CN110146286A - A kind of harmonic speed reducer torsion test test device - Google Patents
A kind of harmonic speed reducer torsion test test device Download PDFInfo
- Publication number
- CN110146286A CN110146286A CN201910401055.6A CN201910401055A CN110146286A CN 110146286 A CN110146286 A CN 110146286A CN 201910401055 A CN201910401055 A CN 201910401055A CN 110146286 A CN110146286 A CN 110146286A
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- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- output end
- input terminal
- shake table
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Classifications
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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
-
- 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
- G01M13/028—Acoustic or vibration analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
Abstract
The invention discloses a kind of harmonic speed reducer torsion test test devices, it further include the first static loading device and the second static loading device, testing stand, output end torsion arm, the first shake table and the second shake table, the first exciting rod and the second exciting rod, laser displacement sensor, harmonic speed reducer stationary fixture, power amplifier, data collection and analysis instrument, line of pull, counterweight, force snesor, input terminal fixedly connected part, the fixed lid of input terminal including harmonic speed reducer.It is reinforced using the form bilateral of couple, measuring system is made only to generate pure rotating effect.Counterweight is put into scale pan by static twist when testing, and converts pulling force for gravity by static loading device, so as to apply static torsional load to harmonic speed reducer output end.Connection line when dynamic torsion test, activation system are arranged parameter, adjust voltage, start shake table so as to apply dynamic torsional load to harmonic speed reducer output end.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer torsion test test devices.
Background technique
Harmonic speed reducer is the core component of industrial robot.The torsion stiffness of harmonic speed reducer will have a direct impact on industrial machine
The positioning control accuracy of device people, while being also one of the index of evaluation harmonic speed reducer key performance.Therefore, harmonic reduction is studied
The torsion stiffness of device has very big application value to the design of harmonic speed reducer.So to the experimental Study on Torsion Test of harmonic speed reducer
It is particularly important.Consulting literatures data, it is many for the device of harmonic speed reducer static twist test, it is related to dynamic impulsion torsion
The data of transfer to test device is fewer, thus design it is a kind of with dynamic impulsion torsion test device be necessary.
Summary of the invention
The present invention in order to solve the problems, such as in the prior art harmonic speed reducer correlation torsion test equipment it is vacant, one kind is provided
Harmonic speed reducer torsion test test device is tested by static twist test and dynamic torsion, can test harmonic speed reducer
Static and dynamic torque characteristic provides data for research harmonic speed reducer torque characteristic and supports.
It in order to achieve the above object, will be with power insight of the invention is that in order to make test macro only generate pure rotating effect
Even form applies torque to harmonic speed reducer output end.
Conceived according to foregoing invention, the present invention adopts the following technical scheme:
A kind of harmonic speed reducer torsion test test device, including harmonic speed reducer further include the first static loading device and
Two static loading devices, testing stand, output end torsion arm, the first shake table and the second shake table, the first exciting rod and second swash
Shake bar, laser displacement sensor, harmonic speed reducer stationary fixture, power amplifier, data collection and analysis instrument, line of pull, weight
The fixed lid of code, force snesor, input terminal fixedly connected part, input terminal；The input terminal fixedly connected part is fixed on harmonic reduction
In device stationary fixture, the harmonic speed reducer is fixed on harmonic speed reducer stationary fixture, and the fixed lid of the input terminal is fixed on
On harmonic speed reducer, the input terminal fixedly connected part and the fixed lid of input terminal realize that the input terminal of harmonic speed reducer is fixed, institute
Harmonic speed reducer stationary fixture is stated to be fixed on testing stand；The output end torsion arm is connected to the output end of harmonic speed reducer,
Positioned at the two sides of harmonic speed reducer, the output end torsion of harmonic speed reducer is realized；The first static loading device and second quiet
State loading device be individually fixed in testing stand two it is diagonal on, two static loading devices are equipped with pulley, the line of pull one
End connection counterweight, and by the pulley on two static loading devices the line of pull other end is connected on output end torsion arm,
Pulling force is generated to output end torsion arm；It is other two diagonal to be individually fixed in testing stand for first shake table and the second shake table
On, first exciting rod one end is fixedly connected with the first shake table, and the other end is fixedly connected with force snesor, the power sensing
Device is connected on output end torsion arm, and second exciting rod one end is fixedly connected with the second shake table, and the other end is connected to defeated
On the other side of outlet torsion arm；The laser displacement sensor is set to the side of output end torsion arm；First vibration
Platform connects data acquisition and analyzer by power amplifier, and the laser displacement sensor connects data acquisition with force snesor
With analyzer.
Compared with prior art, the present invention has the following obvious advantages:
The present invention can carry out the test of static twist rigidity and dynamic torsion stiffness to harmonic speed reducer, reverse for harmonic speed reducer
Characteristic research provides data and supports.In addition, this test device structure is simple, and it is safe and efficient, convenient for operation.
Detailed description of the invention
Fig. 1 is system framework figure of the invention.
Fig. 2 is constructional device figure of the invention.
The fixed structure chart of Fig. 3 harmonic speed reducer input terminal of the present invention.
Specific embodiment
Details are as follows for the preferred embodiments of the invention combination attached drawing:
As shown in Fig. 1 ~ Fig. 3, a kind of harmonic speed reducer torsion test test device, including harmonic speed reducer 8, it further include first quiet
State loading device 1 and the second static loading device 6, testing stand 2, output end torsion arm 3, the first shake table 4 and the second shake table
10, the first exciting rod 5 and the second exciting rod 11, laser displacement sensor 7, harmonic speed reducer stationary fixture 9, power amplifier
12, data collection and analysis instrument 13, line of pull 14, counterweight 15, force snesor 16, input terminal fixedly connected part 17, input terminal are solid
Determine lid 18；The input terminal fixedly connected part 17 is fixed in harmonic speed reducer stationary fixture 9, and the harmonic speed reducer 8 is fixed
In on harmonic speed reducer stationary fixture 9, the fixed lid 18 of the input terminal is fixed on harmonic speed reducer 8, and the input terminal is fixed
Connector 17 and the fixed lid 18 of input terminal realize that the input terminal of harmonic speed reducer 8 is fixed, and the harmonic speed reducer stationary fixture 9 is solid
Due on testing stand 2；The output end torsion arm 3 is connected to the output end of harmonic speed reducer 8, positioned at the two of harmonic speed reducer 8
The output end torsion of harmonic speed reducer 8 is realized in side；The first static loading device 1 and the second static loading device 6 are solid respectively
Due to testing stand 2 two it is diagonal on, two static loading devices are equipped with pulley, and described 14 one end of line of pull connects counterweight 15,
And by the pulley on two static loading devices 14 other end of line of pull is connected on output end torsion arm 3, to output end
Torsion arm 3 generates pulling force；First shake table 4 and the second shake table 10 be individually fixed in testing stand 2 other two it is diagonal on,
Described first exciting rod, 5 one end is fixedly connected with the first shake table 4, and the other end is fixedly connected with force snesor 16, and the power passes
Sensor 16 is connected on output end torsion arm 3, and described second exciting rod, 11 one end is fixedly connected with the second shake table 10, the other end
It is connected on the other side of output end torsion arm 3；The laser displacement sensor 7 is set to the side of output end torsion arm 3；Institute
It states the first shake table 4 and data acquisition and analyzer 13 is connected by power amplifier 12, the laser displacement sensor 7 and power pass
Sensor 16 connects data acquisition and analyzer 13.
The principle of the present invention and the course of work are as follows:
The input shaft and firm gear of harmonic speed reducer 8 are fixed with harmonic speed reducer stationary fixture 9 respectively, and output end and output end are turned round
Pivoted arm 3 is fixedly connected by screw, and laser displacement sensor 7 is disposed vertically in output shaft connecting pin.When in torque loading end
When applying corresponding torque, the displacement of the lines of 8 output shaft connecting pin of harmonic speed reducer is read using laser displacement sensor 7, by line position
Shifting, which changes angular displacement into, can obtain the corresponding relationship of torque and output corner.Due to unilateral side load torsional moment be likely to result in it is defeated
Outlet torsion arm 3 generates lateral deviation, so as to cause measurement result inaccuracy.In order to make measuring system only generate pure rotating effect, with
The form of couple applies two-way torsional moment to harmonic speed reducer output end.
When static twist is tested, counterweight 15 is put into scale pan, is added by the first static loading device 1 and the second static state
It carries and sets 6 and convert pulling force for gravity, static twist load is applied to harmonic speed reducer output end by line of pull 14, and record
Laser displacement sensor 7 is read, and completes static twist test.
When dynamic torsion test, connection line enables each equipment to operate normally, log-on data acquisition and analyzer 13, if
Set the analysis parameter such as its input channel parameter, test content, signal source.Voltage is adjusted, is tested respectively humorous under Different Dynamic load
Wave retarder torsional deflection, and the registration of recording laser displacement sensor 7 reading and force snesor 16 are completed dynamic torsion and are surveyed
Examination.
Claims (1)
1. a kind of harmonic speed reducer torsion test test device, including harmonic speed reducer (8), which is characterized in that further include first
Static loading device (1) and the second static loading device (6), testing stand (2), output end torsion arm (3), the first shake table (4)
It is solid with the second shake table (10), the first exciting rod (5) and the second exciting rod (11), laser displacement sensor (7), harmonic speed reducer
Clamp has (9), power amplifier (12), data collection and analysis instrument (13), line of pull (14), counterweight (15), force snesor
(16), the fixed lid (18) of input terminal fixedly connected part (17), input terminal；The input terminal fixedly connected part (17) is fixed on harmonic wave
In retarder stationary fixture (9), the harmonic speed reducer (8) is fixed on harmonic speed reducer stationary fixture (9), the input terminal
Fixed lid (18) is fixed on harmonic speed reducer (8), and the input terminal fixedly connected part (17) and the fixed lid (18) of input terminal are real
The input terminal of existing harmonic speed reducer (8) is fixed, and the harmonic speed reducer stationary fixture (9) is fixed on testing stand (2)；It is described defeated
Outlet torsion arm (3) is connected to the output end of harmonic speed reducer (8), is located at the two sides of harmonic speed reducer (8), realizes harmonic reduction
The output end of device (8) reverses；The first static loading device (1) and the second static loading device (6) are individually fixed in test
On the two of platform (2) are diagonal, two static loading devices are equipped with pulley, and described line of pull (14) one end connects counterweight (15), and
Made in line of pull (14) other end connection output end torsion arm (3) by the pulley on two static loading devices, to output
Torsion arm (3) are held to generate pulling force；First shake table (4) and the second shake table (10) are individually fixed in the another of testing stand (2)
Outer two it is diagonal on, described first exciting rod (5) one end is fixedly connected with the first shake table (4), the other end and force snesor (16)
It is fixedly connected, the force snesor (16) is connected on output end torsion arm (3), described second exciting rod (11) one end and second
Shake table (10) is fixedly connected, and the other end is connected on the other side of output end torsion arm (3)；The laser displacement sensor
(7) it is set to the side of output end torsion arm (3)；First shake table (4) connects data by power amplifier (12) and adopts
Collection and analyzer (13), the laser displacement sensor (7) and force snesor (16) connection data acquisition and analyzer (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401055.6A CN110146286A (en) | 2019-05-15 | 2019-05-15 | A kind of harmonic speed reducer torsion test test device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401055.6A CN110146286A (en) | 2019-05-15 | 2019-05-15 | A kind of harmonic speed reducer torsion test test device |
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| CN110146286A true CN110146286A (en) | 2019-08-20 |
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| CN201910401055.6A Pending CN110146286A (en) | 2019-05-15 | 2019-05-15 | A kind of harmonic speed reducer torsion test test device |
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| CN (1) | CN110146286A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542552A (en) * | 2019-09-19 | 2019-12-06 | 东莞市沃德精密机械有限公司 | Rigidity automatic testing machine for harmonic reducer |
| CN110793736A (en) * | 2019-08-23 | 2020-02-14 | 南京理工大学 | Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force |
| CN111024385A (en) * | 2019-12-25 | 2020-04-17 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
| CN111537221A (en) * | 2020-04-21 | 2020-08-14 | 安徽科技学院 | Harmonic reducer drive rigidity test device |
| CN111795822A (en) * | 2020-06-12 | 2020-10-20 | 上海大学 | RV reduction gear system torsional frequency characteristic testing arrangement |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN113418699A (en) * | 2021-08-24 | 2021-09-21 | 江苏凯博传动设备有限公司 | Roller carrier speed reducer adaptability testing arrangement |
| CN114323516A (en) * | 2021-12-10 | 2022-04-12 | 中国民航大学 | Test device and method for testing micro slippage of connection structure |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110793736A (en) * | 2019-08-23 | 2020-02-14 | 南京理工大学 | Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force |
| CN110542552A (en) * | 2019-09-19 | 2019-12-06 | 东莞市沃德精密机械有限公司 | Rigidity automatic testing machine for harmonic reducer |
| CN111024385A (en) * | 2019-12-25 | 2020-04-17 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
| CN111024385B (en) * | 2019-12-25 | 2022-05-06 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
| CN111537221A (en) * | 2020-04-21 | 2020-08-14 | 安徽科技学院 | Harmonic reducer drive rigidity test device |
| CN111795822A (en) * | 2020-06-12 | 2020-10-20 | 上海大学 | RV reduction gear system torsional frequency characteristic testing arrangement |
| CN112051060A (en) * | 2020-09-06 | 2020-12-08 | 王心成 | Comprehensive test platform for precision speed reducer |
| CN113418699A (en) * | 2021-08-24 | 2021-09-21 | 江苏凯博传动设备有限公司 | Roller carrier speed reducer adaptability testing arrangement |
| CN113418699B (en) * | 2021-08-24 | 2021-11-05 | 江苏凯博传动设备有限公司 | Roller carrier speed reducer adaptability testing arrangement |
| CN114323516A (en) * | 2021-12-10 | 2022-04-12 | 中国民航大学 | Test device and method for testing micro slippage of connection structure |
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Application publication date: 20190820 |
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| RJ01 | Rejection of invention patent application after publication |