CN102607844B - Vertical experiment table for precise performance test of small-tooth-difference planetary reducer - Google Patents
Vertical experiment table for precise performance test of small-tooth-difference planetary reducer Download PDFInfo
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Abstract
本发明公开了一种少齿差行星减速器性能精密测试竖直实验台，包括安装支架和均呈竖直安装在所述安装支架上的驱动电机、分别与所述驱动电机输出轴和被测减速器输入轴相连的输入端转矩仪、与被测减速器输出轴相连的输出端角度编码器、与所述输出端角度编码器输出轴相连的输出端转矩仪、与所述输出端转矩仪的输出轴相连的止推盘，所述驱动电机上设有电机端角度编码器，且所述驱动电机和输入端转矩仪之间通过刚性联轴器相连。通过将驱动电机、被测减速器、输出端角度编码器和输出端转矩仪竖直设置，有效避免了重力引起的装配误差，安装调试方便，自动化程度高，测试精度高，通用性强，能够同时对被测减速器的多种动态特性进行测试。
The invention discloses a vertical test platform for precision testing of the performance of a planetary reducer with small tooth difference, which comprises a mounting bracket and a driving motor vertically installed on the mounting bracket, respectively connected to the output shaft of the driving motor and the tested An input torque meter connected to the input shaft of the reducer, an output angle encoder connected to the output shaft of the tested reducer, an output torque meter connected to the output shaft of the output angle encoder, and an output torque meter connected to the output shaft A thrust plate connected to the output shaft of the torque meter, an angle encoder at the motor end is provided on the drive motor, and the drive motor and the torque meter at the input end are connected through a rigid coupling. By vertically setting the driving motor, the tested reducer, the output end angle encoder and the output end torque meter, the assembly error caused by gravity is effectively avoided, the installation and debugging are convenient, the degree of automation is high, the test accuracy is high, and the versatility is strong. It can test various dynamic characteristics of the tested reducer at the same time.
Description
技术领域 technical field
本发明涉及一种减速器测试装置，具体的为一种少齿差行星减速器性能精密测试竖直实验台，主要用于通用型的谐波减速器或滤波减速器的性能测试。 The invention relates to a speed reducer testing device, in particular to a vertical test bench for precise performance testing of a planetary speed reducer with small tooth difference, which is mainly used for performance testing of general-purpose harmonic speed reducers or filter speed reducers.
背景技术 Background technique
谐波减速器以其高精度、低噪音、轻重量、大速比等优点，而被日益广泛地应用于航空航天、仪器仪表、机器人关节、机床等精密传动领域。谐波减速器的运行状态直接影响整个传动系统的运行的性能。为保证其高精密、高可靠和长寿命，这就要求我们通过必要的静态和动态方面的测试以及分析来准确地掌握减速器的运行性能。 Harmonic reducers are increasingly widely used in precision transmission fields such as aerospace, instrumentation, robot joints, and machine tools due to their advantages such as high precision, low noise, light weight, and large speed ratio. The operating state of the harmonic reducer directly affects the performance of the entire transmission system. In order to ensure its high precision, high reliability and long life, this requires us to accurately grasp the operating performance of the reducer through necessary static and dynamic tests and analysis.
传统的谐波减速器性能测试实验台都是水平式的，一般只能对减速器的一种或两种动态特性进行测试，通用性不强。即便有些实验台能对减速器的多种动态特性进行测试，也需要多次工装，调整实验台及设备，耗时费力，且难以控制安装精度。 Traditional harmonic reducer performance test benches are all horizontal, and generally only one or two dynamic characteristics of the reducer can be tested, and the versatility is not strong. Even if some test benches can test various dynamic characteristics of the reducer, multiple tooling is required, and the adjustment of the test bench and equipment is time-consuming and laborious, and it is difficult to control the installation accuracy.
有鉴于此，本发明旨在探索一种少齿差行星减速器性能精密测试竖直实验台，该实验台不仅结构简单，而且能够在同一个工装下对减速器的多种动态特性进行测试，测试精度更高。 In view of this, the present invention aims to explore a vertical test bench for precise performance testing of a planetary reducer with small tooth difference. The test accuracy is higher.
发明内容 Contents of the invention
本发明要解决的技术问题是提出一种少齿差行星减速器性能精密测试竖直实验台，该少齿差行星减速器性能精密测试竖直实验台不仅结构简单，实施方便，而且能够在同一个工装下对减速器的多种动态特性进行测试，测试精度更高。 The technical problem to be solved by the present invention is to propose a vertical test bench for precise performance testing of planetary reducers with small tooth difference. Various dynamic characteristics of the reducer are tested under one tooling, and the test accuracy is higher.
要实现上述技术目的，本发明的少齿差行星减速器性能精密测试竖直实验台，包括安装支架和转轴均呈竖直安装在所述安装支架上的驱动电机、分别与所述驱动电机输出轴和被测减速器输入轴相连的输入端转矩仪、与被测减速器输出轴相连的输出端角度编码器、与所述输出端角度编码器输出轴相连的输出端转矩仪、与所述输出端转矩仪的输出轴相连的止推盘，所述驱动电机上设有电机端角度编码器，且所述驱动电机和输入端转矩仪之间通过刚性联轴器相连。 To achieve the above-mentioned technical purpose, the vertical test bench for precise testing of the performance of the planetary reducer with small tooth difference of the present invention includes a drive motor with a mounting bracket and a rotating shaft that are vertically installed on the mounting bracket, respectively outputted with the drive motor. The shaft is connected to the input end torque meter of the tested reducer input shaft, the output end angle encoder is connected to the measured reducer output shaft, the output end torque meter is connected to the output end angle encoder output shaft, and A thrust plate connected to the output shaft of the torque meter at the output end, an angle encoder at the motor end is provided on the drive motor, and the drive motor and the torque meter at the input end are connected through a rigid coupling.
进一步，还包括固定安装在所述输出端转矩仪与所述止推盘之间的转轴上的惯性负载； Further, it also includes an inertial load fixedly installed on the rotating shaft between the torque meter at the output end and the thrust plate;
进一步，所述惯性负载上设有呈环形均布并用于安装质量调节块的至少两个质量调节孔，所述质量调节孔为偶数个； Further, the inertial load is provided with at least two mass adjustment holes uniformly distributed in a ring and used for installing mass adjustment blocks, and the mass adjustment holes are an even number;
进一步，还包括固定安装在所述安装支架上的减速器安装架，所述被测减速器固定安装在所述减速器安装架上； Further, it also includes a reducer installation frame fixedly installed on the installation bracket, and the tested reducer is fixedly installed on the reducer installation frame;
进一步，所述被测减速器的输出轴与所述输出端角度编码器的输入轴之间通过弹性联轴器I相连； Further, the output shaft of the measured speed reducer is connected with the input shaft of the output angle encoder through an elastic coupling I;
进一步，所述输出端角度编码器的输出轴与所述输出端转矩仪的输入轴之间通过弹性联轴器II相连； Further, the output shaft of the angle encoder at the output end is connected to the input shaft of the torque meter at the output end through an elastic coupling II;
进一步，所述输出端转矩仪的输出轴与惯性负载之间通过弹性联轴器III相连； Further, the output shaft of the torque meter at the output end is connected to the inertial load through an elastic coupling III;
进一步，所述安装支架包括底部支座、固定安装在所述底部支座上方的中间支座、固定安装在所述中间支座上方的竖直安装罐和固定安装在所述竖直安装罐上方的顶部支架，所述竖直安装罐的中部设有安装隔板； Further, the installation bracket includes a bottom support, an intermediate support fixedly installed above the bottom support, a vertical installation tank fixedly installed above the intermediate support, and a vertical installation tank fixedly installed above the vertical installation tank. The top bracket, the middle part of the vertical installation tank is provided with an installation partition;
进一步，所述驱动电机固定安装在所述顶部支架的顶端，所述输入端转矩仪固定安装在所述顶部支架内，所述减速器安装架固定安装在所述竖直安装罐的顶部，所述输出端角度编码器固定安装在所述中间隔板上，所述输出端转矩仪固定安装在所述中间支座内，所述止推盘固定安装在底部支座上。 Further, the driving motor is fixedly installed on the top of the top bracket, the input torque meter is fixedly installed in the top bracket, and the reducer mounting bracket is fixedly installed on the top of the vertical installation tank, The output angle encoder is fixedly installed on the middle partition, the output torque meter is fixedly installed in the middle support, and the thrust plate is fixedly installed on the bottom support.
本发明的有益效果为： The beneficial effects of the present invention are:
1、本发明的少齿差行星减速器性能精密测试竖直实验台通过将驱动电机、被测减速器、输出端角度编码器和输出端转矩仪竖直设置，有效避免了重力引起的装配误差，安装调试方便，自动化程度高，测试精度高，通用性强； 1. The vertical test bench for performance precision testing of the planetary reducer with small tooth difference of the present invention effectively avoids assembly caused by gravity by vertically setting the drive motor, the reducer under test, the output end angle encoder and the output end torque meter Error, easy installation and debugging, high degree of automation, high test accuracy, strong versatility;
本发明的少齿差行星减速器性能精密测试竖直实验台能够同时对被测减速器的多种动态特性进行测试： The vertical test bench for the performance precision test of the planetary reducer with small tooth difference of the present invention can simultaneously test various dynamic characteristics of the tested reducer:
1）传动精度测试：通过电机端角度编码器和输出端角度编码器分别测量被测减速器的输入、输出端角度； 1) Transmission accuracy test: measure the input and output angles of the tested reducer through the angle encoder at the motor end and the angle encoder at the output end;
2）回差与扭转刚度测试：固定减速器输出端，并通过电机端角度编码器和输入端转矩仪分别测量被测减速器的输入端角度和转矩； 2) Backlash and torsional rigidity test: fix the output end of the reducer, and measure the angle and torque of the input end of the tested reducer through the angle encoder at the motor end and the torque meter at the input end;
3）传动效率测试：通过输入端转矩仪和输出端转矩仪分别测量被测减速器的输入、输出端转矩； 3) Transmission efficiency test: measure the input and output torques of the tested reducer through the input torque meter and the output torque meter respectively;
4）空载启动转矩测试：通过输入端转矩仪测量被测减速器输入端转矩。 4) No-load starting torque test: Measure the torque at the input end of the tested reducer through the input end torque meter.
2、通过设置惯性负载，通过惯性负载的阻尼作用，能够减小高频成分对被测减速器传动误差测试结果造成的影响，提高测试精度；通过分别在被测减速器和输出端角度编码器之间、在输出端角度编码器和输出端转矩仪之间、以及在输出端转矩仪和惯性负载之间设置弹性联轴器，可以起一定阻尼作用，削弱高频分量向输出编码器传递，可以起到提高测试精度的作用。 2. By setting the inertial load and the damping effect of the inertial load, the influence of high-frequency components on the transmission error test results of the tested reducer can be reduced, and the test accuracy can be improved; Elastic couplings are set between the angle encoder at the output end and the torque meter at the output end, and between the torque meter at the output end and the inertial load, which can play a certain damping role and weaken the high-frequency components to the output encoder. Passing can play a role in improving the test accuracy.
附图说明 Description of drawings
图1为本发明少齿差行星减速器性能精密测试竖直实验台实施例的结构示意图。 Fig. 1 is a schematic structural diagram of an embodiment of a vertical test bench for precise performance testing of a planetary reducer with small tooth difference according to the present invention.
具体实施方式 Detailed ways
下面结合附图对本发明的具体实施方式作详细说明。 The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图1所示，为本发明少齿差行星减速器性能精密测试竖直实验台实施例的结构示意图。本实施例的少齿差行星减速器性能精密测试竖直实验台，包括安装支架和均呈竖直安装在所述安装支架上的驱动电机2、分别与所述驱动电机2输出轴和被测减速器5输入轴相连的输入端转矩仪17、与被测减速器5输出轴相连的输出端角度编码器6、与所述输出端角度编码器6输出轴相连的输出端转矩仪7、与所述输出端转矩仪7的输出轴相连的止推盘9，驱动电机2、被测减速器5、输入端转矩仪17、输出端角度编码器6、转矩仪7和止推盘9的转轴均呈竖直设置。所述驱动电机2上设有电机端角度编码器1，且所述驱动电机2和输入端转矩仪17之间通过刚性联轴器3相连。本实施例的电机端角度编码器1的分辨率为0.072°，输出端角度编码器6的分辨率为0.0018°，选用高分辨率的编码器可以减小仪器误差，提高测试精度。 As shown in Fig. 1, it is a schematic structural diagram of an embodiment of a vertical test bench for precise performance testing of a planetary reducer with small tooth difference in the present invention. The vertical test bench for precise testing of the performance of the planetary reducer with small tooth difference in this embodiment includes a mounting bracket and a drive motor 2 that is vertically installed on the mounting bracket, and is connected to the output shaft of the drive motor 2 and the tested drive motor 2 respectively. The input torque meter 17 connected to the input shaft of the reducer 5, the output angle encoder 6 connected to the output shaft of the measured reducer 5, and the output torque meter 7 connected to the output shaft of the output angle encoder 6 , the thrust plate 9 that links to each other with the output shaft of the output end torque meter 7, the driving motor 2, the measured speed reducer 5, the input end torque meter 17, the output end angle encoder 6, the torque meter 7 and the stopper The rotating shaft of push plate 9 is all vertically arranged. The drive motor 2 is provided with an angle encoder 1 at the motor end, and the drive motor 2 is connected to the torque meter 17 at the input end through a rigid coupling 3 . In this embodiment, the resolution of the angle encoder 1 at the motor end is 0.072°, and the resolution of the angle encoder 6 at the output end is 0.0018°. Selecting a high-resolution encoder can reduce instrument errors and improve test accuracy.
如图所示，所述安装支架包括底部支座12、固定安装在所述底部支座12上方的中间支座13、固定安装在所述中间支座13上方的竖直安装罐15和固定安装在所述竖直安装罐15上方的顶部支架18，所述竖直安装罐15的中部设有安装隔板，采用该结构的安装支架方便各个功能部件的安装。 As shown in the figure, the mounting bracket includes a bottom support 12, an intermediate support 13 fixedly installed above the bottom support 12, a vertical installation tank 15 fixedly installed above the intermediate support 13, and a fixedly installed The top bracket 18 above the vertical installation tank 15, the middle part of the vertical installation tank 15 is provided with an installation partition, and the installation bracket adopting this structure facilitates the installation of various functional components.
本实施例的少齿差行星减速器性能精密测试竖直实验台通过将驱动电机2、被测减速器5、输出端角度编码器6和输出端转矩仪7竖直设置，有效避免了重力引起的装配误差，安装调试方便，自动化程度高，测试精度高，通用性强。且本实施例的少齿差行星减速器性能精密测试竖直实验台能够同时对被测减速器的多种动态特性进行测试： The vertical test bench for precision testing of planetary reducer performance with small tooth difference in this embodiment effectively avoids gravity by setting the drive motor 2, the reducer 5 under test, the output end angle encoder 6 and the output end torque meter 7 vertically. The assembly error caused by the device is convenient for installation and debugging, high degree of automation, high test accuracy, and strong versatility. Moreover, the vertical test bench for precise performance testing of the planetary reducer with small tooth difference in this embodiment can simultaneously test various dynamic characteristics of the tested reducer:
1）传动精度测试：通过电机端角度编码器1和输出端角度编码器6分别测量被测减速器5的输入、输出端角度； 1) Transmission accuracy test: measure the input and output angles of the tested reducer 5 through the angle encoder 1 at the motor end and the angle encoder 6 at the output end;
2）回差与扭转刚度测试：固定减速器5的输出端，并通过电机端角度编码器1和输入端转矩仪17分别测量被测减速器5的输入端角度和转矩； 2) Backlash and torsional rigidity test: fix the output end of the reducer 5, and measure the angle and torque of the input end of the tested reducer 5 through the angle encoder 1 at the motor end and the torque meter 17 at the input end;
3）传动效率测试：通过输入端转矩仪17和输出端转矩仪7分别测量被测减速器5的输入、输出端转矩； 3) Transmission efficiency test: measure the input and output torques of the tested reducer 5 through the input torque meter 17 and the output torque meter 7 respectively;
4）空载启动转矩测试：通过输入端转矩仪17测量被测减速器5的输入端转矩； 4) No-load starting torque test: measure the input end torque of the tested reducer 5 through the input end torque meter 17;
上述测试实验均在同一个工装下进行，避免了调整实验台及设备时造成的安装误差，并省时省力，实验台和设备的安装精度更高，测量精度相应的更高。 The above test experiments are all carried out under the same tooling, which avoids installation errors caused by adjusting the test bench and equipment, and saves time and effort. The installation accuracy of the test bench and equipment is higher, and the measurement accuracy is correspondingly higher.
进一步，本实施例的少齿差行星减速器性能精密测试竖直实验台还包括固定安装在所述安装支架上的减速器安装架4，所述被测减速器5固定安装在所述减速器安装架4上，通过设置减速器安装架4，方便被测减速器5安装更换，提高效率。 Further, the vertical test bench for precision testing of planetary reducer performance with small tooth difference in this embodiment also includes a reducer mounting frame 4 fixedly installed on the mounting bracket, and the tested reducer 5 is fixedly installed on the reducer On the installation frame 4, by setting the reducer installation frame 4, it is convenient to install and replace the tested reducer 5, and the efficiency is improved.
进一步，本实施例的少齿差行星减速器性能精密测试竖直实验台还包括固定安装在所述输出端转矩仪7与所述止推盘9之间的转轴上的惯性负载8。如图所示，本实施例的惯性负载8呈圆盘形，惯性负载8的上下两端分别设有固定夹环10将惯性负载8固定安装在转轴上，防止惯性负载8相对滑动。通过设置惯性负载8，通过惯性负载8的阻尼作用，能够减小高频成分对被测减速器5传动误差测试结果造成的影响，提高测试精度。优选的，所述惯性负载8上设有呈环形均布并用于安装质量调节块11的至少两个质量调节孔，所述质量调节孔为偶数个，本实施例的质量调节孔的数量为6个，并以惯性负载8的中心呈环形均布设置在惯性负载8的上表面上，采用该结构的惯性负载8，能够通过质量调节块11可根据实际工况调节惯性负载8的质量，以满足实验要求。 Further, the vertical test bench for precise performance testing of planetary reducers with small tooth difference in this embodiment also includes an inertial load 8 fixedly installed on the rotating shaft between the torque meter 7 at the output end and the thrust plate 9 . As shown in the figure, the inertial load 8 of this embodiment is disc-shaped, and the upper and lower ends of the inertial load 8 are respectively provided with fixing clamp rings 10 to fix the inertial load 8 on the rotating shaft to prevent the inertial load 8 from sliding relative to each other. By setting the inertial load 8 , through the damping effect of the inertial load 8 , the influence of high-frequency components on the transmission error test result of the tested reducer 5 can be reduced, and the test accuracy can be improved. Preferably, the inertial load 8 is provided with at least two mass adjustment holes uniformly distributed in a ring and used for installing the mass adjustment block 11, the mass adjustment holes are even numbered, and the number of mass adjustment holes in this embodiment is 6 one, and the center of the inertial load 8 is annularly evenly arranged on the upper surface of the inertial load 8, and the inertial load 8 adopting this structure can adjust the quality of the inertial load 8 according to the actual working conditions through the quality adjustment block 11, so as to Meet the experimental requirements.
进一步，所述被测减速器5的输出轴与所述输出端角度编码器6的输入轴之间通过弹性联轴器I 14.1相连，所述输出端角度编码器6的输出轴与所述输出端转矩仪7的输入轴之间通过弹性联轴器II 14.2相连，所述输出端转矩仪7的输出轴与惯性负载8之间通过弹性联轴器III 14.3相连。通过分别在被测减速器5和输出端角度编码器6之间、在输出端角度编码器6和输出端转矩仪7之间、以及在输出端转矩仪7和惯性负载8之间设置弹性联轴器，可以起一定阻尼作用，削弱高频分量向输出编码器传递，可以起到提高测试精度的作用。 Further, the output shaft of the measured reducer 5 is connected to the input shaft of the output-end angle encoder 6 through an elastic coupling I 14.1, and the output shaft of the output-end angle encoder 6 is connected to the output shaft of the output-end angle encoder 6. The input shafts of the torque meter 7 at the end are connected through an elastic coupling II 14.2, and the output shafts of the torque meter 7 at the output end are connected with the inertial load 8 through an elastic coupling III 14.3. By setting between the measured reducer 5 and the output end angle encoder 6, between the output end angle encoder 6 and the output end torque meter 7, and between the output end torque meter 7 and the inertial load 8 The elastic coupling can play a certain damping effect, weaken the transmission of high-frequency components to the output encoder, and can improve the test accuracy.
如图所示，所述驱动电机2通过螺纹紧固件竖直安装在所述顶部支架18的顶端，所述输入端转矩仪17固定安装在所述顶部支架18的底端，所述减速器安装架4固定安装在所述竖直安装罐15的内顶端，被测减速器5固定安装在减速器安装架4的下端，所述输出端角度编码器6固定安装在所述中间隔板下端，所述输出端转矩仪7固定安装在所述中间支座13的内顶端，所述止推盘9固定安装在底部支座12的内隔板上。 As shown in the figure, the drive motor 2 is vertically installed on the top of the top bracket 18 through threaded fasteners, the input end torque meter 17 is fixedly installed on the bottom of the top bracket 18, and the speed reducer The decelerator mounting frame 4 is fixedly installed on the inner top of the vertical mounting tank 15, the measured reducer 5 is fixedly mounted on the lower end of the reducer mounting frame 4, and the output end angle encoder 6 is fixedly mounted on the middle partition At the lower end, the output end torque meter 7 is fixedly installed on the inner top end of the middle support 13 , and the thrust plate 9 is fixedly installed on the inner partition plate of the bottom support 12 .
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。 Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.
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| CN109946070B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | High-precision comprehensive performance detector of precision speed reducer for robot |
| CN110068459B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | Barrel-shaped disc-shaped supporting system |
| CN112857794B (en) * | 2021-03-11 | 2023-04-14 | 苏州普瑞川传动科技有限公司 | Quick detection device of gear error |
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