CN106441881B - A kind of horizontal high-precision detector of precision speed reduction device comprehensive performance - Google Patents
A kind of horizontal high-precision detector of precision speed reduction device comprehensive performance Download PDFInfo
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- CN106441881B CN106441881B CN201611026010.8A CN201611026010A CN106441881B CN 106441881 B CN106441881 B CN 106441881B CN 201611026010 A CN201611026010 A CN 201611026010A CN 106441881 B CN106441881 B CN 106441881B
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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
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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
- G01M13/028—Acoustic or vibration analysis
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Abstract
The invention discloses a kind of horizontal high-precision detectors of precision speed reduction device comprehensive performance, including high speed end moment closed module, position adjustment block and low speed end moment closed module；Low speed end moment closed module includes horizontally disposed low speed end moment closing cylinder, the bottom that cylinder is closed in low speed end moment is equipped with support leg, and loading motor, reinforcement retarder, low speed end torque sensor, low speed end Circular gratings and reducer output shaft converting interface are equipped with successively from right to left in low speed end moment closing cylinder；High speed end moment closed module includes horizontally disposed high speed end moment closing cylinder, and speed end torque sensor, speed end Circular gratings and reducer input shaft converting interface are equipped with successively from left to right in high speed end moment closing cylinder；High speed end moment closes the closing cylinder coaxial arrangement of cylinder and low speed end moment and by being tested together with the cage connection of retarder.The present invention is influenced less, high certainty of measurement by extraneous factor.
Description
Technical field
The present invention relates to a kind of precision speed reduction device detection device for combination property, are integrated more particularly to a kind of precision speed reduction device
The horizontal high-precision detector of performance.
Background technology
Precision speed reduction device is widely used in national economy and the every field of national defense industry, with industrial automation technology
Development, also higher and higher to the performance indicator requirement of retarder, especially in robot field, the transmission efficiency of retarder turns
Speed requirement and load capacity etc. drastically influence system operating accuracy and service life, therefore become outstanding to the detection of retarder
It is important.
The development of robot industry and the gradually production domesticization of retarder, to the detection device requirement of retarder and demand
It is higher and higher.And domestic high accurate speed reducer detecting system generally uses the horizontal type structure of multistage parts arranged in series at present,
For the detected torque of retarder up to thousands of Newton meters, high torque requires the detection to retarder to bring very big challenge, detection
Equipment can be distorted deformation under the influence of large torque, seriously affect accuracy of detection.It is detected under large torque, high speed conditions
Device structure insufficient rigidity, distortion inaccuracy are easy to transmit, be superimposed or even amplify, and deflection is introduced into testing result, at present also
Not yet propose that a kind of effective method solves the problems, such as this.Domestic existing instrument detecting system is often replaced with single sensor accuracy
For instrument integrated measurement accuracy, the influence that the measurement accuracy of actually existing measuring system is deformed due to examined device structure,
Not only related with the precision of each sensor itself and related with the deformation of detection device, only the structure of detection device is big
It is indeformable under torque effect, it could be using the precision of single sensor as the precision index of measuring system.
It is therefore proposed that a kind of effective method, precision speed reduction device comprehensive detection is solved the problems, such as, improve retarder performance and can
By property, promote development and the occupation rate of market of domestic retarder, so that the comprehensive performance of domestic retarder is reached external product close
Level substitutes same kind of products at abroad, is of great significance.
Invention content
To there is provided a kind of precision speed reduction device comprehensive performance horizontal to solve technical problem present in known technology by the present invention
High-precision detector, which is influenced less, high certainty of measurement by extraneous factor, and can reduce tracing back for the measuring precision
The difficulty of source difficulty and error compensation.
The present invention is adopted the technical scheme that solve technical problem present in known technology：A kind of precision speed reduction device
The horizontal high-precision detector of comprehensive performance, including high speed end moment closed module, position adjustment block and the closing of low speed end moment
Module；The low speed end moment closed module includes horizontally disposed low speed end moment closing cylinder, is sealed in the low speed end moment
The bottom for closing cylinder is equipped with support leg, is equipped with loading motor successively from right to left in low speed end moment closing cylinder, reinforcement subtracts
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 axis connection of the reinforcement retarder, the input of the output shaft and low speed end torque sensor of the reinforcement retarder
Axis connection, the input axis connection of the output shaft and low speed end Circular gratings of low speed end torque sensor, the low speed end
The output shaft of Circular gratings is connect with the right mouth of the reducer output shaft converting interface, the loading motor and low speed end torque
Sensor outer housing and low speed end moment closing cylinder are affixed；The high speed end moment closed module includes horizontally disposed high speed
End moment closes cylinder, and speed end torque sensor, speed end are equipped with successively from left to right in high speed end moment closing cylinder
The input shaft of Circular gratings and reducer input shaft converting interface, the speed end torque sensor is connect with driving motor, the drive
The shell of dynamic motor is fixed in the left end of the high speed end moment closing cylinder, the output shaft of the speed end torque sensor and institute
State the input axis connection of speed end Circular gratings, the output shaft of the speed end Circular gratings and the reducer input shaft converting interface
Left mouth connection, the speed end torque sensor and the speed end Circular gratings shell and high speed end moment closing cylinder are solid
It connects；The high speed end moment closing cylinder and low speed end moment closing cylinder coaxial arrangement, the high speed end moment closing cylinder
The left end that right end and the low speed end moment close cylinder passes through together with the cage connection of tested retarder, the driving motor
The shell of shell and tested retarder by the high speed end moment close cylinder link together, the shell of the loading motor and
The shell of tested retarder closes cylinder by the low speed end moment and links together；The position adjustment block is led including level
The underface that cylinder is closed in the high speed end moment, the two is arranged in the horizontal slider of rail and cooperation on it, the horizontal guide rail
It is mutually parallel, and the horizontal guide rail is equipped with fulcrum bearing, the horizontal slider and high speed end moment closing cylinder are affixed.
The low speed end moment closing cylinder and high speed end moment closing cylinder cross section are circle.
The detector further includes speed reducer housing transfer panel, and the speed reducer housing transfer panel is sleeved on tested retarder
On shell, the two is affixed, and the speed reducer housing transfer panel is fixed in the left end of the low speed end moment closing cylinder and the height
Between the right end of fast end moment closing cylinder.
The detector further includes the vibrating sensor being arranged on tested retarder and second temperature sensor, in the drive
It is respectively provided with first temperature sensor on dynamic motor and the loading motor.
The invention has the advantages and positive effects that：Cylinder is closed by driving motor shell by high speed end moment and is tested
Speed reducer housing connects together, and the output shaft of driving motor is connect with tested reducer input shaft, the output torque of driving motor
It is applied on the input shaft of tested retarder, its anti-torque is transmitted to high speed end moment by being tested the shell of retarder
Cylinder is closed, closing torque is constituted by the output torque of driving motor shell and driving motor, equalising torque is realized, similarly negative
Motor side is carried, can also form a torque closed-loop, complete machine structure ensures systemic effect, and there are two torque closed-loops, can be each
From torque is offset, torque closes the design of cylinder, reduces influence of the support construction to detector work torque, and work torque is shielded
It covers in torque closing cylinder, is influenced by extraneous factor less, and then ensure that measurement accuracy；In addition, in the identical feelings of volume
Under condition, the ability that tubular structure resists torsional deflection is most strong, therefore can effectively reduce casing deformation using cylindrical case, in turn
Solve influence of the mechanically deform to measurement accuracy；Tubular structure keeps 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 influence of the mechanically deform to measurement accuracy of large torque effect.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
In figure：1, driving motor, 2, high speed end moment close cylinder, 3, speed end torque sensor, 4, speed end Circular gratings,
5, reducer input shaft converting interface, 6, speed reducer housing transfer panel, 7, reducer output shaft converting interface, 8, low speed end Circular gratings,
9, low speed end torque sensor, 10, reinforcement retarder, 11, loading motor, the 12, first temperature sensor, 13, low speed end moment
Close cylinder, 14, support leg, 15, tested retarder, 16, second temperature sensor, 17, vibrating sensor, 18, horizontal slider,
19, horizontal guide rail.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
Referring to Fig. 1, a kind of horizontal high-precision detector of precision speed reduction device comprehensive performance, 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 that square closes cylinder 13 is equipped with support leg 14, and load electricity is equipped with successively from right to left in low speed end moment closing cylinder 13
Machine 11, reinforcement retarder 10, low speed end torque sensor 9, low speed end Circular gratings 8 and reducer output shaft converting interface 7, it is described to add
Carry motor 11 output shaft and the reinforcement retarder 10 input axis connection, the output shaft of the reinforcement retarder 10 with it is described
The input axis connection of low speed end torque sensor 9, output shaft and the low speed end Circular gratings of low speed end torque sensor 9
8 input axis connection, the output shaft of low speed end Circular gratings 8 are connect with the right mouth of the reducer output shaft converting interface 7, institute
It states loading motor 11 and 9 shell of low speed end torque sensor and low speed end moment closing cylinder 13 is affixed.
The high speed end moment closed module includes horizontally disposed high speed end moment closing cylinder 2, in the speed end power
Square is closed is equipped with speed end torque sensor 3, speed end Circular gratings 4 and reducer input shaft switching successively from left to right in cylinder 2
Mouth 5, the input shaft of the speed end torque sensor 3 is connect with driving motor 1, and the shell of the driving motor 1 is fixed in institute
State the left end of high speed end moment closing cylinder 2, the output shaft of the speed end torque sensor 3 and the speed end Circular gratings 4
Axis connection is inputted, the output shaft of the speed end Circular gratings 4 is connect with the left mouth of the reducer input shaft converting interface 5, described
Speed end torque sensor 3 and 4 shell of speed end Circular gratings and high speed end moment closing cylinder 2 are affixed.
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 right end and low speed end moment closing cylinder 13 of closing cylinder 2 passes through together with the cage connection for being tested retarder 15,
The shell of the shell of the driving motor 1 and tested retarder 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 retarder 15 is closed cylinder 13 by the low speed end moment and is connected
Together.
The position adjustment block includes the horizontal slider 18 of horizontal guide rail 19 and cooperation on it, the horizontal guide rail 19
The underface that cylinder 2 is closed in the high speed end moment is set, and the two is mutually parallel, and the horizontal guide rail 19 is equipped with bearing
Seat, the horizontal slider 18 and high speed end moment closing cylinder 2 are affixed.
In the present embodiment, the low speed end moment closing cylinder 13 and 2 cross section of high speed end moment closing cylinder are circle
Shape keeps the ability that cylindrical case resists torsional deformation stronger.The detector further includes speed reducer housing transfer panel 6, the deceleration
Device shell transfer panel 6 is sleeved on the shell of tested retarder 15, and the two is affixed, and the speed reducer housing transfer panel 6 is fixed in
Between the left end and the right end of high speed end moment closing cylinder 2 of the low speed end moment closing cylinder 13, retarder 15 can be made
Shell forms effective connection with low speed end moment closing cylinder 13 and high speed end moment closing cylinder 2.In the present embodiment,
The detector further includes the vibrating sensor 17 being arranged on tested retarder 15 and second temperature sensor 16, in the driving
First temperature sensor 12 is respectively provided on motor 1 and the loading motor 11.
The application method of the present invention：
One) tested reducer output shaft is fixed on the left mouth of reducer output shaft converting interface,
It is two) shell of tested retarder and low speed end moment closing cylinder left end is affixed,
If speed reducer housing transfer panel need to be used, speed reducer housing transfer panel is sleeved on the shell of tested retarder, and
The two is fixed together, it is then that speed reducer housing transfer panel and low speed end moment closing cylinder left end is affixed,
If you do not need to speed reducer housing transfer panel, just directly seals the shell of tested retarder and the low speed end moment
It is affixed to close a left end；
Three) position that the high speed end moment closed module is adjusted using the position adjustment block, makes the retarder
Input shaft converting interface is docked with tested reducer input shaft,
It is four) shell of tested retarder and high speed end moment closing cylinder right end is affixed,
If being set with speed reducer housing transfer panel on the shell of tested retarder, by speed reducer housing transfer panel with it is described
High speed end moment closing cylinder right end is affixed,
If there is no speed reducer housing transfer panel on the shell of tested retarder, just directly by the shell of tested retarder with
The high speed end moment closing cylinder right end is affixed；
Five) and then startup detector starts to detect.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific implementation mode stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of horizontal high-precision detector of precision speed reduction device comprehensive performance, which is characterized 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, is closed in the low speed end moment
The bottom of cylinder is equipped with support leg, is equipped with loading motor successively from right to left in low speed end moment closing cylinder, reinforcement slows down
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 axis connection of reinforcement retarder, the input shaft of the output shaft and low speed end torque sensor of the reinforcement retarder
Connection, the input axis connection of the output shaft and low speed end Circular gratings of low speed end torque sensor, the low speed end circle
The output shaft of grating is connect with the right mouth of the reducer output shaft converting interface, and the loading motor and low speed end torque pass
Sensor shell and low speed end moment closing cylinder are affixed；
The high speed end moment closed module includes horizontally disposed high speed end moment closing cylinder, is closed in the high speed end moment
It is equipped with speed end torque sensor, speed end Circular gratings and reducer input shaft converting interface, the height in cylinder successively from left to right
The input shaft of fast end torque sensor is connect with driving motor, and the shell of the driving motor is fixed in the high speed end moment envelope
Close the left end of cylinder, the input axis connection of the output shaft of the speed end torque sensor and the speed end Circular gratings, the height
The output shaft of fast end Circular gratings is connect with the left mouth of the reducer input shaft converting interface, the speed end torque sensor and institute
It states speed end Circular gratings shell and high speed end moment closing cylinder is affixed；
The high speed end moment closing cylinder and low speed end moment closing cylinder coaxial arrangement, the high speed end moment closing cylinder
The left end that right end and the low speed end moment close cylinder passes through together with the cage connection of tested retarder, the driving motor
The shell of shell and tested retarder by the high speed end moment close cylinder link together, the shell of the loading motor and
The shell of tested retarder closes cylinder by the low speed end moment and links together；
The position adjustment block includes the horizontal slider of horizontal guide rail and cooperation on it, and the horizontal guide rail is arranged described
High speed end moment closes the underface of cylinder, and the two is mutually parallel, and the horizontal guide rail is equipped with fulcrum bearing, the horizontal slider
It is affixed with high speed end moment closing cylinder.
2. the horizontal high-precision detector of precision speed reduction device comprehensive performance according to claim 1, which is characterized 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 detector of precision speed reduction device comprehensive performance according to claim 1, which is characterized in that the detection
Instrument further includes speed reducer housing transfer panel, and the speed reducer housing transfer panel is sleeved on the shell of tested retarder, and the two is solid
It connects, the speed reducer housing transfer panel is fixed in the right end and high speed end moment closing cylinder of the low speed end moment closing cylinder
Left end between.
4. the horizontal high-precision detector of precision speed reduction device comprehensive performance according to claim 1, which is characterized in that the detection
Instrument further includes the vibrating sensor being arranged on tested retarder and second temperature sensor, the driving motor and it is described plus
It carries and is respectively provided with first temperature sensor on motor.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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 true CN106441881B (en) | 2018-09-04 |
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| CN107515115B (en) * | 2017-09-08 | 2023-09-12 | 天津大学 | Be applied to quick clamping device that reduction gear detected |
| 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 |
| 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 |
| CN109946070B (en) * | 2019-03-08 | 2023-10-24 | 天津大学 | High-precision comprehensive performance detector of precision speed reducer for robot |
| 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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| JPH08338790A (en) * | 1995-06-13 | 1996-12-24 | Toyota Motor Corp | Method for evaluating performance of reduction gear for nut runner |
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN102607844B (en) * | 2012-04-10 | 2015-02-18 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN103033363B (en) * | 2013-01-06 | 2015-06-03 | 杭州嘉诚机械有限公司 | Integrated parameter test device of speed reducer |
| CN104062121B (en) * | 2014-07-14 | 2017-01-11 | 重庆大学 | Device for detecting torsional rigidity and return difference of precision planetary reducer |
| CN204422200U (en) * | 2014-12-31 | 2015-06-24 | 江西瑞鼎精密传动有限公司 | A kind of precise planetary reducer proving installation |
| CN105241664B (en) * | 2015-11-18 | 2018-01-09 | 南京康尼机电股份有限公司 | A kind of test device that performance detection is integrated suitable for polytypic precision speed reduction device |
| CN206369635U (en) * | 2016-11-18 | 2017-08-01 | 天津大学 | A kind of horizontal high precision test instrument of precision speed reduction device combination property |
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