CN106053062A - RV reducer comprehensive test bench - Google Patents
RV reducer comprehensive test bench Download PDFInfo
- Publication number
- CN106053062A CN106053062A CN201610577087.8A CN201610577087A CN106053062A CN 106053062 A CN106053062 A CN 106053062A CN 201610577087 A CN201610577087 A CN 201610577087A CN 106053062 A CN106053062 A CN 106053062A
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- decelerator
- measured
- torque sensor
- support
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses an RV reducer comprehensive test bench, which can test multiple performance parameters such as the angle transfer error, the return difference, the torsional rigidity, the service life, the temperature rise, the efficiency and the torque of the high-precision RV reducer. The RV reducer comprehensive test bench comprises a base, and a servo motor, a linear motor, a first torque sensor, a first high-precision angle encoder, a to-be-tested RV reducer bracket, a mounting flange disc, a temperature sensor, a second torque sensor, a second high-precision angle encoder, a diaphragm coupling and a brake arranged above the base. The mounting flange disc can be replaced, and thus, test on reducers of multiple types can be realized. compared with other test instruments, the RV reducer comprehensive test bench of the invention has the advantages that the test efficiency and the test precision are greatly enhanced; the performance is reliable; the test repetition is good; the operation for replacing a tested object is simple; the mounting and positioning precision is high; and the cost is low.
Description
Technical field
The present invention relates to a kind of RV decelerator combined test stand, belong to precision measurement measurement technology, Precision Instrument and Machinery
Transmission field.
Background technology
Developing rapidly at industrial robot, RV decelerator is used in industrial robot joint position, is whole robot
One of core component, its precision is most important in industrial robot.RV decelerator is had gear ratio big by industrial robot,
Rigidity is relatively big, and kinematic accuracy is high, and transmission efficiency is high, and return difference is less waits requirement.Performance indications for RV decelerator have: return difference,
Angular transmission error, torsional rigidity, transmission efficiency, temperature rise, torque rigidity etc..
When RV decelerator is widely used, need strictly the performance of RV decelerator to be tested, therefore many tests are flat
Platform is widely used.But, existing RV decelerator test device, repeating to install measuring accuracy cannot ensure, installs
Operating complex, all-round property testing is difficult to, and the suitability for product polytypic is not strong, thus causes whole device
Testing efficiency is low, and overall measuring accuracy is the highest.
Summary of the invention
It is an object of the invention to provide a kind of RV decelerator combined test stand, it is possible to the angle of test High Precision RV Reducer
The multinomial performance parameters such as transmission error, return difference, torsional rigidity, life-span, temperature rise, efficiency and torque, novel in design, rational in infrastructure,
Use, easy for installation, repeatable accuracy is reliable, it is possible to realizes the test of product polytypic, improves testing efficiency.
A kind of RV decelerator combined test stand, including base, described base is provided with guide rail, is used for installing linear electric motors；
RV decelerator to be measured, RV reducer stent to be measured, the second angular encoder support, the second high accuracy it is also equipped with on described base
Angular encoder, the second torque sensor support, the second torque sensor, brake and brake support frame；Described linear electric motors
On be separately installed with servomotor, servomotor support, the first torque sensor, the first torque sensor support, first high-precision
Degree angular encoder, the first angular encoder support；Described RV decelerator to be measured is fixed on RV to be measured by mounting flange and subtracts
On speed device support；Described servomotor and the first torque sensor are connected by primary diaphragm shaft coupling, and described first moment of torsion passes
Sensor and the first High-precision angle encoder are connected by secondary diaphragm shaft coupling, described first High-precision angle encoder and treating
The power shaft surveying RV decelerator is connected by tertiary membrane sheet sensor, the output shaft of described RV decelerator to be measured and the second high accuracy
Angular encoder passes through the 4th diaphragm coupling, described second High-precision angle encoder and the second torque sensor by the 5th
Diaphragm coupling connects, and described second torque sensor and brake are connected by the 6th diaphragm coupling；Described first angle
On encoder support, temperature sensor is installed.
Described servomotor support, the first torsion sensor support and the first angular encoder support are separately mounted to directly
On the guide rail of line motor, it is simple to when dismounting RV decelerator to be measured, moving guide rail, vacate appropriate space, it is simple to operation is installed, anti-
Only resetting error.
The first described torque sensor and the second torque sensor be respectively used to gather RV decelerator to be measured input and
Output torque, the actual output torque gathering servomotor also tested by the first torque sensor simultaneously.
The first described High-precision angle encoder and the second High-precision angle encoder are respectively used to gather RV to be measured and subtract
The input of speed device and output angle, it is known that the speed ratio of RV decelerator to be measured, the data of collection, through Treatment Analysis, just can obtain angle of departure
The performance parameters such as degree transmission error.
Described temperature sensor is arranged on the first angular encoder support, it is preferred to use infrared temperature sensor, root
Different according to measurand model, regulate infrared direction, it is simple to the moment monitors the temperature of RV decelerator to be measured, and data acquisition is to work
On control machine, it is simple to draw the temperature rise of RV decelerator to be measured.
Described RV reducer stent to be measured is provided with the mounting-positioning holes for mounting flange and groove, described groove
Inside being provided with stopper slot, described stopper slot is the rectangle of cause not of uniform size equally distributed, adjacent, it is simple to identifies and installs sprocket bit
Put, substantially increase the installation accuracy of mounting flange.RV decelerator to be measured for each model is equipped with different Method for Installations
Blue dish, can change mounting flange, to realize the test of the RV decelerator of polytypic.
Input and the output shaft end of two described High-precision angle encoders are all connected by diaphragm coupling, it is to avoid high
Precision angular encoder is directly connected in torsion sensor connecting shaft the moment loading being transmitted through by connecting shaft, causes height
There is bigger error between angle of torsion and the actual torque angle of RV decelerator to be measured of precision angular encoder collection, thus protect
Demonstrate,prove the certainty of measurement of High-precision angle encoder.
Described diaphragm coupling, can compensate between power shaft and output shaft due to foozle, alignment error, load metamorphism
And the impact etc. of temperature rise change caused axial, radially and angularly offset, can accurately transmit rotating speed, operating is without slip, biography
Efficiency of movement is higher, improves transmission accuracy.
The RV decelerator combined test stand of the present invention, preferably ensures to repeat the positioning precision installing RV decelerator to be measured；
The many performance parameter tests of polytypic can be realized；The supplemental characteristic of test is monitored in real time, and automatically calculates test data；
It is convenient that the operation of this testboard is installed, compact conformation, rationally, and precision is higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of RV decelerator combined test stand of the present invention；
Fig. 2 is the structural representation of RV reducer stent to be measured；
Fig. 3 is the electrical principle frame diagram of RV decelerator combined test stand of the present invention.
Detailed description of the invention
The invention will be further described with example below in conjunction with the accompanying drawings.
In figure: 1-base, 2-linear electric motors, 3-servomotor, 4-servomotor support, 5-primary diaphragm shaft coupling, 6-
First torque sensor, 7-the first torque sensor support, 8-secondary diaphragm shaft coupling, 9-the first High-precision angle encoder,
10-the first angular encoder support, 11-temperature sensor, 12-tertiary membrane sheet sensor, 13-RV to be measured decelerator, 14-installs
Ring flange, 15-RV to be measured reducer stent, 1501-groove, 1502-stopper slot, 16-the 4th diaphragm coupling, 18-second is high
Precision angular encoder, 17-the second angular encoder support, 19-the 5th diaphragm coupling, 20-the second torque sensor, 21-
Second torque sensor support, 22-the 6th diaphragm coupling, 23-brake, 24-brake support frame.
As depicted in figs. 1 and 2, a kind of RV decelerator combined test stand, including base 1, base 1 is provided with guide rail, is used for
Positioning linear motor 2 is installed, described base 1 is also equipped with RV decelerator 13 to be measured, RV reducer stent to be measured 15, second jiao
Degree encoder support the 17, second High-precision angle encoder the 18, second torque sensor support the 21, second torque sensor 20,
Brake support frame 24 and brake 23；Be separately installed with on described linear electric motors 2 servomotor 3, servomotor support 4,
One torque sensor the 6, first torque sensor support the 7, first High-precision angle encoder the 9, first angular encoder support 10；
Described RV decelerator to be measured 13 is fixed on RV reducer stent 15 to be measured by mounting flange 14, servomotor 3 and first
Torque sensor 6 is connected by primary diaphragm shaft coupling 5, and the first torque sensor 6 and the first High-precision angle encoder 9 pass through
Secondary diaphragm shaft coupling 8 connects, and the power shaft of the first High-precision angle encoder 9 and RV decelerator 13 to be measured passes through tertiary membrane sheet
Sensor 12 connects, and the output shaft of RV decelerator 13 to be measured and the second High-precision angle encoder 18 are by the 4th diaphragm coupling
16 connect, and the second High-precision angle encoder 18 and the second torque sensor 20 are connected by the 5th diaphragm coupling 19, and second
Torque sensor 20 and brake 23 are connected by the 6th diaphragm coupling 22；Temperature sensor 11 is arranged on the first angular coding
On device support 10.
Wherein, base 1 is provided with multiple guide groove, and servomotor 3, servomotor support 4, primary diaphragm shaft coupling 5, first are turned round
Square sensor the 6, first torque sensor support 7, secondary diaphragm shaft coupling the 8, first High-precision angle encoder the 9, first angle
Encoder support 10 is all mounted on linear electric motors 2 track, convenient location, and clamping is installed, simple to operate, simultaneously can
Concentrate due to last stress with minimizing material, prevent mounting seat face end from producing the deformation of trace, in order to avoid the survey of impact entirety
Examination precision.
In above-described embodiment, by mounting flange 14, RV decelerator 13 to be measured is arranged on RV reducer stent 15 to be measured
On, it is applicable to the test of Multiple Type.Wherein, RV reducer stent 15 to be measured is provided with the installation location of mounting flange 14
Hole and groove 1501, limited location groove 1502 in groove, stopper slot 1502 is the rectangular of cause not of uniform size equally distributed, adjacent
Shape, it is simple to identify and install position location, substantially increase the installation accuracy of mounting flange.RV to be measured for each model slows down
Device 13 is equipped with mounting flange 14, the profile installation dimension difference of each model when, can change mounting flange 14,
Achieve the test of the RV decelerator of polytypic.
In above-described embodiment, servomotor support the 4, first torsion sensor support 7 and the first angular encoder support 10
It is arranged on linear electric motors 2 guide rail, when being thus easy to dismount RV decelerator 13 to be measured, by operation industrial computer, gives signal,
Through driver just energy precisely moving guide rail, vacate appropriate space, it is simple to RV decelerator 13 to be measured is installed, operate safety, letter
Single installation.Control motion guide rail through linear electric motors 2, be to utilize linear electric motors advantage, prevent from moving in artificial repetitive operation leading
Trueness error during rail.Structure of the linear motion actuator is compact, power attenuation is little, rapid traverse speed high, by the way of directly driving load,
The high precision position location that can realize repeating motion controls.
Described first torque sensor 6 and the second torque sensor 20 are respectively used to gather the input of RV decelerator 13 to be measured
With output torque.After gathering data, through the analytical calculation of data, RV decelerator input and output actual torque value can be calculated.The
The torque of actual output gathering servomotor 3 also tested by one torque sensor 6, verify the output torque of servomotor theory and
Actual output torque value.First High-precision angle encoder 9 and the second High-precision angle encoder 18 are respectively used to gather to be measured
The input of RV decelerator 13 and output angle, it is known that the speed ratio of RV decelerator 13 to be measured, the data of collection are through Treatment Analysis, just
The performance parameters such as angular transmission error can be drawn.
Described temperature sensor 11 is arranged on the first angular encoder support 10, have employed infrared temperature sensor, root
Different according to measurand model, regulate infrared direction, it is simple to the moment monitors the temperature of RV decelerator 13 to be measured, and data acquisition is arrived
On industrial computer, it is simple to draw the temperature rise of RV decelerator 13 to be measured.
The RV decelerator combined test stand of the present invention, straight-line electric function is when repeating to install RV decelerator to be measured, it is ensured that watch
Take the location positioning precision of motor, the first torsion sensor and the first high-precision angle sensor；By the peace of mounting flange
Dress hole is integrated or more transducing realizes the many performance parameter tests of polytypic；RV reducer stent to be measured is provided with detent, just
In installing location, it is ensured that its positional precision；The parameter transmitted by the data of sensor, can be supervised on industrial computer in real time
Survey, and can automatically calculate the multinomial performance test data such as angular transmission error, return difference, torsional rigidity, efficiency, temperature rise；Should
Testboard operation safety, it is convenient to install, compact conformation, rationally, and precision is higher.
Claims (3)
1. a RV decelerator combined test stand, it is characterised in that: include that base, described base are provided with guide rail, be used for installing
Linear electric motors；Be also equipped with on described base RV decelerator to be measured, RV reducer stent to be measured, the second angular encoder support,
Second High-precision angle encoder, the second torque sensor support, the second torque sensor, brake and brake support frame；
Servomotor, servomotor support, the first torque sensor, the first torque sensing it is separately installed with on described linear electric motors
Device support, the first High-precision angle encoder, the first angular encoder support；
Described RV decelerator to be measured is fixed on RV reducer stent to be measured by mounting flange；
Described servomotor and the first torque sensor are connected by primary diaphragm shaft coupling, described first torque sensor and
One High-precision angle encoder is connected by secondary diaphragm shaft coupling, and described first High-precision angle encoder and RV to be measured slow down
The power shaft of device is connected by tertiary membrane sheet sensor, the output shaft of described RV decelerator to be measured and the second High-precision angle coding
Device passes through the 4th diaphragm coupling, described second High-precision angle encoder and the second torque sensor by the 5th diaphragm shaft coupling
Device connects, and described second torque sensor and brake are connected by the 6th diaphragm coupling；
On described first angular encoder support, temperature sensor is installed.
A kind of RV decelerator combined test stand the most according to claim 1, it is characterised in that: described RV decelerator to be measured props up
Frame is provided with mounting-positioning holes and groove, is provided with stopper slot in described groove.
A kind of RV decelerator combined test stand the most according to claim 1, it is characterised in that: described temperature sensor is
Infrared temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610577087.8A CN106053062A (en) | 2016-07-21 | 2016-07-21 | RV reducer comprehensive test bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610577087.8A CN106053062A (en) | 2016-07-21 | 2016-07-21 | RV reducer comprehensive test bench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106053062A true CN106053062A (en) | 2016-10-26 |
Family
ID=57187491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610577087.8A Pending CN106053062A (en) | 2016-07-21 | 2016-07-21 | RV reducer comprehensive test bench |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106596004A (en) * | 2017-01-04 | 2017-04-26 | 南京工程学院 | RV speed reducer support stiffness testing 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 |
| CN106802241A (en) * | 2017-01-18 | 2017-06-06 | 安徽江淮汽车集团股份有限公司 | Gear transmission error test device and method |
| CN107036806A (en) * | 2016-12-08 | 2017-08-11 | 华南理工大学 | A kind of RV decelerators retardant curve test device and method |
| CN107167056A (en) * | 2017-05-19 | 2017-09-15 | 北京工业大学 | A kind of detection RV Key Part of Cycloid Cam Planetary Speed Reducer and the experimental rig of needle bearing material abrasion |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| 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 |
| CN108982104A (en) * | 2018-09-13 | 2018-12-11 | 珠海格力智能装备有限公司 | Test platform |
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN109612721A (en) * | 2018-12-18 | 2019-04-12 | 济南大学 | A kind of replaceable model RV retarder comprehensive test platform of open type |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN109781405A (en) * | 2019-01-07 | 2019-05-21 | 湖北工业大学 | A kind of RV retarder mounting device for RV retarder comprehensive experiment table |
| CN109883697A (en) * | 2019-04-10 | 2019-06-14 | 苏州鼎智瑞光智能科技有限公司 | A kind of RV retarder return difference measuring test-bed |
| CN110095288A (en) * | 2019-05-17 | 2019-08-06 | 重庆理工大学 | A kind of robot speed reducer comprehensive performance off-line test experimental rig and test method |
| CN110346135A (en) * | 2019-08-12 | 2019-10-18 | 福建省特种设备检验研究院 | A kind of ultrahigh precision gear-box test macro |
| CN110926804A (en) * | 2019-11-29 | 2020-03-27 | 北京工道风行智能技术有限公司 | Speed reducer evaluation device |
| CN111520456A (en) * | 2020-04-29 | 2020-08-11 | 浙江大学昆山创新中心 | Intelligent speed reducer |
| CN111610018A (en) * | 2020-05-11 | 2020-09-01 | 北京精密机电控制设备研究所 | 15 t-level planetary roller screw testing device |
| CN111795822A (en) * | 2020-06-12 | 2020-10-20 | 上海大学 | RV reduction gear system torsional frequency characteristic testing arrangement |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN112781874A (en) * | 2020-12-30 | 2021-05-11 | 广东石油化工学院 | Petrochemical rotating unit gearbox fault diagnosis simulation device |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN113865861A (en) * | 2021-09-26 | 2021-12-31 | 华中农业大学 | High-precision robot joint reducer comprehensive performance testing device and assembling method thereof |
| CN114199553A (en) * | 2021-11-11 | 2022-03-18 | 华中科技大学 | Lightweight RV reduction gear comprehensive properties testing arrangement |
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| 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 |
| CN107036806B (en) * | 2016-12-08 | 2023-07-11 | 华南理工大学 | RV reducer hysteresis curve testing device and method |
| CN107036806A (en) * | 2016-12-08 | 2017-08-11 | 华南理工大学 | A kind of RV decelerators retardant curve test device and method |
| CN106596004A (en) * | 2017-01-04 | 2017-04-26 | 南京工程学院 | RV speed reducer support stiffness testing device |
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| CN107167056B (en) * | 2017-05-19 | 2019-12-13 | 北京工业大学 | Test device for detecting wear of materials of cycloidal gear and needle bearing of RV reducer |
| CN107167056A (en) * | 2017-05-19 | 2017-09-15 | 北京工业大学 | A kind of detection RV Key Part of Cycloid Cam Planetary Speed Reducer and the experimental rig of needle bearing material abrasion |
| 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 |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN108982104A (en) * | 2018-09-13 | 2018-12-11 | 珠海格力智能装备有限公司 | Test platform |
| CN109612721A (en) * | 2018-12-18 | 2019-04-12 | 济南大学 | A kind of replaceable model RV retarder comprehensive test platform of open type |
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN109781405A (en) * | 2019-01-07 | 2019-05-21 | 湖北工业大学 | A kind of RV retarder mounting device for RV retarder comprehensive experiment table |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN109883697A (en) * | 2019-04-10 | 2019-06-14 | 苏州鼎智瑞光智能科技有限公司 | A kind of RV retarder return difference measuring test-bed |
| CN110095288A (en) * | 2019-05-17 | 2019-08-06 | 重庆理工大学 | A kind of robot speed reducer comprehensive performance off-line test experimental rig and test method |
| CN110346135A (en) * | 2019-08-12 | 2019-10-18 | 福建省特种设备检验研究院 | A kind of ultrahigh precision gear-box test macro |
| CN110926804A (en) * | 2019-11-29 | 2020-03-27 | 北京工道风行智能技术有限公司 | Speed reducer evaluation device |
| CN112917511B (en) * | 2019-12-06 | 2022-08-02 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN111520456A (en) * | 2020-04-29 | 2020-08-11 | 浙江大学昆山创新中心 | Intelligent speed reducer |
| CN111610018A (en) * | 2020-05-11 | 2020-09-01 | 北京精密机电控制设备研究所 | 15 t-level planetary roller screw testing device |
| CN111795822A (en) * | 2020-06-12 | 2020-10-20 | 上海大学 | RV reduction gear system torsional frequency characteristic testing arrangement |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
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