WO2015096799A1 - Speed reducer testing apparatus - Google Patents
Speed reducer testing apparatus Download PDFInfo
- Publication number
- WO2015096799A1 WO2015096799A1 PCT/CN2014/095055 CN2014095055W WO2015096799A1 WO 2015096799 A1 WO2015096799 A1 WO 2015096799A1 CN 2014095055 W CN2014095055 W CN 2014095055W WO 2015096799 A1 WO2015096799 A1 WO 2015096799A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- reducer
- tested
- test apparatus
- encoder
- rotary encoder
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—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 comprehensive performance system of the reducer tests the angle information of the input and output ends of the reducer through the angle measuring device provided by the servo motor when testing the angular transmission error of the reducer, and the test accuracy error of the angle measuring device provided by the servo motor At around 10 arc seconds, the angular transmission error of the current cycloidal pinwheel reducer is about 30 arc seconds, and the test requirements for the angle measurement error of the high reduction ratio reducer cannot be satisfied.
- the technical problem to be solved by the present invention is to provide a reducer test device, which is provided at both ends of the reducer to be tested by using an angle encoder and a rotary encoder, and solves the angle measurement used when testing the angular transmission error of the reducer.
- the accuracy of the device is low and the problem of high precision is not met.
- a technical solution adopted by the present invention is to provide a reducer test device including a support platform, a servo motor disposed on the support platform, an input rotary encoder, and an output end angle.
- the encoder and the servo motor provide power for the reducer to be tested, and the input rotary encoder is connected to the input end of the reducer to be tested, and the output end of the reducer to be tested is connected to the output angle encoder, and the accuracy of the output angle encoder is ⁇ 1 angular second, the accuracy of the input rotary encoder is not more than ⁇ n angular seconds, and n is the minimum reduction ratio of the reducer to be tested.
- the output end of the servo motor is directly connected to the input rotary encoder.
- the output end of the servo motor is connected to the input rotary encoder through the first connecting shaft.
- the rotary encoder is installed between the first connecting shaft and the input end of the speed reducer to be tested.
- the rotary encoder is mounted on the first connecting shaft.
- the output end of the reducer to be tested is connected to the output angle encoder via a second connecting shaft.
- the output end of the reducer to be tested is directly connected to the output angle encoder.
- the reducer test device further comprises an input end rotary encoder bracket disposed on the support platform and capable of sliding along the support platform, a reducer bracket to be tested and an output angle encoder, an input rotary encoder, a reducer to be tested, The output angle encoders are respectively disposed thereon.
- the input rotary encoder bracket, the reducer bracket to be tested and the output angle encoder bracket are fixed on the support platform by the positioning block.
- the input rotary encoder bracket, the reducer bracket to be tested and the output angle encoder bracket are provided with a first groove on one side of the support platform, and a horizontal rail is arranged on the support platform, and a horizontal rail is provided with a first a second groove opposite to the groove, the positioning block is disposed in the first groove and the second groove, so that the central axis of the input rotary encoder, the reducer to be tested, and the output angle encoder are on the same plane .
- the reducer test device further comprises an industrial computer and a data acquisition card, the data acquisition card is connected with the industrial computer and the servo motor, and the industrial control machine controls the servo motor through the data acquisition card.
- 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 reducer test device further comprises a counting card, which is connected with the industrial computer, the input rotary encoder and the output angle encoder, the input rotary encoder and the output angular encoder for data collection by the counting card, and the counting card Send the collected data to the industrial computer.
- the reducer test device further comprises a servo motor bracket fixed on the support platform, and the servo motor is disposed on the servo motor bracket.
- the invention has the beneficial effects that by setting an output angle encoder with an accuracy of up to ⁇ 1 arc seconds at the output end of the speed reducer, the angle measurement accuracy can be ensured for the output end of the speed reducer whose speed has been greatly reduced.
- the input end rotary encoder is set at the input end of the reducer with an accuracy of not more than ⁇ n (n is the minimum reduction ratio of the reducer).
- ⁇ n is the minimum reduction ratio of the reducer.
- the angle measurement accuracy can also be ensured.
- a reasonable angle measuring device is selected, which not only ensures the accuracy of the angle measurement, but also reduces the cost of the deceleration test equipment.
- FIG. 1 is a front elevational view showing the structure of a reducer test apparatus 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 of a speed reducer test apparatus of the present invention
- FIG. 2 is a top plan view of the speed reducer test apparatus of FIG.
- the reducer test apparatus includes a support platform 12 and a servo motor 1 disposed on the support platform 12, a first connecting shaft 3, an input rotary encoder 5, a second connecting shaft 8, and an output angle encoder.
- Servo motor bracket 2 input rotary encoder bracket 4, reducer bracket 6 to be tested, output angle encoder bracket 10, and driver 31, counting card 41, data acquisition card 42 and industrial computer 43.
- the servo motor 1 is connected to the input rotary encoder 5 via a first connecting shaft 3, and the input rotary encoder 5 is mounted between the first connecting shaft 3 and the input end of the reducer 7 to be tested.
- the input rotary encoder 5 can be mounted on the first connecting shaft 3, or the first connecting shaft 3 can be omitted, and the servo motor 1 can be directly connected to the reducer 7 to be tested via the input rotary encoder 5.
- the output of the gear unit 7 to be tested is connected to the output angle encoder 9 via a second connecting shaft 8 .
- the output of the reducer 7 to be tested can be directly connected to the output angle encoder 9.
- the angle information of the input end of the reducer 7 to be tested is tested by the input rotary encoder 5, and the angle information of the output end of the reducer 7 to be tested is obtained by the output angle encoder 9.
- the accuracy of the output angle encoder is ⁇ 1 arc seconds
- the accuracy of the input rotary encoder is not more than ⁇ n angular seconds
- n is the minimum reduction ratio of the reducer to be tested.
- the input rotary encoder bracket 4, the reducer bracket 6 to be tested, and the output angle encoder bracket 10 are disposed on the support platform 12 and are slidable along the support platform 12. Specifically, the input rotary encoder bracket 4, the reducer bracket 6 to be tested, and the output angle encoder bracket 10 are disposed on a side of the support platform 12 with a first recess (not shown), and the support platform 12 is provided with A horizontal guide rail (not shown) is provided with a second recess (not shown) in the horizontal guide rail, and the positioning blocks 11, 13 are disposed in the first recess and the second recess.
- the central axis of the input rotary encoder 5, the reducer 7 to be tested, and the output angular encoder 9 are on a plane perpendicular to the guide rail and extending along the longitudinal direction of the guide rail, and are parallel to the guide rail, only in The height direction is different, so when installing the above components, it is only necessary to adjust the height of their central axis, which greatly speeds up the assembly speed of the reducer test equipment, and saves the preparation time of the test equipment in testing the reducer to be tested.
- the servo motor bracket 2 is directly fixed to the horizontal rail of the support platform 12.
- the positioning block and the first groove and the second groove matched thereto can be used to control the coaxiality of each part of the test system to be less than 0.01 mm. Referring to FIG.
- FIG. 3 is a schematic diagram of the electrical structure of the reducer test apparatus of FIG.
- 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 servo motor 1 is driven by the driver 31.
- the driver 31 can be integrated into the servo motor 1 to connect the data acquisition card 42 to the industrial computer 43 and the servo motor 1.
- the industrial computer 43 controls the servo motor 1 through the data acquisition card 42.
- the counting card 41 is connected to the industrial computer 43, the input rotary encoder 5 and the output angular encoder 9.
- the input rotary encoder 5 and the output angular encoder 9 perform data acquisition by the counting card 41, and are counted by the counting card 41.
- the collected data is sent to the industrial computer 43.
- the data acquisition card 42 and the counting card 41 are connected to the industrial computer 43 via the PCI bus 51.
- the invention has the beneficial effects that by setting an output angle encoder with an accuracy of up to ⁇ 1 arc seconds at the output end of the speed reducer, the angle measurement accuracy can be ensured for the output end of the speed reducer whose speed has been greatly reduced.
- the input end rotary encoder is set at the input end of the reducer with an accuracy of not more than ⁇ n (n is the minimum reduction ratio of the reducer).
- ⁇ n is the minimum reduction ratio of the reducer.
- the invention selects a reasonable angle measuring device according to the specific application environment of the input end and the output end of the reducer to be tested, which not only ensures the accuracy of the angle measurement, but also reduces the cost of the deceleration test equipment.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
A speed reducer testing apparatus, comprising a support platform (12), and a servomotor (1), input rotary encoder (5), and output angular encoder (9) arranged on the support platform (12); the servomotor (1) providing power to a speed reducer (7) to be tested; the input rotary encoder (5) being connected to the input of the speed reducer (7) to be tested, and the output of the speed reducer (7) to be tested being connected to the output angular encoder (9); the output angular encoder (9) having an accuracy of ±1 arcsec, and the input rotary encoder (5) having an accuracy of not more than ±n arcsec, n being the minimum reduction ratio of the speed reducer (7) to be tested. Arranging at the output of the speed reducer (7) to be tested an output angular encoder (9) having an accuracy of up to ±1 arcsec guarantees the angle measurement accuracy thereof. Furthermore, selecting, according to the specific application environment of the input and output of the speed reducer (7) to be tested, a reasonable angle measurement device not only ensures angle measurement accuracy, but also reduces the costs of speed reduction testing equipment.
Description
【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.
现有的一种减速器综合性能***在测试减速器角度传递误差时，通过伺服电机自带的角度测量装置来测试减速器输入输出端的角度信息，伺服电机自带的角度测量装置的测试精度误差在10角秒左右，而目前国外摆线针轮减速器的角度传递误差在30角秒左右，现不能满足对高减速比减速器角度测量误差的测试要求。The existing comprehensive performance system of the reducer tests the angle information of the input and output ends of the reducer through the angle measuring device provided by the servo motor when testing the angular transmission error of the reducer, and the test accuracy error of the angle measuring device provided by the servo motor At around 10 arc seconds, the angular transmission error of the current cycloidal pinwheel reducer is about 30 arc seconds, and the test requirements for the angle measurement error of the high reduction ratio reducer cannot be satisfied.
【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，使用角度编码器与旋转编码器设置于待测减速器的两端，解决了为减速器测试其角度传递误差时，使用的角度测量装置的精度低，不能满足高精度的要求的问题。The technical problem to be solved by the present invention is to provide a reducer test device, which is provided at both ends of the reducer to be tested by using an angle encoder and a rotary encoder, and solves the angle measurement used when testing the angular transmission error of the reducer. The accuracy of the device is low and the problem of high precision is not met.
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，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、输入端旋转编码器、输出端角度编码器，伺服电机为待测减速器提供动力，输入端旋转编码器连接待测减速器的输入端，待测减速器的输出端连接输出端角度编码器，，输出端角度编码器的精度为±1角秒，输入端旋转编码器的精度不大于±n角秒，n为待测减速器的最小减速比。In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a reducer test device including a support platform, a servo motor disposed on the support platform, an input rotary encoder, and an output end angle. The encoder and the servo motor provide power for the reducer to be tested, and the input rotary encoder is connected to the input end of the reducer to be tested, and the output end of the reducer to be tested is connected to the output angle encoder, and the accuracy of the output angle encoder is ±1 angular second, the accuracy of the input rotary encoder is not more than ±n angular seconds, and n is the minimum reduction ratio of the reducer to be tested.
其中，伺服电机的输出端直接与输入端旋转编码器连接。The output end of the servo motor is directly connected to the input rotary encoder.
其中，伺服电机的输出端通过第一连接轴与输入端旋转编码器连接。The output end of the servo motor is connected to the input rotary encoder through the first connecting shaft.
其中，旋转编码器安装于第一连接轴与待测减速器的输入端之间。Wherein, the rotary encoder is installed between the first connecting shaft and the input end of the speed reducer to be tested.
其中，旋转编码器安装于第一连接轴上。Wherein the rotary encoder is mounted on the first connecting shaft.
其中，待测减速器的输出端通过第二连接轴与输出端角度编码器连接。The output end of the reducer to be tested is connected to the output angle encoder via a second connecting shaft.
其中，待测减速器的输出端直接与输出端角度编码器连接。The output end of the reducer to be tested is directly connected to the output angle encoder.
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输入端旋转编码器支架、待测减速器支架以及输出端角度编码器，输入端旋转编码器、待测减速器、输出端角度编码器分别设置于其上。Wherein, the reducer test device further comprises an input end rotary encoder bracket disposed on the support platform and capable of sliding along the support platform, a reducer bracket to be tested and an output angle encoder, an input rotary encoder, a reducer to be tested, The output angle encoders are respectively disposed thereon.
其中，输入端旋转编码器支架、待测减速器支架以及输出端角度编码器支架通过定位块固定于支撑平台上。The input rotary encoder bracket, the reducer bracket to be tested and the output angle encoder bracket are fixed on the support platform by the positioning block.
其中，输入端旋转编码器支架、待测减速器支架以及输出端角度编码器支架朝向支撑平台的一侧设置有第一凹槽，支撑平台上设置有水平导轨，水平导轨上设置有一个与第一凹槽相对的第二凹槽，定位块设置于第一凹槽与第二凹槽内，以使输入端旋转编码器、待测减速器、输出端角度编码器的中心轴线位于同一平面上。Wherein, the input rotary encoder bracket, the reducer bracket to be tested and the output angle encoder bracket are provided with a first groove on one side of the support platform, and a horizontal rail is arranged on the support platform, and a horizontal rail is provided with a first a second groove opposite to the groove, the positioning block is disposed in the first groove and the second groove, so that the central axis of the input rotary encoder, the reducer to be tested, and the output angle encoder are on the same plane .
其中，减速器测试设备进一步包括工控机与数据采集卡，数据采集卡与工控机以及伺服电机连接，工控机通过数据采集卡控制伺服电机。The reducer test device further comprises an industrial computer and a data acquisition card, the data acquisition card is connected with the industrial computer and the servo motor, and the industrial control machine controls the servo motor through the data acquisition card.
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，减速器测试设备进一步包括计数卡，与工控机、输入端旋转编码器以及输出端角度编码器连接，输入端旋转编码器以及输出端角度编码器通过计数卡进行数据采集，并由计数卡将采集到的数据发送至工控机。Wherein, the reducer test device further comprises a counting card, which is connected with the industrial computer, the input rotary encoder and the output angle encoder, the input rotary encoder and the output angular encoder for data collection by the counting card, and the counting card Send the collected data to the industrial computer.
其中，减速器测试设备进一步包括固定在支撑平台上的伺服电机支架，伺服电机设置于伺服电机支架上。Wherein, the reducer test device further comprises a servo motor bracket fixed on the support platform, and the servo motor is disposed on the servo motor bracket.
本发明的有益效果是：通过在减速器的输出端设置精度高达±1角秒的输出端角度编码器，对于转速已经大大减低的减速器输出端，可以保证其角度测量精度。同时在减速器的输入端设置精度为不大于±n（n为该减速器的最小减速比）输入端旋转编码器，对于转速很高的减速器的输入端，也能保证其角度测量精度。根据待测减速器输入端和输出端的具体应用环境选取合理的角度测量装置，不仅保证了角度测量的精度，还降低了减速测试设备的成本。The invention has the beneficial effects that by setting an output angle encoder with an accuracy of up to ±1 arc seconds at the output end of the speed reducer, the angle measurement accuracy can be ensured for the output end of the speed reducer whose speed has been greatly reduced. At the same time, the input end rotary encoder is set at the input end of the reducer with an accuracy of not more than ±n (n is the minimum reduction ratio of the reducer). For the input end of the speed reducer with high speed, the angle measurement accuracy can also be ensured. According to the specific application environment of the input end and the output end of the reducer to be tested, a reasonable angle measuring device is selected, which not only ensures the accuracy of the angle measurement, but also reduces the cost of the deceleration test equipment.
【附图说明】 [Description of the Drawings]
图1是本发明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 reducer test apparatus 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。在本实施例中，减速器测试设备包括支撑平台12以及设置在支撑平台12上的伺服电机1、第一连接轴3、输入端旋转编码器5、第二连接轴8、输出端角度编码器9、伺服电机支架2、输入端旋转编码器支架4、待测减速器支架6、输出端角度编码器支架10，以及驱动器31、计数卡41、数据采集卡42以及工控机43。1 and FIG. 2, FIG. 1 is a schematic front view of a speed reducer test apparatus of the present invention; and FIG. 2 is a top plan view of the speed reducer test apparatus of FIG. In this embodiment, the reducer test apparatus includes a support platform 12 and a servo motor 1 disposed on the support platform 12, a first connecting shaft 3, an input rotary encoder 5, a second connecting shaft 8, and an output angle encoder. 9. Servo motor bracket 2, input rotary encoder bracket 4, reducer bracket 6 to be tested, output angle encoder bracket 10, and driver 31, counting card 41, data acquisition card 42 and industrial computer 43.
伺服电机1通过第一连接轴3与输入端旋转编码器5连接，输入端旋转编码器5安装于第一连接轴3与待测减速器7的输入端之间。在其他实施例中，可将输入端旋转编码器5安装于第一连接轴3上，或者省略第一连接轴3，直接将伺服电机1通过输入端旋转编码器5连接待测减速器7的输入端。待测减速器7的输出端通过第二连接轴8与输出端角度编码器9连接。同样的，在其他实施例中，可直接将待测减速器7的输出端直接与输出端角度编码器9连接。通过上述连接，由输入端旋转编码器5测试待测减速器7的输入端的角度信息，由输出端角度编码器9获取待测减速器7的输出端的角度信息。所述输出端角度编码器的精度为±1角秒，所述输入端旋转编码器的精度不大于±n角秒，n为待测减速器的最小减速比。The servo motor 1 is connected to the input rotary encoder 5 via a first connecting shaft 3, and the input rotary encoder 5 is mounted between the first connecting shaft 3 and the input end of the reducer 7 to be tested. In other embodiments, the input rotary encoder 5 can be mounted on the first connecting shaft 3, or the first connecting shaft 3 can be omitted, and the servo motor 1 can be directly connected to the reducer 7 to be tested via the input rotary encoder 5. Input. The output of the gear unit 7 to be tested is connected to the output angle encoder 9 via a second connecting shaft 8 . Similarly, in other embodiments, the output of the reducer 7 to be tested can be directly connected to the output angle encoder 9. Through the above connection, the angle information of the input end of the reducer 7 to be tested is tested by the input rotary encoder 5, and the angle information of the output end of the reducer 7 to be tested is obtained by the output angle encoder 9. The accuracy of the output angle encoder is ±1 arc seconds, the accuracy of the input rotary encoder is not more than ±n angular seconds, and n is the minimum reduction ratio of the reducer to be tested.
输入端旋转编码器支架4、待测减速器支架6以及输出端角度编码器支架10设置在支撑平台12上且能够沿支撑平台12滑动。具体的，输入端旋转编码器支架4、待测减速器支架6以及输出端角度编码器支架10朝向支撑平台12的一侧设置有第一凹槽（未图示），支撑平台12上设置有水平导轨（未标示），水平导轨中设置有第二凹槽（未标示），定位块11、13设置于第一凹槽与第二凹槽中。这样输入端旋转编码器5、待测减速器7、输出端角度编码器9的中心轴线在垂直于所述导轨且沿所述导轨长度方向延伸的平面上，且与所述导轨平行，只是在高度方向上不同，因此在安装上述部件时，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。伺服电机支架2直接固定于支撑平台12的水平导轨上。采用定位块及与之相配的第一凹槽和第二凹槽，可以将测试***各零件的同轴度需控制在0.01mm以下。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。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。在其他实施例中，可将驱动器31集成于伺服电机1中，使数据采集卡42与工控机43以及伺服电机1连接，工控机43通过数据采集卡42控制伺服电机1。计数卡41与工控机43、输入端旋转编码器5以及输出端角度编码器9连接，输入端旋转编码器5以及输出端角度编码器9通过计数卡41进行数据采集，并由计数卡41将采集到的数据发送至工控机43。在本实施例中，数据采集卡42与计数卡41通过PCI总线51连接工控机43。The input rotary encoder bracket 4, the reducer bracket 6 to be tested, and the output angle encoder bracket 10 are disposed on the support platform 12 and are slidable along the support platform 12. Specifically, the input rotary encoder bracket 4, the reducer bracket 6 to be tested, and the output angle encoder bracket 10 are disposed on a side of the support platform 12 with a first recess (not shown), and the support platform 12 is provided with A horizontal guide rail (not shown) is provided with a second recess (not shown) in the horizontal guide rail, and the positioning blocks 11, 13 are disposed in the first recess and the second recess. Thus, the central axis of the input rotary encoder 5, the reducer 7 to be tested, and the output angular encoder 9 are on a plane perpendicular to the guide rail and extending along the longitudinal direction of the guide rail, and are parallel to the guide rail, only in The height direction is different, so when installing the above components, it is only necessary to adjust the height of their central axis, which greatly speeds up the assembly speed of the reducer test equipment, and saves the preparation time of the test equipment in testing the reducer to be tested. The servo motor bracket 2 is directly fixed to the horizontal rail of the support platform 12. The positioning block and the first groove and the second groove matched thereto can be used to control the coaxiality of each part of the test system to be less than 0.01 mm. Referring to FIG. 3, FIG. 3 is a schematic diagram of the electrical structure of the reducer test apparatus of FIG. 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 servo motor 1 is driven by the driver 31. In other embodiments, the driver 31 can be integrated into the servo motor 1 to connect the data acquisition card 42 to the industrial computer 43 and the servo motor 1. The industrial computer 43 controls the servo motor 1 through the data acquisition card 42. The counting card 41 is connected to the industrial computer 43, the input rotary encoder 5 and the output angular encoder 9. The input rotary encoder 5 and the output angular encoder 9 perform data acquisition by the counting card 41, and are counted by the counting card 41. The collected data is sent to the industrial computer 43. In the present embodiment, the data acquisition card 42 and the counting card 41 are connected to the industrial computer 43 via the PCI bus 51.
本发明的有益效果是：通过在减速器的输出端设置精度高达±1角秒的输出端角度编码器，对于转速已经大大减低的减速器输出端，可以保证其角度测量精度。同时在减速器的输入端设置精度为不大于±n（n为该减速器的最小减速比）输入端旋转编码器，对于转速很高的减速器的输入端，也能保证其角度测量精度。本发明根据待测减速器输入端和输出端的具体应用环境选取合理的角度测量装置，不仅保证了角度测量的精度，还降低了减速测试设备的成本。The invention has the beneficial effects that by setting an output angle encoder with an accuracy of up to ±1 arc seconds at the output end of the speed reducer, the angle measurement accuracy can be ensured for the output end of the speed reducer whose speed has been greatly reduced. At the same time, the input end rotary encoder is set at the input end of the reducer with an accuracy of not more than ±n (n is the minimum reduction ratio of the reducer). For the input end of the speed reducer with high speed, the angle measurement accuracy can also be ensured. The invention selects a reasonable angle measuring device according to the specific application environment of the input end and the output end of the reducer to be tested, which not only ensures the accuracy of the angle measurement, but also reduces the cost of the deceleration test equipment.
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 (14)
- 一种减速器测试设备，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、输入端旋转编码器、输出端角度编码器，所述伺服电机为所述待测减速器提供动力，所述输入端旋转编码器连接待测减速器的输入端，所述待测减速器的输出端连接所述输出端角度编码器，，所述输出端角度编码器的精度为±1角秒，所述输入端旋转编码器的精度不大于±n角秒，n为待测减速器的最小减速比。 A reducer test device, characterized in that the reducer test device comprises a support platform and a servo motor, an input rotary encoder and an output angle encoder disposed on the support platform, wherein the servo motor is The input reducer is connected to the input end of the reducer to be tested, the output end of the reducer to be tested is connected to the output end angle encoder, and the output end angle encoder The accuracy is ±1 angular second, the accuracy of the input rotary encoder is not more than ±n angular seconds, and n is the minimum reduction ratio of the reducer to be tested.
- 根据权利要求1所述的减速器测试设备，其特征在于，所述伺服电机的输出端直接与所述输入端旋转编码器连接。The reducer test apparatus according to claim 1, wherein an output end of said servo motor is directly connected to said input rotary encoder.
- 根据权利要求1所述的减速器测试设备，其特征在于，所述伺服电机的输出端通过第一连接轴与所述输入端旋转编码器连接。The reducer test apparatus according to claim 1, wherein an output end of the servo motor is coupled to the input rotary encoder via a first connecting shaft.
- 根据权利要求3所述的减速器测试设备，其特征在于，所述旋转编码器安装于所述第一连接轴与所述待测减速器的输入端之间。The reducer test apparatus according to claim 3, wherein said rotary encoder is mounted between said first connecting shaft and an input end of said reducer to be tested.
- 根据权利要求3所述的减速器测试设备，其特征在于，所述旋转编码器安装于所述第一连接轴上。The speed reducer testing apparatus according to claim 3, wherein said rotary encoder is mounted on said first connecting shaft.
- 根据权利要求2或3所述的减速器测试设备，其特征在于，所述待测减速器的输出端通过第二连接轴与所述输出端角度编码器连接。The reducer test apparatus according to claim 2 or 3, characterized in that the output end of the reducer to be tested is connected to the output angle encoder via a second connecting shaft.
- 根据权利要求2或3所述的减速器测试设备，其特征在于，所述待测减速器的输出端直接与所述输出端角度编码器连接。The reducer test apparatus according to claim 2 or 3, characterized in that the output end of the reducer to be tested is directly connected to the output angle encoder.
- 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设置在所述支撑平台上且能够沿所述支撑平台滑动的输入端旋转编码器支架、待测减速器支架以及输出端角度编码器，所述输入端旋转编码器、所述待测减速器、所述输出端角度编码器分别设置于其上。The reducer test apparatus according to claim 1, wherein said reducer test apparatus further comprises an input end rotary encoder bracket disposed on said support platform and slidable along said support platform, and said deceleration to be measured And an output angle encoder, the input rotary encoder, the reducer to be tested, and the output angle encoder are respectively disposed thereon.
- 根据权利要求8所述的减速器测试设备，其特征在于，所述输入端旋转编码器支架、所述待测减速器支架以及所述输出端角度编码器支架通过定位块固定于所述支撑平台上。The reducer test apparatus according to claim 8, wherein the input rotary encoder bracket, the reducer bracket to be tested, and the output angle encoder bracket are fixed to the support platform by a positioning block on.
- 根据权利要求9所述的减速器测试设备，其特征在于，所述输入端旋转编码器支架、所述待测减速器支架以及所述输出端角度编码器支架朝向所述支撑平台的一侧设置有第一凹槽，所述支撑平台上设置有水平导轨，所述水平导轨上设置有一个与所述第一凹槽相对的第二凹槽，所述定位块设置于所述第一凹槽与所述第二凹槽内，以使所述输入端旋转编码器、所述待测减速器、所述输出端角度编码器的中心轴线位于同一平面上。The reducer test apparatus according to claim 9, wherein said input rotary encoder bracket, said reducer bracket to be tested, and said output angle encoder bracket are disposed toward one side of said support platform a first groove, the support platform is provided with a horizontal rail, the horizontal rail is provided with a second groove opposite to the first groove, and the positioning block is disposed in the first groove And the second groove is disposed such that the central axes of the input rotary encoder, the reducer to be tested, and the output angle encoder are on the same plane.
- 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与数据采集卡，所述数据采集卡与所述工控机以及所述伺服电机连接，所述工控机通过所述数据采集卡控制所述伺服电机。The reducer test apparatus according to claim 1, wherein the reducer test device further comprises an industrial computer and a data acquisition card, wherein the data acquisition card is connected to the industrial computer and the servo motor, The industrial computer controls the servo motor through the data acquisition card.
- 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.
- 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计数卡，与所述工控机、所述输入端旋转编码器以及所述输出端角度编码器连接，所述输入端旋转编码器以及所述输出端角度编码器通过计数卡进行数据采集，并由所述计数卡将采集到的数据发送至所述工控机。The reducer test apparatus according to claim 11, wherein the reducer test apparatus further comprises a counting card, and is connected to the industrial computer, the input rotary encoder, and the output angle encoder. The input rotary encoder and the output angular encoder perform data collection by a counting card, and the collected data is sent by the counting card to the industrial computer.
- 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固定在所述支撑平台上的伺服电机支架，所述伺服电机设置于所述伺服电机支架上。The reducer test apparatus according to claim 1, wherein said reducer test apparatus further comprises a servo motor bracket fixed to said support platform, said servo motor being disposed on said servo motor bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201480038257.4A CN105934662A (en) | 2014-12-26 | 2014-12-26 | Speed reducer testing apparatus |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320870219.8U CN203688220U (en) | 2013-12-26 | 2013-12-26 | Speed reducer testing equipment |
| CN201320870219.8 | 2013-12-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015096799A1 true WO2015096799A1 (en) | 2015-07-02 |
Family
ID=51010107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2014/095055 WO2015096799A1 (en) | 2013-12-26 | 2014-12-26 | Speed reducer testing apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN203688220U (en) |
| WO (1) | WO2015096799A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555554A (en) * | 2017-12-28 | 2018-09-21 | 南京磁谷科技有限公司 | A kind of 300kW magnetic suspension host rotating dress matches debugging tool |
| CN113037017A (en) * | 2020-12-30 | 2021-06-25 | 浙江工业大学 | Device for measuring mechanical zero position of driving mechanism and mechanically zeroing and zeroing method |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203688220U (en) * | 2013-12-26 | 2014-07-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
| CN105934662A (en) * | 2014-12-26 | 2016-09-07 | 深圳市配天智造装备股份有限公司 | Speed reducer testing apparatus |
| CN105666483B (en) * | 2016-03-18 | 2018-12-14 | 杭州新松机器人自动化有限公司 | A kind of joint encoders arrangement and speed reducer error counteracting method being related to robot |
| CN105716862A (en) * | 2016-04-11 | 2016-06-29 | 四川志方科技有限公司 | Transmission error testing device for RV reducer |
| CN105716861B (en) * | 2016-04-11 | 2019-03-19 | 四川志方科技有限公司 | RV retarder torsion stiffness detection device and its implementation |
| CN110926800A (en) * | 2018-09-18 | 2020-03-27 | 天津市浩航科技有限公司 | Gearbox fatigue testing machine |
| CN112857795A (en) * | 2020-10-28 | 2021-05-28 | 库卡机器人(广东)有限公司 | Device and method for testing transmission error of speed reducer |
| CN112557030A (en) * | 2020-12-23 | 2021-03-26 | 黑龙江恒能自控科技有限公司 | Equipment for testing speed reducer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN101865768A (en) * | 2009-09-23 | 2010-10-20 | 电子科技大学 | Servo reducer performance parameter testing device |
| CN102607844A (en) * | 2012-04-10 | 2012-07-25 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
| CN203688220U (en) * | 2013-12-26 | 2014-07-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
-
2013
- 2013-12-26 CN CN201320870219.8U patent/CN203688220U/en not_active Expired - Lifetime
-
2014
- 2014-12-26 WO PCT/CN2014/095055 patent/WO2015096799A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN101865768A (en) * | 2009-09-23 | 2010-10-20 | 电子科技大学 | Servo reducer performance parameter testing device |
| CN102607844A (en) * | 2012-04-10 | 2012-07-25 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
| CN203688220U (en) * | 2013-12-26 | 2014-07-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555554A (en) * | 2017-12-28 | 2018-09-21 | 南京磁谷科技有限公司 | A kind of 300kW magnetic suspension host rotating dress matches debugging tool |
| CN113037017A (en) * | 2020-12-30 | 2021-06-25 | 浙江工业大学 | Device for measuring mechanical zero position of driving mechanism and mechanically zeroing and zeroing method |
| CN113037017B (en) * | 2020-12-30 | 2024-05-14 | 浙江工业大学 | Device and method for measuring mechanical zero position of driving mechanism and performing mechanical zero setting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN203688220U (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2015096799A1 (en) | Speed reducer testing apparatus | |
| WO2015096798A1 (en) | Speed reducer testing apparatus | |
| WO2015096796A1 (en) | Speed reducer testing device | |
| CN102901625A (en) | System for testing comprehensive performance of reducer for robot joint | |
| CN103234572A (en) | Check system for LabVIEW-based automobile instrument | |
| CN105716862A (en) | Transmission error testing device for RV reducer | |
| CN203149382U (en) | Virtual apparatus bus product calibration platform | |
| CN102628899A (en) | Three-degree-of-freedom electromagnetic interference automatic test device and method | |
| CN203455835U (en) | Bus triggering backplate applied to PXI (PCI extension for instrumentation) test platform | |
| CN102997841B (en) | Rotary vector (RV) reducer back clearance measuring system | |
| CN200941156Y (en) | Controller of realizing multiple measurements and control function by single port | |
| CN101034096A (en) | Six dimensional RSS acceleration transducer | |
| CN102950463B (en) | A kind of license plate trim automatic Composition production system | |
| CN203911823U (en) | Ethernet-based electromotor controller and control system | |
| CN201514297U (en) | Test set for friction force dynamic process | |
| CN103471913B (en) | A kind of flexible electric circuit board testing machine TT&C system based on ARM and method | |
| CN112557030A (en) | Equipment for testing speed reducer | |
| CN105934662A (en) | Speed reducer testing apparatus | |
| CN204374293U (en) | A kind of current detection module of frequency converter | |
| CN103604448B (en) | Absolute type encoder | |
| CN202498409U (en) | Dynamic characteristic detection device for feeding system of PCB drilling machine | |
| WO2020138705A1 (en) | Control device for gantry stage having deviation control unit | |
| CN207395771U (en) | A kind of motor-locating mechanism of electromechanical testing machine | |
| CN205049228U (en) | High -speed data acquisition device of developments track scale | |
| CN206648625U (en) | A kind of desk-top survey internal spline special purpose measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14875571 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 14875571 Country of ref document: EP Kind code of ref document: A1 |