CN108489728A - A kind of service life of harmonic speed reducer, efficiency, starting torque detection device - Google Patents
A kind of service life of harmonic speed reducer, efficiency, starting torque detection device Download PDFInfo
- Publication number
- CN108489728A CN108489728A CN201810228213.8A CN201810228213A CN108489728A CN 108489728 A CN108489728 A CN 108489728A CN 201810228213 A CN201810228213 A CN 201810228213A CN 108489728 A CN108489728 A CN 108489728A
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- China
- Prior art keywords
- speed reducer
- harmonic speed
- pedestal
- service life
- efficiency
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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
Abstract
The present invention relates to harmonic speed reducer detection fields, refer in particular to a kind of service life of harmonic speed reducer, efficiency, starting torque detection device, including pedestal, load maintainer, input torque sensor, output torque sensor, grating, drive servo motor, clamping device, double guide rails are provided on the pedestal, the longitudinally adjusted mechanism that can be slided relatively is provided on double guide rails, the transverse adjusting mechanism that can be slided relatively is provided in the longitudinally adjusted mechanism, the driving servo motor is arranged on transverse adjusting mechanism, driving servo motor is connected by input torque sensor with the input terminal of harmonic speed reducer, the output end of harmonic speed reducer is connect by output torque sensor with grating and load maintainer, the harmonic speed reducer is fixed by clamping device.After adopting the above scheme, the dynamic and static measurement of related performance indicators can be fully met.
Description
Technical field
The present invention relates to harmonic speed reducer detection field, a kind of service life of harmonic speed reducer, efficiency, starting torque inspection are refered in particular to
Survey device.
Background technology
Harmonic speed reducer is mainly made of three basic building blocks：Firm gear with ring gear；Flexbile gear with external toothing with
And wave producer.
It is used as retarder, generally use wave producer is actively（Input）, firm gear fix, flexbile gear output form, wave hair
Raw device is a rod-like members, and both ends constitute idler wheel equipped with rolling bearing, mutually pressed by flexible bearing with the inner wall of flexbile gear
Tightly.Flexbile gear is the thin-wall gear that can generate larger flexible deformation.Wave producer is the component for making flexbile gear generate controlled elasticity deformation,
It after wave producer is packed into flexbile gear, forces the section of flexbile gear to become anisotropic curved surface by original circle by flexible bearing, grows
The tooth of tooth and firm gear near axis both ends is at a fully engaged, and the tooth near short axle both ends is then completely disengaged with firm gear.On perimeter its
The transition state that the tooth of his section is in engagement and is detached from.When wave producer continuous rotation, the deformation of flexbile gear constantly changes, and makes
The meshing state of flexbile gear and firm gear also constantly changes, by it is engaging-in, engage, nibble out, disengage, engaging-in again, carry out again and again, from
And realize slow rotation of the flexbile gear relative to firm gear along wave producer opposite direction.
According to the performance index definition of harmonic speed reducer service life, servo motor is accessed in harmonic speed reducer input terminal first,
Power is provided to harmonic speed reducer so that harmonic speed reducer is rotated according to specified rotating speed, and harmonic wave subtracts by servo motor
The input terminal torque value of fast device your iu harmonic speed reducer reality output torque sensors can be obtained by input, output end torque by
The torque sensor of harmonic speed reducer output end measures, during rotation, according to the The concrete specification of harmonic speed reducer to be measured,
By magnetic powder brake（Load maintainer）Harmonic speed reducer is loaded.The measurement process of each single item index is as follows：
（1）Efficiency measurement process
Starting motor makes entire testing agency operate, and corresponding torque is read in torque sensor from outputting and inputting respectively
Value, can measure the efficiency of the harmonic speed reducer in conjunction with the reduction ratio of harmonic speed reducer, and when static measurement takes off load maintainer
It opens, dynamic connects load maintainer when measuring.
（2）Starting torque measurement process
Shaft coupling between output end torque sensor and load maintainer is disengaged, so that harmonic speed reducer is in light condition, slowly
Slow turn-on servo motor, when output end grating has reading, the value of input terminal torque sensor is opening for the harmonic speed reducer
Dynamic torque.
（3）Lifetime measurement process
Harmonic speed reducer is in stress state, to find out entire measuring mechanism according to standard is in operating condition, while dynamic
The reading of detection output torque sensor, when the reading of the torque sensor generates transition, the time undergone at this time is just
It is the service life of the harmonic speed reducer.
From the foregoing, it will be seen that a kind of reliable detection device is for evaluating the performance of harmonic speed reducer very
Important, therefore, the present inventor makes further research this, develops a kind of service life of harmonic speed reducer, efficiency, starting torque inspection
Device is surveyed, thus this case generates.
Invention content
The purpose of the present invention is to provide a kind of service life of harmonic speed reducer, efficiency, starting torque detection devices, can be completely
Meet the dynamic and static measurement of related performance indicators.
To achieve the goals above, technical scheme is as follows：
A kind of service life of harmonic speed reducer, efficiency, starting torque detection device, including pedestal, load maintainer, input torque sensing
Device, grating, drives servo motor, clamping device at output torque sensor, double guide rails is provided on the pedestal, described pair is led
It is provided with the longitudinally adjusted mechanism that can be slided relatively on rail, the lateral tune that opposite can be slided is provided in the longitudinally adjusted mechanism
Complete machine structure, the driving servo motor are arranged on transverse adjusting mechanism, driving servo motor by input torque sensor with
The input terminal of harmonic speed reducer is connected, and the output end of harmonic speed reducer is connected by output torque sensor and grating and load maintainer
It connects, the harmonic speed reducer is fixed by clamping device.
Further, the clamping device includes the Holding seat being fixed on pedestal, and two are provided on the Holding seat
The parallel slide bar of root, there are two sliding block, the sliding block is clamped that screw rod control is opposite or phase by same root for setting on the slide bar
Backward shift is dynamic, and symmetrical holder is provided on each sliding block, and the pedestal upper end described in left and right two forms an arc groove, branch
Curved link is additionally provided on the arc groove of frame, the both ends of the curved link are connected and fixed with two holders respectively.
Further, the clamping screw rod is by being clamped hand wheel rotating control.
Further, the longitudinally adjusted mechanism includes longitudinal handwheel, and the longitudinal direction handwheel passes through longitudinal screw and longitudinal bottom
Seat linkage, the longitudinal direction pedestal are slidably matched with double guide rails.
Further, the transverse adjusting mechanism includes lateral handwheel, and the transverse direction handwheel passes through transverse screw and lateral bottom
Seat linkage, the transverse base are slidably matched with longitudinal pedestal, and the driving servo motor is arranged in transverse base.
Further, the pedestal uses single-casting structure.
Further, the load maintainer is magnetic powder brake.
Further, it is connected by shaft coupling between the output torque sensor and connection harmonic speed reducer output end.
After adopting the above scheme, compared with prior art, the present invention haing the following advantages：
One measuring device is integrated with three performance indicators of harmonic speed reducer；Harmonic speed reducer related performance indicators can be moved
State measures, can also static measurement；It can be to the measurement of harmonic speed reducer complete series product；Pedestal uses single-casting, pedestal
By stabilization processes, work top measuring point uses double guide rail structures, strong guarantor is provided for the stabilization of measurement result
Card, measuring device use vertical and horizontal adjustment mechanism, can easily adjust the position of driving part, improve entire measurement dress
The applicability set uses unique workpiece grip mechanism, as long as can be clamped using mechanism adjustment handwheel various types of humorous
Wave retarder.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention（Lack clamping device）；
Fig. 2 is the schematic diagram of clamping device；
Label declaration
Pedestal 1, driving servo motor 2, input torque sensor 3, output torque sensor 4,
Handwheel 9 is clamped in Holding seat 5, slide bar 6, sliding block 7, holder 8,
Curved link 10, grating 11, magnetic powder brake 12, longitudinal handwheel 13,
Longitudinal pedestal 14, lateral handwheel 15, transverse base 16, double guide rails 17, shaft coupling 18.
Specific implementation mode
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
As shown, a kind of service life of harmonic speed reducer, efficiency, starting torque detection device, including pedestal 1, load machine
Structure, grating 11, input torque sensor 3, output torque sensor 4, driving servo motor 2, clamping device, in order to enable measuring
As a result reliable and stable, pedestal 1 use single-casting structure, are used to support after the completion of entire testboard casting, and use group
The stabilization processes of structure are knitted, double guide rails 17 are provided on pedestal 1, being provided on double guide rails 17 can be longitudinally adjusted with respect to sliding
Mechanism, double guide rails 17 can make longitudinally adjusted mechanism when moving more stablize, be conducive to improve pedestal 1 on all parts in work
The good concentricity of holding during work so that measurement result is reliable and stable.
Longitudinally adjusted mechanism includes longitudinal handwheel 13, and longitudinal handwheel 13 is linked by longitudinal screw and longitudinal pedestal 14, indulged
It is slidably matched to pedestal 14 and double guide rails 17, so that longitudinal pedestal 14 is moved on double guide rails 17 by rotating longitudinal handwheel 13.
Longitudinally adjusted mechanism can longitudinally carry out certain micro adjustment, ensure reasonable clearance when sliding, also ensure entire test section
The concentricity of part.
The transverse adjusting mechanism that can be slided relatively is provided in longitudinally adjusted mechanism, transverse adjusting mechanism includes lateral handwheel
15, lateral handwheel 15 is linked by transverse screw and transverse base 16, and transverse base 16 is slidably matched with longitudinal pedestal 14, passes through
Lateral handwheel 15 is rotated to make transverse base 16 be moved in longitudinal pedestal 14, driving servo motor 2 is arranged in transverse base 16.
Transverse adjusting mechanism can laterally carry out certain micro adjustment, ensure reasonable clearance when sliding, also ensure entire test section
The concentricity of part.
Driving servo motor 2 is connected by input torque sensor 3 with the input terminal of harmonic speed reducer, harmonic speed reducer
Output end is connect by output torque sensor 4 with grating 11 and magnetic powder brake 12, output torque sensor 4 with connect harmonic wave
It is connected by shaft coupling 18 between retarder output end, harmonic speed reducer is fixed by clamping device.
Clamping device includes the Holding seat 5 being fixed on pedestal 1, and two parallel slide bars are provided on Holding seat 5
6, there are two sliding block 7, it is opposite or opposite mobile that sliding block 7 by same root is clamped screw rod control, passes through two cunnings for setting on slide bar 6
Above-mentioned function may be implemented in the oppositely arranged of screw thread residing for block 7, and symmetrical holder 8, two institutes in left and right are provided on each sliding block 7
8 upper end of holder stated forms an arc groove, and arc groove is gone back for placing harmonic speed reducer on the arc groove of holder 8
It is provided with 10 arc of curved link, the both ends of connection ring are connected and fixed with two holders 8 respectively, and clamping screw rod is by being clamped hand
9 rotation control of wheel, makes sliding block 7 move, to change the clamping between arc groove and curved link 10 by rotating handwheel
Space is clamped various types of harmonic speed reducers to realize, different size can be installed respectively by adjusting screw rod
Harmonic speed reducer also ensures the mechanism；With the concentricity of entire measuring mechanism.
Starting motor makes entire testing agency operate, corresponding from reading in torque sensor 4 is output and input respectively
Torque value, can measure the efficiency of the harmonic speed reducer in conjunction with the reduction ratio of harmonic speed reducer, and when static measurement will load machine
Structure disengages, and dynamic connects load maintainer when measuring.
Shaft coupling 18 between output end torque sensor and load maintainer is disengaged, harmonic speed reducer is made to be in unloaded shape
State slowly starts servo motor, and when output end grating 11 has reading, the value of input terminal torque sensor is the harmonic reduction
The starting torque of device.
Harmonic speed reducer is in stress state, to find out entire measuring mechanism according to standard is in operating condition, simultaneously
The reading of dynamic detection output end torque sensor, when the torque sensor reading generate transition when, undergone at this time when
Between be exactly the harmonic speed reducer service life.
It above are only specific embodiments of the present invention, while involved such as " upper and lower, left and right, centre " in all present invention
Equal words are only used as with reference to not absolute limit, all changes for carrying out unsubstantiality using the present invention should all belong to and invade this hair
The behavior of bright protection domain.
Claims (8)
1. a kind of service life of harmonic speed reducer, efficiency, starting torque detection device, it is characterised in that：Including pedestal, load machine
Structure, output torque sensor, grating, drives servo motor, clamping device at input torque sensor, is provided on the pedestal
Double guide rails, be provided on double guide rails can opposite sliding longitudinally adjusted mechanism, be provided with energy in the longitudinally adjusted mechanism
The transverse adjusting mechanism of opposite sliding, the driving servo motor are arranged on transverse adjusting mechanism, and driving servo motor passes through
Input torque sensor is connected with the input terminal of harmonic speed reducer, the output end of harmonic speed reducer by output torque sensor with
Grating is connected with load maintainer, and the harmonic speed reducer is fixed by clamping device.
2. a kind of service life of harmonic speed reducer according to claim 1, efficiency, starting torque detection device, feature exist
In：The clamping device includes the Holding seat being fixed on pedestal, and two parallel slide bars are provided on the Holding seat,
Sliding block there are two settings on the slide bar, the sliding block is clamped screw rod by same root and controls opposite or opposite movement, each described
Symmetrical holder is provided on sliding block, the pedestal upper end described in left and right two forms an arc groove, the arc groove of holder
On be additionally provided with curved link, the both ends of the curved link are connected and fixed with two holders respectively.
3. a kind of service life of harmonic speed reducer according to claim 2, efficiency, starting torque detection device, feature exist
In：The clamping screw rod is by being clamped hand wheel rotating control.
4. a kind of service life of harmonic speed reducer according to claim 1, efficiency, starting torque detection device, feature exist
In：The longitudinally adjusted mechanism includes longitudinal handwheel, and the longitudinal direction handwheel is described vertical by longitudinal screw and longitudinal base linkage
It is slidably matched to pedestal and double guide rails.
5. a kind of service life of harmonic speed reducer according to claim 4, efficiency, starting torque detection device, feature exist
In：The transverse adjusting mechanism includes lateral handwheel, and the transverse direction handwheel is linked by transverse screw and transverse base, the cross
It is slidably matched to pedestal and longitudinal pedestal, the driving servo motor is arranged in transverse base.
6. a kind of service life of harmonic speed reducer according to claim 1, efficiency, starting torque detection device, feature exist
In：The pedestal uses single-casting structure.
7. a kind of service life of harmonic speed reducer according to claim 1, efficiency, starting torque detection device, feature exist
In：The load maintainer is magnetic powder brake.
8. a kind of service life of harmonic speed reducer according to claim 1, efficiency, starting torque detection device, feature exist
In：It is connected by shaft coupling between the output torque sensor and connection harmonic speed reducer output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228213.8A CN108489728A (en) | 2018-03-20 | 2018-03-20 | A kind of service life of harmonic speed reducer, efficiency, starting torque detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228213.8A CN108489728A (en) | 2018-03-20 | 2018-03-20 | A kind of service life of harmonic speed reducer, efficiency, starting torque detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108489728A true CN108489728A (en) | 2018-09-04 |
Family
ID=63318544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810228213.8A Pending CN108489728A (en) | 2018-03-20 | 2018-03-20 | A kind of service life of harmonic speed reducer, efficiency, starting torque detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108489728A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520726A (en) * | 2018-11-08 | 2019-03-26 | 安徽瑞林精科股份有限公司 | A kind of industrial robot speed reducer reliability test bench |
| CN110806314A (en) * | 2019-11-20 | 2020-02-18 | 浙江工贸职业技术学院 | Six-station robot speed reducer performance testing machine |
| CN110895197A (en) * | 2019-12-23 | 2020-03-20 | 深圳市山卓谐波传动科技有限公司 | Aging testing device |
| CN110926800A (en) * | 2018-09-18 | 2020-03-27 | 天津市浩航科技有限公司 | Gearbox fatigue testing machine |
| CN112985806A (en) * | 2021-04-07 | 2021-06-18 | 襄阳华中科技大学先进制造工程研究院 | Harmonic reducer performance test platform for robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926800A (en) * | 2018-09-18 | 2020-03-27 | 天津市浩航科技有限公司 | Gearbox fatigue testing machine |
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| CN110806314A (en) * | 2019-11-20 | 2020-02-18 | 浙江工贸职业技术学院 | Six-station robot speed reducer performance testing machine |
| CN110895197A (en) * | 2019-12-23 | 2020-03-20 | 深圳市山卓谐波传动科技有限公司 | Aging testing device |
| CN112985806A (en) * | 2021-04-07 | 2021-06-18 | 襄阳华中科技大学先进制造工程研究院 | Harmonic reducer performance test platform for robot |
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Application publication date: 20180904 |