CN104374569A - RV reducer transmission feature test system - Google Patents

RV reducer transmission feature test system Download PDF

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Publication number
CN104374569A
CN104374569A CN201410594449.5A CN201410594449A CN104374569A CN 104374569 A CN104374569 A CN 104374569A CN 201410594449 A CN201410594449 A CN 201410594449A CN 104374569 A CN104374569 A CN 104374569A
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CN
China
Prior art keywords
speed reduction
reduction unit
measured
charger
expansion sleeve
Prior art date
Application number
CN201410594449.5A
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Chinese (zh)
Other versions
CN104374569B (en
Inventor
张靖
朱忠刚
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浙江双环传动机械股份有限公司
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Priority to CN201410594449.5A priority Critical patent/CN104374569B/en
Publication of CN104374569A publication Critical patent/CN104374569A/en
Application granted granted Critical
Publication of CN104374569B publication Critical patent/CN104374569B/en

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Abstract

The invention relates to a test device, in particular to an RV reducer transmission feature test system which comprises a base. An RV support, a torque sensor and a loading device are arranged on the base. The RV support is provided with a mounting hole. The mounting hole is detachably provided with a connection plate for arranging an RV reducer to be tested. The two sides of the connection plate are each provided with an angular displacement sensor matched with an input shaft and an output shaft of the RV reducer to be tested. The torque sensor is used for detecting the torsional moment of the RV reducer to the tested. The loading device is used for controlling the load of the RV reducer to be tested. The RV reducer transmission feature test system is simple in structure and high in measuring accuracy, and the object to be tested is easy and convenient to replace.

Description

RV speed reduction unit drive characteristic test macro

Technical field

The present invention relates to a kind of proving installation, having particularly related to one for testing RV speed reduction unit drive characteristic test macro.

Background technology

RV speed reduction unit is a kind of cycloidal type precision speed reduction device the most conventional, there is compact conformation, kinematic accuracy be high, ratio of gear is large, load-bearing capacity is high, vibrate little, noise is low and low power consumption and other advantages, be mainly used in industrial robot joint position, general industrial robot has multiple degree of freedom, and the quality of the transmission performance of each joint speed reduction unit directly affects the integral working of industrial robot.

Along with improving constantly of industrial production automation and precise treatment degree, the demand of industrial robot increases fast, development high performance RV speed reduction unit is just important all the more, in the research and development of RV speed reduction unit and processing and manufacturing process, detect its drive characteristic to evaluate and Curve guide impeller rationality, be must be little one of link.Because there is very large difference the characteristic aspects such as the physical dimension of the RV speed reduction unit of different model and nominal torque, all lack a set of test macro that can realize the test of multiple model RV speed reduction unit transmission performance easily all the time.Existing RV speed reduction unit along with size from small to large, its power that can transmit, i.e. torque load, also from small to large not etc.In prior art, usually RV speed reduction unit is divided into the less and larger two profiles number of nominal torque according to the parameter such as torque load and nominal torque.Such as, RV6E, RV20E, RV40E etc. in existing RV speed reduction unit because of its nominal torque be no more than 412Nm therefore be categorized as the RV speed reduction unit of nominal torque compared with ting model, and RV80E, 110E, 160E etc. are because their nominal torque is relatively large and ratio of gear is categorized as the RV speed reduction unit of relatively large number of nominal torque compared with die.

Summary of the invention

To the present invention is directed in prior art certain or some defect, provide a kind of RV speed reduction unit drive characteristic test macro.

In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:

RV speed reduction unit drive characteristic test macro, it comprises pedestal, pedestal is provided with RV support, torque sensor and charger, RV support is provided with mounting hole, mounting hole place is detachably provided with the web joint for arranging RV speed reduction unit to be measured, and web joint both sides are respectively equipped with the angular displacement sensor coordinated with the input shaft of RV speed reduction unit to be measured, output shaft; Torque sensor is for detecting the torsional moment of RV speed reduction unit to be measured, and charger is for controlling the load of RV speed reduction unit to be measured.

The present invention, when carrying out transmission accuracy, torsional rigidity and return difference, detent torque test to RV speed reduction unit, accurately can test the RV speed reduction unit of less and relatively large number nominal torque, make applicability of the present invention strong.RV support of the present invention is provided with mounting hole, and the RV speed reduction unit of Multiple Type is that the web joint by matching is arranged on mounting hole, and this structure ensure that the present invention can arrange the RV speed reduction unit of Multiple Type, ensure that normally carrying out of follow-up test.Web joint both sides of the present invention can be provided with the angular displacement sensor coordinated with the input shaft of RV speed reduction unit to be measured, output shaft, by the PCI numbered card supporting with angular displacement sensor, the data such as input shaft, the windup-degree of output shaft in operation process of collection RV speed reduction unit to be measured that can be real-time, process accordingly the data gathered and analyze the transmission accuracy that can draw RV speed reduction unit to be measured.The present invention is also provided with torque sensor and charger, when accurately testing the RV speed reduction unit of different model, charger can be chosen to be suitable load mode, torque sensor can measure the precise load value of RV speed reduction unit to be measured, which ensure that the present invention accurately can test the RV speed reduction unit of Multiple Type, and can accurate control load value, ensure that the accuracy of test data.

As preferably, can also comprise locking system, locking system can be located on web joint thus the axle head of locking RV speed reduction unit to be measured.

As preferably, locking system can also comprise the fixed flange and the first expansion sleeve that are fixed together, and the first expansion sleeve is for holding the axle head of RV speed reduction unit to be measured tightly, and fixed flange is used for affixed with web joint.

The present invention also comprises locking system, locking system can be fixed on web joint and to carry out locking to the corresponding axle head of RV speed reduction unit to be measured, when carrying out such as torsional rigidity and return difference, detent torque test etc. to RV speed reduction unit to be measured, test after needing the corresponding axle locking by RV speed reduction unit to be measured.Locking system of the present invention can comprise the fixed flange and the first expansion sleeve that are fixed together; utilize the corresponding axle of expansion sleeve locking RV to be measured speed reduction unit; expansion sleeve installation, adjustment, convenient disassembly; intensity is high; connective stability is reliable, and the corresponding axle of RV speed reduction unit to be measured can be protected not to be damaged when overloading.Fixed flange can be easy dismounting on web joint, this makes the corresponding axle locking to RV speed reduction unit to be measured that locking system of the present invention can be easy, stable, thus ensure follow-up test in the present invention stable, carry out efficiently.

As preferably, charger adopts and loads ring flange and the second expansion sleeve coordinates, and the second expansion sleeve is used for loading ring flange and be fixed in the axle head of RV speed reduction unit to be measured, loads ring flange and is provided with loading lever, load lever and be used for hanging counterweight.

As preferably, charger adopts loading disc and the 3rd expansion sleeve to coordinate, and the 3rd expansion sleeve is used for axle head loading disc being fixed in RV speed reduction unit to be measured, and winding rope on loading disc, rope is walked around supporting disk rearward end and hung counterweight.

As preferably, charger adopts magnetic powder brake.

Of the present inventionly provide multiple charger, charger apparently easyly can be arranged on load shaft part of the present invention by its specific structure, by changing charger easily, can realize carrying out multifrequency nature test to the RV speed reduction unit of Multiple Type.

As preferably, pedestal can also be provided with conduit in the longitudinal direction, conduit xsect is " convex " font, and RV support, torque sensor and charger are all arranged on pedestal by bolt, and the head of described bolt is located in conduit.

Pedestal upper end of the present invention can also be provided with many parallel T-slot roads, this makes RV support, torque sensor, charger etc. in the present invention all can be arranged on conduit by bolt, this structure of conduit, mechanism on pedestal of the present invention can be fixed on pedestal when bolt screws tight, can carry out horizontal shift on pedestal when bolt looseness, this makes charger of the present invention and web joint to install or remove easily.

The present invention is by different axle head fixing tools and load mode, for the test mode that the speed reduction unit that nominal torque is less adopts fixing speed reduction unit input end and loads at output terminal, for the test mode that the speed reduction unit that nominal torque is larger adopts fixing speed reduction unit output terminal and loads at input end, can realize to the drive characteristics such as multiple model RV speed reduction unit transmission accuracy, detent torque, torsional rigidity and return difference true, accurately detect, structure of the present invention is simple, measurand change easy, measuring accuracy is high.

Accompanying drawing explanation

Fig. 1 is the structural representation of RV speed reduction unit drive characteristic test macro in the embodiment of the present invention 1;

Fig. 2 is the vertical view of Fig. 1;

Fig. 3 is the side view of Fig. 1;

Fig. 4 is the schematic diagram in the embodiment of the present invention 1, RV speed reduction unit to be measured being carried out to transmission accuracy test;

Fig. 5 is the structural representation of RV support in Fig. 1;

Fig. 6 is the cut-open view of Fig. 5;

Fig. 7 be when torsional rigidity and return difference, detent torque test being carried out to ting model RV to be measured speed reduction unit in the embodiment of the present invention 1 RV speed reduction unit to be measured schematic diagram is set;

Fig. 8 is the schematic diagram of charger used when carrying out torsional rigidity and return difference, detent torque test to ting model RV to be measured speed reduction unit in the embodiment of the present invention 1;

Fig. 9 is the schematic diagram of medium-and-large-sized number of the embodiment of the present invention 1 RV speed reduction unit to be measured charger used when carrying out torsional rigidity and return difference, detent torque test;

Figure 10 be medium-and-large-sized number of the embodiment of the present invention 1 RV speed reduction unit to be measured when carrying out torsional rigidity and return difference, detent torque test RV speed reduction unit to be measured schematic diagram is set.

The toponym that in accompanying drawing, each number designation refers to is as follows:

100, pedestal; 110, RV support; 120, web joint; 121, angular encoder; 130, the first shaft coupling; 140, torque sensor; 141, the first support; 150, the second shaft coupling; 160, bearing seat; 161, the second support; 170, charger; 171, the 3rd support; 180, conduit; 210, servomotor; 220, end cap is inputted; 230, end cap is exported; 240, the 3rd shaft coupling; 410, control module; 420, data acquisition processing device; 430, the 4th shaft coupling; 440, rotary encoder; 450, RV speed reduction unit to be measured; 510, mounting hole; 710, fixed flange; 720, the first expansion sleeve; 810, ring flange is loaded; 820, the second expansion sleeve; 830, lever is loaded; 831, groove is hung; 840, the first counterweight; 910, loading disc; 920, the 3rd expansion sleeve; 930, supporting disk; 940, supporting disk support; 950, rope; 960, the second counterweight.

Embodiment

Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.

Embodiment 1

As shown in Figure 1, Figure 2, Figure 3 shows, for the RV speed reduction unit drive characteristic test macro of the present embodiment, it comprises pedestal 100, pedestal 100 is provided with conduit 180 in the longitudinal direction, conduit 180 xsect is " convex " font, RV support 110, torque sensor 140 and charger 170 are all arranged on pedestal 100 by bolt, and the head of described bolt is located in conduit 180.RV speed reduction unit to be measured can be located on RV support 110 by web joint 120, and torque sensor 140 can be arranged on pedestal 100 by the first support 141, and charger 170 can be arranged on pedestal 100 by the 3rd support 171.The axle of RV speed reduction unit to be measured can be connected with torque sensor 140 by the first shaft coupling 130, bearing seat 160 is provided with between torque sensor 140 and charger 170, bearing seat 160 is located on pedestal 100 by the second support 161, bearing seat 160 is provided with bearing axle, torque sensor 140 can be connected with bearing axle by the second shaft coupling 150, and charger 170 can be connected with bearing axle by the 3rd shaft coupling 240.

As shown in Figure 5, Figure 6, disclose the structure of RV support 110 in the present embodiment, its central authorities are provided with mounting hole 510, and the profile of mounting hole 510 and the periphery of web joint 120 adapt, and web joint 120 can be located on mounting hole 510 by screw.

As shown in Figure 4, when adopting the RV speed reduction unit drive characteristic test macro of the present embodiment to carry out transmission accuracy test to RV speed reduction unit 450 to be measured, RV speed reduction unit 450 to be measured is located on RV support 110 by supporting web joint 120, the side of web joint 120 is provided with the input end cap 220 for supporting RV speed reduction unit 450 input shaft to be measured, and the opposite side of web joint 120 is provided with the output end cap 230 for supporting RV speed reduction unit 450 output shaft to be measured.The input shaft of RV speed reduction unit 450 to be measured is connected with servomotor 210 by the 4th shaft coupling 430, and the output shaft of RV speed reduction unit 450 to be measured is connected with torque sensor 140 by the first shaft coupling 130, and servomotor 210 is installed on the end of input end cap 220.The input shaft that rotary encoder 440 is through RV speed reduction unit 450 to be measured is fixed on web joint 120, for detecting the input shaft angular displacement information of RV speed reduction unit 450 to be measured.The output shaft that angular encoder 121 is through RV speed reduction unit 450 to be measured is fixed in the end exporting end cap 230, for detecting the output shaft angular displacement information of RV speed reduction unit 450 to be measured.Charger 170 adopts magnetic powder brake, and the axle of magnetic powder brake is connected with bearing axle by the 3rd shaft coupling 240.Control module 410 comprises servo-driver, motion control card, stabilized current supply and interlock circuit, and it is for realizing the accurate control of the rotating speed of servomotor 210, torque and magnetic powder brake payload.Data acquisition processing device 420 comprises computing machine, numbered card, data collecting card, relative program, software, it is for the information of synchronous acquisition rotary encoder 440, angular encoder 121 and torque sensor 140, and the information gathered is processed, and then draw the drive characteristic parameter such as driving error, idle running return difference of RV speed reduction unit 450 to be measured and analyze its feature.

As shown in Figure 7, Figure 8, when adopting the RV speed reduction unit drive characteristic test macro of the present embodiment to carry out torsional rigidity and return difference, detent torque test to ting model RV speed reduction unit 450 to be measured, remove input end cap 220, utilize fixed flange 710 and the input shaft of the first expansion sleeve 720 to RV speed reduction unit 450 to be measured to carry out locking.Take the 3rd shaft coupling 240 apart, the second expansion sleeve 820 is utilized to be locked on bearing axle by loading ring flange 810, the edge loading ring flange 810 can be arranged with and load lever 830, and loading lever 830 is provided with and hangs groove 831, hangs on groove 831 and can hang the first counterweight 840.By adding and subtracting the applying that the first counterweight 840 realizes RV speed reduction unit 450 load to be measured, precise load value is measured by torque sensor 140, and the windup-degree of output shaft is drawn by angular encoder 121.

As shown in Figure 9, Figure 10, when adopting the RV speed reduction unit drive characteristic test macro of the present embodiment to carry out torsional rigidity and return difference, detent torque test to large model RV speed reduction unit 450 to be measured, take the first shaft coupling 130 apart and remove and export end cap 230, fixed flange 710 and the output shaft of the first expansion sleeve 720 to RV speed reduction unit 450 to be measured is utilized to carry out locking, RV speed reduction unit 450 input shaft to be measured is connected with torque sensor 140 by the first shaft coupling 130, and torque sensor is connected with bearing axle by the 3rd shaft coupling 240.The 3rd expansion sleeve 920 is utilized to be locked on bearing axle by loading disc 910, winding 2 ropes 950 on loading disc 910,2 different supporting disk 930 rearward end walked around respectively by described 2 ropes 950 can hang the second counterweight 960, and supporting disk 930 is arranged on pedestal 100 by supporting disk support 940.Realize the applying to RV speed reduction unit 450 load to be measured by increasing and decreasing the second counterweight 960, precise load value is measured by torque sensor 140, and the windup-degree of input shaft is measured by rotary encoder 440.

In a word, the foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.

Claims (7)

1.RV speed reduction unit drive characteristic test macro, it is characterized in that: comprise pedestal (100), pedestal (100) is provided with RV support (110), torque sensor (140) and charger (170), RV support (110) is provided with mounting hole (510), mounting hole (510) place is detachably provided with the web joint (120) for arranging RV speed reduction unit to be measured, and web joint (120) both sides are respectively equipped with the angular displacement sensor coordinated with the input shaft of RV speed reduction unit to be measured, output shaft; Torque sensor (140) is for detecting the torsional moment of RV speed reduction unit to be measured, and charger (170) is for controlling the load of RV speed reduction unit to be measured.
2. RV speed reduction unit drive characteristic test macro according to claim 1, is characterized in that: also comprise locking system, and locking system can be located at web joint (120) and go up thus the axle head of locking RV speed reduction unit to be measured.
3. RV speed reduction unit drive characteristic test macro according to claim 2, it is characterized in that: locking system comprises the fixed flange (710) and the first expansion sleeve (720) that are fixed together, first expansion sleeve (720) is for holding the axle head of RV speed reduction unit to be measured tightly, and fixed flange (710) is for affixed with web joint (120).
4. RV speed reduction unit drive characteristic test macro according to claim 1, it is characterized in that: charger (170) adopts and loads ring flange (810) and the second expansion sleeve (820) cooperation, second expansion sleeve (820) is fixed in the axle head of RV speed reduction unit to be measured for loading ring flange (810), loading ring flange (810) and be provided with loading lever (830), loading lever (830) for hanging counterweight.
5. RV speed reduction unit drive characteristic test macro according to claim 1, it is characterized in that: charger (170) adopts loading disc (910) and the 3rd expansion sleeve (920) to coordinate, 3rd expansion sleeve (920) is for being fixed in the axle head of RV speed reduction unit to be measured by loading disc (910), the upper winding rope (950) of loading disc (910), rope (950) is walked around supporting disk (930) rearward end and is hung counterweight.
6. RV speed reduction unit drive characteristic test macro according to claim 1, is characterized in that: charger (170) adopts magnetic powder brake.
7. RV speed reduction unit drive characteristic test macro according to claim 1, it is characterized in that: pedestal (100) is provided with in the longitudinal direction conduit (180), conduit (180) xsect is " convex " font, RV support (110), torque sensor (140) and charger (170) are all arranged on pedestal (100) by bolt, and the head of described bolt is located in conduit (180).
CN201410594449.5A 2014-10-29 2014-10-29 RV retarders drive characteristic tests system CN104374569B (en)

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CN201410594449.5A CN104374569B (en) 2014-10-29 2014-10-29 RV retarders drive characteristic tests system

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Application Number Priority Date Filing Date Title
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CN104374569B CN104374569B (en) 2018-04-17

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104880314A (en) * 2015-06-15 2015-09-02 北京工业大学 Novel structure of RV reducer combination property tester
CN105181329A (en) * 2015-10-13 2015-12-23 西安交通大学 Comprehensive test platform for industrial robot joint reducer
CN105588498A (en) * 2016-03-04 2016-05-18 中南大学 RV speed reducer static backlash testing device
CN105716769A (en) * 2016-04-11 2016-06-29 四川志方科技有限公司 Starting torque testing device for RV reducer and implementation method of testing device
CN105784351A (en) * 2016-03-04 2016-07-20 中南大学 RV speed reducer transmission return difference testing device
CN105890898A (en) * 2016-06-27 2016-08-24 江苏兰菱机电科技有限公司 Hysteresis curve measuring device
CN106019149A (en) * 2016-05-31 2016-10-12 西安航天计量测试研究所 Stepping motor moment loading device and loading method
CN106078790A (en) * 2016-06-27 2016-11-09 江苏兰菱机电科技有限公司 Snapback locking device
CN106441883A (en) * 2016-11-30 2017-02-22 中南大学 Comprehensive performance resting experiment table for precision speed reduction device
CN106595925A (en) * 2016-10-28 2017-04-26 北京新立机械有限责任公司 Servo mechanism bearing pretightening force detection device
CN106644463A (en) * 2016-11-16 2017-05-10 南京工程学院 Dynamic test device used for precise speed reducer
CN107300468A (en) * 2017-06-28 2017-10-27 重庆大学 The quiet dynamic measurement device of precise planetary reducer angular transmission error and its measuring method
CN108760291A (en) * 2018-04-11 2018-11-06 重庆理工大学 A kind of speed changer high speed motion transmission error test measurement method
CN108918142A (en) * 2017-11-07 2018-11-30 成都双创时代科技有限公司 A kind of robot RV speed reducer full-automatic testing instrument

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104880314B (en) * 2015-06-15 2017-11-21 北京工业大学 A kind of new structure in RV decelerators general performance test
CN104880314A (en) * 2015-06-15 2015-09-02 北京工业大学 Novel structure of RV reducer combination property tester
CN105181329A (en) * 2015-10-13 2015-12-23 西安交通大学 Comprehensive test platform for industrial robot joint reducer
CN105181329B (en) * 2015-10-13 2017-12-26 西安交通大学 A kind of industrial robot joint decelerator comprehensive test platform
CN105784351A (en) * 2016-03-04 2016-07-20 中南大学 RV speed reducer transmission return difference testing device
CN105784351B (en) * 2016-03-04 2018-10-02 中南大学 A kind of RV retarders transmission return difference test device
CN105588498A (en) * 2016-03-04 2016-05-18 中南大学 RV speed reducer static backlash testing device
CN105716769A (en) * 2016-04-11 2016-06-29 四川志方科技有限公司 Starting torque testing device for RV reducer and implementation method of testing device
CN106019149A (en) * 2016-05-31 2016-10-12 西安航天计量测试研究所 Stepping motor moment loading device and loading method
CN106078790A (en) * 2016-06-27 2016-11-09 江苏兰菱机电科技有限公司 Snapback locking device
CN105890898A (en) * 2016-06-27 2016-08-24 江苏兰菱机电科技有限公司 Hysteresis curve measuring device
CN106595925A (en) * 2016-10-28 2017-04-26 北京新立机械有限责任公司 Servo mechanism bearing pretightening force detection device
CN106644463A (en) * 2016-11-16 2017-05-10 南京工程学院 Dynamic test device used for precise speed reducer
CN106441883A (en) * 2016-11-30 2017-02-22 中南大学 Comprehensive performance resting experiment table for precision speed reduction device
CN107300468A (en) * 2017-06-28 2017-10-27 重庆大学 The quiet dynamic measurement device of precise planetary reducer angular transmission error and its measuring method
CN108918142A (en) * 2017-11-07 2018-11-30 成都双创时代科技有限公司 A kind of robot RV speed reducer full-automatic testing instrument
CN108760291A (en) * 2018-04-11 2018-11-06 重庆理工大学 A kind of speed changer high speed motion transmission error test measurement method

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