CN215865805U - Oscillating type multi-station precision speed reducer fatigue life testing device - Google Patents
Oscillating type multi-station precision speed reducer fatigue life testing device Download PDFInfo
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- CN215865805U CN215865805U CN202120943796.XU CN202120943796U CN215865805U CN 215865805 U CN215865805 U CN 215865805U CN 202120943796 U CN202120943796 U CN 202120943796U CN 215865805 U CN215865805 U CN 215865805U
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Abstract
The utility model discloses a fatigue life testing device for a swing type multi-station precision speed reducer, which can efficiently and accurately test the fatigue life of the precision speed reducer for a robot by loading in a reciprocating swing mode. The test device includes: the device comprises a supporting table body and more than two stations arranged on the supporting table body, wherein each station is provided with a set of test pieces; the test piece includes: the reducer testing device comprises a tested reducer support, a driving motor and an inertia load; in each set of test piece, the tested speed reducer is arranged on the supporting platform body through the tested speed reducer support; the output shaft of the driving motor is coaxially connected with the input shaft of the tested speed reducer; the driving motor drives the input shaft of the tested speed reducer to make the output end of the tested speed reducer rotate in a reciprocating manner within a set angle range; an inertia load arm is installed at the output end of the tested speed reducer, and the output end of the tested speed reducer drives the inertia load arm to swing back and forth within a set angle range. The inertia load which swings back and forth is adopted for loading, and the actual working condition of the robot can be well simulated.
Description
Technical Field
The utility model relates to a testing device, in particular to a device for testing the fatigue life of a precision speed reducer, and belongs to the technical field of testing the fatigue life of the precision speed reducer.
Background
The precision speed reducer is used as a key link of the robot, the reliability of the speed reducer directly influences the reliability of the whole robot, and the precision speed reducer is particularly important for testing the fatigue life of the precision speed reducer. The working mode of the precision speed reducer is frequent acceleration/deceleration and reciprocating swing, and the service life of an inner bearing of the precision speed reducer is greatly influenced by the inertia load and impact.
The existing fatigue life test device for the precision speed reducer mainly has the following defects:
(1) the device is a testing device for single-station continuous rotation, the loading load is steady-state torque, the difference with the actual use working condition of the precision speed reducer for the robot is larger, and the actual working condition of the speed reducer for the robot cannot be simulated.
(2) The precision loss real-time monitoring sensor is not arranged in the testing process, and when the precision loss of the speed reducer is generated, the speed reducer cannot feed back in time.
(3) The loading torque value cannot be detected in real time, and only the theoretical loading torque value is equivalent to the rated torque; the theoretically calculated loading torque has an error with the actual loading torque, so that the testing precision is low.
(4) A single-station test structure is adopted, and only one speed reducer can be tested at the same time; generally, the fatigue life test is generally long in test time, and the test efficiency is low.
(5) With the connecting elements module of not integrating, when the reduction gear need carry out comprehensive properties precision check, need dismantle every part alone, this mode has two drawbacks: firstly, lubricating grease injected into the speed reducer needs to be injected again, so that the economy is not high, and the ferrography analysis of the lubricating grease after the test time is accumulated is inconvenient; and the second mode is repeated disassembly and assembly, so that the assembly precision is not easy to guarantee. The testing device adopts a speed reducer module structure, so that the assembly efficiency and precision are ensured, and lubricating grease is not required to be injected for many times.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention provides a fatigue life testing apparatus for a swing type multi-station precision reducer, which can efficiently and accurately test the fatigue life of the precision reducer for a robot by loading in a reciprocating swing manner.
Accurate reduction gear fatigue life testing arrangement of oscillating multistation, include: the device comprises a supporting table body and more than two stations arranged on the supporting table body, wherein each station is provided with a set of test pieces;
the test piece includes: the reducer testing device comprises a tested reducer support, a driving motor and an inertia load;
in each set of test piece, the tested speed reducer is arranged on the supporting table body through the tested speed reducer support;
the output shaft of the driving motor is coaxially connected with the input shaft of the tested speed reducer; the driving motor drives the input shaft of the tested speed reducer to enable the output end of the tested speed reducer to rotate in a reciprocating mode within a set angle range;
an inertia load arm is mounted at the output end of the tested speed reducer, and the output end of the tested speed reducer drives the inertia load arm to swing back and forth within a set angle range.
Preferably: and a displacement sensor is arranged at the starting position or the ending position of the inertia load arm on the supporting platform body and is used for detecting the starting position or the ending position of the inertia load arm in real time.
Preferably: and the inertia load arm is adhered with a strain gauge and used for measuring the loading torque in real time.
Preferably: the inertia load arm is connected with a balancing weight to adapt to different inertia loads.
Preferably: the tested speed reducer, the speed reducer adapting disc, the lubricating oil baffle cover and the output disc are arranged together to form a speed reducer integrated module; and the speed reducer integration module is integrally installed on a tested speed reducer support.
Preferably: the output shaft of the driving motor is coaxially connected with the input shaft of the tested speed reducer through an input shaft mounting and adjusting structure, and the coaxiality between the input shaft of the tested speed reducer and the tested speed reducer can be adjusted through the input shaft mounting and adjusting structure.
Preferably: the input shaft mounting and adjusting structure includes: a transition adapter and a hollow connecting shaft; an output shaft of the driving motor is coaxially butted with an input shaft of the tested speed reducer through a hollow connecting shaft; the hollow connecting shaft is connected with a tested speed reducer support through a transition adapter; the transition adapter is connected with the tested speed reducer support through a spigot with a radial adjusting gap.
Has the advantages that:
(1) the fatigue life testing device adopts the reciprocating swinging inertia load for loading, can better simulate the actual working condition of the robot, considers the influence of the corresponding dynamic load, and has a test result closer to the actual condition.
(2) A displacement sensor is arranged at the starting position or the ending position of the inertia load arm, and the displacement sensor detects the starting position or the ending position of the inertia load arm in real time; when the repeatability of the initial position or the final position of the output end inertia load arm changes, the displacement sensor returns different values to judge the precision loss condition of the speed reducer.
(3) The inertia load arm is pasted with the strain gauge, a loading torque value is tested in real time, the actually measured loading torque value is equivalent to the rated torque, and the testing precision is higher.
(4) The multi-station is arranged on the same supporting table body, so that multiple speed reducers can be tested simultaneously, the contrast test is facilitated, and the test efficiency can be improved.
(5) The tested speed reducer and the supporting component are integrated to form a speed reducer integrated module, the operation is convenient, the assembly precision is ensured, and the lubricating grease is prevented from being injected for many times.
(6) The output shaft of the driving motor is coaxially connected with the input shaft of the tested speed reducer through the input shaft mounting and adjusting structure, the coaxiality between the input shaft of the tested speed reducer and the tested speed reducer can be adjusted, and the assembling precision of the input shaft of the tested speed reducer is guaranteed.
Drawings
Fig. 1 is a structural schematic diagram of a fatigue life testing device of a swing type double-station precision speed reducer.
Wherein: 1-supporting table body, 2-tested reducer support, 3-reducer integrated module, 4-input shaft mounting and adjusting structure, 5-driving motor, 6-inertia load arm, 7-strain gauge, 8-counterweight block and 9-displacement sensor
Detailed Description
The utility model is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a fatigue life testing device for a swing type double-station precision speed reducer, which simulates the actual working condition of a robot in a reciprocating swing mode and can efficiently and accurately test the fatigue life of the precision speed reducer for the robot by adopting double stations.
As shown in fig. 1, the fatigue life testing device of the double-station precision reducer comprises: the test bed comprises a supporting table body 1 and two sets of test pieces; each set of test pieces comprises: the reducer support 2 to be tested, a driving motor 5 and an inertia load arm 6.
Wherein the supporting table body 1 is used for supporting the whole testing device; two stations are arranged on the supporting table body 1 and are respectively used for installing two sets of test pieces; preferably, the two sets of test pieces are arranged on two opposite sides of the supporting table body 1 and are symmetrically arranged. Due to the fact that the fatigue life testing time is long, the double-station structure is adopted, compared with a single-station testing device, the testing efficiency is high, and meanwhile a comparison test is convenient to conduct.
The specific structure of a test piece is described in detail below by taking a set of test pieces as an example.
The tested speed reducer support 2 is fixedly arranged on the supporting table body 1; the tested speed reducer and the supporting component thereof are arranged on the tested speed reducer support 2.
The driving motor 5 is used to provide power required for the test and can perform a predetermined acceleration/deceleration process. Specifically, the method comprises the following steps: the output shaft of the driving motor 5 is coaxially connected with the input shaft of the tested speed reducer; the driving motor 5 drives the input shaft of the tested speed reducer to make the output end of the tested speed reducer rotate in a reciprocating mode within a set angle range.
An inertia load is arranged at the output end of the tested speed reducer to form an inertia load arm 6 used for simulating a mechanical arm of a robot; and controlling the driving motor 5 to operate, so that the output end of the tested speed reducer drives the inertia load arm 6 to swing in a reciprocating mode within a set angle range, and the reciprocating swing of the inertia load arm 6 simulates the actual working condition of a mechanical arm of the robot, so that the testing working condition is consistent with the actual working condition. The inertia load arm 6 is used for loading and simulating working conditions such as impact in the actual working process of the precision speed reducer, and larger load can be applied under the working condition that the failure principle of the speed reducer is not damaged, so that the fatigue life of the speed reducer is rapidly evaluated. The loading principle of the inertia load arm 6 is as follows: the inertia load arm 6 makes reciprocating swing motion to generate certain angular acceleration, the product of the angular acceleration and the moment of inertia of the inertia load 6 is inertia torque applied to the tested speed reducer, and the torque borne by the tested speed reducer also comprises moment generated due to gravity. And (3) carrying out equivalence on the torque of the tested speed reducer, the rated rotating speed and the rated service life under the rated torque to obtain the required test time and the swing period of the load inertia 6.
On the supporting table body 1, a high-precision displacement sensor 9 (such as a laser sensor) is installed at the starting position or the ending position of the inertia load arm 6, the displacement sensor 9 detects the starting position or the ending position of the inertia load arm 6 in real time, and when the starting position or the ending position of the inertia load arm 6 is repeatedly changed, the displacement sensor 9 returns different values to judge the precision loss condition of the speed reducer.
In addition, the strain gauge 7 is attached to the inertia load arm 6, the loading torque is measured in real time in the test process, the problems of frequent assembly and disassembly and discontinuous real-time test in the calibration process of a torque sensor are solved, and the test precision is higher.
Aiming at different tested reducers, the balance weight block 8 can be connected to the inertia load arm 6 to adapt to different inertia load requirements of different reducers.
In addition, a safety protection cover or a safety protection fence is arranged to prevent injury caused by accidents in the test process.
The fatigue life testing device combines the actual working conditions of the precise speed reducer, and determines reasonable inertia load for different models of tested speed reducers through theoretical analysis, parameter calculation and configuration optimization. The fatigue life of the speed reducer under the actual working condition is evaluated through actually measured data feedback, and the purposes of predicting the life of the speed reducer and optimizing the performance of the speed reducer are achieved.
Example 2:
the comprehensive performance of the speed reducer, such as transmission error, backlash, rigidity and the like, is usually carried out in a comprehensive performance testing device, and after a life test of the speed reducer is carried out on the fatigue life testing device for a period of time, the comprehensive performance is detected; in order to facilitate the operation and ensure the assembly precision, the tested speed reducer, the speed reducer adapting disc, the lubricating oil blocking cover and the output disc are integrated to form a speed reducer integrated module 3, namely the tested speed reducer, the speed reducer adapting disc, the lubricating oil blocking cover and the output disc are installed together to form a whole; during fatigue life testing, the reducer integrated module 3 is integrally installed on the tested reducer support 2 (in a traditional testing device, all the parts are independently installed on the tested reducer support 2 and are not matched with a comprehensive performance testing device); after the fatigue life test is finished, the speed reducer integrated module 3 is integrally assembled to the comprehensive performance testing device for testing, so that the assembling time is saved, and the assembling precision is ensured.
Example 3:
in order to solve the problem that the assembly precision of the input shaft of the speed reducer in the prior art is not adjustable, on the basis of the embodiment 1 or the embodiment 2, the output shaft of the driving motor 5 is coaxially connected with the input shaft of the tested speed reducer through the input shaft mounting and adjusting structure 4; by adopting the structure, the coaxiality between the input shaft of the tested speed reducer and the tested speed reducer can be adjusted.
The input shaft mounting and adjusting structure 4 includes: the hollow connecting shaft, the bearing and the expansion sleeve; through the connection of the transitional action, the high-precision assembly between the input shaft of the tested speed reducer and the tested speed reducer can be realized.
An expansion sleeve is sleeved outside an input shaft of the tested speed reducer, and an output shaft of a driving motor 5 is coaxially butted with the input shaft of the tested speed reducer through a hollow connecting shaft; the method specifically comprises the following steps: an output shaft of the driving motor 5 and an input shaft of the tested speed reducer sleeved with the expansion sleeve are respectively connected with two ends of the hollow connecting shaft, and the output shaft of the driving motor 5 and the expansion sleeve are in clearance fit with the hollow connecting shaft.
In order to avoid the too long span between the output shaft of the driving motor 5 and the input shaft of the tested speed reducer, the right end (the end connected with the input shaft of the tested speed reducer) of the outer circumferential surface of the hollow connecting shaft is supported by a bearing so as to ensure the rigidity of connection; the inner ring of the bearing is locked with a locking nut by adopting a spacer bush, and the outer ring of the bearing is fixed on the transition adapter; the cavity connecting axle links to each other with 2 by the reduction gear supports of experimenting through the transition adapter spare, specifically is: the transition adapter is of a sleeve type structure and is coaxially sleeved outside the hollow connecting shaft; transition adapter passes through the tang and links to each other with the reduction gear support 2 of being tried, and leaves radial clearance between the tang of transition adapter and reduction gear support 2 of being tried, from this through the radial adjustment between transition adapter and the reduction gear support 2 of being tried, realizes the adjustment of the reduction gear input shaft assembly precision of being tried to guarantee that the input shaft of the reduction gear of being tried is less than 0.03mm with the reduction gear assembly axiality of being tried.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a precision reduction gear fatigue life testing arrangement of oscillating multistation which characterized in that includes: the device comprises a supporting table body (1) and more than two stations arranged on the supporting table body (1), wherein each station is provided with a set of test pieces;
the test piece includes: the device comprises a tested speed reducer support (2), a driving motor (5) and an inertia load (6);
in each set of test piece, the tested speed reducer is arranged on the supporting table body (1) through the tested speed reducer support (2);
the output shaft of the driving motor (5) is coaxially connected with the input shaft of the tested speed reducer; and an inertia load arm (6) is arranged at the output end of the tested speed reducer.
2. The oscillating multi-station precision reducer fatigue life testing device of claim 1, characterized in that: on the supporting table body (1), a displacement sensor (9) is arranged at the starting position or the ending position of the inertia load arm (6) and is used for detecting the starting position or the ending position of the inertia load arm (6) in real time.
3. The oscillating multi-station precision reducer fatigue life testing device of claim 1, characterized in that: and the inertia load arm (6) is attached with a strain gauge (7) and used for measuring the loading torque in real time.
4. The oscillating multi-station precision reducer fatigue life testing device of claim 1, characterized in that: and the inertia load arm (6) is connected with a balancing weight (8) to adapt to different inertia loads.
5. The oscillating multi-station precision reducer fatigue life testing device of claim 1, characterized in that: the tested speed reducer, a speed reducer adapting disc, a lubricating oil baffle cover and an output disc are arranged together to form a speed reducer integrated module (3); the speed reducer integration module (3) is integrally installed on the tested speed reducer support (2).
6. The oscillating multi-station precision reducer fatigue life testing device of claim 1, characterized in that: the output shaft of the driving motor (5) is coaxially connected with the input shaft of the tested speed reducer through an input shaft mounting and adjusting structure (4), and the coaxiality between the input shaft of the tested speed reducer and the tested speed reducer can be adjusted through the input shaft mounting and adjusting structure (4).
7. The oscillating multi-station precision reducer fatigue life testing device of claim 6, characterized in that: the input shaft mounting and adjusting structure (4) comprises: a transition adapter and a hollow connecting shaft;
the output shaft of the driving motor (5) is coaxially butted with the input shaft of the tested speed reducer through a hollow connecting shaft; the hollow connecting shaft is connected with a tested speed reducer support (2) through a transition adapter; the transition adapter is connected with the tested speed reducer support (2) through a spigot with a radial adjusting gap.
8. The oscillating multi-station precision reducer fatigue life testing device of claim 7, characterized in that: and an expansion sleeve is sleeved at one end of the input shaft of the tested speed reducer, which is butted with the hollow connecting shaft.
9. The oscillating multi-station precision reducer fatigue life testing device of claim 7, characterized in that: the hollow connecting shaft is supported inside the transition adapter by a bearing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120943796.XU CN215865805U (en) | 2021-04-29 | 2021-04-29 | Oscillating type multi-station precision speed reducer fatigue life testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120943796.XU CN215865805U (en) | 2021-04-29 | 2021-04-29 | Oscillating type multi-station precision speed reducer fatigue life testing device |
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| CN215865805U true CN215865805U (en) | 2022-02-18 |
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| CN202120943796.XU Active CN215865805U (en) | 2021-04-29 | 2021-04-29 | Oscillating type multi-station precision speed reducer fatigue life testing device |
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