CN109946066A - A kind of precision speed reduction device high-precision comprehensive performance measurement structure - Google Patents
A kind of precision speed reduction device high-precision comprehensive performance measurement structure Download PDFInfo
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- CN109946066A CN109946066A CN201910175293.XA CN201910175293A CN109946066A CN 109946066 A CN109946066 A CN 109946066A CN 201910175293 A CN201910175293 A CN 201910175293A CN 109946066 A CN109946066 A CN 109946066A
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Abstract
The invention discloses a kind of precision speed reduction device high-precision comprehensive performance measurement structure, including respectively with the input of tested retarder, output axis connection input end measuring structure and with measurement of output end structure；The input end measuring structure includes input terminal torque sensor and input terminal Circular gratings；The input terminal Circular gratings are connected by input terminal positive coupling with tested reducer input shaft；The input terminal torque sensor is connected by input terminal flexible clutch with input terminal Circular gratings；The measurement of output end structure includes output end torque sensor and output end Circular gratings；The output end Circular gratings are connected by output end positive coupling with tested reducer output shaft；The output end torque sensor is connected by output end flexible clutch with output end Circular gratings.By the present invention in that torque sensor is flexible and deformation controllably connects, and has adapted to measured parameter self-characteristic with angular transducer rigidity, preposition connection, the authenticity of data acquisition is improved.
Description
Technical field
The present invention relates to retarder detection technique, in particular to a kind of precision speed reduction device high-precision comprehensive performance measurement knot
Structure.
Background technique
With information-based and industrialized continuous development, industrial robot using more and more extensive, to joint of robot
The performance requirement of retarder is also higher and higher.Critical component of the high accurate speed reducer as robot motion's transmission system, property
The kinematic accuracy and efficiency that entire robot transmission system can be directly affected, so the performance detection of precision speed reduction device is for machine
Device man-based development, or even the development of entire manufacturing equipment industry have important influence.Detect the important parameter of precision speed reduction device
Can, most important function is able to detect the actual performance of tested retarder.It is specifically exactly that detection data must be loyal
In fact in the basic definition of index parameter.But due to the limitation of measurement method and measurement space, parameter amount can only be by indirect
Method realizes measurement.For example the encoder measurement carried with motor inputs, the corner of output shaft, since motor is often arranged in survey
One end far from tested reducer shaft in shafting is measured, in such cases the reading of encoder, not only reflects tested reducer shaft
Angle further includes the sum of the angle of each axis stress deformation in the entire drive shaft system of instrument.Tested deceleration is indicated with such data
The performance of device, it is clear that do not meet actual conditions.
Summary of the invention
The purpose of the present invention is overcoming deficiency in the prior art, a kind of precision speed reduction device high-precision comprehensive performance survey is provided
Structure is measured, the bases such as torque, the angle of tested retarder input terminal and output end can in real time, accurately be completed using the structure
The detection of this amount, and other performance parameters derived from by fundamental quantity are provided according to definition.
The technical scheme adopted by the invention is that: a kind of precision speed reduction device high-precision comprehensive performance measurement structure, including with
The input end measuring structure of tested reducer input shaft connection and the measurement of output end structure being connect with tested reducer output shaft；
The input end measuring structure includes input terminal torque sensor and input terminal Circular gratings；The input terminal Circular gratings
Directly it is connected with the tested reducer input shaft by input terminal positive coupling, is inputted to avoid caused by measurement torque
End measurement shafting elastic angular dis- placement is included in measurement result；The input terminal torque sensor passes through input terminal flexible clutch and institute
It states input terminal Circular gratings to be connected away from one end of tested retarder, to be reduced or avoided because input end measuring shafting concentricity is missed
Additional torque caused by difference；
The measurement of output end structure includes output end torque sensor and output end Circular gratings；The output end Circular gratings
Directly it is connected with the tested reducer output shaft by output end positive coupling, is exported to avoid caused by measurement torque
End measurement shafting elastic angular dis- placement is included in measurement result；The output end torque sensor passes through output end flexible clutch and institute
It states output end Circular gratings to be connected away from one end of tested retarder, to be reduced or avoided because measurement of output end shafting concentricity is missed
Additional torque caused by difference.
Further, the input terminal positive coupling includes sequentially connected:
Input terminal ring flange, for being connect with the input terminal Circular gratings；
Input terminal seam allowance prevents input terminal described in the input terminal positive coupling rollover and Auxiliary support rigid for installing
The bearing of property shaft coupling, and for being positioned to the input terminal positive coupling；
Input terminal spline housing, for being connect with the tested reducer input shaft.
Further, the output end positive coupling includes sequentially connected:
Output flange disk, for being connect with the output end Circular gratings；
Output end seam allowance prevents output end described in the output end positive coupling rollover and Auxiliary support rigid for installing
The bearing of property shaft coupling, and for being positioned to the output end positive coupling；
Output end spline housing, for being connect with the tested reducer output shaft.
The beneficial effects of the present invention are: a kind of precision speed reduction device high-precision comprehensive performance measurement structure of the present invention, by making
With angular transducer is rigid, preposition (as close as possible to the input of tested retarder, output shaft end) connection, torque sensor is flexible and shape
Become controllable connection, adapted to measured parameter self-characteristic, improves the authenticity of data acquisition.
Detailed description of the invention
Fig. 1 is precision speed reduction device high-precision comprehensive performance measurement structural representation of the present invention；
Fig. 2 is input terminal positive coupling structural schematic diagram of the invention；
Fig. 3 is output end positive coupling structural schematic diagram of the invention；
Attached drawing mark: 1, input terminal torque sensor；2, input terminal flexible clutch；3, input terminal Circular gratings；4, it inputs
Hold positive coupling；5, it is tested retarder；6, output end positive coupling；7, output end Circular gratings；8, output end flexible coupling
Device；9, output end torque sensor；41, input terminal ring flange；42, input terminal seam allowance；43, input terminal spline housing；61, output end
Ring flange；62, output end seam allowance；63, output end spline housing.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
If attached drawing 1 is to shown in Fig. 3, a kind of precision speed reduction device high-precision comprehensive performance measurement structure, precision involved by the structure
Sensor placement in retarder high-precision combination property detector measuring system improves two angle, torque basic magnitudes
Measurement accuracy.
The structure includes exporting with the input end measuring structure of tested retarder 5 input axis connection and with tested retarder 5
The measurement of output end structure of axis connection.The input end measuring structure include input terminal torque sensor 1, input terminal Circular gratings 3,
Input terminal positive coupling 4 and input terminal flexible clutch 2；The measurement of output end structure include output end torque sensor 9,
Output end Circular gratings 7, output end positive coupling 6 and output end flexible clutch 8.Barrel shape work based on retarder detecting instrument
Make stage body and plate-like symmetry axis supporting structure, by the input terminal torque sensor 1, output end torque sensor 9 and input terminal
Circular gratings 3, output end Circular gratings 7 are arranged close to the position of tested retarder 5, the input terminal Circular gratings 3, output as far as possible
End Circular gratings 7 are rigid, preposition (inputting as close as possible to tested retarder 5, output shaft end) connects, the input terminal torque sensor
1, output end torque sensor 9 is flexible and deformation controllably connects.
Angle measurement is used as angular transducer, the input terminal circle light using input terminal Circular gratings 3, output end Circular gratings 7
Grid 3, output end Circular gratings 7 are mounted near the position of the input of tested retarder 5, output shaft end, by input terminal circle light
Grid 3 are directly connected with tested 5 input shaft of retarder by the input terminal positive coupling 4, the output end circle light
Grid 7 are directly connected with tested 5 output shaft of retarder by the output end positive coupling 6, are tied by rigid connection
Structure avoids input, output end measurement shafting elastic angular dis- placement caused by measurement torque from being included in measurement result.Torque measurement uses
Input terminal torque sensor 1 and output end torque sensor 9 measure, and the input terminal torque sensor 1 and output end are turned round
Square sensor 9 is connected on input terminal Circular gratings 3, output by input terminal flexible clutch 2 and output end flexible clutch 8 respectively
It holds behind Circular gratings 7, is reduced or avoided by flexible connecting structure and is caused because input, output end measures shafting coaxiality error
Additional torque.Measured parameter self-characteristic has been adapted to, the authenticity of data acquisition is improved.Wherein, the input in the present invention
End measurement shafting refers to input terminal positive coupling 4, input terminal Circular gratings 3, input terminal yielding coupling, input terminal torque sensing
The combination of the motor output shaft of device 1 and the connection input terminal torque sensor 1 etc.；Measurement of output end shafting in the present invention is
Refer to output end positive coupling 6, output end Circular gratings 7, output end yielding coupling, output end torque sensor 9 and connection institute
State the combination of motor output shaft of output end torque sensor 9 etc..
Wherein, the input terminal positive coupling 4 includes sequentially connected input terminal ring flange 41,42 and of input terminal seam allowance
Input terminal spline housing 43；The input terminal ring flange 41 with the input terminal Circular gratings 3 for connecting；The input terminal seam allowance 42
For installing the bearing for preventing input terminal positive coupling 4 described in the rollover of input terminal positive coupling 4 and Auxiliary support, institute
The inner ring for stating bearing is fixedly connected with the input terminal seam allowance 42, outer ring is fixed in the shell of retarder detecting instrument, described
Input terminal seam allowance 42 is also used to position the input terminal positive coupling 4, guarantees the concentricity of input end measuring shafting；
The input terminal spline housing 43 is used to input axis connection with the tested retarder 5.
The output end positive coupling 6 is identical as 4 structure of input terminal positive coupling, including sequentially connected defeated
Outlet ring flange 61, output end seam allowance 62 and output end spline housing 63；The output flange disk 61 is used for and the output end
Circular gratings 7 connect；The output end seam allowance 62 prevents the rollover of output end positive coupling 6 and Auxiliary support institute for installing
The bearing of output end positive coupling 6 is stated, the inner ring of the bearing is fixedly connected with the output end seam allowance 62, outer ring is fixed on
In the shell of retarder detecting instrument, the output end seam allowance 62 is also used to position the output end positive coupling 6,
Guarantee the concentricity of measurement of output end shafting；The output end spline housing 63 is used to export axis connection with the tested retarder 5.
Instrument need to be only controlled when measuring retarder comprehensive performance to load in the intended manner, input terminal Circular gratings 3,
Tested retarder 5 can be rapidly completed in output end Circular gratings 7, input terminal torque sensor 1 and output end torque sensor 9 respectively
The detection of the fundamental quantities such as the corner and torque of input terminal and output end, and other property derived from by fundamental quantity can be provided according to definition
It can parameter.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment 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 (3)
1. a kind of precision speed reduction device high-precision comprehensive performance measurement structure, which is characterized in that including being inputted with tested retarder (5)
The input end measuring structure of axis connection and the measurement of output end structure that axis connection is exported with tested retarder (5)；
The input end measuring structure includes input terminal torque sensor (1) and input terminal Circular gratings (3)；The input terminal circle light
Grid (3) are directly connected with tested retarder (5) input shaft by input terminal positive coupling (4), to avoid measuring force
Input end measuring shafting elastic angular dis- placement caused by square is included in measurement result；The input terminal torque sensor (1) passes through input
End flexible clutch (2) is connected with one end that the input terminal Circular gratings (3) deviate from tested retarder (5), to reduce or keep away
Additional torque caused by exempting from because of input end measuring shafting coaxiality error；
The measurement of output end structure includes output end torque sensor (9) and output end Circular gratings (7)；The output end circle light
Grid (7) are directly connected with tested retarder (5) output shaft by output end positive coupling (6), to avoid measuring force
Measurement of output end shafting elastic angular dis- placement caused by square is included in measurement result；The output end torque sensor (9) passes through output
End flexible clutch (8) is connected with one end that the output end Circular gratings (7) deviate from tested retarder (5), to reduce or keep away
Additional torque caused by exempting from because of measurement of output end shafting coaxiality error.
2. a kind of precision speed reduction device high-precision comprehensive performance measurement structure according to claim 1, which is characterized in that described
Input terminal positive coupling (4) includes sequentially connected:
Input terminal ring flange (41), for being connect with the input terminal Circular gratings (3)；
Input terminal seam allowance (42) prevents from inputting described in input terminal positive coupling (4) rollover and Auxiliary support for installing
The bearing of positive coupling (4) is held, and for positioning to the input terminal positive coupling (4)；
Input terminal spline housing (43), for inputting axis connection with the tested retarder (5).
3. a kind of precision speed reduction device high-precision comprehensive performance measurement structure according to claim 1, which is characterized in that described
Output end positive coupling (6) includes sequentially connected:
Output flange disk (61), for being connect with the output end Circular gratings (7)；
Output end seam allowance (62) prevents from exporting described in output end positive coupling (6) rollover and Auxiliary support for installing
The bearing of positive coupling (6) is held, and for positioning to the output end positive coupling (6)；
Output end spline housing (63), for exporting axis connection with the tested retarder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175293.XA CN109946066A (en) | 2019-03-08 | 2019-03-08 | A kind of precision speed reduction device high-precision comprehensive performance measurement structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910175293.XA CN109946066A (en) | 2019-03-08 | 2019-03-08 | A kind of precision speed reduction device high-precision comprehensive performance measurement structure |
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| CN109946066A true CN109946066A (en) | 2019-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310561A (en) * | 2021-12-30 | 2022-04-12 | 西安现代控制技术研究所 | Aircraft actuating mechanism drive assembly grinds mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886978A (en) * | 2010-07-07 | 2010-11-17 | 四川大学 | Vacuum high/low temperature environmental simulation electromechanical transmission mechanism comprehensive performance experimental system |
| CN102269654A (en) * | 2011-05-10 | 2011-12-07 | 重庆大学 | Water lubricated bearing and transmission system comprehensive performance testing platform |
| CN206593851U (en) * | 2017-01-22 | 2017-10-27 | 济南大学 | RV decelerator dynamic and static state performance test systems |
| CN209570343U (en) * | 2019-03-08 | 2019-11-01 | 天津大学 | A kind of precision speed reduction device high-precision comprehensive performance measurement structure |
-
2019
- 2019-03-08 CN CN201910175293.XA patent/CN109946066A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886978A (en) * | 2010-07-07 | 2010-11-17 | 四川大学 | Vacuum high/low temperature environmental simulation electromechanical transmission mechanism comprehensive performance experimental system |
| CN102269654A (en) * | 2011-05-10 | 2011-12-07 | 重庆大学 | Water lubricated bearing and transmission system comprehensive performance testing platform |
| CN206593851U (en) * | 2017-01-22 | 2017-10-27 | 济南大学 | RV decelerator dynamic and static state performance test systems |
| CN209570343U (en) * | 2019-03-08 | 2019-11-01 | 天津大学 | A kind of precision speed reduction device high-precision comprehensive performance measurement structure |
Non-Patent Citations (1)
| Title |
|---|
| 郑钰馨: "RV减速器动力性能综合检测试验平台设计", 《中国工程机械学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310561A (en) * | 2021-12-30 | 2022-04-12 | 西安现代控制技术研究所 | Aircraft actuating mechanism drive assembly grinds mechanism |
| CN114310561B (en) * | 2021-12-30 | 2024-04-05 | 西安现代控制技术研究所 | Aircraft actuating mechanism drive assembly grinding mechanism |
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