temperature sensor 41 are infrared temperature sensors; the first speed sensor 36 is located above the synchronous wave generator drive shaft 25, the second speed sensor 38 is located above the connecting shaft 12, and the third speed sensor 40 is located above the harmonic reducer drive shaft 5; the first displacement sensor 39 is located above the cup bottom end side of the equivalent synchronous flexspline 14, and the second displacement sensor 37 is located directly above the flexspline of the harmonic reducer 9 to be measured.
Preferably, the elastic coupling 3 is connected with the harmonic reducer drive servo motor 2 through a bolt 4, and the harmonic reducer 9 to be tested is connected and fixed with the harmonic reducer support base 8 through a steel wheel.
Preferably, the equivalent flexible gear 14 is connected with the flange 13 through a bolt, and the right end of the connecting shaft 12 is connected with the flange 10 to be connected through an inner hexagon bolt 11.
The invention has the beneficial effects that:
the invention can truly realize the application of synchronous time-varying speed drive and synchronous tracking load of the flexible bearing for the harmonic reducer under the variable working condition in actual operation, and can simultaneously realize the measurement of vibration, static and dynamic harmonic deformation, temperature, rotation precision and rotating speed of the harmonic reducer and the flexible bearing.
Drawings
FIG. 1 is a top view of the integral assembly structure of the present invention
FIG. 2 is a front view of the overall assembly structure of the present invention
FIG. 3 is an assembly diagram of a synchronous wave generator, a flexible bearing to be tested and a synchronous variable speed tracking loading device according to the present invention;
FIG. 4 is an assembly view of the synchronous variable speed trace loading unit of the present invention;
FIG. 5 is an assembly view of a loading slider, a loading seat and a loading needle bearing according to the present invention;
fig. 6 is a general view of the mechanical mechanism of the present invention.
Reference numerals: 1. the test platform comprises a test platform base, 2. A harmonic reducer driving servo motor, 3. An elastic coupling, 4. Bolts, 5. A harmonic reducer driving shaft, 6. A bearing base supporting base, 7. A bearing base, 8. A harmonic reducer supporting base, 9. A harmonic reducer to be tested, 10. A right end flange, 11. An inner hexagon bolt, 12. A connecting shaft, 13. A left end flange, 14. An equivalent synchronous flexible wheel, 15. A loading rod, 16. A needle bearing fixing block, 17. A loading needle bearing, 18. A locking screw, 19. A loading sliding block, 20. A loading spring seat, 21. A loading spring, 22. A compression spring block, 23. A screw rod, 24. A rotating disc body, 25. A synchronous generator driving shaft, 26.V belt wheels, 27.V belt, 28. A synchronous generator driving servo motor, 29. A loading base, 30. A baffle, 31. A belt base bearing, 32. A synchronous generator, 33. A flexible bearing to be tested, 34. A synchronous generator driving servo motor base, 35. A harmonic reducer driving servo motor base, 36. A first rotating speed sensor, 38. A second rotating speed sensor, 40. A third speed sensor, 37. A second displacement sensor, a temperature sensor, and 41. A second displacement sensor.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1: as shown in fig. 1 to 6, in order to solve the problems existing in the prior art, the idea of the present invention is: a variable working condition synchronous correlation tracking loading flexible bearing and a harmonic reducer testing machine are designed, a harmonic reducer is simultaneously controlled by a servo motor controller in a double-wave generator synchronous variable speed driving mechanism to drive a servo motor 2 and a synchronous wave generator to drive a servo motor 28, a flexible bearing 33 is arranged on a synchronous wave generator 32, the flexible bearing is assembled and pre-deformed, and the inner ring of the flexible bearing 33 to be tested is driven to rotate through the rotation of the synchronous wave generator 32; a double-flexible-gear synchronous connection mechanism is designed, an equivalent synchronous flexible gear 14 is installed on an outer ring 33 of a flexible bearing to be tested, the equivalent synchronous flexible gear 14 and a flexible gear in a harmonic speed reducer 9 to be tested are connected in a synchronous connection mode, a wave generator in the harmonic speed reducer 9 to be tested is driven to rotate through time varying, the flexible gear in the harmonic speed reducer 9 to be tested synchronously outputs time varying speed, and synchronous speed varying driving of the outer ring of the flexible bearing 33 to be tested is achieved. The accurate synchronous time-varying rotation speed ratio between the inner ring and the outer ring of the flexible bearing 33 to be measured can be automatically realized without independently adjusting the rotation speed of the synchronous wave generator 32 and the equivalent synchronous flexible gear 14. A synchronous variable-speed rotation tracking loading mechanism is designed, and is characterized in that a flexible bearing 33 to be tested can be loaded at a fixed load while the long shaft of a synchronous wave generator 32 is tracked for variable-speed rotation.
The invention adopts the following technical scheme according to the invention concept: the utility model provides a flexible bearing of synchronous associative tracking loading of variable working condition and harmonic reducer testing machine, includes mounting platform base 1 and installs the synchronous associative drive arrangement of variable speed, synchronous variable speed tracking loading device and data acquisition device on mounting platform base 1, and data acquisition device installs on the synchronous associative drive arrangement of variable speed and synchronous variable speed tracking loading device, and the synchronous associative drive arrangement of variable speed includes: the double-wave generator synchronous variable-speed driving mechanism and the double-flexible-wheel synchronous association connecting mechanism are characterized in that a harmonic reducer is simultaneously controlled by a servo motor controller in the double-wave generator synchronous variable-speed driving mechanism to drive a servo motor 2 and a synchronous generator to drive a servo motor 28, the synchronous generator drives the servo motor 28 to drive a synchronous generator 32 to rotate so as to drive the inner ring of a flexible bearing 33 to be tested to rotate, and the harmonic reducer drives the servo motor 2 to drive a wave generator of a harmonic reducer 9 to be tested; the equivalent synchronous flexible gear 14 and the flexible gear in the harmonic speed reducer 9 to be detected are synchronously connected in a synchronous and associated mode in the double-flexible-gear synchronous associated connecting mechanism, a wave generator in the harmonic speed reducer 9 to be detected is driven to rotate in a time-varying mode, the flexible gear in the harmonic speed reducer 9 to be detected synchronously outputs a time-varying speed to drive the equivalent synchronous flexible gear 14 to rotate, synchronous speed changing is achieved to drive the outer ring of the flexible bearing 33 to be detected to rotate, and accurate synchronous time-varying rotation speed ratio between the inner ring and the outer ring of the flexible bearing 33 to be detected is automatically achieved; the synchronous variable speed tracking loading device is axially concentric with the synchronous wave generator 32, loading is carried out through a loading needle bearing 17 in the synchronous variable speed tracking loading device, the loading needle bearing 17 rolls along the surface of the equivalent synchronous flexible gear 14 while revolving along with the synchronous variable speed tracking loading device in the test process, the load directly acts on the equivalent synchronous flexible gear 14 and is transferred to the flexible bearing 33 to be tested, and the flexible bearing 33 to be tested is loaded with the fixed load while the long shaft of the loading load tracking synchronous wave generator 32 rotates in a variable speed mode.
Further, in addition to the aforementioned harmonic reducer drive servo motor 2, synchronous generator drive servo motor 28, synchronous generator 32, and flexible bearing 33 to be tested, the dual-generator synchronous speed change drive mechanism further includes an elastic coupling 3, a harmonic reducer drive shaft 5, a synchronous generator drive shaft 25, a V belt pulley 26, a V belt 27, a synchronous generator drive servo motor mount 34, and a harmonic reducer drive servo motor mount 35; besides the equivalent synchronous flexible gear 14 and the harmonic reducer 9 to be tested, the double-flexible-gear synchronous association connecting mechanism also comprises a harmonic reducer supporting seat 8 and a connecting shaft 12; the synchronous wave generator 32 is an elliptical cam and is movably arranged at the front end of the synchronous wave generator driving shaft 25, the flexible bearing 33 to be tested is arranged on the synchronous wave generator 32, the V belt wheel 26 is arranged at the rear end of the synchronous wave generator driving shaft 25, and the synchronous wave generator drives the servo motor 28 to drive the synchronous wave generator driving shaft 25 to rotate through the transmission of the V belt 27, so that the synchronous wave generator 32 is driven to rotate, and the inner ring of the flexible bearing 33 to be tested is driven to rotate; the equivalent synchronous flexible gear 14 is sleeved on the outer ring of the flexible bearing 33 to be tested, and the outer ring of the equivalent synchronous flexible gear 14 has no teeth; the harmonic reducer 9 to be tested is fixed on the harmonic reducer supporting seat 8; the rear end of a harmonic reducer driving shaft 5 is connected with a harmonic reducer driving servo motor 2 through an elastic coupling 3, and the front end of the harmonic reducer driving shaft is connected with a wave generator of a harmonic reducer 9 to be tested; the right end of the connecting shaft 12 is connected with a flexible gear of the harmonic reducer 9 to be tested, the left end of the connecting shaft is connected with an equivalent synchronous flexible gear 14, the harmonic reducer drives the servo motor 2 to drive the harmonic reducer driving shaft 5 to rotate through the harmonic reducer, so that the equivalent synchronous flexible gear 14 is driven to rotate, and the outer ring of the flexible bearing 33 to be tested rotates along with the equivalent synchronous flexible gear 14; the harmonic reducer drive servo motor 2 and the synchronous generator drive servo motor 28 are controlled by the same servo controller; in addition to the aforementioned needle bearing 17, the synchronous variable-speed tracking loading device further includes a loading rod 15, a needle bearing fixed block 16, a loading slider 19, a loading spring seat 20, a loading spring 21, a lead screw 23, a rotating disk body 24, a baffle 30 and a seated bearing 31, wherein the center of the rotating disk body 24 is a through hole for allowing a synchronous wave generator driving shaft 25 to pass through, the synchronous wave generator driving shaft 25 is provided with a shaft shoulder, the rotating disk body 24 is connected with the synchronous wave generator driving shaft 25, the baffle 30 is fixed on the rotating disk body 24, the seated bearing 31 is fixed on the baffle 30, the middle part of the loading slider 19 is provided with a boss with threads, sliding grooves are formed on the left side and the right side and can move radially on the rotating disk body 24, the loading seat 29 is connected with the loading slider 19, the loading slider 19 is provided with threads to be matched with the lead screw 23, one end of the lead screw 23 extends into a radial small hole of the rotating disk body 24, the other end of the lead screw is concentric with the seated bearing 31, raised baffles are arranged on both sides of the loading seat 29, holes are arranged on the baffles, one end of the loading spring 21 is in contact with the loading spring seat 20, the other end of the baffle is connected with the loading rod, the loading rod 15, the loading spring seat is connected with the loading rod 15, and the loading spring seat, the loading rod, and the loading spring seat 16 is connected with the loading spring seat, and the loading rod, and the loading spring seat, the loading rod 15; the loading needle bearing 17 is positioned in the needle bearing fixing block 16; temperature sensors are respectively arranged at the bottom of the equivalent synchronous flexible gear 14 and the input end of the harmonic reducer 9 to be tested, and rotating speed sensors are respectively arranged above the synchronous generator driving shaft 25, the connecting shaft 12 and the harmonic reducer driving shaft 5; and displacement sensors are respectively arranged above the cup bottom end side of the equivalent synchronous flexible gear 14 and right above the flexible gear of the harmonic reducer 9 to be detected. Each temperature sensor, each speed sensor and each displacement sensor are connected with an external data acquisition device.
Further, the rotary disk 24 is connected with a synchronous wave generator driving shaft 25 by a flat key connection mode.
Furthermore, four sets of supporting devices are further arranged on the mounting platform base 1, each set of supporting device comprises a bearing seat supporting seat 6 and a bearing seat 7 above the bearing seat supporting seat, two ends of a synchronous generator driving shaft 25 are respectively supported by the two sets of supporting devices, the lower end of a harmonic reducer driving shaft 5 is supported by the one set of supporting device, and the lower end of a connecting shaft 12 is supported by the one set of supporting device. And each shaft works stably through the support of the support device.
Furthermore, the right end of the connecting shaft 12 is connected with a flexible gear of the harmonic reducer 9 to be tested through a right end flange 10, and the left end of the connecting shaft is connected with an equivalent synchronous flexible gear 14 through a left end flange 13, so that the connection is firm.
Furthermore, the first temperature sensor 42 is positioned at the bottom of the equivalent synchronous flexible gear 14, the second temperature sensor 41 is positioned at the input end of the harmonic reducer 9 to be measured, and both the first temperature sensor 42 and the second temperature sensor 41 are infrared temperature sensors, so that non-contact temperature measurement can be realized; the first rotating speed sensor 36 is positioned above the driving shaft 25 of the synchronous wave generator, the second rotating speed sensor 38 is positioned above the connecting shaft 12, and the third rotating speed sensor 40 is positioned above the driving shaft 5 of the harmonic reducer, so that the non-contact rotating speed measurement is realized; the first displacement sensor 39 is located above the cup bottom end side of the equivalent synchronous flexspline 14, and the second displacement sensor 37 is located directly above the flexspline of the harmonic speed reducer 9 to be measured, so that the non-contact displacement measurement is realized.
Further, elastic coupling 3 be connected with harmonic reducer drive servo motor 2 through bolt 4, the harmonic reducer 9 that awaits measuring is connected fixedly through steel wheel and harmonic reducer supporting seat 8. The equivalent flexible gear 14 is connected with the flange plate 13 through bolts, and the right end of the connecting shaft 12 is connected with the right end flange 10 through the hexagon socket head cap screw 11. Simple structure and convenient installation.
The working principle of the invention is as follows: as shown in fig. 1 and 2, a variable working condition synchronous correlation tracking loading flexible bearing and a testing machine for a harmonic reducer are used for simultaneously controlling the time-varying rotating speed of a harmonic reducer servo motor 2 and a synchronous generator driving servo motor 28 through a servo motor controller, the harmonic reducer servo motor 2 drives a harmonic reducer driving shaft 5 to be tested to drive a generator of a harmonic reducer 9 to be tested to rotate, the harmonic reducer 9 to be tested synchronously outputs the time-varying rotating speed to drive an equivalent synchronous flexible wheel 14 to rotate, the equivalent synchronous flexible wheel 14 drives an outer ring of a flexible bearing 33 to be tested to rotate, the synchronous generator driving servo motor 28 drives a synchronous generator driving shaft 25 to drive a synchronous generator 32 to rotate, the synchronous variable speed tracking loading device rotates along with the synchronous generator driving shaft 25, a needle roller bearing 17 rolls along the surface of the equivalent synchronous flexible wheel 14 while revolving along with the synchronous variable speed tracking loading device, a load directly acts on the equivalent synchronous flexible wheel 14 and is transmitted to the flexible bearing 33 to be tested, and the motion condition of the time-varying harmonic reducer to be tested, the flexible bearing to be tested is fixed in a state of the generator input and the flexible wheel output.
As shown in fig. 1 and 2, the connecting shaft 12 is connected to the flexspline of the harmonic reducer 9 to be measured through the right flange 10, and the left flange 13 is connected to the equivalent synchronous flexspline 14, so as to associate the output motion condition of the flexspline in the harmonic reducer 9 to be measured with the inner ring and the outer ring of the synchronous drive flexible bearing to be measured and obtain an accurate synchronous time-varying reduction ratio under a time-varying working condition.
As shown in fig. 1,2, the synchronous variable speed tracking loading device is axially and concentrically installed with the synchronous wave generator 32, the synchronous variable speed tracking loading device always acts on the meshing area outside the long axis of the synchronous wave generator 32 along with the rotation of the synchronous wave generator 32, the load directly acts on the equivalent synchronous flexible gear 14 and is transferred to the flexible bearing 33 to be tested, and the load condition of the flexible bearing in the harmonic reducer to be tested under the time-varying working condition is realized. After the load is adjusted and fixed, the load is kept unchanged in the whole process of carrying out dynamic performance test by synchronously rotating the flexible bearing 33 to be tested and the harmonic reducer 9 to be tested.
As shown in fig. 1,2, 4, and 5, when a load is applied, the screw 23 on the rotary disc 24 can convert the rotary motion of the rotary disc into the radial movement of the loading sliders 19, so that the two symmetrically distributed loading sliders 19 synchronously displace radially on the rotary disc 24, and simultaneously drive the loading roller 17 to move radially, the rotary disc 24 rotates synchronously with the synchronous wave generator 32, when the loading roller bearing 17 just contacts the equivalent synchronous flexspline 14, the loading spring 21 is in an undeformed state, the moving distance of the loading sliders is calculated by the number of turns of the screw 23 and the lead thereof, and the compressed displacement of the loading spring 21 is obtained, thereby more accurately calculating the magnitude of the loading load through the calculation formula of the spring force. The radial positions of the loading slide block 19 and the loading rod 15 are adjusted to realize the purposes of applying different loads to the flexible bearing 33 to be tested and adapting to different sizes.
As shown in figures 1,2 and 5, the loading needle bearing 17 only comprises rolling bodies and a retainer, the loading rod 15 is fixed and limited by a needle bearing fixing block 16, and when the testing device operates, the loading needle bearing 17 moves in a rolling mode along the surface of the equivalent flexible gear 14 through needle rollers.
As shown in 1,3, the synchronous wave generator 32 is installed at the front end of the wave generator driving shaft 25, the inner ring of the flexible bearing 33 to be tested is sleeved on the synchronous wave generator 32, and the flexible bearing test of different models is realized by customizing the wave generators 32 with different sizes.
The invention can simulate the running condition of the harmonic reducer and the stress condition of the flexible bearing in the harmonic reducer under the time-varying working condition by designing a series of mechanisms, and can detect the dynamic performance of the harmonic reducer and the flexible bearing.
The invention is designed based on the characteristics of the harmonic reducer and the flexible bearing, the input rotating speed of the harmonic reducer can change frequently under the time-varying working condition, and the harmonic reducer has larger torque action when starting and stopping; under the working state, the inner ring and the outer ring of the flexible bearing 33 to be tested have a certain reduction ratio, the flexible bearing is forced to be in an elliptical shape under the action of an elliptical cam, and the meshing area of the meshing force of the multi-tooth surfaces of the flexible gear and the steel gear of the harmonic reducer 9 to be tested is always positioned at the long-axis position of the synchronous wave generator 32 and rotates along with the rotation of the long-axis position of the synchronous wave generator 32. By testing the dynamic performance of the harmonic reducer 9 to be tested and the flexible bearing 33 to be tested under the time-varying working condition, the common scientific problem and the key technical problem of key parts of the harmonic reducer can be solved aiming at the found problems, and the independent innovation capability of a high-precision robot and a high-performance reducer (flexible bearing) is improved.
The present invention is not limited to the embodiments described above, and various other changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a become synchronous associative tracking loading flexible bearing of operating mode and harmonic speed reducer ware testing machine which characterized in that: including mounting platform base (1) and install variable speed synchronous associated drive arrangement, synchronous variable speed tracking loading device and data acquisition device on mounting platform base (1), data acquisition device installs on variable speed synchronous associated drive arrangement, and variable speed synchronous associated drive arrangement includes: the double-wave generator synchronous variable speed driving mechanism and the double-flexible-wheel synchronous association connecting mechanism are characterized in that a harmonic reducer is simultaneously controlled by a servo motor controller in the double-wave generator synchronous variable speed driving mechanism to drive a servo motor (2) and a synchronous generator to drive the servo motor (28), the synchronous generator drives the servo motor (28) to drive the synchronous generator (32) to rotate so as to drive the inner ring of a flexible bearing (33) to be tested to rotate, and the harmonic reducer drives the servo motor (2) to drive a wave generator of a harmonic reducer (9) to be tested; an equivalent synchronous flexible gear (14) and a flexible gear in a harmonic reducer (9) to be detected are synchronously connected in a synchronous connection mode in the double-flexible-gear synchronous connection mechanism in a linkage mode, a wave generator in the harmonic reducer (9) to be detected is driven to rotate in a time-varying mode, the flexible gear in the harmonic reducer (9) to be detected synchronously outputs a time-varying speed to drive the equivalent synchronous flexible gear (14) to rotate, synchronous speed variation is achieved to drive an outer ring of a flexible bearing (33) to be detected to rotate, and accurate synchronous time-varying rotation speed ratio between an inner ring and an outer ring of the flexible bearing (33) to be detected is automatically achieved; the synchronous variable speed tracking loading device is axially concentric with the synchronous wave generator (32), loading is carried out through a loading needle bearing (17) in the synchronous variable speed tracking loading device, the loading needle bearing (17) rolls along the surface of the equivalent synchronous flexible gear (14) while revolving along with the synchronous variable speed tracking loading device in the test process, the load directly acts on the equivalent synchronous flexible gear (14) and is transmitted to the flexible bearing (33) to be tested, and the loading of the flexible bearing (33) to be tested is fixed while the long shaft of the loading load tracking synchronous wave generator (32) rotates in a variable speed mode.
2. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 1, characterized in that: the dual-wave generator synchronous variable-speed driving mechanism further comprises an elastic coupling (3), a harmonic reducer driving shaft (5), a synchronous wave generator driving shaft (25), a V belt wheel (26), a V belt (27), a synchronous wave generator driving servo motor seat (34) and a harmonic reducer driving servo motor seat (35); the double-flexible-gear synchronous association connecting mechanism also comprises a harmonic reducer supporting seat (8) and a connecting shaft (12); wherein the synchronous wave generator (32) is an elliptical cam movably arranged at the front end of a driving shaft (25) of the synchronous wave generator, the flexible bearing (33) to be tested is arranged on the synchronous wave generator (32), the V belt wheel (26) is arranged at the rear end of the driving shaft (25) of the synchronous wave generator, the synchronous wave generator drives a servo motor (28) to drive a synchronous wave generator driving shaft (25) to rotate through the transmission of a V belt (27), so that a synchronous wave generator (32) is driven to rotate, and an inner ring of a flexible bearing (33) to be tested is driven to rotate; the equivalent synchronous flexible gear (14) is sleeved on the outer ring of the flexible bearing (33) to be tested, and the outer ring of the equivalent synchronous flexible gear (14) is toothless; the harmonic reducer (9) to be tested is fixed on the harmonic reducer supporting seat (8); the rear end of the harmonic reducer driving shaft (5) is connected with the harmonic reducer driving servo motor (2) through an elastic coupling (3), and the front end of the harmonic reducer driving shaft is connected with a wave generator of a harmonic reducer (9) to be tested; the right end of the connecting shaft (12) is connected with a flexible gear of the harmonic reducer (9) to be tested, the left end of the connecting shaft is connected with an equivalent synchronous flexible gear (14), the harmonic reducer drives the servo motor (2) to drive the harmonic reducer driving shaft (5) to rotate through the harmonic reducer, so that the equivalent synchronous flexible gear (14) is driven to rotate, and the outer ring of the flexible bearing (33) to be tested rotates along with the equivalent synchronous flexible gear (14); the harmonic reducer driving servo motor (2) and the synchronous generator driving servo motor (28) are controlled by the same servo controller; the synchronous variable-speed tracking loading device also comprises a loading rod (15), a needle bearing fixing block (16), a loading slider (19), a loading spring seat (20), a loading spring (21), a lead screw (23), a rotating disc body (24), a baffle plate (30) and a bearing with a seat (31), wherein the center of the rotating disc body (24) is provided with a through hole which can enable a synchronous wave generator driving shaft (25) to pass through, a shaft shoulder is arranged on the synchronous wave generator driving shaft (25), the rotating disc body (24) is connected with the synchronous wave generator driving shaft (25), the baffle plate (30) is fixed on the rotating disc body (24), the bearing with the seat (31) is fixed on the baffle plate (30), a boss with threads is arranged in the middle of the loading slider (19), sliding grooves are formed in the left side and the right side of the loading slider, the two symmetrically distributed loading sliders (19) can move on the rotating disc body (24) in the radial direction, the loading seat (29) is connected with the loading slider (19), the loading slider (19) is provided with threads which is matched with the lead screw (23), one end of the lead screw (23) extends into a small radial hole in the rotating disc body (24), the other end of the bearing with the baffle plate (31), the bearing with the bearing seat, the loading slider (29), the loading slider (29) is contacted with the compression spring seat, the compression spring seat (20) and the loading spring seat (22) is arranged on the loading slider, the compression spring seat, the loading spring seat (21) and the loading slider (22) which is arranged on the loading slider, the compression spring block (22) is provided with a threaded hole and is connected with the loading rod (15), the loading rod (15) penetrates through the holes of the baffle plates protruding from the two sides of the loading seat and the center of the loading spring (21), one end of the loading rod is connected with the needle bearing fixing block (16), and the other end of the loading rod is connected with the locking nut (18); the loading needle bearing (17) is positioned in the needle bearing fixing block (16); temperature sensors are respectively arranged at the bottom end of the equivalent synchronous flexible gear (14) and the input end of the harmonic reducer (9) to be tested, and rotating speed sensors are respectively arranged above the synchronous generator driving shaft (25), the connecting shaft (12) and the harmonic reducer driving shaft (5); and displacement sensors are respectively arranged above the cup bottom side of the equivalent synchronous flexible gear (14) and right above the flexible gear of the harmonic reducer (9) to be tested.
3. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 2, characterized in that: the rotary disc body (24) is connected with a synchronous wave generator driving shaft (25) in a flat key connection mode.
4. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 1, characterized in that: the mounting platform is characterized in that four groups of supporting devices are further arranged on the mounting platform base (1), each group of supporting device comprises a bearing seat supporting seat (6) and a bearing seat (7) above the bearing seat supporting seat, two ends of a synchronous wave generator driving shaft (25) are respectively supported through the two groups of supporting devices, the lower end of a harmonic reducer driving shaft (5) is supported through the one group of supporting devices, and the lower end of a connecting shaft (12) is supported through the one group of supporting devices.
5. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 2, characterized in that: the right end of the connecting shaft (12) is connected with a flexible gear of the harmonic reducer (9) to be tested through a right end flange (10), and the left end of the connecting shaft is connected with an equivalent synchronous flexible gear (14) through a left end flange (13).
6. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 2, characterized in that: the first temperature sensor (42) is positioned at the bottom end of the equivalent synchronous flexible gear (14), the second temperature sensor (41) is positioned at the input end of the harmonic reducer (9) to be detected, and the first temperature sensor (42) and the second temperature sensor (41) are both infrared temperature sensors; the first rotating speed sensor (36) is positioned above the driving shaft (25) of the synchronous wave generator, the second rotating speed sensor (38) is positioned above the connecting shaft (12), and the third rotating speed sensor (40) is positioned above the driving shaft (5) of the harmonic reducer; the first displacement sensor (39) is positioned above the cup bottom end side of the equivalent synchronous flexible gear (14), and the second displacement sensor (37) is positioned right above the flexible gear of the harmonic reducer (9) to be measured.
7. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 2, characterized in that: the elastic coupling (3) is connected with the harmonic reducer driving servo motor (2) through a bolt (4), and the harmonic reducer (9) to be tested is fixedly connected with the harmonic reducer supporting seat (8) through a steel wheel.
8. The variable working condition synchronous association tracking loading flexible bearing and harmonic reducer testing machine according to claim 5, characterized in that: the equivalent flexible gear (14) is connected with the flange plate (13) through bolts, and the right end of the connecting shaft (12) is connected with the flange (10) to be connected with the right end through the hexagon socket head cap screw (11).
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| CN110595708A (en) * | 2019-10-25 | 2019-12-20 | 上海机器人产业技术研究院有限公司 | Disc type experiment platform for multi-size flexible bearing |
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