WO2015096798A1 - Speed reducer testing apparatus - Google Patents

Speed reducer testing apparatus Download PDF

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Publication number
WO2015096798A1
WO2015096798A1 PCT/CN2014/095054 CN2014095054W WO2015096798A1 WO 2015096798 A1 WO2015096798 A1 WO 2015096798A1 CN 2014095054 W CN2014095054 W CN 2014095054W WO 2015096798 A1 WO2015096798 A1 WO 2015096798A1
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WO
WIPO (PCT)
Prior art keywords
reducer
bracket
torque
input
servo motor
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Application number
PCT/CN2014/095054
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French (fr)
Chinese (zh)
Inventor
王春晓
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深圳市配天智造装备股份有限公司
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Publication of WO2015096798A1 publication Critical patent/WO2015096798A1/en

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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
    • G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions

Definitions

  • the invention relates to the technical field of engineering machinery, in particular to a speed reducer testing device.
  • High-precision cycloidal pinwheel reducers have wide applications in industrial robots, precision processing equipment, paper-making printing machinery, medical equipment, etc. The performance of their products directly affects the performance of the final product. Taking industrial robots as an example, China is currently the country with the highest growth rate of industrial robots in the world. In 2011, about 20,000 new industrial robots were added. According to the calculation of 4 sets of gear units per set, 80,000 reducers are needed. This number is expected to grow at a rate of 5% per year in the future, so it is necessary and urgent to develop and manufacture a high performance cycloidal speed reducer that meets the requirements. China's current high-precision cycloidal pinwheel reducer technology has been monopolized by foreign countries.
  • the existing reducer test equipment the output end of the reducer to be tested is coaxially connected with the loading mechanism, and the input end is coaxially connected with the input shaft of the servo motor through an angle encoder and the like, and the angle encoder is installed in one and the servo motor output.
  • the shaft is coaxially connected to the shaft, so the connecting shaft is inevitably subjected to the rotational torque transmitted by the servo motor, which may cause an error caused by the torque distortion of the connecting shaft itself, resulting in the torque angle measured by the angle encoder.
  • There is a large error between the actual torque angle of the reducer to be tested which reduces the measurement accuracy of the angle encoder. Take Japan's high-precision cycloidal reducer RV-320E3-219.46 as an example.
  • the technical problem to be solved by the present invention is to provide a reducer test device, which can make the angle encoder and the reducer to be tested respectively located on opposite sides of the output runner, and is not directly connected with the reducer to be tested, and thus is not subject to rotation.
  • the action of the torque eliminates the error caused by the torque distortion of the connecting shaft itself when the reducer is connected through the connecting shaft.
  • the reducer test apparatus includes a support platform and a servo motor, an input runner, an output runner, a load device, and an angle sensor disposed on the support platform, wherein the output shaft of the servo motor and the first side shaft of the input rotor are oppositely disposed And connecting one of the second side shafts to drive the input rotating wheel to rotate around the first rotating shaft defined by the first side shaft and the second side shaft, and the relative speed of the output speed wheel and the angle sensor are respectively connected to the output wheel a three-sided shaft and a fourth side shaft, the output runner meshes with the input runner, and then rotates synchronously around the second shaft defined by the third side shaft and the fourth side shaft and parallel to the first shaft, and the angle sensor is used for Obtain the torque angle of the reducer to be tested.
  • the reducer test device further includes an increased torque reducer and a torque sensor between the servo motor and the input runner, the torque reducer is connected to the servo motor at one end, and the torque sensor is connected at the other end for adding the servo motor.
  • the output torque, the other end of the torque sensor is connected to the first side shaft or the second side shaft of the input reel for detecting the input torque of the input reel.
  • the servo motor input increases the torque of the reducer to 200Nm, and increases the output torque range of the torque reducer from 200Nm to 5000Nm.
  • the servo motor and the increased torque reducer are connected through the first connecting shaft, the torque reducer and the torque sensor are connected through the second connecting shaft and the first coupling, and the torque sensor and the input runner pass the second joint Shaft connection.
  • the reducer test device further comprises a servo motor bracket, a torque sensor bracket and a reducer bracket to be tested which are arranged on the support platform and can slide along the support platform, and the servo motor, the torque sensor and the reducer to be tested are respectively set on the servo Motor bracket, torque sensor bracket and the reducer bracket to be tested.
  • the load device is a fixed end cover disposed on the reducer bracket to be tested, and the input shaft of the reducer to be tested is fixed to the reducer bracket to be tested through the fixed end cover.
  • the speed reducer testing device further includes a first input wheel bracket fixed to the support platform and located on both sides of the input wheel, and a second input wheel bracket, wherein the first side shaft and the second side shaft of the input wheel rotate respectively Supported on the first input runner bracket and the second input runner bracket.
  • the reducer test apparatus further includes an increased torque reducer bracket and an angle sensor bracket fixed on the support platform, and the added torque reducer and the angle sensor are respectively disposed on the increased torque reducer bracket and the angle sensor bracket.
  • the support platform is provided with two parallel horizontal guide rails, and the servo motor bracket, the increased torque reducer bracket, the torque sensor bracket, the first input runner bracket and the second input runner bracket are disposed on one of the horizontal rails.
  • the angle sensor bracket and the reducer bracket to be tested are disposed on another horizontal rail.
  • the horizontal rail is provided with a plurality of rail grooves
  • the end of the reducer bracket, the torque sensor bracket and the servo motor bracket opposite to the horizontal rail are provided with bracket grooves, each pair of bracket grooves and the sliding rail concave
  • a positioning block is arranged in the slot.
  • the speed reducer test equipment further comprises an industrial computer, a data acquisition card and a counting card, the data acquisition card is connected with the industrial computer, the servo motor and the torque sensor, and the industrial computer controls the servo motor through the data acquisition card, and obtains the rotation through the data acquisition card.
  • the data of the moment sensor is connected to the industrial computer and the angle sensor for counting the angle sensor and transmitting the count to the industrial computer.
  • the reducer test device further comprises a driver, the driver is connected between the data acquisition card and the servo motor, the data acquisition card sends a control signal to the driver, and the servo motor is driven by the driver.
  • the input runner and the output runner are gears, and the input runner and the output runner are driven by gears.
  • the input runner and the output runner are both pulleys, and the input runner and the output runner are driven by the belt.
  • the angle connector and the output wheel are connected by a third connecting shaft.
  • the invention has the beneficial effects that the power of the servo motor is transmitted to the reducer to be tested on a different axis from the servo motor through the engagement of the input wheel and the output wheel.
  • One end of the output runner is connected to the reducer to be tested, and the other end of the reducer to be tested is connected with a load device, so the third side shaft connecting the output runner and the reducer to be tested is inevitably subjected to the rotational torque, and the output runner is additionally One side is connected to the angle encoder, and the other end of the angle encoder is not connected to the load device, so the fourth side shaft connecting the angle encoder and the output wheel is not affected by the rotational moment, nor is it distorted and deformed, naturally it will not It brings errors to the test of the angle encoder connected to it, thus improving the angular measurement accuracy of the reducer test equipment.
  • FIG. 1 is a front elevational view showing the structure of a reduction gear test apparatus according to a first embodiment of the present invention
  • FIG. 2 is a top plan view of the speed reducer test apparatus of FIG. 1;
  • FIG. 3 is a schematic view showing the electrical structure of the speed reducer test apparatus of FIG. 1.
  • FIG. 1 is a schematic front view showing a structure of a speed reducer test apparatus according to a first embodiment of the present invention
  • FIG. 2 is a schematic top plan view of the speed reducer test apparatus of FIG.
  • the main components of the reducer test apparatus include a support platform 24 and a servo motor 1, an increase torque reducer 5, a torque sensor 8, an input runner 12, an output runner 17, and an angle sensor 15 disposed on the support platform 24.
  • the speed reducer testing device further includes auxiliary components, such as a servo motor bracket 2, a first connecting shaft 3, an increased torque reducer bracket 4, a second connecting shaft 6, a first coupling 7, a torque sensor bracket 9, The second coupling 10, the angle sensor bracket 14, the third connecting shaft 16, the reducer bracket 19 to be tested, the fixed end cover 20, the first positioning block 21, the second positioning block 22, and the third positioning block 23.
  • the servo motor 1, the increased torque reducer 5, and the angle sensor 15 are respectively disposed on the servo motor bracket 2, the increased torque reducer bracket 4, and the angle sensor bracket 14.
  • the servo motor 1 and the increased torque reducer 5 are connected through the first connecting shaft 3, and the torque converter 5 and the torque sensor 8 are connected through the second connecting shaft 6 and the first coupling 7, and the torque sensor 8 is connected. It is connected to the input reel 12 through the second coupling 10. That is, the output shaft of the servo motor 1 passes through the first connecting shaft 3, the increased torque reducer 5, the second connecting shaft 6, the first coupling 7, the torque sensor 8, and the second coupling 10 and the input runner 12
  • One of the first side shaft and the second side shaft (the first side shaft and the second side shaft may be arbitrarily defined, and is not specifically limited) of the opposite arrangement. Specifically, it is connected to the side shaft of the input reel 12 toward the servo motor 1 side.
  • each of the above components is coaxial, and is rotated by the servo motor 1, and drives the input reel 12 to rotate about the first rotating shaft defined by the first side shaft and the second side shaft.
  • the output runner 17 is oppositely disposed with a third side shaft and a fourth side shaft, and the input wheel 12 meshes with the output wheel 17, and is further defined by the third side axis and the fourth side axis and parallel to The second rotating shaft of the first rotating shaft rotates synchronously.
  • the reducer 18 and the angle sensor 15 to be tested are respectively connected to the oppositely disposed third side shaft and fourth side shaft of the output runner 17.
  • the speed reducer 18 to be tested is directly connected to the output wheel 17, and the angle sensor 15 and the output wheel 17 are connected by a third connecting shaft 16.
  • the angle sensor 15 may be disposed on the third connecting shaft 16.
  • the increased torque reducer 5 is used to increase the output torque provided by the servo motor 1.
  • the commonly used servo motor output torque is about 200 Nm, and can reach 5000 Nm after increasing the torque reducer 5.
  • a servo motor with a maximum output torque of 200 Nm can be used to test a speed reducer in the range of 200 Nm to 5000 Nm.
  • the angle encoder 15 is used to obtain the torque angle of the reducer 18 to be tested. Since the angle encoder is connected to the output of the reducer to be tested, the output speed of the output of the reducer to be tested is very low, especially for the cycloidal pinion. For the output of the device, it is therefore necessary to use a high-precision angle encoder.
  • the angle encoder used in this embodiment is a 36,000 line, 1 volt sine wave signal, and can be up to 4096 times by the selected technology card 41.
  • the new subdivision has a system accuracy of ⁇ 1 angular seconds.
  • the torque sensor 8 is for detecting the increased output torque after the increased torque reducer 5 is increased.
  • the output wheel and the output wheel are mechanisms capable of transmitting torque between two parallel rotating shafts, such as a gear set and a pulley set.
  • This embodiment uses a gear set because the gear train is more stable.
  • the parameters of the input runner and the output runner are set to be consistent in this embodiment to avoid input rotation and output due to changes of these parameters.
  • the change in the rotational speed of the runner which in turn causes the torque measured by the torque sensor at the input gear to be different from the torque at which the input gear output is to the reducer to be tested.
  • the first input runner bracket 11 and the second input runner bracket 13 are fixed on the support platform 24 and are located on both sides of the input runner 12, and the first side shaft and the second side shaft of the input runner 12 are respectively rotatably supported by the first The input wheel bracket 11 and the second input wheel bracket 13 are input.
  • the input wheel 12 can also be omitted from the first input wheel bracket 11 on the side of the second coupling 10.
  • the servo motor bracket 2, the torque sensor bracket 9 and the reducer bracket 19 to be tested are disposed on the support platform 24 and are slidable along the support platform 24.
  • the support platform 24 is provided with two parallel slide rails (not shown), and the slide rails are provided with slide rail grooves, and the servo motor bracket 2, the torque sensor bracket 9 and the reducer bracket 19 to be tested are arranged.
  • the reducer bracket 19 to be tested is fixed to the support platform 24 by the first positioning block 21, and the torque sensor bracket 9 is fixed to the support platform 24 by the second positioning block 22, and the servo motor bracket 2 is fixed to the support by the third positioning block 23.
  • the central axis of the bracket can be controlled on a plane perpendicular to the rail and extending along the length of the rail, and parallel with the rail, by using the positioning block in cooperation with the bracket groove and the rail groove. It is only different in height direction.
  • the coaxiality is adjusted to a high degree of precision.
  • the coaxiality of each part of the test system can be controlled to be less than 0.01 mm.
  • the servo motor 1, the torque sensor 8, and the reducer 18 to be tested are respectively disposed on the servo motor bracket 2, the torque sensor bracket 9, and the reducer bracket 19 to be tested.
  • a fixed end cover 20 is disposed on the reducer bracket 19 to be tested, and the input shaft of the reducer 18 to be tested is fixed to the reducer bracket 19 to be tested through the fixed end cover 20, and the reducer 18 to be tested is The output shaft is coupled to the third side shaft of the output runner 17.
  • the fixed end cover 20 is the load device of the speed reducer 18 to be tested. That is to say, the input end of the reducer 18 to be tested is fixed, and the output end is connected to the output reel 17.
  • the input end of the reducer 18 to be tested is fixed, and the output end is coupled to the third side shaft of the output revolver 17 via a connecting shaft.
  • the support platform 24 is provided with two parallel horizontal guides, a servo motor bracket 2, an increased torque reducer bracket 4, a torque sensor bracket 9, a first input runner bracket 11 and a second input.
  • the runner 12 bracket is disposed on one of the horizontal rails, and the angle sensor bracket 14 and the reducer bracket 19 to be tested are disposed on another horizontal rail.
  • FIG. 3 is a schematic diagram of the electrical structure of the reducer test apparatus of FIG.
  • the speed reducer test apparatus further includes a drive 31 for driving the servo motor 1 and a count card 41, a data acquisition card 42, and a work control unit 43 of the electrical structural portion.
  • the driver 31 is connected between the data acquisition card 42 and the servo motor 1, and the data acquisition card 42 transmits a control signal to the driver 31, and the driver 31 drives the servo motor 1.
  • the counter card 41 is connected to the industrial computer 43 and the angle sensor 15 for counting the angle sensor 15 and transmitting the count to the industrial computer 43.
  • the data acquisition card 42 and the counting card 41 pass through PCI (Peripheral). Component Interconnection, peripheral component expansion interface)
  • the bus 51 is connected to the industrial computer 43.
  • the electrical part of the invention has few components and convenient data collection, and only the data acquisition card 42 and the counting card 41 are needed.
  • control of the servo motor 1 in the test system is mainly torque and speed control, so it can be realized by adjusting the voltage by the data acquisition card 42 with an analog (voltage) output port. Moment and speed are automatically controlled and no motion control card is required.
  • the information of the torque sensor 8 is used to achieve torque collection through the counter port of the data acquisition card 42.
  • each connecting shaft may be omitted, and the servo motor 1 is sequentially connected by the increased torque reducer 5, the first coupling 7, the torque sensor 8, and the second coupling 10.
  • the input wheel 12 is input, and the input wheel 12 is meshed with the output wheel 17, and the shafts of the output wheel 12 are respectively connected to the reducer 18 to be tested and the angle encoder 15.
  • the first coupling 7 and the second coupling 10 may also be omitted.
  • the invention has the beneficial effects that the power of the servo motor is transmitted to the reducer to be tested on a different axis from the servo motor through the engagement of the input wheel and the output wheel.
  • One end of the output runner is connected to the reducer to be tested, and the other end of the reducer to be tested is connected with a load device, so the third side shaft connecting the output runner and the reducer to be tested is inevitably subjected to the rotational torque, and the output runner is additionally One side is connected to the angle encoder, and the other end of the angle encoder is not connected to the load device, so the fourth side shaft connecting the angle encoder and the output wheel is not affected by the rotational moment, nor is it distorted and deformed, naturally it will not The error is brought to the test of the angle encoder connected to it, so the angle encoder reflects the true angle of the gear unit to be tested.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

A speed reducer testing apparatus, used for testing the backlash and spring constant of a speed reducer to be tested. The speed reducer testing apparatus comprises a support platform (24), and a servomotor (1), input wheel (12), output wheel (17), loading device, and angle sensor (15) arranged on the support platform (24), the servomotor (1) being connected to one of the oppositely arranged first side shaft and second side shaft of the input wheel (12), so as to drive the input wheel (12) to rotate about a first shaft defined by the first side shaft and the second side shaft; the speed reducer (18) to be tested and the angle sensor (15) being connected to the third side shaft and fourth side shaft, respectively, of the output wheel (17); the output wheel (17) and the input wheel (12) meshing and concomitantly rotating about a second shaft parallel to the first shaft and defined by the third side shaft and fourth side shaft; the angle sensor (15) being used for obtaining the torque angle of the speed reducer (18) to be tested. By the described means, the speed reducer testing apparatus improves angle measurement accuracy when testing a speed reducer.

Description

减速器测试设备 Reducer test equipment
【技术领域】[Technical Field]
本发明涉及工程机械技术领域，特别是涉及一种减速器测试设备。The invention relates to the technical field of engineering machinery, in particular to a speed reducer testing device.
【背景技术】 【Background technique】
高精密的摆线针轮减速器在工业机器人，精密加工设备，造纸印刷机械，医疗器械等领域都有广阔的应用，其性能的优劣直接影响了最终产品的性能指标。以工业机器人为例，中国目前是世界上工业机器人需求增长率最高的国家，2011年新增工业机器人约2万台，按每套配备减速器4台计算，则需要减速器8万台，并且这一数字预计以后每年将以5%的速度增长，因此研发和制造出能够满足要求的高性能的摆线减速器是十分必要和紧迫的。我国目前高精密的摆线针轮减速器技术一直被国外垄断，为了打破国外对该技术的长期垄断，自主研发该类减速器，相应的建立一套高精密摆线针轮减速器的测试***，对其关键性能指标角度传递误差、回差与弹性常数等进行评估，对于及时反应减速器研发过程中出现的问题，使该类减速器研发更加快捷的向前推进，尽早摆脱国外对该类减速器的垄断，具有重要的意义。High-precision cycloidal pinwheel reducers have wide applications in industrial robots, precision processing equipment, paper-making printing machinery, medical equipment, etc. The performance of their products directly affects the performance of the final product. Taking industrial robots as an example, China is currently the country with the highest growth rate of industrial robots in the world. In 2011, about 20,000 new industrial robots were added. According to the calculation of 4 sets of gear units per set, 80,000 reducers are needed. This number is expected to grow at a rate of 5% per year in the future, so it is necessary and urgent to develop and manufacture a high performance cycloidal speed reducer that meets the requirements. China's current high-precision cycloidal pinwheel reducer technology has been monopolized by foreign countries. In order to break the long-term monopoly of foreign technology, the company independently developed such a type of reducer, and correspondingly established a test system for high-precision cycloidal pinwheel reducer. It evaluates the transmission error, hysteresis and elastic constant of its key performance indicators. For the problems in the development of the speed reducer in time, the development of this type of reducer can be pushed forward more quickly, and get rid of foreign countries as soon as possible. The monopoly of the reducer is of great significance.
现有的减速器测试设备，待测减速器的输出端与加载机构同轴连接，输入端通过角度编码器等设备与伺服电机输入轴同轴连接，角度编码器安装在一根与伺服电机输出轴同轴的连接轴上，因此该连接轴必然会受到伺服电机所传输过来的转动力矩的作用，会产生由连接轴自身转矩变形带来的误差，导致角度编码器测试到的转矩角与待测减速器的实际转矩角之间存在较大误差，从而降低了角度编码器的测量精度。以日本的高精密摆线减速器RV-320E3-219.46为例，其额定转矩3136Nm，弹性常数为980Nm/arcmin，当连接轴的直径为100mm，材料是45钢，施加3136Nm转矩时，连接轴本身的转矩角为1.37角分，而待测减速器18本身转矩角为3.35角分，由此可见，由于轴本身的转矩角已经引入了大约25%的误差。The existing reducer test equipment, the output end of the reducer to be tested is coaxially connected with the loading mechanism, and the input end is coaxially connected with the input shaft of the servo motor through an angle encoder and the like, and the angle encoder is installed in one and the servo motor output. The shaft is coaxially connected to the shaft, so the connecting shaft is inevitably subjected to the rotational torque transmitted by the servo motor, which may cause an error caused by the torque distortion of the connecting shaft itself, resulting in the torque angle measured by the angle encoder. There is a large error between the actual torque angle of the reducer to be tested, which reduces the measurement accuracy of the angle encoder. Take Japan's high-precision cycloidal reducer RV-320E3-219.46 as an example. Its rated torque is 3136Nm and the elastic constant is 980Nm/arcmin. When the connecting shaft has a diameter of 100mm and the material is 45 steel, when the torque is 3136Nm, the connection is made. The torque angle of the shaft itself is 1.37 centimeters, and the torque angle of the reducer 18 to be tested itself is 3.35 centimeters, from which it can be seen that the torque angle of the shaft itself has introduced an error of about 25%.
【发明内容】 [Summary of the Invention]
本发明主要解决的技术问题是提供一种减速器测试设备，能够使角度编码器与待测减速器分别位于输出转轮的相对两侧，并不与待测减速器直接连接，因此不受到转动力矩的作用，消除了通过连接轴连接待测减速器时连接轴自身转矩变形带来的误差。The technical problem to be solved by the present invention is to provide a reducer test device, which can make the angle encoder and the reducer to be tested respectively located on opposite sides of the output runner, and is not directly connected with the reducer to be tested, and thus is not subject to rotation. The action of the torque eliminates the error caused by the torque distortion of the connecting shaft itself when the reducer is connected through the connecting shaft.
为解决上述技术问题，本发明采用的一个技术方案是：提供一种减速器测试设备，用于测试待测减速器的回差与弹性常数。该减速器测试设备包括支撑平台以及设置在支撑平台上的伺服电机、输入转轮、输出转轮、负载设备以及角度传感器，其中伺服电机的输出轴与输入转轮的相对设置的第一侧轴和第二侧轴中的一个连接，以驱动输入转轮绕由第一侧轴和第二侧轴定义的第一转轴转动，待测减速器与角度传感器分别连接输出转轮的相对设置的第三侧轴与第四侧轴，输出转轮与输入转轮啮合，进而绕由第三侧轴与第四侧轴所定义的且平行于第一转轴的第二转轴同步转动，角度传感器用于获得待测减速器的转矩角。In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a reducer test device for testing the hysteresis and the elastic constant of the reducer to be tested. The reducer test apparatus includes a support platform and a servo motor, an input runner, an output runner, a load device, and an angle sensor disposed on the support platform, wherein the output shaft of the servo motor and the first side shaft of the input rotor are oppositely disposed And connecting one of the second side shafts to drive the input rotating wheel to rotate around the first rotating shaft defined by the first side shaft and the second side shaft, and the relative speed of the output speed wheel and the angle sensor are respectively connected to the output wheel a three-sided shaft and a fourth side shaft, the output runner meshes with the input runner, and then rotates synchronously around the second shaft defined by the third side shaft and the fourth side shaft and parallel to the first shaft, and the angle sensor is used for Obtain the torque angle of the reducer to be tested.
其中，减速器测试设备还包括位于伺服电机与输入转轮之间的增加转矩减速器和转矩传感器，增加转矩减速器一端连接伺服电机，另一端连接转矩传感器，用于增加伺服电机的输出转矩，转矩传感器的另一端连接输入转轮的第一侧轴或者第二侧轴，用于检测输入转轮的输入转矩。The reducer test device further includes an increased torque reducer and a torque sensor between the servo motor and the input runner, the torque reducer is connected to the servo motor at one end, and the torque sensor is connected at the other end for adding the servo motor. The output torque, the other end of the torque sensor is connected to the first side shaft or the second side shaft of the input reel for detecting the input torque of the input reel.
其中，伺服电机输入增加减速器的转矩为200Nm，增加转矩减速器的输出转矩范围为200Nm～5000Nm。Among them, the servo motor input increases the torque of the reducer to 200Nm, and increases the output torque range of the torque reducer from 200Nm to 5000Nm.
其中，伺服电机与增加转矩减速器通过第一连接轴连接，增加转矩减速器与转矩传感器通过第二连接轴及第一联轴器连接，转矩传感器与输入转轮通过第二联轴器连接。Wherein, the servo motor and the increased torque reducer are connected through the first connecting shaft, the torque reducer and the torque sensor are connected through the second connecting shaft and the first coupling, and the torque sensor and the input runner pass the second joint Shaft connection.
其中，减速器测试设备进一步包括设置在支撑平台上且能够沿支撑平台滑动的伺服电机支架、转矩传感器支架以及待测减速器支架，伺服电机、转矩传感器以及待测减速器分别设置于伺服电机支架、转矩传感器支架以及待测减速器支架上。Wherein, the reducer test device further comprises a servo motor bracket, a torque sensor bracket and a reducer bracket to be tested which are arranged on the support platform and can slide along the support platform, and the servo motor, the torque sensor and the reducer to be tested are respectively set on the servo Motor bracket, torque sensor bracket and the reducer bracket to be tested.
其中，负载设备为设置在待测减速器支架上的固定端盖，待测减速器的输入轴通过固定端盖固定于待测减速器支架上。The load device is a fixed end cover disposed on the reducer bracket to be tested, and the input shaft of the reducer to be tested is fixed to the reducer bracket to be tested through the fixed end cover.
其中，减速器测试设备进一步包括固定于支撑平台上且位于输入转轮两侧的第一输入转轮支架以及第二输入转轮支架，输入转轮的第一侧轴和第二侧轴分别转动支撑于第一输入转轮支架以及第二输入转轮支架上。The speed reducer testing device further includes a first input wheel bracket fixed to the support platform and located on both sides of the input wheel, and a second input wheel bracket, wherein the first side shaft and the second side shaft of the input wheel rotate respectively Supported on the first input runner bracket and the second input runner bracket.
其中，减速器测试设备进一步包括固定于支撑平台上的增加转矩减速器支架和角度传感器支架，增加转矩减速器和角度传感器分别设置于增加转矩减速器支架和角度传感器支架上。The reducer test apparatus further includes an increased torque reducer bracket and an angle sensor bracket fixed on the support platform, and the added torque reducer and the angle sensor are respectively disposed on the increased torque reducer bracket and the angle sensor bracket.
其中，支撑平台上设置有两条平行的水平导轨，伺服电机支架、增加转矩减速器支架、转矩传感器支架、第一输入转轮支架和第二输入转轮支架设置于其中一条水平导轨上，角度传感器支架以及待测减速器支架设置于另外一条水平导轨上。Wherein, the support platform is provided with two parallel horizontal guide rails, and the servo motor bracket, the increased torque reducer bracket, the torque sensor bracket, the first input runner bracket and the second input runner bracket are disposed on one of the horizontal rails. The angle sensor bracket and the reducer bracket to be tested are disposed on another horizontal rail.
其中，水平导轨上设置有若干个滑轨凹槽，待测减速器支架、转矩传感器支架和伺服电机支架与水平导轨相对的一端设置有支架凹槽，每一对支架凹槽和滑轨凹槽内设置有一个定位块。Wherein, the horizontal rail is provided with a plurality of rail grooves, and the end of the reducer bracket, the torque sensor bracket and the servo motor bracket opposite to the horizontal rail are provided with bracket grooves, each pair of bracket grooves and the sliding rail concave A positioning block is arranged in the slot.
其中，减速器测试设备进一步包括工控机、数据采集卡以及计数卡，数据采集卡与工控机、伺服电机以及转矩传感器连接，工控机通过数据采集卡控制伺服电机，以及通过数据采集卡获得转矩传感器的数据，计数卡与工控机以及角度传感器连接，用于对角度传感器进行计数以及将该计数发送至工控机。The speed reducer test equipment further comprises an industrial computer, a data acquisition card and a counting card, the data acquisition card is connected with the industrial computer, the servo motor and the torque sensor, and the industrial computer controls the servo motor through the data acquisition card, and obtains the rotation through the data acquisition card. The data of the moment sensor is connected to the industrial computer and the angle sensor for counting the angle sensor and transmitting the count to the industrial computer.
其中，减速器测试设备进一步包括驱动器，驱动器连接于数据采集卡与伺服电机之间，数据采集卡发送控制信号至驱动器，由驱动器驱动伺服电机。Wherein, the reducer test device further comprises a driver, the driver is connected between the data acquisition card and the servo motor, the data acquisition card sends a control signal to the driver, and the servo motor is driven by the driver.
其中，输入转轮和输出转轮均为齿轮，输入转轮和输出转轮之间通过齿轮传动。Wherein, the input runner and the output runner are gears, and the input runner and the output runner are driven by gears.
其中，输入转轮和输出转轮均为皮带轮，输入转轮和输出转轮之间通过皮带传动。Wherein, the input runner and the output runner are both pulleys, and the input runner and the output runner are driven by the belt.
其中，角度连接器与输出转轮通过第三连接轴连接。Wherein, the angle connector and the output wheel are connected by a third connecting shaft.
本发明的有益效果是：伺服电机的动力通过输入转轮和输出转轮的啮合传递给与伺服电机不同轴的待测减速器。输出转轮一端连接待测减速器，待测减速器的另一端连接有负载设备，因此连接输出转轮和待测减速器的第三侧轴必然会受到转动力矩的作用，输出转轮的另一侧连接角度编码器，角度编码器的另一端没有连接负载设备，因此连接角度编码器和输出转轮的第四侧轴不会受到转动力矩的作用，也不会扭曲变形，自然也不会给与其连接的角度编码器的测试带来误差，因而提高了减速器测试设备的角度测量精度。The invention has the beneficial effects that the power of the servo motor is transmitted to the reducer to be tested on a different axis from the servo motor through the engagement of the input wheel and the output wheel. One end of the output runner is connected to the reducer to be tested, and the other end of the reducer to be tested is connected with a load device, so the third side shaft connecting the output runner and the reducer to be tested is inevitably subjected to the rotational torque, and the output runner is additionally One side is connected to the angle encoder, and the other end of the angle encoder is not connected to the load device, so the fourth side shaft connecting the angle encoder and the output wheel is not affected by the rotational moment, nor is it distorted and deformed, naturally it will not It brings errors to the test of the angle encoder connected to it, thus improving the angular measurement accuracy of the reducer test equipment.
【附图说明】 [Description of the Drawings]
图1是本发明第一实施例的减速器测试设备的正视结构示意图；1 is a front elevational view showing the structure of a reduction gear test apparatus according to a first embodiment of the present invention;
图2是图1中的减速器测试设备的俯视结构示意图；2 is a top plan view of the speed reducer test apparatus of FIG. 1;
图3是图1中的减速器测试设备的电气结构示意图。3 is a schematic view showing the electrical structure of the speed reducer test apparatus of FIG. 1.
【具体实施方式】 【detailed description】
下面结合附图与实施例对本发明进行详细说明。The invention will be described in detail below with reference to the accompanying drawings and embodiments.
参阅图1与图2，图1是本发明第一实施例的减速器测试设备的正视结构示意图；图2是图1中的减速器测试设备的俯视结构示意图。减速器测试设备的主要部件包括支撑平台24以及设置在支撑平台24上的伺服电机1、增加转矩减速器5、转矩传感器8、输入转轮12、输出转轮17以及角度传感器15。另外，减速器测试设备还包括辅助部件，例如伺服电机支架2、第一连接轴3、增加转矩减速器支架4、第二连接轴6、第一联轴器7、转矩传感器支架9、第二联轴器10、角度传感器支架14、第三连接轴16、待测减速器支架19、固定端盖20、第一定位块21、第二定位块22以及第三定位块23。伺服电机1、增加转矩减速器5和角度传感器15分别设置于伺服电机支架2、增加转矩减速器支架4和角度传感器支架14上。1 and FIG. 2, FIG. 1 is a schematic front view showing a structure of a speed reducer test apparatus according to a first embodiment of the present invention; and FIG. 2 is a schematic top plan view of the speed reducer test apparatus of FIG. The main components of the reducer test apparatus include a support platform 24 and a servo motor 1, an increase torque reducer 5, a torque sensor 8, an input runner 12, an output runner 17, and an angle sensor 15 disposed on the support platform 24. In addition, the speed reducer testing device further includes auxiliary components, such as a servo motor bracket 2, a first connecting shaft 3, an increased torque reducer bracket 4, a second connecting shaft 6, a first coupling 7, a torque sensor bracket 9, The second coupling 10, the angle sensor bracket 14, the third connecting shaft 16, the reducer bracket 19 to be tested, the fixed end cover 20, the first positioning block 21, the second positioning block 22, and the third positioning block 23. The servo motor 1, the increased torque reducer 5, and the angle sensor 15 are respectively disposed on the servo motor bracket 2, the increased torque reducer bracket 4, and the angle sensor bracket 14.
其中，伺服电机1与增加转矩减速器5通过第一连接轴3连接，增加转矩减速器5与转矩传感器8通过第二连接轴6及第一联轴器7连接，转矩传感器8与输入转轮12通过第二联轴器10连接。即伺服电机1的输出轴经第一连接轴3、增加转矩减速器5、第二连接轴6、第一联轴器7、转矩传感器8以及第二联轴器10与输入转轮12的相对设置的第一侧轴和第二侧轴（第一侧轴和第二侧轴可任意定义，并不进行具体限定）中的一个连接。具体来说，是与输入转轮12朝向伺服电机1一侧的侧轴连接。在本实施例中，上述各部件均为同轴，由伺服电机1带动转动，并驱动输入转轮12绕由第一侧轴和第二侧轴定义的第一转轴转动。同理，输出转轮17上相对设置有第三侧轴与第四侧轴，输入转轮12与输出转轮17啮合，进而绕由第三侧轴与第四侧轴所定义的且平行于第一转轴的第二转轴同步转动。待测减速器18与角度传感器15分别连接输出转轮17的相对设置的第三侧轴与第四侧轴。其中，待测减速器18与输出转轮17直接连接，角度传感器15与输出转轮17通过第三连接轴16连接。或者，在其他实施例中，角度传感器15可以设置于第三连接轴16上。The servo motor 1 and the increased torque reducer 5 are connected through the first connecting shaft 3, and the torque converter 5 and the torque sensor 8 are connected through the second connecting shaft 6 and the first coupling 7, and the torque sensor 8 is connected. It is connected to the input reel 12 through the second coupling 10. That is, the output shaft of the servo motor 1 passes through the first connecting shaft 3, the increased torque reducer 5, the second connecting shaft 6, the first coupling 7, the torque sensor 8, and the second coupling 10 and the input runner 12 One of the first side shaft and the second side shaft (the first side shaft and the second side shaft may be arbitrarily defined, and is not specifically limited) of the opposite arrangement. Specifically, it is connected to the side shaft of the input reel 12 toward the servo motor 1 side. In the present embodiment, each of the above components is coaxial, and is rotated by the servo motor 1, and drives the input reel 12 to rotate about the first rotating shaft defined by the first side shaft and the second side shaft. Similarly, the output runner 17 is oppositely disposed with a third side shaft and a fourth side shaft, and the input wheel 12 meshes with the output wheel 17, and is further defined by the third side axis and the fourth side axis and parallel to The second rotating shaft of the first rotating shaft rotates synchronously. The reducer 18 and the angle sensor 15 to be tested are respectively connected to the oppositely disposed third side shaft and fourth side shaft of the output runner 17. The speed reducer 18 to be tested is directly connected to the output wheel 17, and the angle sensor 15 and the output wheel 17 are connected by a third connecting shaft 16. Alternatively, in other embodiments, the angle sensor 15 may be disposed on the third connecting shaft 16.
其中，增加转矩减速器5用于增加将伺服电机1提供的输出转矩，常用的伺服电机输出转矩大约在200Nm，经过增加转矩减速器5后可以达到5000Nm。这样用最大输出转矩为200Nm的伺服电机就可以测试200Nm～5000Nm范围内的减速器。角度编码器15用于获得待测减速器18的转矩角，由于角度编码器与待测减速器的输出端连接，而待测减速器输出端的转速很低，特别是对于摆线针轮减速器的输出端来说，因此需要采用高精度的角度编码器，本实施例采用的角度编码器是36000线，1vpp的正弦波信号，并且通过所选择的技数卡41，可以进行最高4096倍的新号细分，其***精度达到±1角秒。转矩传感器8用于检测经增加转矩减速器5增加后的输出转矩。所述输出转轮和输出转轮为能在两个平行的转轴之间实现力矩传递的机构，比如可以采用齿轮组、皮带轮组。本实施例采用的是齿轮组，因为齿轮组传动更为平稳一些。为使得转矩传感器测得的转矩就是待测减速器的输入转矩，本实施例将输入转轮和输出转轮尺寸等参数设置成一致，避免因这些参数的变化引起输入转轮和输出转轮转速的变化，进而导致输入齿轮处的转矩传感器测得的转矩和输入齿轮输出给待测减速器的转矩不同。Among them, the increased torque reducer 5 is used to increase the output torque provided by the servo motor 1. The commonly used servo motor output torque is about 200 Nm, and can reach 5000 Nm after increasing the torque reducer 5. In this way, a servo motor with a maximum output torque of 200 Nm can be used to test a speed reducer in the range of 200 Nm to 5000 Nm. The angle encoder 15 is used to obtain the torque angle of the reducer 18 to be tested. Since the angle encoder is connected to the output of the reducer to be tested, the output speed of the output of the reducer to be tested is very low, especially for the cycloidal pinion. For the output of the device, it is therefore necessary to use a high-precision angle encoder. The angle encoder used in this embodiment is a 36,000 line, 1 volt sine wave signal, and can be up to 4096 times by the selected technology card 41. The new subdivision has a system accuracy of ±1 angular seconds. The torque sensor 8 is for detecting the increased output torque after the increased torque reducer 5 is increased. The output wheel and the output wheel are mechanisms capable of transmitting torque between two parallel rotating shafts, such as a gear set and a pulley set. This embodiment uses a gear set because the gear train is more stable. In order to make the torque measured by the torque sensor the input torque of the reducer to be tested, the parameters of the input runner and the output runner are set to be consistent in this embodiment to avoid input rotation and output due to changes of these parameters. The change in the rotational speed of the runner, which in turn causes the torque measured by the torque sensor at the input gear to be different from the torque at which the input gear output is to the reducer to be tested.
第一输入转轮支架11以及第二输入转轮支架13固定于支撑平台24上且位于输入转轮12两侧，输入转轮12的第一侧轴和第二侧轴分别转动支撑于第一输入转轮支架11以及第二输入转轮支架13上。在其他实施例中，也可省略输入转轮12连接第二联轴器10一侧的第一输入转轮支架11。The first input runner bracket 11 and the second input runner bracket 13 are fixed on the support platform 24 and are located on both sides of the input runner 12, and the first side shaft and the second side shaft of the input runner 12 are respectively rotatably supported by the first The input wheel bracket 11 and the second input wheel bracket 13 are input. In other embodiments, the input wheel 12 can also be omitted from the first input wheel bracket 11 on the side of the second coupling 10.
伺服电机支架2、转矩传感器支架9以及待测减速器支架19设置在支撑平台24上且能够沿支撑平台24滑动。具体来说，支撑平台24上设置有两条平行的滑轨（未标示），滑轨中设置有滑轨凹槽，伺服电机支架2、转矩传感器支架9以及待测减速器支架19上设置有支架凹槽，第一定位块21、第二定位块22以及第三定位块23设置于滑轨凹槽与支架凹槽中。待测减速器支架19通过第一定位块21固定于支撑平台24上，转矩传感器支架9通过第二定位块22固定于支撑平台24上，伺服电机支架2通过第三定位块23固定于支撑平台24上。采用定位块与支架凹槽、滑轨凹槽相配合的方式，可以将上述支架的中心轴线控制在垂直于所述导轨且沿所述导轨长度方向延伸的平面上，并且与所述导轨平行，只是在高度方向上不同。这样在安装上述支架时，只需要调整它们中心轴线的高度就行，大大加快了减速器测试设备的装配速度，节省该测试设备在测试待测减速器的准备时间，且可以将测试***各零件的同轴度调整到很高的精度，本实施例已经能将测试***各零件的同轴度控制在0.01mm以下。The servo motor bracket 2, the torque sensor bracket 9 and the reducer bracket 19 to be tested are disposed on the support platform 24 and are slidable along the support platform 24. Specifically, the support platform 24 is provided with two parallel slide rails (not shown), and the slide rails are provided with slide rail grooves, and the servo motor bracket 2, the torque sensor bracket 9 and the reducer bracket 19 to be tested are arranged. There is a bracket groove, and the first positioning block 21, the second positioning block 22 and the third positioning block 23 are disposed in the rail groove and the bracket groove. The reducer bracket 19 to be tested is fixed to the support platform 24 by the first positioning block 21, and the torque sensor bracket 9 is fixed to the support platform 24 by the second positioning block 22, and the servo motor bracket 2 is fixed to the support by the third positioning block 23. On platform 24. The central axis of the bracket can be controlled on a plane perpendicular to the rail and extending along the length of the rail, and parallel with the rail, by using the positioning block in cooperation with the bracket groove and the rail groove. It is only different in height direction. In this way, when installing the above brackets, it is only necessary to adjust the height of their central axes, which greatly speeds up the assembly speed of the reducer test equipment, saves the preparation time of the test equipment in testing the reducer to be tested, and can test various parts of the test system. The coaxiality is adjusted to a high degree of precision. In this embodiment, the coaxiality of each part of the test system can be controlled to be less than 0.01 mm.
伺服电机1、转矩传感器8以及待测减速器18分别设置于伺服电机支架2、转矩传感器支架9以及待测减速器支架19上。在本实施例中，有固定端盖20设置在待测减速器支架19上，待测减速器18的输入轴通过固定端盖20固定于待测减速器支架19上，待测减速器18的输出轴与输出转轮17的第三侧轴连接。另外，固定端盖20即为待测减速器18的负载设备。也就是说，待测减速器18的输入端固定，输出端连接输出转轮17。或者，在其他实施例中，待测减速器18的输入端固定，输出端通过一连接轴连接输出转轮17的第三侧轴。The servo motor 1, the torque sensor 8, and the reducer 18 to be tested are respectively disposed on the servo motor bracket 2, the torque sensor bracket 9, and the reducer bracket 19 to be tested. In this embodiment, a fixed end cover 20 is disposed on the reducer bracket 19 to be tested, and the input shaft of the reducer 18 to be tested is fixed to the reducer bracket 19 to be tested through the fixed end cover 20, and the reducer 18 to be tested is The output shaft is coupled to the third side shaft of the output runner 17. In addition, the fixed end cover 20 is the load device of the speed reducer 18 to be tested. That is to say, the input end of the reducer 18 to be tested is fixed, and the output end is connected to the output reel 17. Alternatively, in other embodiments, the input end of the reducer 18 to be tested is fixed, and the output end is coupled to the third side shaft of the output revolver 17 via a connecting shaft.
由图2可以看出，支撑平台24上设置有两条平行的水平导轨，伺服电机支架2、增加转矩减速器支架4、转矩传感器支架9、第一输入转轮支架11和第二输入转轮12支架设置于其中一条水平导轨上，角度传感器支架14以及待测减速器支架19设置于另外一条水平导轨上。As can be seen from FIG. 2, the support platform 24 is provided with two parallel horizontal guides, a servo motor bracket 2, an increased torque reducer bracket 4, a torque sensor bracket 9, a first input runner bracket 11 and a second input. The runner 12 bracket is disposed on one of the horizontal rails, and the angle sensor bracket 14 and the reducer bracket 19 to be tested are disposed on another horizontal rail.
参阅图3，图3是图1中的减速器测试设备的电气结构示意图。在本实施例中，减速器测试设备进一步包括用于驱动伺服电机1的驱动器31以及电气结构部分的计数卡41、数据采集卡42以及工控机43。Referring to FIG. 3, FIG. 3 is a schematic diagram of the electrical structure of the reducer test apparatus of FIG. In the present embodiment, the speed reducer test apparatus further includes a drive 31 for driving the servo motor 1 and a count card 41, a data acquisition card 42, and a work control unit 43 of the electrical structural portion.
如图所示，驱动器31连接于数据采集卡42与伺服电机1之间，数据采集卡42发送控制信号至驱动器31，由驱动器31驱动伺服电机1。计数卡41与工控机43以及角度传感器15连接，用于对角度传感器15进行计数以及将该计数发送至工控机43。在本实施例中，数据采集卡42与计数卡41通过PCI（Peripheral Component Interconnection，周边元件扩展接口）总线51连接工控机43。本发明的电气部分器件少，数据采集方便，只需要数据采集卡42和计数卡41。这是因为对于本测试***中伺服电机1的控制而言，主要是转矩和转速控制，故可以通过带有模拟量（电压）输出端口的数据采集卡42，通过调整电压的大小来实现转矩和转速自动控制，不需要运动控制卡。转矩传感器8的信息通过数据采集卡42的记数端口来实现转矩采集。As shown, the driver 31 is connected between the data acquisition card 42 and the servo motor 1, and the data acquisition card 42 transmits a control signal to the driver 31, and the driver 31 drives the servo motor 1. The counter card 41 is connected to the industrial computer 43 and the angle sensor 15 for counting the angle sensor 15 and transmitting the count to the industrial computer 43. In this embodiment, the data acquisition card 42 and the counting card 41 pass through PCI (Peripheral). Component Interconnection, peripheral component expansion interface) The bus 51 is connected to the industrial computer 43. The electrical part of the invention has few components and convenient data collection, and only the data acquisition card 42 and the counting card 41 are needed. This is because the control of the servo motor 1 in the test system is mainly torque and speed control, so it can be realized by adjusting the voltage by the data acquisition card 42 with an analog (voltage) output port. Moment and speed are automatically controlled and no motion control card is required. The information of the torque sensor 8 is used to achieve torque collection through the counter port of the data acquisition card 42.
在其他实施例中，也可如图3所示，省略各连接轴，伺服电机1依次通过增加转矩减速器5、第一联轴器7、转矩传感器8、第二联轴器10连接输入转轮12，输入转轮12与输出转轮17啮合，输出转轮12两侧轴分别连接待测减速器18与角度编码器15。或者，在其他实施例中，也可省略第一联轴器7、第二联轴器10。In other embodiments, as shown in FIG. 3, each connecting shaft may be omitted, and the servo motor 1 is sequentially connected by the increased torque reducer 5, the first coupling 7, the torque sensor 8, and the second coupling 10. The input wheel 12 is input, and the input wheel 12 is meshed with the output wheel 17, and the shafts of the output wheel 12 are respectively connected to the reducer 18 to be tested and the angle encoder 15. Alternatively, in other embodiments, the first coupling 7 and the second coupling 10 may also be omitted.
本发明的有益效果是：伺服电机的动力通过输入转轮和输出转轮的啮合传递给与伺服电机不同轴的待测减速器。输出转轮一端连接待测减速器，待测减速器的另一端连接有负载设备，因此连接输出转轮和待测减速器的第三侧轴必然会受到转动力矩的作用，输出转轮的另一侧连接角度编码器，角度编码器的另一端没有连接负载设备，因此连接角度编码器和输出转轮的第四侧轴不会受到转动力矩的作用，也不会扭曲变形，自然也不会给与其连接的角度编码器的测试带来误差，因而角度编码器反映了待测减速器的真实角度。 The invention has the beneficial effects that the power of the servo motor is transmitted to the reducer to be tested on a different axis from the servo motor through the engagement of the input wheel and the output wheel. One end of the output runner is connected to the reducer to be tested, and the other end of the reducer to be tested is connected with a load device, so the third side shaft connecting the output runner and the reducer to be tested is inevitably subjected to the rotational torque, and the output runner is additionally One side is connected to the angle encoder, and the other end of the angle encoder is not connected to the load device, so the fourth side shaft connecting the angle encoder and the output wheel is not affected by the rotational moment, nor is it distorted and deformed, naturally it will not The error is brought to the test of the angle encoder connected to it, so the angle encoder reflects the true angle of the gear unit to be tested.
以上仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。 The above are only the embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (15)

  1. 一种减速器测试设备，用于测试待测减速器的回差与弹性常数，其特征在于，所述减速器测试设备包括支撑平台以及设置在所述支撑平台上的伺服电机、输入转轮、输出转轮、负载设备以及角度传感器，其中所述伺服电机的输出轴与所述输入转轮的相对设置的第一侧轴和第二侧轴中的一个连接，以驱动所述输入转轮绕由所述第一侧轴和所述第二侧轴定义的第一转轴转动，所述待测减速器与所述角度传感器分别连接所述输出转轮的相对设置的第三侧轴与第四侧轴，所述输出转轮与所述输入转轮啮合，进而绕由所述第三侧轴与所述第四侧轴所定义的且平行于所述第一转轴的第二转轴同步转动，所述角度传感器用于获得所述待测减速器的转矩角。A reducer test device for testing a return difference and a spring constant of a reducer to be tested, wherein the reducer test device comprises a support platform and a servo motor and an input runner disposed on the support platform, An output wheel, a load device, and an angle sensor, wherein an output shaft of the servo motor is coupled to one of an oppositely disposed first side shaft and a second side shaft of the input wheel to drive the input wheel winding a first rotating shaft defined by the first side shaft and the second side shaft, wherein the speed reducer to be tested and the angle sensor are respectively connected to the opposite side of the output wheel and the third side shaft and the fourth a side shaft, the output wheel meshes with the input wheel, and then rotates synchronously around a second shaft defined by the third side shaft and the fourth side shaft and parallel to the first shaft. The angle sensor is used to obtain a torque angle of the reducer to be tested.
  2. 根据权利要求1所述的减速器测试设备，其特征在于，所述减速器测试设备还包括位于伺服电机与输入转轮之间的增加转矩减速器和转矩传感器，所述增加转矩减速器一端连接所述伺服电机，另一端连接所述转矩传感器，用于增加所述伺服电机的所述输出转矩，所述转矩传感器的另一端连接所述输入转轮的第一侧轴或者第二侧轴，用于检测输入转轮的输入转矩。The reducer test apparatus according to claim 1, wherein said reducer test apparatus further comprises an increased torque reducer and a torque sensor between the servo motor and the input reel, said increasing torque deceleration One end of the device is connected to the servo motor, and the other end is connected to the torque sensor for increasing the output torque of the servo motor, and the other end of the torque sensor is connected to the first side shaft of the input wheel Or a second side shaft for detecting the input torque of the input wheel.
  3. 根据权利要求2所述的减速器测试设备，其特征在于，所述伺服电机输入所述增加减速器的转矩为200Nm，所述增加转矩减速器的输出转矩范围为200Nm～5000Nm。The reducer test apparatus according to claim 2, wherein a torque of the servo motor input to the increase reducer is 200 Nm, and an output torque of the increase torque reducer ranges from 200 Nm to 5000 Nm.
  4. 根据权利要求2所述的减速器测试设备，其特征在于，所述伺服电机与增加转矩减速器通过第一连接轴连接，增加转矩减速器与转矩传感器通过第二连接轴及第一联轴器连接，转矩传感器与输入转轮通过第二联轴器连接。The reducer test apparatus according to claim 2, wherein the servo motor and the increased torque reducer are connected through a first connecting shaft, and the torque reducer and the torque sensor are added through the second connecting shaft and the first The coupling is connected, and the torque sensor is connected to the input runner through the second coupling.
  5. 根据权利要求2所述的减速器测试设备，其特征在于，所述减速器测试设备进一步包括设置在所述支撑平台上且能够沿所述支撑平台滑动的伺服电机支架、转矩传感器支架以及待测减速器支架，所述伺服电机、所述转矩传感器以及所述待测减速器分别设置于所述伺服电机支架、所述转矩传感器支架以及所述待测减速器支架上。The reducer test apparatus according to claim 2, wherein the reducer test apparatus further comprises a servo motor bracket, a torque sensor bracket, and a standby body that are disposed on the support platform and are slidable along the support platform Measuring the reducer bracket, the servo motor, the torque sensor and the speed reducer to be tested are respectively disposed on the servo motor bracket, the torque sensor bracket and the reducer bracket to be tested.
  6. 根据权利要求5所述的减速器测试设备，其特征在于，所述负载设备为设置在所述待测减速器支架上的固定端盖，所述待测减速器的输入轴通过所述固定端盖固定于所述待测减速器支架上。The reducer test apparatus according to claim 5, wherein the load device is a fixed end cover disposed on the reducer bracket to be tested, and an input shaft of the reducer to be tested passes through the fixed end The cover is fixed to the reducer bracket to be tested.
  7. 根据权利要求5所述的减速器测试设备，其特征在于，所述减速器测试设备进一步包括固定于所述支撑平台上且位于所述输入转轮两侧的第一输入转轮支架以及第二输入转轮支架，所述输入转轮的第一侧轴和第二侧轴分别转动支撑于所述第一输入转轮支架以及所述第二输入转轮支架上。The reducer test apparatus according to claim 5, wherein said reducer test apparatus further comprises a first input runner bracket fixed to said support platform and located on both sides of said input runner, and a second The wheel bracket is input, and the first side shaft and the second side shaft of the input wheel are respectively rotatably supported on the first input wheel bracket and the second input wheel bracket.
  8. 根据权利要求7所述的减速器测试设备，其特征在于，所述减速器测试设备进一步包括固定于所述支撑平台上的增加转矩减速器支架和角度传感器支架，所述增加转矩减速器和所述角度传感器分别设置于所述增加转矩减速器支架和所述角度传感器支架上。The reducer test apparatus according to claim 7, wherein said reducer test apparatus further comprises an increased torque reducer bracket and an angle sensor bracket fixed to said support platform, said increased torque reducer And the angle sensor is respectively disposed on the increased torque reducer bracket and the angle sensor bracket.
  9. 根据权利要求8所述的减速器测试设备，其特征在于，所述支撑平台上设置有两条平行的水平导轨，所述伺服电机支架、所述增加转矩减速器支架、所述转矩传感器支架、所述第一输入转轮支架和所述第二输入转轮支架设置于其中一条水平导轨上，所述角度传感器支架以及所述待测减速器支架设置于另外一条水平导轨上。The reducer test apparatus according to claim 8, wherein the support platform is provided with two parallel horizontal guide rails, the servo motor bracket, the increased torque reducer bracket, and the torque sensor. The bracket, the first input wheel bracket and the second input wheel bracket are disposed on one of the horizontal rails, and the angle sensor bracket and the reducer bracket to be tested are disposed on another horizontal rail.
  10. 根据权利要求5所述的减速器测试设备，其特征在于，所述水平导轨上设置有若干个滑轨凹槽，所述待测减速器支架、所述转矩传感器支架和所述伺服电机支架与水平导轨相对的一端设置有支架凹槽，每一对支架凹槽和滑轨凹槽内设置有一个定位块。The reducer test apparatus according to claim 5, wherein the horizontal rail is provided with a plurality of rail grooves, the reducer bracket to be tested, the torque sensor bracket and the servo motor bracket The end opposite to the horizontal rail is provided with a bracket groove, and each pair of bracket groove and the rail groove is provided with a positioning block.
  11. 根据权利要求1所述的减速器测试设备，其特征在于，所述减速器测试设备进一步包括工控机、数据采集卡以及计数卡，所述数据采集卡与所述工控机、所述伺服电机以及所述转矩传感器连接，所述工控机通过所述数据采集卡控制所述伺服电机，以及通过所述数据采集卡获得所述转矩传感器的数据，所述计数卡与所述工控机以及所述角度传感器连接，用于对所述角度传感器进行计数以及将该计数发送至所述工控机。The reducer test apparatus according to claim 1, wherein the reducer test device further comprises an industrial computer, a data acquisition card, and a counting card, the data acquisition card and the industrial computer, the servo motor, and The torque sensor is connected, the industrial computer controls the servo motor through the data acquisition card, and obtains data of the torque sensor through the data acquisition card, the counting card and the industrial computer and the An angle sensor connection is provided for counting the angle sensor and transmitting the count to the industrial computer.
  12. 根据权利要求11所述的减速器测试设备，其特征在于，所述减速器测试设备进一步包括驱动器，所述驱动器连接于所述数据采集卡与所述伺服电机之间，所述数据采集卡发送控制信号至所述驱动器，由所述驱动器驱动所述伺服电机。The reducer test apparatus according to claim 11, wherein said reducer test apparatus further comprises a driver, said driver being connected between said data acquisition card and said servo motor, said data acquisition card transmitting A control signal is sent to the driver, and the servo motor is driven by the driver.
  13. 根据权利要求1所述的减速器测试设备，其特征在于，所述输入转轮和输出转轮均为齿轮，所述输入转轮和输出转轮之间通过齿轮传动。The reducer test apparatus according to claim 1, wherein the input revolver and the output revolver are both gears, and the input revolver and the output revolver are driven by a gear.
  14. 根据权利要求1所述的减速器测试设备，其特征在于，所述输入转轮和输出转轮均为皮带轮，所述输入转轮和输出转轮之间通过皮带传动。The reducer test apparatus according to claim 1, wherein the input revolver and the output revolver are both pulleys, and the input revolver and the output revolver are driven by a belt.
  15. 根据权利要求1所述的减速器测试设备，其特征在于，所述角度连接器与输出转轮通过第三连接轴连接。The reducer test apparatus according to claim 1, wherein the angle connector and the output wheel are coupled by a third connecting shaft.
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