CN106644463A - Dynamic test device used for precise speed reducer - Google Patents
Dynamic test device used for precise speed reducer Download PDFInfo
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- CN106644463A CN106644463A CN201611007044.2A CN201611007044A CN106644463A CN 106644463 A CN106644463 A CN 106644463A CN 201611007044 A CN201611007044 A CN 201611007044A CN 106644463 A CN106644463 A CN 106644463A
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- precision
- measured
- speed reduction
- reduction device
- angle encoder
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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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- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a dynamic test device used for a precise speed reducer so that multiple performance parameters including transmission error and transmission efficiency of the high-precision precise speed reducer under various load situations can be tested. The device comprises a base and a servo motor, a coupler, an angle coder, an installing flange plate, an installing support for the precise speed reducer to be tested, an output connection flange, a magnetic powder brake, a torque sensor and an electric slide table which are arranged on the base. The installing flange plate and the output connection flange can be replaced so as to realize testing of multiple types and multiple model numbers of precise speed reducers. Compared with other torque sensor test instruments, the use performance parameters including the transmission accuracy and the transmission efficiency under various load situations can be measured so that the performance is reliable, the test load repeat positioning accuracy is great, replacing operation of the tested object is easy, the installing and positioning accuracy is high and the cost is low.
Description
Technical field
The present invention relates to a kind of be used for precision speed reduction device dynamic checkout unit, belong to precision measurement measurement technology, accurate instrument
Device and mechanical transmission fields.
Background technology
With developing rapidly for industrial robot, precision speed reduction device is used in the joint part of industrial robot, for example,
RV decelerator harmonic decelerators, they are one of core components of whole robot, while being widely deployed lathe, are cured
Treat testing equipment, satellite instrument etc..Their precision is most important in industrial robot.Rapid with precision speed reduction device is sent out
Exhibition, the research and development and manufacture in the test equipment of precision speed reduction device also result in the concern of people.
At present, the detection means of RV decelerator harmonic decelerator driving errors, existing detection dress are not specifically designed for
Put test and there is unicity, there is unnecessary error in test process, data acquisition is loaded down with trivial details etc. causes result not accurate enough.
When RV decelerator harmonic decelerators are widely used, needs are strictly tested their driving error, therefore many tests
Platform is widely used.But, existing decelerator test device is under no-load condition during test driving error,
Measurement object is more single, and installation operation is complex, and all-round property testing is difficult to, for being suitable for for multi-product polytypic
Property it is not strong, so as to cause whole device testing efficiency low, overall measuring accuracy is not high.
The content of the invention
It is an object of the invention to provide a kind of be used for precision speed reduction device dynamic checkout unit, the deceleration of high accuracy RV can be tested
The multinomial performance parameters such as driving error and transmission efficiency of the device harmonic decelerator under unloaded and loading condition, novel in design,
Rational in infrastructure, use, easy for installation, repeatable accuracy reliability can realize that multi-product polytypic is tested, and improve testing efficiency.
One kind is used for precision speed reduction device dynamic checkout unit, including base, and the base is provided with electronic slide unit and base station；
Be sequentially installed with the electronic slide unit precision speed reduction device to be measured, decelerator bearing to be measured, brake support, magnetic powder brake,
Second High-precision angle encoder, second angle encoder support, torque sensor and torque sensor bearing；On the base station
It is separately installed with servomotor, servomotor bearing, the first High-precision angle encoder, first angle encoder support；It is described
Servomotor and the first High-precision angle encoder are connected by first shaft coupling, the first High-precision angle encoder and are treated
Survey decelerator to connect by second shaft coupling, the precision speed reduction device to be measured is fixed on decelerator to be measured by mounting flange
On seat, decelerator outfan connection output adpting flange to be measured；The output adpting flange is by the 3rd shaft coupling and magnetic powder system
Dynamic device is connected, and the magnetic powder brake is connected by the 4th shaft coupling with the second High-precision angle encoder；Described second is high-precision
Degree angular encoder and torque sensor are connected by the 5th shaft coupling.
Further, described magnetic powder brake is arranged on brake support, is hollow axle magnetic powder brake.
Described decelerator bearing to be measured, brake support, second angle encoder support and torque sensor bearing point
An Zhuan not be on electronic slide unit, when being easy to dismount precision speed reduction device to be measured, moving guide rail vacates appropriate space, is easy to operation
Install, prevent resetting error.
Described the first High-precision angle encoder and the second High-precision angle encoder is separately mounted to first angle volume
On code device bearing and second angle encoder support, for gathering input and the output angle of precision speed reduction device to be measured, it is known that treat
The speed ratio of precision speed reduction device is surveyed, the data of collection just can draw the performance parameters such as angular transmission error through Treatment Analysis.
Described torque sensor is arranged on torque sensor bearing, and the output for gathering precision speed reduction device to be measured turns
Square.
It is provided with for installing the boss for positioning, institute at described mounting flange and the connection cooperation of decelerator bearing to be measured
The boss that boss is 360 ° of mounting flange endoporus circle is stated, is easily installed, coordinate position location, substantially increase mounting flange
Installation accuracy.For the precision speed reduction device to be measured of each model is equipped with different mounting flanges, mounting flange can be changed,
To realize the test of the precision speed reduction device of multi-product polytypic.
Described the first High-precision angle encoder and the input and outfan of the second High-precision angle encoder leads to
Shaft coupling connection is crossed, is to be subject to connecting shaft to avoid High-precision angle encoder from being directly connected in the connecting shaft of other parts
The moment loading for coming is transmitted through, there is larger mistake between the input and output angle value for causing the collection of High-precision angle encoder
Difference, so as to ensure that the certainty of measurement of High-precision angle encoder.
The precision speed reduction device dynamic checkout unit of the present invention, can test biography of the decelerator to be measured under unloaded and loading condition
Dynamic error and transmission efficiency, also preferably ensure that the positioning precision of precision speed reduction device to be measured is installed in repetition；Polytypic can be realized
Many performance parameter tests；The supplemental characteristic of test obtains real-time monitoring, and automatic data acquisition and calculation draws test data；The testboard
Operation install convenient, compact conformation, rationally, precision is higher.
Description of the drawings
Fig. 1 is the positive structure diagram of test device of the present invention；
Fig. 2 is the overlooking the structure diagram of test device of the present invention；
Fig. 3 is the schematic diagram that test device of the present invention carries out dynamic test to precision speed reduction device；
Fig. 4 is the structural representation of mounting flange of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with example.
In figure：1st, base, 2, base station, 3, servomotor, 4, servomotor bearing, 5, first shaft coupling, 6, first is high-precision
Degree angular encoder, 7, first angle encoder support, 8, second shaft coupling, 9, precision speed reduction device to be measured, 10, mounting flange
Disk, 11, decelerator bearing to be measured, 12, output adpting flange, the 13, the 3rd shaft coupling, 14, brake support, 15, hollow axle magnetic
Powder brake, the 16, the 4th shaft coupling, the 17, second High-precision angle encoder, the 18, second angle encoder support, the 19, the 5th
Shaft coupling, 20, torque sensor, 21, torque sensor bearing, 22, electronic slide unit, 23, industrial computer, 24, display screen.
As shown in Figure 1, Figure 2 and Figure 3, it is a kind of to be used for precision speed reduction device dynamic checkout unit, including base 1, the base 1
It is provided with electronic slide unit 22 and base station 3.Electronic slide unit 22 is sequentially installed with precision speed reduction device bearing 11, brake support to be measured
14th, second angle encoder support 18 and torque sensor bearing 21.Servomotor 3, servomotor is separately installed with base station 3
Bearing 4 and first angle encoder support 7.The High-precision angle encoder 6 of servomotor 3 and first is connected by first shaft coupling 5
Connect, the first High-precision angle encoder 6 and precision speed reduction device to be measured 9 are connected by second shaft coupling 8, precision speed reduction device to be measured 9
It is fixed on decelerator bearing 11 to be measured by mounting flange 10, the outfan of precision speed reduction device to be measured 9 connection output connection method
Blue 12.Output adpting flange 12 is connected by the 3rd shaft coupling 13 with magnetic powder brake, and magnetic powder brake passes through the 4th shaft coupling
16 are connected with the second High-precision angle encoder 17；Second High-precision angle encoder 17 and torque sensor 20 pass through 5-linked
Axle device 19 connects.
Wherein, magnetic powder brake is arranged on brake support 14, from hollow axle magnetic powder brake.
The input and outfan of the first High-precision angle encoder 6 and the second High-precision angle encoder 18 is by connection
Axle device connects, and High-precision angle encoder can be avoided to be directly connected in the connecting shaft of other parts and be subject to connecting shaft to be passed
, there is larger error between the input and output angle value for causing the collection of High-precision angle encoder in the moment loading for coming over, from
And ensure that the certainty of measurement of High-precision angle encoder.
In above-described embodiment, it is provided with fixed for installing at mounting flange 10 and the connection cooperation of decelerator bearing 11 to be measured
The boss of position, the boss is the boss of 360 ° of mounting flange endoporus circle, is easily installed, and coordinates position location, substantially increases
Installation accuracy.For the precision speed reduction device to be measured of each model is equipped with different mounting flanges, mounting flange can be changed,
To realize the test of the precision speed reduction device of multi-product polytypic.It is same to change output adpting flange.
In above-described embodiment, decelerator bearing 11 to be measured, second angle encoder support 18, the and of torque sensor bearing 21
Brake support 14 is separately mounted on electronic slide unit 22, by watching display screen 24 and operation industrial computer 23, gives signal, just
Can accurately moving guide rail, when being easy to dismount precision speed reduction device 9 to be measured, safe operation is simple.Move through motorized rails control,
Effectively avoid trueness error during artificial repetitive operation moving guide rail.
Described the first High-precision angle encoder 6 and the second High-precision angle encoder 17 is respectively used to gather essence to be measured
The input of close decelerator 9 and output angle.Described torque sensor 20 is used to gather the output of precision speed reduction device to be measured 9 and turns
Square.The parameters such as the speed ratio of known precision speed reduction device to be measured 9, the data of collection are analyzed through the analysis of data, just can draw transmission
The performance parameters such as error, angular transmission error and transmission efficiency.
In above-described embodiment, arranged according to the control to hollow axle magnetic powder brake 15, precision speed reduction device can be carried out
Unloaded and load testing, meanwhile, the first High-precision angle encoder 6, the second High-precision angle encoder 17 and torque sensor
20 gathered data be respectively precision speed reduction device it is unloaded when data and load when data.Data are divided through industrial computer 23
Analysis, can show in display screen 24 and draw the performance parameters such as the driving error and transmission efficiency of precision speed reduction device.
The present invention precision speed reduction device dynamic checkout unit, motorized rails can repeat precision speed reduction device to be measured is installed when,
Ensure decelerator bearing to be measured, second angle encoder support, torque sensor bearing and brake support location positioning precision；
Installing hole by mounting flange and output mounting flange is integrated or more transducing realizes multi-product polytypic parameter testing；
Mounting flange is provided with positioning boss, is easily installed positioning, it is ensured that its positional precision；By the system of hollow axle magnetic powder brake
Action use, can realize precision speed reduction device to be measured in the unloaded state with testing results under load condition；By the data of sensor
Transmission, can obtain real-time monitoring on industrial computer, and can automatically calculate the survey of the multinomial performances such as driving error and transmission efficiency
Examination data；The testboard safe operation, install convenient, compact conformation, rationally, precision is higher.
Claims (4)
- It is 1. a kind of to be used for precision speed reduction device dynamic checkout unit, it is characterised in that：Including base, the base is provided with electric sliding Platform and base station；Precision speed reduction device to be measured, decelerator bearing to be measured, brake support, magnetic powders brake are sequentially installed with the electronic slide unit Device, the second High-precision angle encoder, second angle encoder support, torque sensor and torque sensor bearing；It is separately installed with servomotor, servomotor bearing, the first High-precision angle encoder, first angle on the base station to compile Code device bearing；The servomotor and the first High-precision angle encoder are connected by first shaft coupling, and first High-precision angle is compiled Code device and precision speed reduction device to be measured are connected by second shaft coupling；The decelerator to be measured is fixed on to be measured by mounting flange On decelerator bearing, decelerator outfan connection output adpting flange to be measured；The output adpting flange passes through the 3rd shaft coupling It is connected with magnetic powder brake, the magnetic powder brake is connected by the 4th shaft coupling with the second High-precision angle encoder；It is described Second High-precision angle encoder and torque sensor are connected by the 5th shaft coupling.
- 2. according to claim 1 a kind of for precision speed reduction device dynamic checkout unit, it is characterised in that：The magnetic powder system Dynamic device is hollow axle magnetic powder brake.
- 3. according to claim 1 a kind of for precision speed reduction device dynamic checkout unit, it is characterised in that：The Method for Installation Blue disk is provided with boss with decelerator bearing junction to be measured.
- 4. the one kind according to any one of claim 1-3 is used for precision speed reduction device dynamic checkout unit, it is characterised in that：Institute The precision speed reduction device to be measured stated is RV decelerator harmonic decelerators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611007044.2A CN106644463A (en) | 2016-11-16 | 2016-11-16 | Dynamic test device used for precise speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611007044.2A CN106644463A (en) | 2016-11-16 | 2016-11-16 | Dynamic test device used for precise speed reducer |
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| CN106644463A true CN106644463A (en) | 2017-05-10 |
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| CN201611007044.2A Pending CN106644463A (en) | 2016-11-16 | 2016-11-16 | Dynamic test device used for precise speed reducer |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| 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 |
| CN107806994A (en) * | 2017-12-14 | 2018-03-16 | 九江精密测试技术研究所 | A kind of dynamic torque testing stand |
| CN108015797A (en) * | 2017-12-01 | 2018-05-11 | 湖北工业大学 | A kind of RV speed reducer drives error on-line monitoring method |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
| CN108760291A (en) * | 2018-04-11 | 2018-11-06 | 重庆理工大学 | A kind of speed changer high speed motion transmission error test measurement method |
| 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 |
| CN110646198A (en) * | 2019-10-10 | 2020-01-03 | 浙江大学台州研究院 | Speed reducer assembly no-load moment test bench |
| CN114199553A (en) * | 2021-11-11 | 2022-03-18 | 华中科技大学 | Lightweight RV reduction gear comprehensive properties testing arrangement |
| WO2022089139A1 (en) * | 2020-10-28 | 2022-05-05 | 库卡机器人(广东)有限公司 | Speed reducer transmission error test apparatus and method |
| CN114893511A (en) * | 2022-05-09 | 2022-08-12 | 中国第一汽车股份有限公司 | Flange assembly, speed reducer efficiency testing device and testing method |
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| CN101587015A (en) * | 2009-06-26 | 2009-11-25 | 西安交通大学 | Experiment table for detecting dynamic characteristics of harmonic reducers |
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| CN106053062A (en) * | 2016-07-21 | 2016-10-26 | 南京工程学院 | RV reducer comprehensive test bench |
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| CN101587015A (en) * | 2009-06-26 | 2009-11-25 | 西安交通大学 | Experiment table for detecting dynamic characteristics of harmonic reducers |
| CN101598631A (en) * | 2009-06-30 | 2009-12-09 | 西安交通大学 | Electromechanical dynamic loading device for reducer |
| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
| CN104374569A (en) * | 2014-10-29 | 2015-02-25 | 浙江双环传动机械股份有限公司 | RV reducer transmission feature test system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| 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 |
| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
| CN108015797B (en) * | 2017-12-01 | 2019-02-26 | 湖北工业大学 | A kind of RV speed reducer drive error on-line monitoring method |
| CN108015797A (en) * | 2017-12-01 | 2018-05-11 | 湖北工业大学 | A kind of RV speed reducer drives error on-line monitoring method |
| CN107806994A (en) * | 2017-12-14 | 2018-03-16 | 九江精密测试技术研究所 | A kind of dynamic torque testing stand |
| CN108760291A (en) * | 2018-04-11 | 2018-11-06 | 重庆理工大学 | A kind of speed changer high speed motion transmission error test measurement method |
| 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 |
| CN110646198A (en) * | 2019-10-10 | 2020-01-03 | 浙江大学台州研究院 | Speed reducer assembly no-load moment test bench |
| WO2022089139A1 (en) * | 2020-10-28 | 2022-05-05 | 库卡机器人(广东)有限公司 | Speed reducer transmission error test apparatus and method |
| CN114199553A (en) * | 2021-11-11 | 2022-03-18 | 华中科技大学 | Lightweight RV reduction gear comprehensive properties testing arrangement |
| CN114199553B (en) * | 2021-11-11 | 2023-06-16 | 华中科技大学 | Lightweight RV reduction gear comprehensive performance testing arrangement |
| CN114893511A (en) * | 2022-05-09 | 2022-08-12 | 中国第一汽车股份有限公司 | Flange assembly, speed reducer efficiency testing device and testing method |
| CN114893511B (en) * | 2022-05-09 | 2024-03-19 | 中国第一汽车股份有限公司 | Flange assembly, speed reducer efficiency testing device and testing method |
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