CN205449494U - RV reduction gear transmission return difference testing arrangement - Google Patents
RV reduction gear transmission return difference testing arrangement Download PDFInfo
- Publication number
- CN205449494U CN205449494U CN201620168326.XU CN201620168326U CN205449494U CN 205449494 U CN205449494 U CN 205449494U CN 201620168326 U CN201620168326 U CN 201620168326U CN 205449494 U CN205449494 U CN 205449494U
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- China
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- decelerator
- return difference
- flange
- bearing
- outfan
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Abstract
The utility model discloses a RV reduction gear transmission return difference testing arrangement. The utility model discloses constitute by base, loading device, measuring device and locking device. Loading device comprises servo motor, motor support and motor end shaft coupling, and measuring device comprises torque speed sensor, input shaft coupling, encoder, input flange, shaft coupling support and sensor support, and locking device comprises locking pin, output locking flange and reduction gear support. Compare with the method of RV reduction gear return difference test in the past, the utility model discloses can carry out the test of static state and dynamic return difference, the traditional return difference test method height of efficiency ratio to adopt program control's loading mode, degree of automation is high. The utility model has the advantages of simple structure, measuring accuracy be high, to the testing ring border require low, degree of automation is high, industrial robot can be satisfied and the requirement can be tested and detect to the high accuracy of RV reduction gear.
Description
Technical field
This utility model relates to precision gear transmission performance field of measuring technique, tests device particularly to a kind of industrial robot joint RV decelerator transmission return difference.
Background technology
Along with the arrival of China's aging populations, labor cost constantly increases.Industrial robot to be applied to more and more widely in commercial production, especially automobile industry.At present, common industrial robot has welding robot, robot palletizer, put together machines people etc., and the common feature of all kinds of robots is that requirement repetitive positioning accuracy is high.RV decelerator is as industrial robot joint parts, and its performance directly determines the action precision of industrial robot.The transmission return difference of especially RV decelerator has material impact for the positioning precision of the industrial machine mechanical arm of reciprocating rotating.
RV decelerator transmission return difference refers to when power shaft inverts, and output shaft lags behind the phenomenon of power shaft in motion.Due to part processing, rigging error and load and the existence of variations in temperature, return difference is inevitable, all there is return difference, and in the actual condition of mechanical arm, need substantial amounts of high-precision reciprocating to move in all actuating devices having rotating.Therefore, to the test of RV decelerator return difference and detect most important.
At present, domestic more existing about test devices of the comprehensive performance parameter such as decelerator transmission efficiency, life-span, transmission accuracy, detent torque and temperature rise noise, but the device directly applying to the test of RV decelerator return difference is also little, method of testing needs to further investigate and demonstration.The patent of Patent No. 201420387041.6 discloses a kind of precise planetary reducer torsional rigidity and returns device for detecting difference, the equipment coordinated with fuselage including fuselage, loading unit, measuring unit for being connected, with tested decelerator input, the retaining mechanism locked.The method uses locking input, the rigidity of test certain point and the method for return difference, needs multistage loadings, it is thus achieved that corresponding snapback, just can obtain the static return difference value of this point, it is impossible to measure dynamic return difference, and there is the problem that testing efficiency is low.It addition, it uses power shaft to lock, the mode loaded to output shaft.Two performance parameters of rigidity and return difference are mutually merged by this kind of mode, i.e. use this test mode can not individually measure static return difference value or dynamic return difference value.Meanwhile, power shaft locking increases the loaded load of loading unit to the mode that output shaft loads.
Utility model content
In order to make up deficiency of the prior art, this utility model provides a kind of RV decelerator transmission return difference test device, uses locking output shaft, applies the mode of positive and negative torque to power shaft, measure the transmission return difference of RV decelerator with this.
The RV decelerator transmission return difference test device that this utility model provides, by base, servomotor, electric machine support, motor side shaft coupling, torque rotary speed sensor, input shaft coupling, encoder, RV decelerator, safetied pin, outfan locking flange, decelerator bearing, input flange, shaft coupling bearing, sensor support base is constituted, wherein servomotor, electric machine support and motor side shaft coupling constitute charger, torque rotary speed sensor, input shaft coupling, encoder, input flange, shaft coupling bearing and sensor support base constitute measurement apparatus, safetied pin, outfan locking flange and decelerator bearing constitute locking device.It is characterized in that: described locking device is installed on tested decelerator outfan, described measurement apparatus is installed on the input of tested decelerator, described charger is installed on the end side of measurement apparatus, and described charger, measurement apparatus, locking device are mounted on base.
The RV decelerator transmission return difference test device that this utility model provides, it is characterised in that: using servomotor to load, servomotor connects RV reducer input shaft by motor side shaft coupling, it is possible to provide default positive and negative torque.
The RV decelerator transmission return difference test device that this utility model provides, it is characterized in that: torque rotary speed sensor is placed in RV decelerator left end, to measure the torque rotary speed of input, input flange uses structure as shown in Figure 4, and it is fixed in RV decelerator input by bolt, flange inner core is installed a pair location bearing, so that the RV reducer input shaft stability of rotation performance through bearing is more preferable, improve kinematic accuracy, the angle of power shaft is measured by high-precision encoder, encoder is not required to separately add mounting bracket, can be directly mounted at input flange left end.
The RV decelerator transmission return difference test device that this utility model provides, it is characterized in that: decelerator is lock onto on decelerator bearing by bolt, such as Fig. 5, shown in Fig. 6, there is the through hole of 20 uniform φ 25mm decelerator bearing outer ring, outfan locking flange correspondence has the through hole of 5 φ 25mm, outfan locking flange is connected by the bolt at middle part and RV decelerator outfan are fixing, the through hole that outfan locking flange connects corresponding φ 25mm with decelerator bearing by safetied pin achieves a fixed connection, due to the angular deviation relation that the existence of outfan locking 5 through holes of flange is corresponding, RV decelerator outfan one can be enclosed 360 ° and be divided into 100 deciles, often it is divided into 3.6 °, to realize the transmission return difference measurement of RV decelerator outfan difference and data be analyzed.
The workflow of the RV decelerator transmission return difference test device that this utility model provides is: (1), locking, RV reducer input shaft is rotated by servomotor, make outfan locking flange 91 hole align with decelerator bearing 1001 hole, lock outfan by safetied pin；(2), forward and reverse loading, first rotated forward by programme-control servomotor and be loaded onto input predetermined torque+N, then reversely rotate be loaded onto input predetermined torque-N, rotate forward the most again and return to initial position；(3), testing, while forward and reverse loading, read data by encoder and torque rotary speed sensor, and data will be shown by industrial computer, so far this transmission return difference is completed；(4), locking next test point, unclamp safetied pin, by controlling servomotor rotary input, make outfan rotate 3.6 °, aliging with 1005 holes in outfan locking flange 92 hole, locks outfan by safetied pin；(5), forward and reverse loading executed as described above this point is tested；(6), by that analogy, the transmission return difference of other points of test output terminal, and test data are comprehensively analyzed.
The beneficial effects of the utility model are: RV decelerator transmission return difference test device, use servomotor to carry out program loading, and automaticity is high.Using torque rotary speed sensor and high-precision encoder to measure torque and the anglec of rotation of input, certainty of measurement is high.Input flange inner core uses one group of location bearing, it is ensured that the axiality of power shaft, improve kinematic accuracy.Encoder is directly mounted at input flange left end, it is to avoid the installation of encoder support, simplifies test device.Locking device uses mechanical pin locking mode, and locking effect is good, and uses the mode of dual pin hole coincidence docking, uses the form of 20 × 5, considerably increases the quantity that can survey output point, and improve the rigidity of locking device.This utility model can carry out static return difference and dynamically return difference test to RV decelerator, has simple in construction, and measuring accuracy is high, and automaticity is high, the advantages such as measuring stability is good, meets industrial robot and tests the high precision performance of RV decelerator and testing requirement.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of RV decelerator transmission return difference of the present utility model test device.
Fig. 2 is the front view of RV decelerator transmission return difference of the present utility model test device.
Fig. 3 is the right view of RV decelerator transmission return difference of the present utility model test device.
Fig. 4 is the structural representation of input mounting flange in RV decelerator transmission return difference of the present utility model test device.
Fig. 5 is the structural representation of decelerator bearing in RV decelerator transmission return difference of the present utility model test device.
Fig. 6 is the structural representation of outfan locking flange in RV decelerator transmission return difference of the present utility model test device.
Detailed description of the invention
Below in conjunction with the accompanying drawings of the present utility model being embodied as is described further.
nullSuch as Fig. 1、Fig. 2、Shown in Fig. 3，The RV decelerator transmission return difference test device that this utility model provides，By base 14、Charger、Locking device、Measurement apparatus forms，Wherein charger is by servomotor 1、Electric machine support 2 and motor side shaft coupling 3 are constituted，Measurement apparatus is by torque rotary speed sensor 4、Input shaft coupling 5、Encoder 6、Input flange 11、Shaft coupling bearing 12 and sensor support base 13 are constituted，Locking device is by safetied pin 8、Outfan locking flange 9 and decelerator bearing 10 are constituted，It is characterized in that: described locking device is installed on tested decelerator outfan，Described measurement apparatus is installed on the input of tested decelerator，Described charger is installed on the end side of measurement apparatus，Described charger、Measurement apparatus、Locking device is mounted on base.
Concrete, as it is shown in figure 1, use servomotor 1 to load, servomotor 1 is arranged on electric machine support 2, connects RV reducer input shaft by motor side shaft coupling 3, is rotated by programme-control, it is possible to provide the positive and negative torque preset.
Concrete, as shown in Figure 1, shown in Figure 5, torque rotary speed sensor 4 is placed in RV decelerator 7 left end, measuring the torque rotary speed of input, input flange 11 is fixed in RV decelerator 7 left end by bolt, installs a pair location bearing in input flange 11 inner core, improve power shaft kinematic accuracy, measured the angle of power shaft by encoder 6, encoder 6 is not required to separately add mounting bracket, can be directly mounted at input flange 11 left end.
nullConcrete，Such as Fig. 1、Fig. 5、Shown in Fig. 6，RV decelerator 7 is lock onto on decelerator bearing 10 by bolt，There is the through hole of 20 uniform φ 25mm decelerator bearing 10 outer ring，The outfan locking flange 9 through hole to 5 φ 25mm should be had to have fixing drift angle，Outfan locking flange 9 is connected by the bolt at middle part and RV decelerator 7 outfan are fixing，The through hole of the φ 25mm that outfan locking flange 9 and decelerator bearing 10 connect correspondence by safetied pin 8 achieves a fixed connection，Due to the angular deviation relation that the existence of 5 through holes of outfan locking flange 9 is corresponding，RV decelerator outfan one can be enclosed 360 ° and be divided into 100 deciles，Often it is divided into 3.6 °，To realize the transmission return difference measurement of RV decelerator 7 outfan difference and data be analyzed.
The workflow of the RV decelerator transmission return difference test device that this utility model provides is: (1), locking, RV decelerator 7 power shaft is rotated by servomotor 1, aliging with 1001 holes of decelerator bearing 10 in 91 holes making outfan locking flange 9, locks RV decelerator 7 outfan by safetied pin 8；(2), forward and reverse loading, first rotated forward by programme-control servomotor 1 and be loaded onto input predetermined torque N, then reversely rotate be loaded onto input predetermined torque-N, rotate forward the most again and return to initial position；(3), testing, while forward and reverse loading, read data by encoder 6 and torque rotary speed sensor 4, and data will be shown by industrial computer, so far this transmission return difference is completed；(4), locking next test point, unclamp safetied pin 8, by controlling servomotor 1 rotary input, make outfan rotate 3.6 °, aliging with 1005 holes of decelerator bearing 10 in 92 holes of outfan locking flange 9, locks outfan by safetied pin 8；(5), forward and reverse loading executed as described above this point is tested；(6), by that analogy, make outfan rotate 3.6 ° so that outfan locking flange 9 can dock completely with the hole of decelerator bearing 10 every time, the transmission return difference of other points of test output terminal, and test data are comprehensively analyzed.
Claims (8)
- null1. a RV decelerator transmission return difference test device，This RV decelerator transmission return difference test device includes base (14)、Servomotor (1)、Electric machine support (2)、Motor side shaft coupling (3)、Torque rotary speed sensor (4)、Input shaft coupling (5)、Encoder (6)、RV decelerator (7)、Safetied pin (8)、Outfan locking flange (9)、Decelerator bearing (10)、Input flange (11)、Shaft coupling bearing (12)、Sensor support base (13)，It is characterized in that: described servomotor (1) connects torque rotary speed sensor (4) by motor side shaft coupling (3)，Torque rotary speed sensor (4) connects RV decelerator (7) power shaft by input shaft coupling (5)，Outfan locking flange (9) is affixed with the output shaft of RV decelerator (7)，Input flange (11) is installed on the input of RV decelerator (7)，Affixed with decelerator bearing (10)，RV decelerator (7) is installed on decelerator bearing (10)，Torque rotary speed sensor (4) and shaft coupling bearing (12) are installed on sensor support base (13)，Servomotor (1) is installed on electric machine support (2)，Electric machine support (2)、Sensor support base (13) and decelerator bearing (10) are installed on base (14).
- RV decelerator transmission return difference the most according to claim 1 test device, it is characterized in that: utilize torque rotary speed sensor (4) to measure torque, utilize encoder (6) to measure angle, utilize safetied pin (8), outfan locking flange (9) and decelerator bearing (10) locking RV decelerator (7) outfan.
- RV decelerator transmission return difference the most according to claim 1 test device, it is characterised in that: also include that described decelerator bearing (10) end face has rounded equally distributed 20 through holes.
- RV decelerator transmission return difference the most according to claim 1 test device, it is characterized in that: also include that outfan flange (9) end face has the through hole of 5 uneven distributions, the center of circle, each hole and the line in outfan flange (9) the end face center of circle, with end face circle five bisectors respectively in 0 °, 3.6 °, 7.2 °, 10.8 ° and 14.4 °.
- 5. test device according to the RV decelerator transmission return difference described in claim 3 or 4, it is characterized in that: 5 through holes of outfan locking flange (9) end face, can be connected with decelerator bearing (10) corresponding through hole by safetied pin (8), it is achieved outfan locking flange (9) and decelerator bearing (10) are affixed.
- RV decelerator transmission return difference the most according to claim 1 test device, it is characterized in that: by rotary output locking flange (9), make corresponding from decelerator bearing (10) different hole, RV decelerator (7) outfan one is enclosed 360 ° and is divided into 100 deciles, it is achieved the test to 100 some transmission return differences of outfan.
- RV decelerator transmission return difference the most according to claim 1 test device, it is characterized in that: input flange (11) uses cylinder two ends to be the structure of mounting flange end face, cylinder interior places a pair location bearing, right end face of flange is affixed with decelerator bearing (10), and left end face of flange is mounted directly encoder (6).
- 8. test device according to the RV decelerator transmission return difference described in claim 1 or 7, it is characterized in that: RV decelerator (7) power shaft connects loading by left end input shaft coupling (5), through encoder (6), input flange cylinder interior location bearing, by incoming for power RV decelerator (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620168326.XU CN205449494U (en) | 2016-03-04 | 2016-03-04 | RV reduction gear transmission return difference testing arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620168326.XU CN205449494U (en) | 2016-03-04 | 2016-03-04 | RV reduction gear transmission return difference testing arrangement |
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| Publication Number | Publication Date |
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| CN205449494U true CN205449494U (en) | 2016-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620168326.XU Withdrawn - After Issue CN205449494U (en) | 2016-03-04 | 2016-03-04 | RV reduction gear transmission return difference testing arrangement |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784351A (en) * | 2016-03-04 | 2016-07-20 | 中南大学 | RV speed reducer transmission return difference testing device |
| CN106404391A (en) * | 2016-11-22 | 2017-02-15 | 航天恒星科技有限公司 | Worm wheel and worm driving system driving return difference measuring device |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN112326234A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Input fixing structure of harmonic reducer comprehensive performance test equipment |
-
2016
- 2016-03-04 CN CN201620168326.XU patent/CN205449494U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784351A (en) * | 2016-03-04 | 2016-07-20 | 中南大学 | RV speed reducer transmission return difference testing device |
| CN105784351B (en) * | 2016-03-04 | 2018-10-02 | 中南大学 | A kind of RV retarders transmission return difference test device |
| CN106404391A (en) * | 2016-11-22 | 2017-02-15 | 航天恒星科技有限公司 | Worm wheel and worm driving system driving return difference measuring device |
| CN106404391B (en) * | 2016-11-22 | 2019-05-31 | 航天恒星科技有限公司 | Worm Wheel System drive system return difference measuring device |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN112326234A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Input fixing structure of harmonic reducer comprehensive performance test equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160810 Effective date of abandoning: 20181002 |