CN109632302A - An online test system for RV reducer - Google Patents

An online test system for RV reducer Download PDF

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Publication number
CN109632302A
CN109632302A CN201910053999.9A CN201910053999A CN109632302A CN 109632302 A CN109632302 A CN 109632302A CN 201910053999 A CN201910053999 A CN 201910053999A CN 109632302 A CN109632302 A CN 109632302A
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China
Prior art keywords
reducer
shaft
input end
output
torque
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CN201910053999.9A
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Chinese (zh)
Inventor
李朝阳
王琰华
彭昌琰
陈兵奎
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Chongqing University
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Chongqing University
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Priority to CN201910053999.9A priority Critical patent/CN109632302A/en
Publication of CN109632302A publication Critical patent/CN109632302A/en
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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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

The present invention relates to a kind of RV retarder Online Transaction Processings, including driving measurement module, vertical lifting mechanism, retarder installation module and load measurement module；Driving measurement module includes input terminal pedestal, pedestal is equipped with servo motor, the servo motor output shaft is connected with input terminal transmission shaft, the input terminal transmission shaft is equipped with input terminal angular transducer engaged therewith, the input terminal transmission shaft also passes through shaft coupling and is connected with input terminal torque sensor, and the input terminal torque sensor is connected with reducer input shaft by positive coupling；Retarder installation module includes station, and station is equipped with transfer panel and automatic clamping device；Loading measurement module includes reducer output shaft, reducer output shaft is connected with output end transmission shaft, output end transmission shaft is equipped with output end angular transducer and output end torque sensor, it further include electromagnetic clutch, electromagnetic clutch one end and output end are driven axis connection, and the other end is connected with torque motor.

Description

A kind of RV retarder Online Transaction Processing
Technical field
The invention belongs to retarder testing fields, are related to a kind of Online Transaction Processing of RV retarder.
Background technique
RV retarder is widely used in industrial robot field as a kind of high-accuracy retarder, is the core of industrial robot One of heart components, transmission performance directly influence the positioning accuracy and working performance of industrial robot.With robot row The development of industry, requirement of the people to RV retarder performance are higher and higher.Wherein, transmission error, return difference, staring torque and operation shape Condition etc. has to the index of detection before being every RV retarder factory.
The overall technology level of current country RV retarder is still lower.Wherein lack fast and reliable performance detection instrument It is the one of the major reasons for limiting the skill upgrading of RV retarder.The country about RV retarder transmission error, return difference, staring torque and Line lower stage testboard is mostly used to be tested in terms of the test of the projects such as operation conditions.Existing RV test platform mainly has two Major class, one kind are single performance testboards, such as stiffness test platform, accuracy testing platform and efficiency test platform etc.；Another kind of is that RV subtracts Fast device comprehensive test platform can complete transmission error, torsion stiffness and return difference, the carrying energy of RV retarder on a platform The test of the performances such as power and transmission efficiency.In place of above-mentioned two class testings platform comes with some shortcomings when in use: for single Testing Platform, a test platform can only detect a Xiang Xingneng of RV retarder so that a retarder need using 3~ 5 experimental benches could complete required test item, and efficiency is very low；Although comprehensive test platform can disposably detect RV deceleration The multinomial performance index of device, but it is since structure is complicated, retarder complex installation process, and is extremely difficult to required precision, The requirement quickly detected can not be met.Therefore, existing RV retarder test platform is not suitable in RV retarder production line The upper detection for completing the test items such as transmission error, return difference, staring torque and operation conditions is less able to satisfy batch of RV retarder Quantization detection beat.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of comprehensive Online Transaction Processings of RV retarder.It can be to various Driving error, return difference, staring torque and operation conditions of model RV retarder etc. carry out on-line testing.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of RV retarder Online Transaction Processing, including driving measurement module, vertical lifting mechanism, retarder install module With load measurement module, the driving measurement module is connect with vertical lifting mechanism；The vertical lifting mechanism setting is being slowed down Device is installed above module, for adjusting driving measurement module at a distance from retarder installation module；The load measurement module with Retarder installs the connection of module lower end；
The driving measurement module includes input terminal pedestal, and the input terminal pedestal is equipped with servo motor, the servo Motor output shaft is connected with input terminal transmission shaft, and the input terminal transmission shaft is equipped with input terminal angle sensor engaged therewith Device, the input terminal transmission shaft also pass through shaft coupling and are connected with input terminal torque sensor, and the input terminal torque sensor is logical It crosses positive coupling and is connected with reducer input shaft；
The retarder installation module includes station, and the station is equipped with transfer panel and automatic clamping device；
The load measurement module includes reducer output shaft, and the reducer output shaft is connected with output end transmission shaft, The output end transmission shaft is equipped with output end angular transducer and output end torque sensor, further includes electromagnetic clutch, institute It states electromagnetic clutch one end and output end is driven axis connection, the other end is connected with torque motor.
Further, the input terminal angular transducer, input terminal torque sensor and shaft coupling are installed in input end group On seat, for guaranteeing each part concentricity.
Further, the input terminal angular transducer is fixed by screws on input terminal pedestal, the input terminal angle The inner hole and input terminal transmission shaft of sensor cooperate.
Further, the reducer output shaft is connect with output end transmission shaft by spline.
Further, electromagnetic clutch is in discrete state when testing driving error and staring torque, first will when testing return difference Electromagnetic clutch closure, then loads output end by torque motor control, loading method are as follows: first forward direction is loaded into RV and subtracts The nominal torque of fast device, then Opposite side loading is to negative nominal torque, and finally forward direction is loaded into nominal torque, while output end again Angular transducer and output end torque sensor obtain corner and torque numerical value, obtain surveyed RV retarder after data processing Return difference curve.
Further, in test process, input end's angular transducer and output end angular transducer obtain RV respectively and subtract The input corner and output corner of fast device, the calculation formula of driving error are as follows:
Δ θ=θ2-iθ1
In formula, θ2Indicate the actual rotational angle of output shaft；θ1Indicate the corner of input shaft；I indicates the reduction ratio of RV retarder, Its value is the inverse of rotating ratio R.
The beneficial effects of the present invention are: the present invention detects the properties of retarder using online mode, surveys The a part of test system as assembly line, retarder can directly test its performance after assembling, eliminate the carrying of retarder Step, each section be all made of faster be connected and fixed mode, substantially increase testing efficiency.Whole system is designed as vertical knot Structure can have higher rotating accuracy to avoid gravity on the radial dimension of influence of each section compared with horizontal platform.Vertical test The advantages that there are also retarders is easy for installation for platform, and occupied area is smaller, and operating platform height can more meet the operating habit of worker, Therefore vertical scheme more meets the requirement of on-line testing.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out Illustrate:
Fig. 1 is RV retarder Online Transaction Processing structural schematic diagram of the invention；
Fig. 2 is driving measurement module structural schematic diagram；
Fig. 3 is retarder installation modular structure schematic diagram；
Fig. 4 is load measurement module structural schematic diagram；
Fig. 5 is RV retarder Online Transaction Processing test schematic diagram of the invention.
Appended drawing reference: vertical lifting mechanism driving motor 1, servo motor 2, vertical lifting mechanism 3, input terminal pedestal 4, defeated Enter to hold angular transducer 5, input terminal transmission shaft 6, shaft coupling 7, input terminal torque sensor 8, input shaft 9, RV retarder 10, folder Tight device 11, transfer panel 12, station 13, load measurement module include output shaft 14, output end angular transducer 15, output end Transmission shaft 16, output end torque sensor 17, electromagnetic clutch 18, torque motor 19.
Specific embodiment
Below in conjunction with attached drawing, a preferred embodiment of the present invention will be described in detail.
As shown in Figure 1, a kind of RV retarder Online Transaction Processing, including drive measurement module, vertical lifting mechanism 3, subtract Fast device installation module and load measurement module, the driving measurement module are connect with vertical lifting mechanism 3；The vertical conveyor The setting of structure 3 is above retarder installation module, for adjusting driving measurement module at a distance from retarder installation module；It is described to add Measurement module is carried to connect with retarder installation module lower end；
Driving measurement module includes servo motor 2, input terminal pedestal 4, input terminal angular transducer 5, input terminal transmission shaft 6, shaft coupling 7, input terminal torque sensor 8 and input shaft 9.Vertical lifting mechanism includes vertical lifting mechanism driving motor 1, hangs down Go straight up to descending mechanism 3.It includes clamping device 11, transfer panel 12 and station 13 that retarder, which installs module,.Loading measurement module includes Output shaft 14, output end angular transducer 15, output end transmission shaft 16, output end torque sensor 17,18 and of electromagnetic clutch Torque motor 19.
As depicted in figs. 1 and 2, servo motor 2, the angular transducer 5, torque sensor of test macro driving measurement module 8 and shaft coupling 7 be installed on pedestal 4, can utmostly guarantee the concentricity of each part in this way.Described in when detection, move Power is output to input terminal transmission shaft 6 by servo motor 2.Angular transducer 5 is fixed on the base by screw, by its inner hole and is passed The angle value that the cooperation acquisition retarder input terminal of moving axis 6 turns over.Input terminal transmission shaft 6 is connect by shaft coupling with torque sensor 8 Together, the positive coupling of torque sensor 8 and input shaft 9 link together, and such torque sensor 8, which can obtain, to be subtracted The input torque of fast device.Retarder, which is driven after installing by vertical lifting mechanism 3, drives measurement module to move down input shaft 9 It is installed to the position of engagement.
As shown in figure 3, the retarder installation module of test macro includes clamping device 11, transfer panel 12 and station 13. In order to meet the requirement for the RV retarder for testing different model, retarder 10 is mounted on transfer panel 12 by design.Test Groups of reducers change when, first replace transfer panel 12, the transfer panel 12 of model retarder to be measured will be suitble to first to be mounted on operation On platform 13.When retarder is installed, first output shaft 14 is mounted on retarder 10 outside station, then by retarder 10 and is exported Axis 14 is installed along on transfer panel 12, then has process control clamping device 11 automatically to clamp retarder, completes retarder Fast Installation.
As shown in figure 4, reducer output shaft 14 is connect with output end transmission shaft 16 by spline.Output end angular transducer 15 inner holes and transmission shaft 16 cooperate to acquire the angle data of retarder output end.Output end torque sensor 17 by screw with Transmission shaft 16 connects to obtain the torque data of output end.Electromagnetic clutch 18 should be at when test driving error and staring torque Electromagnetic clutch 18 is closed by discrete state when testing return difference, and the servo motor 2 of input terminal is in locking state, torque motor 19 Opposite side loadings.
As shown in figure 5, the present invention can complete driving error, return difference, the nothing of various model RV retarders by once mounting Load the on-line checking of staring torque and operation conditions etc..The RV retarder on-line testing breakthrough of zero is realized, testing efficiency is big It is big to improve, while being also able to satisfy required precision.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be Various changes are made to it in form and in details, without departing from claims of the present invention limited range.

Claims (6)

1.一种RV减速器在线测试系统，其特征在于：包括驱动测量模块、垂直升降机构、减速器安装模块和加载测量模块，所述驱动测量模块与垂直升降机构连接；所述垂直升降机构设置在减速器安装模块上方，用于调节驱动测量模块与减速器安装模块的距离；所述加载测量模块与减速器安装模块下端连接；1. an RV reducer on-line test system is characterized in that: comprise drive measurement module, vertical lift mechanism, reducer installation module and loading measurement module, described drive measurement module is connected with vertical lift mechanism; The vertical lift mechanism is provided with Above the reducer installation module, it is used to adjust the distance between the drive measurement module and the reducer installation module; the loading measurement module is connected to the lower end of the reducer installation module; 所述驱动测量模块包括输入端基座，所述输入端基座上设有伺服电机，所述伺服电机输出轴连接有输入端传动轴，所述输入端传动轴上设有与其配合的输入端角度传感器，所述输入端传动轴还通过联轴器连接有输入端转矩传感器，所述输入端转矩传感器通过刚性联轴器连接有减速器输入轴；The drive measurement module includes an input end base, a servo motor is arranged on the input end base, an input end drive shaft is connected to the output shaft of the servo motor, and an input end matched with the input end drive shaft is provided on the input end drive shaft an angle sensor, the input end drive shaft is also connected with an input end torque sensor through a coupling, and the input end torque sensor is connected with a reducer input shaft through a rigid coupling; 所述减速器安装模块包括操作台，所述操作台上设有转接盘和自动夹紧装置；The reducer installation module includes an operating table, and the operating table is provided with an adapter plate and an automatic clamping device; 所述加载测量模块包括减速器输出轴，所述减速器输出轴连接有输出端传动轴，所述输出端传动轴上设有输出端角度传感器和输出端转矩传感器，还包括电磁离合器，所述电磁离合器一端与输出端传动轴连接，另一端连接有力矩电机。The loading measurement module includes a reducer output shaft, the output shaft of the reducer is connected with an output end drive shaft, the output end drive shaft is provided with an output end angle sensor and an output end torque sensor, and also includes an electromagnetic clutch. One end of the electromagnetic clutch is connected with the transmission shaft of the output end, and the other end is connected with a torque motor. 2.根据权利要求1所述的RV减速器在线测试系统，其特征在于：所述输入端角度传感器、输入端转矩传感器和联轴器均安装在输入端基座上，用于保证各零件同轴度。2. The RV reducer on-line test system according to claim 1 is characterized in that: the input end angle sensor, input end torque sensor and coupling are all installed on the input end base to ensure that each part is Concentricity. 3.根据权利要求1所述的RV减速器在线测试系统，其特征在于：所述输入端角度传感器通过螺钉固定在输入端基座上，所述输入端角度传感器的内孔与输入端传动轴配合。3. The RV reducer on-line test system according to claim 1, wherein the input end angle sensor is fixed on the input end base by screws, and the inner hole of the input end angle sensor is connected to the input end drive shaft Cooperate. 4.根据权利要求1所述的RV减速器在线测试系统，其特征在于：所述减速器输出轴与输出端传动轴通过花键连接。4. The RV reducer on-line test system according to claim 1, wherein the output shaft of the reducer is connected with the transmission shaft at the output end through splines. 5.根据权利要求1所述的RV减速器在线测试系统，其特征在于：测试传动误差和启动力矩时电磁离合器处于分离状态，测试回差时先将电磁离合器闭合，然后由力矩电机控制对输出端进行加载，加载方式为：先正向加载到RV减速器的额定转矩，然后反向加载到负的额定转矩，最后再正向加载到额定转矩，同时输出端角度传感器和输出端力矩传感器获取转角和转矩数值，经过数据处理后获得所测RV减速器的回差曲线。5. RV reducer on-line testing system according to claim 1, is characterized in that: electromagnetic clutch is in a disengaged state when testing transmission error and starting torque, when testing hysteresis, the electromagnetic clutch is closed first, and then the output is controlled by the torque motor. The loading method is as follows: firstly load the rated torque of the RV reducer in the positive direction, then load the negative rated torque in the reverse direction, and finally load the rated torque in the positive direction. At the same time, the angle sensor at the output end and the output end The torque sensor obtains the angle and torque values, and after data processing, the hysteresis curve of the measured RV reducer is obtained. 6.根据权利要求1所述的RV减速器在线测试系统，其特征在于：测试过程中，所述输人端角度传感器和输出端角度传感器分别获取RV减速器的输入转角和输出转角，传动误差的计算公式如下：6. RV reducer online testing system according to claim 1, is characterized in that: in testing process, described input angle sensor and output end angle sensor obtain the input angle and output angle of RV reducer respectively, transmission error The calculation formula is as follows: Δθ＝θ2-iθ1 Δθ=θ 2 -iθ 1 式中，θ2表示输出轴的实际转角；θ1表示输入轴的转角；i表示RV减速器的减速比，其值为转速比R的倒数。In the formula, θ 2 represents the actual rotation angle of the output shaft; θ 1 represents the rotation angle of the input shaft; i represents the reduction ratio of the RV reducer, which is the reciprocal of the speed ratio R.
CN201910053999.9A 2019-01-21 2019-01-21 An online test system for RV reducer Pending CN109632302A (en)

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CN110441052A (en) * 2019-07-23 2019-11-12 清远敏实汽车零部件有限公司 A kind of RV speed reducer comprehensive performance parameter test special plane
CN110954336A (en) * 2019-10-19 2020-04-03 浙江零跑科技有限公司 Differential performance testing mechanism
CN113310687A (en) * 2021-04-14 2021-08-27 昆明理工大学 Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table
CN114526911A (en) * 2022-02-28 2022-05-24 河南科技大学 Testing machine for testing bearing capacity of RV reducer main shaft
CN115950477A (en) * 2022-12-02 2023-04-11 西安微电机研究所有限公司 Limited-angle torque motor performance testing device and method
CN116718374A (en) * 2023-08-10 2023-09-08 江苏万基传动科技有限公司 Detection device for measuring rotation precision of RV reducer

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Publication number Priority date Publication date Assignee Title
CN110441052A (en) * 2019-07-23 2019-11-12 清远敏实汽车零部件有限公司 A kind of RV speed reducer comprehensive performance parameter test special plane
CN110954336A (en) * 2019-10-19 2020-04-03 浙江零跑科技有限公司 Differential performance testing mechanism
CN110954336B (en) * 2019-10-19 2021-07-27 浙江零跑科技有限公司 Differential performance testing mechanism
CN113310687A (en) * 2021-04-14 2021-08-27 昆明理工大学 Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table
CN113310687B (en) * 2021-04-14 2022-08-26 昆明理工大学 Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table
CN114526911A (en) * 2022-02-28 2022-05-24 河南科技大学 Testing machine for testing bearing capacity of RV reducer main shaft
CN115950477A (en) * 2022-12-02 2023-04-11 西安微电机研究所有限公司 Limited-angle torque motor performance testing device and method
CN116718374A (en) * 2023-08-10 2023-09-08 江苏万基传动科技有限公司 Detection device for measuring rotation precision of RV reducer
CN116718374B (en) * 2023-08-10 2023-11-03 江苏万基传动科技有限公司 Detection device for measuring rotation precision of RV reducer

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