CN109357867B - Radial loading device for fatigue life test of RV reducer - Google Patents
Radial loading device for fatigue life test of RV reducer Download PDFInfo
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- CN109357867B CN109357867B CN201811573098.4A CN201811573098A CN109357867B CN 109357867 B CN109357867 B CN 109357867B CN 201811573098 A CN201811573098 A CN 201811573098A CN 109357867 B CN109357867 B CN 109357867B
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- reducer
- connecting plate
- electric cylinder
- lower connecting
- base
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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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
- G01M13/026—Test-benches of the mechanical closed-loop type, i.e. having a gear system constituting a closed-loop in combination with the object under test
Abstract
The invention discloses a radial loading device for an RV reducer fatigue life test. The upper connecting plate is connected with the electric cylinder through an upper connecting pin, and the upper stop pins on two sides are used for preventing the axial movement of the upper connecting pin. The electric cylinder is installed on the lower connecting plate through the lower connecting pin. When the electric cylinder works, the lower connecting plate and the base can slide up and down, and meanwhile, the lower bottom surface of the lower connecting plate can compress or loosen the pressure sensor arranged in the hole of the base. And the base is arranged on the RV reducer fatigue life test workbench through a locking screw. The pressure sensor detects the magnitude of the loading force in real time, collected data are sent back to the industrial personal computer through the data collection board card, and the industrial personal computer compares the collected signals with the control signals and corrects the load magnitude of the electric cylinder in real time. The invention has strong universality, can be used for the design of loading devices for other types of fatigue life tests, and has wide application range.
Description
Technical Field
The invention relates to a novel RV reducer performance test loading device, and belongs to the field of precision test metering technology, precision instruments and mechanical transmission.
Background
Compared with a cycloid planetary reducer, the RV reducer has a more compact structural design and excellent service performance, is a peak work of precision machinery industry as a reducer with small volume, large transmission ratio and high precision, and is widely applied to the engineering fields of welding, robots, medical treatment, military and the like. With the development of the robot technology, the RV precision reducer has a development trend of gradually replacing a harmonic reducer in advanced robot transmission, and the RV precision reducer has become one of the key technologies of modern robots. For a long time, key core components of the robot in China basically depend on import, and the development of the robot industry in China is severely restricted. The precision RV reducer for the robot joint accounts for up to about 34% of the cost, is very difficult to research and develop, and has extremely high requirements on material science, precision machining equipment, assembly process and high-precision detection technology. The RV reducer is always in a technical blocking state abroad, and related data information is difficult to obtain. The reliability of the domestic robot is still far from that of the foreign-resource brand, the service life of the domestic robot is 8000 hours, the foreign-resource brand can reach 5-10 ten thousand hours, and the main reason is that the precision of a transmission structural part is defective. Due to the lack of brand advantages, domestic users are still in doubt about the quality of domestic robots. Therefore, the research on the fatigue life of the RV reducer is an important technical means for ensuring the reliability of the RV reducer, and is also an inevitable choice for researching and developing the RV reducer in China. However, the fatigue life research of RV reducers in China is still in the initial stage at present, and the research has practical urgency.
Two loading modes are usually adopted during the design of the fatigue life test bed of the RV reducer, one mode is loading through a magnetic powder brake or a load motor, and the loading mode can only simulate the torque load borne by the RV reducer. However, bending moment load is inevitably born in the actual use process of the RV reducer, for example, when a robot arm moves in space, a very large bending moment load is born on an output shaft of the RV reducer due to the action of transient inertial load, and when the bending moment load exceeds the bearing range of a thin-wall bearing built in the RV reducer, the precision of the bearing is seriously damaged, so that the RV reducer is scrapped. Another method is to use an eccentric inertial mass as a loading device, which has the disadvantage that the size of the inertial mass can only be adjusted statically to simulate a fixed load, and a real-time dynamically changing load cannot be realized. Therefore, the function of considering the instantaneous bending moment load in the fatigue life test of the RV reducer is an important measure for ensuring the reliability of the RV reducer in the using process.
Disclosure of Invention
The invention aims to provide a radial loading device which is simple in structure and convenient to install and can accurately apply controllable bending moment load to any rotating position of an output shaft of an RV reducer, so that the actual working condition of the RV reducer is simulated to carry out a fatigue life test. The invention provides an effective technical means for researching the fatigue life of the RV reducer and improves the reliability of the RV reducer in the operation process.
The technical scheme adopted by the invention is that the loading mechanism for testing the fatigue life of the RV reducer comprises a lower stop pin (1), a pressure sensor (2), a locking screw (3), a lower connecting plate (4), a base (5), a lower connecting pin (6), an electric cylinder (7), an upper stop pin (8), an upper connecting pin (9), a mandrel (10), a snap spring (11), a roller bearing (12), an upper connecting plate (13), a connecting disc shaft (14), an RV reducer support (15), the RV reducer (16), an industrial personal computer (17) and a data acquisition board card (18).
The RV reducer (16) is installed in the RV reducer bracket (15), and the hub shaft (14) is connected with an output shaft of the RV reducer (16) so as to output torque and rotation. The electric cylinder (7) applies a radial load to the joint shaft (14) through the roller bearing (12). The roller bearing (12) is arranged on the upper connecting plate (13) through the mandrel (10), and the clamp springs (11) on two sides of the mandrel (10) prevent the roller bearing (12) from moving axially. The upper connecting plate (13) is connected with the electric cylinder (7) through an upper connecting pin (9), and the upper stop pins (8) on two sides are used for preventing the axial movement of the upper connecting pin (9). The electric cylinder (7) is arranged on the lower connecting plate (4) through the lower connecting pin (6), and the lower stop pins (1) on the two sides prevent the axial movement of the lower connecting pin (6). The lower connecting plate (4) is in clearance fit with the base (5), the lower connecting plate (4) and the base (5) can slide up and down when the electric cylinder (7) works, and meanwhile, the lower bottom surface of the lower connecting plate (4) can press or loosen the pressure sensor (2) installed in the hole of the base (5). The base (5) is installed on the fatigue life workbench of the RV reducer through the locking screw (3). The pressure sensor (2) detects the magnitude of the loading force in real time, the acquired data are sent back to the industrial personal computer (17) through the data acquisition board card (18), and the industrial personal computer (17) compares the acquired signals with the control signals to correct the load magnitude of the electric cylinder (7) in real time.
Compared with the prior art, the invention can obtain the following beneficial effects:
1) the invention provides a technical scheme for realizing bending moment loading during the fatigue life test of an RV reducer, which is matched with torque load, so that the actual working condition of the RV reducer can be simulated more truly.
2) According to the invention, according to the actual working condition of the RV reducer, the accurate radial load can be applied to any angle position of the output shaft of the RV reducer through closed-loop control.
3) The radial loading device is simple to operate and convenient to install, and the installation position and the stroke range of the radial loading device can be freely adjusted according to RV reducers of different models.
4) The invention has strong universality, can be used for the design of loading devices for other types of fatigue life tests, and has wide application range.
Drawings
Fig. 1 is an assembly view of the structure of the radial loading device.
Fig. 2 is a top view of the radial loading device.
Fig. 3 is a lower structure view of the radial loading device.
Fig. 4 is a structural view of an upper connection plate.
Fig. 5 is a view showing a structure of a lower connecting plate.
In the figure: 1. the device comprises a lower stop pin, 2, a pressure sensor, 3, a locking screw, 4, a lower connecting plate, 5, a base, 6, a lower connecting pin, 7, an electric cylinder, 8, an upper stop pin, 9, an upper connecting pin, 10, a mandrel, 11, a clamp spring, 12, a roller bearing, 13, an upper connecting plate, 14, a connecting disc shaft, 15, an RV reducer support, 16, an RV reducer, 17, an industrial personal computer, 18 and a data acquisition board card.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1-5, a radial loading device structure for an RV reducer fatigue life test comprises a lower stop pin (1), a pressure sensor (2), a locking screw (3), a lower connecting plate (4), a base (5), a lower connecting pin (6), an electric cylinder (7), an upper stop pin (8), an upper connecting pin (9), a mandrel (10), a clamp spring (11), a roller bearing (12), an upper connecting plate (13), a flange shaft (14), an RV reducer support (15), an RV reducer (16), an industrial personal computer (17) and a data acquisition board card (18).
The RV reducer (16) is installed in the RV reducer bracket (15), and the hub shaft (14) is connected with an output shaft of the RV reducer (16) so as to output torque and rotation. At the same time, the electric cylinder (7) applies radial load to the connecting disc shaft (14) through the roller bearing (12). The roller bearing (12) is arranged on the upper connecting plate (13) through the mandrel (10), and the clamp springs (11) on two sides of the mandrel (10) prevent the roller bearing (12) from moving axially. The upper connecting plate (13) is connected with the electric cylinder (7) through an upper connecting pin (9), and the upper stop pins (8) on two sides are used for preventing the axial movement of the upper connecting pin (9). The electric cylinder (7) is arranged on the lower connecting plate (4) through the lower connecting pin (6), and the lower stop pins (1) on the two sides prevent the axial movement of the lower connecting pin (6). The lower connecting plate (4) is in clearance fit with the base (5), the lower connecting plate (4) and the base (5) can slide up and down when the electric cylinder (7) works, and meanwhile, the lower bottom surface of the lower connecting plate (4) can press or loosen the pressure sensor (2) arranged in the hole of the base (5). The base (5) is installed on the fatigue life workbench of the RV reducer through the locking screw (3). The pressure sensor (2) detects the magnitude of the loading force in real time, the acquired data are sent back to the industrial personal computer (17) through the data acquisition board card (18), and the industrial personal computer (17) compares the acquired signals with the control signals to correct the load magnitude of the electric cylinder (7) in real time.
When different RV reducers (16) are replaced, only the locking screws (3) need to be loosened, the base (5) is adjusted to a proper position, and the stroke of the electric cylinder (7) is selected to enable the roller bearings (12) arranged side by side on two sides to be attached to the outer cylindrical surface of the disc shaft (14). The roller bearings (12) can rotate along with the output shaft, the uniformity of applied load is ensured by adopting four symmetrically-installed roller bearings (12), and the upper connecting plate (13) can rotate around the axis of the upper connecting pin (9) in a self-adaptive mode.
Claims (2)
1. The utility model provides a RV reduction gear fatigue life test radial loading device which characterized in that: the radial loading device for the RV reducer fatigue life test comprises a lower stop pin (1), a pressure sensor (2), a locking screw (3), a lower connecting plate (4), a base (5), a lower connecting pin (6), an electric cylinder (7), an upper stop pin (8), an upper connecting pin (9), a mandrel (10), a clamp spring (11), a roller bearing (12), an upper connecting plate (13), a flange shaft (14), an RV reducer support (15), an RV reducer (16), an industrial personal computer (17) and a data acquisition board card (18);
the RV reducer (16) is arranged in the RV reducer bracket (15), and the connecting disc shaft (14) is connected with an output shaft of the RV reducer (16) so as to output torque and rotation; the electric cylinder (7) applies radial load to the connecting disc shaft (14) through the roller bearing (12); the roller bearing (12) is arranged on the upper connecting plate (13) through the mandrel (10), and the clamp springs (11) on two sides of the mandrel (10) prevent the roller bearing (12) from moving axially; the upper connecting plate (13) is connected with the electric cylinder (7) through an upper connecting pin (9), and the upper stop pins (8) on the two sides are used for preventing the axial movement of the upper connecting pin (9); the electric cylinder (7) is arranged on the lower connecting plate (4) through a lower connecting pin (6), and the lower stop pins (1) on two sides prevent the axial movement of the lower connecting pin (6); the lower connecting plate (4) is in clearance fit with the base (5), when the electric cylinder (7) works, the lower connecting plate (4) and the base (5) can slide up and down, and meanwhile, the lower bottom surface of the lower connecting plate (4) can press or loosen the pressure sensor (2) arranged in the hole of the base (5); the base (5) is arranged on the fatigue life workbench of the RV reducer through the locking screw (3); the pressure sensor (2) detects the magnitude of the loading force in real time, the acquired data are sent back to the industrial personal computer (17) through the data acquisition board card (18), and the industrial personal computer (17) compares the acquired signals with the control signals to correct the load magnitude of the electric cylinder (7) in real time.
2. The radial loading device for the fatigue life test of the RV reducer as claimed in claim 1, characterized in that:
when different RV reducers (16) are replaced, only the locking screws (3) need to be loosened, the base (5) is adjusted to a proper position, and a proper stroke of the electric cylinder (7) is selected, so that the roller bearings (12) arranged side by side on two sides are attached to the outer cylindrical surface of the disc shaft (14); the roller bearings (12) can rotate along with the output shaft, the uniformity of applied load is ensured by adopting four symmetrically-installed roller bearings (12), and the upper connecting plate (13) can rotate around the axis of the upper connecting pin (9) in a self-adaptive mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573098.4A CN109357867B (en) | 2018-12-21 | 2018-12-21 | Radial loading device for fatigue life test of RV reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573098.4A CN109357867B (en) | 2018-12-21 | 2018-12-21 | Radial loading device for fatigue life test of RV reducer |
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| CN109357867A CN109357867A (en) | 2019-02-19 |
| CN109357867B true CN109357867B (en) | 2020-05-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110160777B (en) * | 2019-06-10 | 2020-10-13 | 北京工业大学 | Experimental device for measuring service life of plastic gear planetary reducer |
| CN112240827B (en) * | 2020-04-02 | 2022-10-21 | 北京国家新能源汽车技术创新中心有限公司 | Composite loading device and test bed for speed reducer test |
| CN112098080A (en) * | 2020-08-04 | 2020-12-18 | 盐城工学院 | Fatigue life testing machine for RV reducer |
| CN112504670B (en) * | 2020-11-20 | 2022-04-19 | 北京工业大学 | RV reduction gear precision retentivity and fatigue life testing arrangement |
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| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN204373906U (en) * | 2014-12-25 | 2015-06-03 | 昆明理工大学 | A kind of radial loading device of shaft element load test |
| CN104897400B (en) * | 2015-06-29 | 2017-01-25 | 合肥工业大学 | Robot joint reducer test bed |
| DE102016217938A1 (en) * | 2016-09-20 | 2018-03-22 | Aktiebolaget Skf | Bearings with a vibration sensor and load detection |
| CN106769021A (en) * | 2017-01-15 | 2017-05-31 | 吉林大学 | A kind of industrial robot power unit reliability test bench |
| CN208091696U (en) * | 2017-12-28 | 2018-11-13 | 上海建桥学院 | The rolling bearing fatigue life pilot system of radially alternating load can be applied |
| CN108871773B (en) * | 2018-09-14 | 2024-02-02 | 合肥工业大学 | Helicopter electric tail speed reducer test bed |
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