CN106441881A - Horizontal high-precision detector for comprehensive performances of precision speed reduction device - Google Patents
Horizontal high-precision detector for comprehensive performances of precision speed reduction device Download PDFInfo
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- CN106441881A CN106441881A CN201611026010.8A CN201611026010A CN106441881A CN 106441881 A CN106441881 A CN 106441881A CN 201611026010 A CN201611026010 A CN 201611026010A CN 106441881 A CN106441881 A CN 106441881A
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- speed end
- end moment
- low speed
- closing cylinder
- cylinder
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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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
Abstract
The invention discloses a horizontal high-precision detector for comprehensive performances of a precision speed reduction device. The horizontal high-precision detector comprises a high-speed end moment closed module, a positioning adjusting module and a low-speed end moment closed module, wherein the low-speed end moment closed module comprises a horizontally arranged low-speed end moment closed cylinder; a supporting leg is arranged at the bottom of the low-speed end moment closed cylinder; a loading motor, a reinforcement speed reducer, a low-speed end torque sensor, a low-speed end circular grating and a speed reducer output shaft transform interface are arranged in the low-speed end moment closed cylinder from the right part to the left part in sequence; the high-speed end moment closed module comprises a horizontally arranged high-speed end moment closed cylinder; a high-speed end torque sensor, a high-speed end circular grating and a speed reducer input shaft transform interface are arranged in the high-speed end moment closed cylinder from the left part to the right part in sequence; the high-speed end moment closed cylinder and the low-speed end moment closed cylinder are coaxially arranged and are connected with each other through a tested sensor. The horizontal high-precision detector is little affected by external factors and high in measurement precision.
Description
Technical field
The present invention relates to a kind of precision speed reduction device detection device for combination property, more particularly to a kind of precision speed reduction device synthesis
The horizontal high precision test instrument of performance.
Background technology
Precision speed reduction device is widely used in the every field of national economy and national defense industry, with industrial automation technology
The performance indications of decelerator are required also more and more higher by development, particularly in robot field, the transmission efficiency of decelerator, are turned
Speed requirement and load capacity etc. drastically influence system operating accuracy and service life, and therefore the detection of decelerator become is outstanding
For important.
The development of robot industry and the progressively production domesticization of decelerator, require and demand to the testing equipment of decelerator
More and more higher.And high accurate speed reducer detecting system in the country's generally adopts the horizontal type structure of multistage parts arranged in series at present,
The detected moment of torsion of decelerator is up to thousands of Newton meters, and high torque requires to bring very big challenge to the detection of decelerator, detection
Equipment can be distorted deformation under the influence of high pulling torque, have a strong impact on accuracy of detection.Detect under high pulling torque, high speed conditions
Device structure insufficient rigidity, distortion inaccuracy is easily transmitted, is superimposed or even amplified, and deflection is introduced in testing result, at present also
Not yet propose a kind of effective method and solve this problem.Domestic existing instrument detecting system is often replaced with single sensor accuracy
For instrument integrated measurement accuracy, the impact that actually certainty of measurement of existing measuring system is deformed due to examined device structure,
Not only relevant with the precision of each sensor itself and relevant with the deformation of testing equipment, the structure of only testing equipment is big
Moment of torsion effect under indeformable, could using the precision of single sensor as measuring system precision index.
It is therefore proposed that a kind of effective method, precision speed reduction device comprehensive detection is solved the problems, such as, improve decelerator performance and can
By property, promote development and the market share of domestic decelerator, make the combination property of domestic decelerator reach external product close
Level, substitutes same kind of products at abroad, is significant.
Content of the invention
It is horizontal that the present invention provides a kind of precision speed reduction device combination property for solving technical problem present in known technology
High precision test instrument, the detector is affected less, certainty of measurement height by extraneous factor, and can reduce tracing back for the measuring precision
Source difficulty and the difficulty of error compensation.
The present invention is adopted the technical scheme that by solving technical problem present in known technology：A kind of precision speed reduction device
The horizontal high precision test instrument of combination property, closes including high speed end moment closed module, position adjustment block and low speed end moment
Module；The low speed end moment closed module includes horizontally disposed low speed end moment closing cylinder, seals in the low speed end moment
The bottom for closing cylinder is provided with supporting leg, is sequentially provided with loading motor, reinforcement from right to left and subtracts in low speed end moment closing cylinder
Fast device, low speed end torque sensor, low speed end Circular gratings and reducer output shaft converting interface, the output shaft of the loading motor with
The input shaft connection of the reinforcement decelerator, the output shaft of the reinforcement decelerator and the input of low speed end torque sensor
Axle connects, and the output shaft of low speed end torque sensor is connected with the input shaft of low speed end Circular gratings, the low speed end
The output shaft of Circular gratings is connected with the right mouth of the reducer output shaft converting interface, the loading motor and low speed end torque
Sensor outer housing is affixed with low speed end moment closing cylinder；The high speed end moment closed module includes horizontally disposed high speed
End moment closes cylinder, is sequentially provided with speed end torque sensor, speed end from left to right in high speed end moment closing cylinder
Circular gratings and reducer input shaft converting interface, the input shaft of the speed end torque sensor is connected with motor, the drive
The shell of galvanic electricity machine is fixed in the left end that the high speed end moment closes cylinder, the output shaft of the speed end torque sensor and institute
State the input shaft connection of speed end Circular gratings, the output shaft of the speed end Circular gratings and the reducer input shaft converting interface
Right mouth connection, the speed end torque sensor and the speed end Circular gratings shell are solid with high speed end moment closing cylinder
Connect；The high speed end moment closing cylinder and low speed end moment closing cylinder are coaxially disposed, the high speed end moment closing cylinder
The left end of right-hand member and low speed end moment closing cylinder by together with the cage connection of tested decelerator, the motor
The shell of shell and tested decelerator by the high speed end moment close cylinder link together, the shell of the loading motor and
The shell of tested decelerator is closed cylinder by the low speed end moment and is linked together；The position adjustment block includes that level is led
Rail and cooperation cross sliding clock thereon, the horizontal guide rail is arranged on the underface that the high speed end moment closes cylinder, the two
It is parallel to each other, and the horizontal guide rail is provided with fulcrum bearing, the cross sliding clock is affixed with high speed end moment closing cylinder.
The low speed end moment closing cylinder and high speed end moment closing cylinder cross section are circle.
The detector also includes speed reducer housing transfer panel, and the speed reducer housing transfer panel is sleeved on tested decelerator
On shell, the two is affixed, and the speed reducer housing transfer panel is fixed in the left end of low speed end moment closing cylinder and the height
Between the right-hand member of fast end moment closing cylinder.
The detector also includes vibrating sensor and the second temperature sensor being arranged on tested decelerator, in the drive
First temperature sensor is respectively provided with galvanic electricity machine and the loading motor.
The present invention has the advantages and positive effects that：By high speed end moment close cylinder by motor shell with tested
Speed reducer housing connects together, and the output shaft of motor is connected with tested reducer input shaft, the output torque of motor
It is applied on the input shaft of tested decelerator, its anti-torque is delivered to high speed end moment through the shell of tested decelerator
Closing cylinder, constitutes closing torque by output torque of the motor shell with motor, realizes equalising torque, in the same manner negative
Motor side is carried, a torque closed-loop can be also formed, complete machine structure ensures that systemic effect has two torque closed-loops, can be each
From torque is offset, torque closes the design of cylinder, reduces impact of the supporting construction to detector work torque, and work torque is shielded
Cover in torque closing cylinder, affected by extraneous factor less, and then ensure that certainty of measurement；Additionally, in volume identical feelings
Under condition, the ability of tubular structure opposing torsional deflection is most strong, therefore can effectively reduce casing deformation using cylindrical case, and then
Solve impact of the mechanically deform to certainty of measurement；Tubular structure makes deformation rule simple, reduces the measuring precision and traces to the source and miss
The difficulty of difference compensation, so the present invention solves lower impact of the mechanically deform to certainty of measurement of high pulling torque effect.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
In figure：1st, motor, 2, high speed end moment closing cylinder, 3, speed end torque sensor, 4, speed end Circular gratings,
5th, reducer input shaft converting interface, 6, speed reducer housing transfer panel, 7, reducer output shaft converting interface, 8, low speed end Circular gratings,
9th, low speed end torque sensor, 10, reinforcement decelerator, 11, loading motor, the 12, first temperature sensor, 13, low speed end moment
Closing cylinder, 14, supporting leg, 15, tested decelerator, 16, second temperature sensor, 17, vibrating sensor, 18, cross sliding clock,
19th, horizontal guide rail.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinates accompanying drawing
Describe in detail as follows：
Fig. 1 is referred to, a kind of horizontal high precision test instrument of precision speed reduction device combination property, including high speed end moment closed die
Block, position adjustment block and low speed end moment closed module.
The low speed end moment closed module includes horizontally disposed low speed end moment closing cylinder 13, in low speed end power
The bottom of square closing cylinder 13 is provided with supporting leg 14, is sequentially provided with loading electricity from right to left in low speed end moment closing cylinder 13
Machine 11, reinforcement decelerator 10, low speed end torque sensor 9, low speed end Circular gratings 8 and reducer output shaft converting interface 7, described plus
Carry motor 11 output shaft be connected with the input shaft of the reinforcement decelerator 10, the output shaft of the reinforcement decelerator 10 with described
The input shaft connection of low speed end torque sensor 9, the output shaft of low speed end torque sensor 9 and low speed end Circular gratings
8 input shaft connection, the output shaft of low speed end Circular gratings 8 is connected with the right mouth of the reducer output shaft converting interface 7, institute
State loading motor 11 and 9 shell of low speed end torque sensor affixed with low speed end moment closing cylinder 13.
The high speed end moment closed module includes horizontally disposed high speed end moment closing cylinder 2, in the speed end power
Speed end torque sensor 3, speed end Circular gratings 4 and reducer input shaft switching are sequentially provided with square closing cylinder 2 from left to right
Mouth 5, the input shaft of the speed end torque sensor 3 is connected with motor 1, and the shell of the motor 1 is fixed in institute
State the left end that high speed end moment closes cylinder 2, the output shaft of the speed end torque sensor 3 and the speed end Circular gratings 4
Input shaft connects, and the output shaft of the speed end Circular gratings 4 is connected with the right mouth of the reducer input shaft converting interface 5, described
Speed end torque sensor 3 and 4 shell of speed end Circular gratings are affixed with high speed end moment closing cylinder 2.
The high speed end moment closing cylinder 2 and low speed end moment closing cylinder 13 are coaxially disposed, the high speed end moment
The left end of the closing right-hand member of cylinder 2 and low speed end moment closing cylinder 13 by together with the cage connection of tested decelerator 15,
The shell of the shell of the motor 1 and tested decelerator 15 is closed cylinder 2 by the high speed end moment and is connected
Together, the shell of the shell of the loading motor 11 and tested decelerator 15 is closed cylinder 13 by the low speed end moment and is connected
Together.
The position adjustment block includes horizontal guide rail 19 and cooperation cross sliding clock 18 thereon, the horizontal guide rail 19
The underface that the high speed end moment closes cylinder 2 is arranged on, the two is parallel to each other, and the horizontal guide rail 19 is provided with supporting
Seat, the cross sliding clock 18 is affixed with high speed end moment closing cylinder 2.
In the present embodiment, the low speed end moment closing cylinder 13 and high speed end moment closing 2 cross section of cylinder are circle
Shape, makes the ability of cylindrical case opposing torsional deformation higher.The detector also includes speed reducer housing transfer panel 6, the deceleration
Device shell transfer panel 6 is sleeved on the shell of tested decelerator 15, and the two is affixed, and the speed reducer housing transfer panel 6 is fixed in
Between the right-hand member of the left end of the low speed end moment closing cylinder 13 and high speed end moment closing cylinder 2, decelerator 15 can be made
Shell closes cylinder 13 with the low speed end moment and high speed end moment closing cylinder 2 forms effectively connection.In the present embodiment,
The detector also includes the vibrating sensor 17 being arranged on tested decelerator 15 and second temperature sensor 16, in the driving
First temperature sensor 12 is respectively provided with motor 1 and the loading motor 11.
The using method of the present invention：
One) tested reducer output shaft is fixed on the left mouth of reducer output shaft converting interface,
Two) will be affixed with low speed end moment closing cylinder left end for the shell of tested decelerator,
If speed reducer housing transfer panel need to be used, speed reducer housing transfer panel is enclosed within the shell of tested decelerator, and
The two is fixed together, then will be affixed with low speed end moment closing cylinder left end for speed reducer housing transfer panel,
If not needing speed reducer housing transfer panel, just directly the shell of tested decelerator is sealed with the low speed end moment
Close a left end affixed；
Three) position of the high speed end moment closed module is adjusted using the position adjustment block, makes the decelerator
Input shaft converting interface is docked with tested reducer input shaft,
Four) will be affixed with high speed end moment closing cylinder right-hand member for the shell of tested decelerator,
If being set with speed reducer housing transfer panel on the shell of tested decelerator, by speed reducer housing transfer panel with described
High speed end moment closing cylinder right-hand member is affixed,
If without speed reducer housing transfer panel on the shell of tested decelerator, just directly by the shell of tested decelerator with
The high speed end moment closing cylinder right-hand member is affixed；
Five) then start detector start detection.
Although above in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, but the invention is not limited in
The specific embodiment that states, above-mentioned specific embodiment be only schematically, be not restricted, this area common
Technical staff in the case of without departing from present inventive concept and scope of the claimed protection, may be used also under the enlightenment of the present invention
To make a lot of forms, these belong within protection scope of the present invention.
Claims (4)
1. the horizontal high precision test instrument of a kind of precision speed reduction device combination property, it is characterised in that including high speed end moment closed die
Block, position adjustment block and low speed end moment closed module；
The low speed end moment closed module includes horizontally disposed low speed end moment closing cylinder, closes in the low speed end moment
The bottom of cylinder is provided with supporting leg, is sequentially provided with loading motor, reinforcement from right to left and slows down in low speed end moment closing cylinder
Device, low speed end torque sensor, low speed end Circular gratings and reducer output shaft converting interface, the output shaft of the loading motor and institute
State the input shaft connection of reinforcement decelerator, the output shaft of the reinforcement decelerator and the input shaft of low speed end torque sensor
Connection, the output shaft of low speed end torque sensor is connected with the input shaft of low speed end Circular gratings, the low speed end circle
The output shaft of grating is connected with the right mouth of the reducer output shaft converting interface, and the loading motor and low speed end torque are passed
Sensor shell is affixed with low speed end moment closing cylinder；
The high speed end moment closed module includes horizontally disposed high speed end moment closing cylinder, closes in the high speed end moment
Speed end torque sensor, speed end Circular gratings and reducer input shaft converting interface, the height are sequentially provided with from left to right in cylinder
The input shaft of fast end torque sensor is connected with motor, and the shell of the motor is fixed in high speed end moment envelope
The left end of cylinder is closed, the output shaft of the speed end torque sensor is connected with the input shaft of the speed end Circular gratings, the height
The output shaft of fast end Circular gratings is connected with the right mouth of the reducer input shaft converting interface, the speed end torque sensor and institute
State speed end Circular gratings shell affixed with high speed end moment closing cylinder；
The high speed end moment closing cylinder and low speed end moment closing cylinder are coaxially disposed, the high speed end moment closing cylinder
The left end of right-hand member and low speed end moment closing cylinder by together with the cage connection of tested decelerator, the motor
The shell of shell and tested decelerator by the high speed end moment close cylinder link together, the shell of the loading motor and
The shell of tested decelerator is closed cylinder by the low speed end moment and is linked together；
The position adjustment block includes horizontal guide rail and cooperation cross sliding clock thereon, and the horizontal guide rail is arranged on described
The underface of high speed end moment closing cylinder, the two is parallel to each other, and the horizontal guide rail is provided with fulcrum bearing, the cross sliding clock
Affixed with high speed end moment closing cylinder.
2. the horizontal high precision test instrument of precision speed reduction device combination property according to claim 1, it is characterised in that described low
Fast end moment closing cylinder and high speed end moment closing cylinder cross section are circle.
3. the horizontal high precision test instrument of precision speed reduction device combination property according to claim 1, it is characterised in that the detection
Instrument also includes speed reducer housing transfer panel, and the speed reducer housing transfer panel is sleeved on the shell of tested decelerator, and the two is solid
Connect, the speed reducer housing transfer panel is fixed in the right-hand member of low speed end moment closing cylinder and high speed end moment closing cylinder
Left end between.
4. the horizontal high precision test instrument of precision speed reduction device combination property according to claim 1, it is characterised in that the detection
Instrument also includes vibrating sensor and the second temperature sensor being arranged on tested decelerator, the motor and described plus
Carry on motor and be respectively provided with first temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026010.8A CN106441881B (en) | 2016-11-18 | 2016-11-18 | A kind of horizontal high-precision detector of precision speed reduction device comprehensive performance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026010.8A CN106441881B (en) | 2016-11-18 | 2016-11-18 | A kind of horizontal high-precision detector of precision speed reduction device comprehensive performance |
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| CN106441881B CN106441881B (en) | 2018-09-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107515115A (en) * | 2017-09-08 | 2017-12-26 | 天津大学 | A kind of Quick clamping device applied to decelerator detection |
| CN107764544A (en) * | 2017-09-08 | 2018-03-06 | 天津大学 | A kind of application method of Quick clamping device applied to decelerator detection |
| CN107991095A (en) * | 2017-12-28 | 2018-05-04 | 哈工大机器人（合肥）国际创新研究院 | The life test apparatus and method of robot precision cycloid decelerator |
| CN109946070A (en) * | 2019-03-08 | 2019-06-28 | 天津大学 | Robot precision speed reduction device high-precision combination property detector |
| CN109975016A (en) * | 2019-03-08 | 2019-07-05 | 天津大学 | A kind of adapter for precision speed reduction device high-precision combination property detector device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107764544B (en) * | 2017-09-08 | 2019-07-19 | 天津大学 | A kind of application method of the Quick clamping device applied to retarder detection |
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| CN109946070A (en) * | 2019-03-08 | 2019-06-28 | 天津大学 | Robot precision speed reduction device high-precision combination property detector |
| CN109975016A (en) * | 2019-03-08 | 2019-07-05 | 天津大学 | A kind of adapter for precision speed reduction device high-precision combination property detector device |
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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 |
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| CN106441881B (en) | 2018-09-04 |
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