CN105716769A - Starting torque testing device for RV reducer and implementation method of testing device - Google Patents
Starting torque testing device for RV reducer and implementation method of testing device Download PDFInfo
- Publication number
- CN105716769A CN105716769A CN201610218938.XA CN201610218938A CN105716769A CN 105716769 A CN105716769 A CN 105716769A CN 201610218938 A CN201610218938 A CN 201610218938A CN 105716769 A CN105716769 A CN 105716769A
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- China
- Prior art keywords
- decelerator
- screw mandrel
- tested
- controller
- slide rail
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
Abstract
The invention discloses a starting torque testing device for an RV reducer and an implementation method of the testing device and mainly solves the problem that no testing device special for the starting torque for the RV reducer exists in the prior art.The starting torque testing device for the RV reducer comprises a testing table, a drive motor, a first bearing seat, an encoder, a testing support, a second bearing seat, a torque sensor, a speed reducer and a loading motor, and the drive motor, the first bearing seat, the encoder, the testing support, the second bearing seat, the torque sensor, the speed reducer and the loading motor are sequentially connected to the testing tale horizontally and coaxially; the RV reducer is arranged between the testing support and the second bearing.According to the technical scheme, the starting torque for the RV reducer can be tested, and the starting torque testing device for the RV reducer and the implementation method of the testing device have high practical values and promotion values.
Description
Technical field
The present invention relates to a kind of decelerator tripping force torque test device, specifically, relate to a kind of RV decelerator tripping force torque test device.
Background technology
The RV transmission harmonic drive conventional compared with in robot has much higher fatigue strength, rigidity and life-span, and return difference stable accuracy, will significantly reduce along with the use time increases kinematic accuracy unlike harmonic drive, therefore many countries high precision machines people's transmissions many employings RV decelerator in the world, therefore RV decelerator has, in advanced robot transmission, the development trend replacing harmonic speed reducer gradually.
Now it is not specifically designed for the test device of RV decelerator staring torque；Because of the factor of manual operation and test systemic resolution, now relevant RV decelerator test device because causing that the result of final measurement is accurate not in the process of test；RV decelerator has a variety of model, and in the process of test, the RV decelerator of large-size is not easily accessed test device, and the use scope making test device is limited.
Summary of the invention
The problem to be solved in the present invention is the existing test device not being specifically designed for RV decelerator staring torque；The result of relevant test device to test is accurate not, and use is limited in scope.
In order to solve the problems referred to above, the present invention provides following technical scheme:
RV decelerator tripping force torque test device includes testboard, level and is coaxially connected to the drive motor on testboard, clutch shaft bearing seat, encoder, test bracket, the second bearing block, torque sensor, decelerator, loading motor in turn；Tested RV decelerator is arranged between test bracket, the second bearing block.
Specifically, the outfan of encoder is connected to controller；The outfan of torque sensor is connected with the signal input part of controller；The signal output part that controller is corresponding is connected with the signal input part of drive motor and loading motor；Controller is connected to display, printer.
Further, testboard is provided with the first screw mandrel slide rail；It is connected with the first screw mandrel in first screw mandrel slide rail；The free end of the first screw mandrel is connected to the first handwheel；Drive motor and clutch shaft bearing seat are arranged on the first screw mandrel slide rail.
Further, testboard is provided with the second screw mandrel slide rail；It is connected with the second screw mandrel in second screw mandrel slide rail；The free end of the second screw mandrel is connected to the second handwheel；Second bearing block, torque sensor, decelerator are arranged on the second screw mandrel slide rail；First handwheel and the second handwheel lay respectively at the opposite side of testboard.
The method that realizes of RV decelerator tripping force torque test device comprises the following steps:
A tested RV decelerator is first carried out no-load test by (), after no-load test terminates；Tested RV accelerator cards is made to be connected between test bracket, the second bearing block by drive motor；
B () completes step (a) and by loading motor, tested RV decelerator is carried out forward afterwards and at the uniform velocity load, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information transmission are to controller；
C () completes step (a) and carries out reversely at the uniform velocity loading to tested RV decelerator by loading motor afterwards, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information also send to controller；
D () according to the moment of torsion received and angular displacement information, draws the curve chart changing over angle signal and output torque in the process middle controller of step (b) and step (c).
Compared with prior art, the method have the advantages that and respectively tested RV decelerator is carried out clamping and loading by drive motor and loading motor；Can ensure at once to carry out staring torque test after no-load test completes；Its angular displacement and torque value is tested respectively by encoder and torque sensor, controller detects its torque value when angular displacement changes, the present invention transmits information by the signal of telecommunication and obtains a result, same curves interface is accurately obtained start end and rotates the outfan torque value of moment, make the requirement accurately measuring staring torque be achieved；Making the result that the present invention records more accurate, labor intensity is low, workable；Can passing through the first handwheel and the second handwheel can fully regulate the distance between test bracket, the second bearing block, can reserve the space of the tested RV decelerator of enough installing/dismountings, the present invention is applicable to the staring torque test of the RV decelerator of needles of various sizes；The use making the present invention is wider.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the control block diagram of the present invention.
In above-mentioned accompanying drawing, the component names that accompanying drawing labelling is corresponding is as follows:
1-testboard, 2-drive motor, 3-clutch shaft bearing seat, 4-encoder, 5-test bracket, 6-the second bearing block, 7-torque sensor, 8-decelerator, 9-loading motor, the tested RV decelerator of 10-, 11-controller, 12-display, 13-printer, 14-has the first screw mandrel slide rail, 15-the first screw mandrel, 16-the first handwheel, 17-the second screw mandrel slide rail, 18-the second screw mandrel, 19-the second handwheel.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and embodiments of the present invention include but not limited to the following example.
Embodiment 1
As it is shown in figure 1, RV decelerator tripping force torque test device includes testboard 1, level and the drive motor 2 being coaxially connected in turn on testboard 1, clutch shaft bearing seat 3, encoder 4, test bracket the 5, second bearing block 6, torque sensor 7, decelerator 8, loading motor 9；Tested RV decelerator 10 is arranged between test bracket the 5, second bearing block 6；The outfan of encoder 4 is connected to controller 11；The outfan of torque sensor 7 is connected with the signal input part of controller 11；The signal output part of controller 11 correspondence is connected with the signal input part of drive motor 2 and loading motor 9；Controller 11 is connected to display 12, printer 13.
Wherein, connected by shaft coupling between drive motor 2 and clutch shaft bearing seat 3；Encoder 4, test bracket the 5, second bearing block 6, torque sensor 7, decelerator connect each through shaft coupling between adjacent component；Controller 11 also can connect input equipment, and input equipment includes mouse and keyboard etc. and has the equipment of input function；Respectively tested RV decelerator 10 is carried out clamping and loading by drive motor 2 and loading motor 9；Its angular displacement and torque value is tested respectively by encoder 4 and torque sensor 7, controller 11 detects its torque value when angular displacement changes, and the present invention transmits information by the signal of telecommunication and obtains a result, and makes the result that the present invention records more accurate, labor intensity is low, workable.
Embodiment 2
As in figure 2 it is shown, the difference that the present embodiment is from embodiment 1 is in that, testboard 1 is provided with the first screw mandrel slide rail 14；The first screw mandrel 15 it is connected with in first screw mandrel slide rail 14；The free end of the first screw mandrel 15 is connected to the first handwheel 16；Drive motor 2 and clutch shaft bearing seat 3 are arranged on the first screw mandrel slide rail 14；Testboard 1 is provided with the second screw mandrel slide rail 17；The second screw mandrel 18 it is connected with in second screw mandrel slide rail 17；The free end of the second screw mandrel 18 is connected to the second handwheel 19；Second bearing block 6, torque sensor 7, decelerator are arranged on the second screw mandrel slide rail 17；First handwheel 16 and the second handwheel 19 lay respectively at the opposite side of testboard 1；Can fully regulating the distance between test bracket the 5, second bearing block 6 by the first handwheel 16 and the second handwheel 19, can reserve the space of the tested RV decelerator 10 of enough installing/dismountings, the present invention is applicable to the staring torque test of the RV decelerator of needles of various sizes；The use making the present invention is wider.
The method that realizes of RV decelerator tripping force torque test device is first tested RV decelerator to be carried out no-load test, respectively it is being carried out forward and reverse at the uniform velocity loading after no-load test；Forward and the reverse process at the uniform velocity loaded record its moment of torsion and angular displacement, draws the torque value when angular displacement changes by controller；It specifically comprises the following steps that
Tested RV decelerator is first carried out no-load test by 1.1, after no-load test terminates；Tested RV accelerator cards is made to be connected between test bracket, the second bearing block by drive motor；By gear running-in once, the staring torque reference value that examination finally records is more accurate for no-load test；
1.2 complete step 1.1 after by loading motor, tested RV decelerator is carried out forward and at the uniform velocity loads, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information transmission are to controller；
1.3 complete step 1.1 after carry out reversely at the uniform velocity loading to tested RV decelerator by loading motor, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information transmission are to controller；
1.4 step 1.2 and step 1.3 process middle controller according to receive moment of torsion and angular displacement information, draw change over angle signal and output torque curve chart.
Complete step 1.1-1.4 and then complete the test to tested RV decelerator staring torque；Show that tested RV decelerator changes over angle signal and the curve chart of output torque；The curve chart changing over angle signal and output torque is sent to display by controller；Print also by printer；People can look at the staring torque reference value to tested RV decelerator from display or the paper printed.
According to above-described embodiment, the present invention just can be realized well.What deserves to be explained is; under premise based on said structure design, for solving same technical problem, even if some making in the present invention are without substantial change or polishing; the essence of the technical scheme adopted is still the same with the present invention, therefore it should also be as in protection scope of the present invention.
Claims (5)
1. a RV decelerator tripping force torque test device, including testboard (1), it is characterized in that, also include level and the drive motor (2) being coaxially connected in turn on testboard (1), clutch shaft bearing seat (3), encoder (4), test bracket (5), the second bearing block (6), torque sensor (7), decelerator (8), loading motor (9)；Tested RV decelerator (10) is arranged between test bracket (5), the second bearing block (6).
2. RV decelerator tripping force torque test device according to claim 1, it is characterised in that the outfan of encoder (4) is connected to controller (11)；The outfan of torque sensor (7) is connected with the signal input part of controller (11)；The signal output part that controller (11) is corresponding is connected with the signal input part of drive motor (2) and loading motor (9)；Controller (11) is connected to display (12), printer (13).
3. RV decelerator tripping force torque test device according to claim 2, it is characterised in that testboard (1) is provided with the first screw mandrel slide rail (14)；It is connected with the first screw mandrel (15) in first screw mandrel slide rail (14)；The free end of the first screw mandrel (15) is connected to the first handwheel (16)；Drive motor (2) and clutch shaft bearing seat (3) are arranged on the first screw mandrel slide rail (14).
4. RV decelerator tripping force torque test device according to claim 3, it is characterised in that testboard (1) is provided with the second screw mandrel slide rail (17)；It is connected with the second screw mandrel (18) in second screw mandrel slide rail (17)；The free end of the second screw mandrel (18) is connected to the second handwheel (19)；Second bearing block (6), torque sensor (7), decelerator are arranged on the second screw mandrel slide rail (17)；First handwheel (16) and the second handwheel (19) lay respectively at the opposite side of testboard (1).
5. the RV decelerator tripping force torque test device according to any one of claim 1-4 realize method, it is characterised in that comprise the following steps:
A tested RV decelerator is first carried out no-load test by (), after no-load test terminates；Tested RV accelerator cards is made to be connected between test bracket, the second bearing block by drive motor；
B () completes step (a) and by loading motor, tested RV decelerator is carried out forward afterwards and at the uniform velocity load, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information transmission are to controller；
C () completes step (a) and carries out reversely at the uniform velocity loading to tested RV decelerator by loading motor afterwards, torque sensor and the encoder moment of torsion of the tested RV decelerator of Real-time Collection respectively, angular displacement information also send to controller；
D () according to the moment of torsion received and angular displacement information, draws the curve chart changing over angle signal and output torque in the process middle controller of step (b) and step (c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218938.XA CN105716769A (en) | 2016-04-11 | 2016-04-11 | Starting torque testing device for RV reducer and implementation method of testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218938.XA CN105716769A (en) | 2016-04-11 | 2016-04-11 | Starting torque testing device for RV reducer and implementation method of testing device |
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| CN105716769A true CN105716769A (en) | 2016-06-29 |
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| CN201610218938.XA Pending CN105716769A (en) | 2016-04-11 | 2016-04-11 | Starting torque testing device for RV reducer and implementation method of testing device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197998A (en) * | 2016-07-06 | 2016-12-07 | 黄山良业阀门有限公司 | Decelerator transmission efficiency test device |
| CN106248371A (en) * | 2016-07-15 | 2016-12-21 | 芜湖赛宝信息产业技术研究院有限公司 | A kind of wide range harmonic wave speed reducing machine test platform |
| CN106353023A (en) * | 2016-09-26 | 2017-01-25 | 苏州朗高电机有限公司 | Torque sensor protection 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 |
| CN106769022A (en) * | 2017-01-23 | 2017-05-31 | 重庆大学 | Decelerator transmission performance test device |
| CN107655688A (en) * | 2017-10-30 | 2018-02-02 | 福建省鲤东精密机械有限公司 | A kind of RV decelerators comprehensive detection device |
| CN109406144A (en) * | 2018-12-21 | 2019-03-01 | 浙江双环传动机械股份有限公司 | RV decelerator moment and noise precision measurement apparatus and its method |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110057485A (en) * | 2019-04-23 | 2019-07-26 | 上海三菱电梯有限公司 | A kind of the braking moment setting device and method of spindle brake |
| CN115979625A (en) * | 2023-03-21 | 2023-04-18 | 成都中良川工科技有限公司 | Speed reducer testing device |
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| CN205580641U (en) * | 2016-04-11 | 2016-09-14 | 四川志方科技有限公司 | RV reduction gear start -up force moment testing arrangement |
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| JP2014073061A (en) * | 2012-10-02 | 2014-04-21 | Seiko Epson Corp | Characteristic measurement method for electromechanical device, and characteristic measurement device for electromechanical device |
| CN102901625A (en) * | 2012-10-11 | 2013-01-30 | 西安交通大学 | System for testing comprehensive performance of reducer for robot joint |
| CN103091102A (en) * | 2013-01-30 | 2013-05-08 | 温州大学 | Robot reducer transmission performance comprehensive testing device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197998A (en) * | 2016-07-06 | 2016-12-07 | 黄山良业阀门有限公司 | Decelerator transmission efficiency test device |
| CN106248371A (en) * | 2016-07-15 | 2016-12-21 | 芜湖赛宝信息产业技术研究院有限公司 | A kind of wide range harmonic wave speed reducing machine test platform |
| CN106353023A (en) * | 2016-09-26 | 2017-01-25 | 苏州朗高电机有限公司 | Torque sensor protection 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 |
| CN106769022A (en) * | 2017-01-23 | 2017-05-31 | 重庆大学 | Decelerator transmission performance test device |
| CN107655688A (en) * | 2017-10-30 | 2018-02-02 | 福建省鲤东精密机械有限公司 | A kind of RV decelerators comprehensive detection device |
| CN109406144A (en) * | 2018-12-21 | 2019-03-01 | 浙江双环传动机械股份有限公司 | RV decelerator moment and noise precision measurement apparatus and its method |
| CN109406144B (en) * | 2018-12-21 | 2023-07-25 | 浙江环动机器人关节科技有限公司 | RV reducer moment and noise precise measurement device and method thereof |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110057485A (en) * | 2019-04-23 | 2019-07-26 | 上海三菱电梯有限公司 | A kind of the braking moment setting device and method of spindle brake |
| CN110057485B (en) * | 2019-04-23 | 2021-12-17 | 上海三菱电梯有限公司 | Braking torque setting device and method of spindle brake |
| CN115979625A (en) * | 2023-03-21 | 2023-04-18 | 成都中良川工科技有限公司 | Speed reducer testing device |
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