CN111024389A - Harmonic reducer load testing device with electric energy feedback and method - Google Patents
Harmonic reducer load testing device with electric energy feedback and method Download PDFInfo
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- CN111024389A CN111024389A CN201911387741.9A CN201911387741A CN111024389A CN 111024389 A CN111024389 A CN 111024389A CN 201911387741 A CN201911387741 A CN 201911387741A CN 111024389 A CN111024389 A CN 111024389A
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- electric energy
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- harmonic reducer
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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 invention discloses load testing equipment and a method for a harmonic reducer with electric energy feedback, wherein the load testing equipment comprises a testing driving motor, a load generator and an electric energy providing module, wherein the testing driving motor and the load generator are connected to two sides of the harmonic reducer to be tested through a coupler; the electric energy providing module comprises an external electric energy module and a recovered electric energy module, the recovered electric energy module comprises a direct current bus, a motor inverter circuit and a motor rectifying circuit, the motor inverter circuit is connected between the test driving motor and the direct current bus, and the motor rectifying circuit is connected between the load generator and the direct current bus; the external power module comprises an external power supply and a power supply rectifying circuit, and the power supply rectifying circuit is connected between the external power supply and the direct-current bus. The invention converts the rotation of the load motor into electric energy and supplies the converted electric energy to the driving motor, thereby achieving the purposes of saving energy and reducing the test cost.
Description
Technical Field
The invention relates to a harmonic reducer testing technology, in particular to harmonic reducer load testing equipment with electric energy feedback and a method thereof.
Background
The harmonic reducer has the advantages of small volume, high transmission ratio, high precision and the like, is widely applied to the fields of robots and military industry, and is an important transmission component.
In the design verification of the harmonic reducer, a load test and a service life test are required to verify the quality and the performance of the harmonic reducer. The existing testing method is to connect a driving motor and a harmonic reducer coaxially to provide a rotating force, then connect a load motor or other adjustable loads to the output end of the harmonic reducer, and consume the mechanical energy of the output end on resistance equipment or a brake resistor, wherein the life test of the harmonic reducer requires a continuous load test of not less than 500 hours. Obviously, the testing method wastes a large amount of electric energy, is neither energy-saving nor economical, and greatly increases the testing cost.
Disclosure of Invention
The invention aims to overcome the existing problems and provide load testing equipment with electric energy feedback for a harmonic reducer, wherein the load testing equipment converts the rotation of a load motor into electric energy and supplies the converted electric energy to a driving motor for use, so that the aims of saving energy and reducing the testing cost are fulfilled.
The invention also aims to provide a load testing method of the harmonic reducer with electric energy feedback.
The purpose of the invention is realized by the following technical scheme:
the load testing equipment for the harmonic reducer with electric energy feedback comprises a testing driving motor, a load generator and an electric energy providing module, wherein the testing driving motor and the load generator are connected to two sides of the harmonic reducer to be tested through a coupler; the electric energy providing module comprises an external electric energy module and a recovered electric energy module, the recovered electric energy module comprises a direct current bus, a motor reverse current circuit and a motor rectifying circuit, the motor reverse current circuit is connected between the test driving motor and the direct current bus, and the motor rectifying circuit is connected between the load generator and the direct current bus; the external power module comprises an external power supply and a power supply rectifying circuit, and the power supply rectifying circuit is connected between the external power supply and the direct-current bus;
in the test process, the test driving motor drives the harmonic reducer and the load generator to operate by utilizing a recovered power supply generated by an externally connected power supply and the load generator.
The working principle of the load testing equipment is as follows:
the harmonic reducer test is carried out in a motor-to-drive mode, and the loading required by the test is adjusted by adjusting the rotating speed of the load generator. The harmonic reducer to be tested is connected between the testing drive motor and the load generator through the coupler, all circuits are switched on, an external power supply is connected firstly, an input three-phase power supply alternating current is rectified into a stable direct current by the power supply rectifying circuit and is conveyed to the motor reverse current circuit through the direct current bus, the alternating current is converted into the alternating current and then flows to the testing drive motor, and the testing drive motor is driven by the external power supply, so that the harmonic reducer and the load generator are in a working state.
Under the working state, the harmonic reducer drives the load generator to operate, and the load capacity of the harmonic reducer is tested. In the running process of the load generator, mechanical energy is converted into electric energy, alternating current is rectified into direct current through a motor rectifying circuit and is output to a direct current bus, the direct current is transmitted to a motor reverse current circuit through the direct current bus, the direct current is reversely flowed into alternating current through the motor reverse current circuit and is supplied to a test driving motor for use.
In a preferred embodiment of the present invention, the external power module further includes a filter circuit, and the filter circuit processes the external power to smooth the spike pulse of the external power and reduce the influence of the harmonic on the test driving motor.
In a preferred embodiment of the present invention, a speed-increasing box is disposed between the load generator and the harmonic reducer, and the speed-increasing box is composed of an independent transmission component enclosed in a rigid box body, and is used for increasing the rotation speed at the rear end of the harmonic reducer and improving the power generation efficiency of the load generator, wherein the selection of the transformation ratio of the speed-increasing box is determined according to the transformation ratio of the harmonic reducer to be measured.
In a preferred embodiment of the present invention, the system further includes an electrical control module and an upper computer control module.
Preferably, the electric control module comprises a PLC and a torque and rotation speed sensor, and the PLC is communicated with the motor driving unit through PROFINET so as to control the driving motor to rotate. The two motors are controlled in a closed loop mode, so that the rotating speed of the whole twin-dragging system is controlled, the torque and the load are adjusted simultaneously, and the test requirements of various working conditions are met. Specifically, the motor driving unit is composed of a motor rectifying circuit and a motor reverse current circuit.
Furthermore, two torque and rotation speed sensors are provided, wherein one torque and rotation speed sensor is arranged between the driving motor and the harmonic reducer to be measured and used for measuring the input torque and rotation speed; and the other one is arranged between the output end of the harmonic reducer to be measured and the speed increasing box and is used for measuring the output torque and the rotating speed. The torque sensor is switched in to plc for feedback.
Preferably, the upper computer control module is based on an upper computer program developed by a computer and has the functions of monitoring equipment hardware, tracing data and exporting reports.
Preferably, the upper computer communicates with the PLC through PROFINET, and acquires data generated by the torque and rotation speed sensor as a feedback signal through the PCI/PCIE data acquisition board, thereby obtaining torque and rotation speed signals of the motor.
A load testing method for a harmonic reducer with electric energy feedback comprises the following steps:
connecting a harmonic reducer to be tested between a test driving motor and a load generator through a coupler;
the method comprises the following steps that an external power supply is switched on, a power supply rectifying circuit rectifies input three-phase power supply alternating current into stable direct current, the stable direct current is transmitted to a motor reverse current circuit through a direct current bus, the stable direct current is led to a test driving motor after being reversely flowed into alternating current, and the test driving motor drives a harmonic reducer and a load generator to operate by utilizing the external power supply;
the load generator operates to convert mechanical energy of a load into electric energy, alternating current is rectified into direct current through the motor rectifying circuit and is output to the direct current bus, and the direct current bus transmits the direct current to the motor reverse current circuit; the motor reverse current circuit reverses the direct current into alternating current to be supplied to the test driving motor.
According to a preferred scheme of the invention, before the external power supply is connected to the direct current bus, the filter circuit processes the external power supply, so that spike pulses of the external power supply are smoothed, and the influence of harmonic waves on testing of the driving motor is reduced.
Compared with the prior art, the invention has the following beneficial effects:
in the load testing device, the generator serves as a load, so that the size of the load can be adjusted, the performance test of the harmonic reducer is completed, the energy of the load can be recovered and converted into electric energy, part of driving electric energy is provided for testing the driving motor, the energy recovery of the load is realized, the energy is recycled, and the effects of saving energy, reducing emission and reducing the testing cost are achieved.
Drawings
Fig. 1 is a schematic structural diagram of a load testing device for a harmonic reducer with electric energy feedback according to the present invention.
Fig. 2 is a schematic view of a motor driving unit of the present invention.
Detailed Description
In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-2, the load testing apparatus for a harmonic reducer with electric energy feedback in the present embodiment includes a testing driving motor, a load generator, an electric energy providing module, an electrical control module, and an upper computer control module. The test driving motor and the load generator are connected to two sides of the harmonic reducer to be tested through a coupler; the electric energy providing module comprises an external electric energy module and a recovered electric energy module, the recovered electric energy module comprises a direct current bus, a motor reverse current circuit and a motor rectifying circuit, the motor reverse current circuit is connected between the test driving motor and the direct current bus, and the motor rectifying circuit is connected between the load generator and the direct current bus; the external electric energy module comprises an external power supply, a power supply rectifying circuit (a power supply adjusting unit) and a filter circuit (a filter unit), wherein the filter circuit processes the power supply of the external power supply, smoothes the spike pulse of the external power supply and reduces the influence of harmonic waves on testing the driving motor; the power supply rectifying circuit is connected between an external power supply and the direct current bus. The direct current bus connects the external power supply together by a copper bar to form a direct current public bus (the voltage is 400V).
The test driving motor, the load generator and the harmonic reducer are fixed on a test platform (a cast iron platform) through a tool clamp, and vibration of the motor is reduced. In the test process, the test driving motor drives the harmonic reducer and the load generator to operate by utilizing a recovered power supply generated by an externally connected power supply and the load generator.
Specifically, the electric control module comprises a PLC and a torque and rotation speed sensor, and the PLC is communicated with the motor driving unit through PROFINET so as to control the driving motor to rotate. The two motors are controlled in a closed loop mode, so that the rotating speed of the whole twin-dragging system is controlled, the torque and the load are adjusted simultaneously, and the test requirements of various working conditions are met. In this embodiment, the motor driving unit is composed of a motor rectifying circuit and a motor reverse current circuit, and the test driving motor and the load generator are each provided with a motor driving unit for alternately switching alternating current and direct current.
Further, the torque and rotation speed sensor is installed between the power transmission shafts and used for measuring the torque, rotation speed and power of the driving motor and the load generator, and the torque sensor is connected to the plc to achieve feedback.
The upper computer control module is based on an upper computer program developed by a computer and has the functions of monitoring equipment hardware, tracing data and exporting reports. The upper computer is communicated with the PLC through PROFINET, and data generated by the torque and rotation speed sensor is collected as a feedback signal through the PCI/PCIE data collection board card, so that torque and rotation speed signals of the motor are obtained.
Referring to fig. 1, a speed-increasing box is arranged between the load generator and the harmonic reducer, and the speed-increasing box is composed of independent transmission components enclosed in a rigid box body and used for increasing the rotating speed of the rear end of the harmonic reducer and improving the power generation efficiency of the load generator, wherein the transformation ratio of the speed-increasing box is determined according to the transformation ratio of the harmonic reducer to be measured.
Referring to fig. 1-2, the working principle of the load testing apparatus in the present embodiment is:
the harmonic reducer testing is carried out in a motor-to-drive mode, the loading required by the testing is adjusted by adjusting the rotating speed of a load generator, and the specific testing steps of the harmonic reducer can refer to the testing method in the prior art. The harmonic reducer to be tested is connected between the testing drive motor and the load generator through the coupler, all circuits are switched on, an external power supply is connected firstly, an input three-phase power supply alternating current is rectified into a stable direct current by the power supply rectifying circuit and is conveyed to the motor reverse current circuit through the direct current bus, the alternating current is converted into the alternating current and then flows to the testing drive motor, and the testing drive motor is driven by the external power supply, so that the harmonic reducer and the load generator are in a working state.
Under the working state, the harmonic reducer drives the load generator to operate, and the load capacity of the harmonic reducer is tested. In the running process of the load generator, mechanical energy is converted into electric energy, alternating current is rectified into direct current through a motor rectifying circuit and is output to a direct current bus, the direct current is transmitted to a motor reverse current circuit through the direct current bus, the direct current is reversely flowed into alternating current through the motor reverse current circuit and is supplied to a test driving motor for use.
Referring to fig. 1-2, the method for testing the load of the harmonic reducer with feedback of electric energy in the embodiment includes the following steps:
and connecting the harmonic reducer to be tested between the test driving motor and the load generator through a coupler. Before the external power supply is connected with the direct current bus, the filter circuit processes the external power supply, so that the spike pulse of the external power supply is smoothed, and the influence of harmonic waves on the test driving motor is reduced. The testing driving motor drives the harmonic reducer and the load generator to operate by using the external power supply.
The load generator operates to convert mechanical energy of a load into electric energy, alternating current is rectified into direct current through the motor rectifying circuit and is output to the direct current bus, and the direct current bus transmits the direct current to the motor reverse current circuit; the motor reverse current circuit reverses the direct current into alternating current to be supplied to the test driving motor.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. The load testing equipment of the harmonic reducer with electric energy feedback is characterized by comprising a testing driving motor, a load generator and an electric energy providing module, wherein the testing driving motor and the load generator are connected to two sides of the harmonic reducer to be tested through a coupler; the electric energy providing module comprises an external electric energy module and a recovered electric energy module, the recovered electric energy module comprises a direct current bus, a motor reverse current circuit and a motor rectifying circuit, the motor reverse current circuit is connected between the test driving motor and the direct current bus, and the motor rectifying circuit is connected between the load generator and the direct current bus; the external power module comprises an external power supply and a power supply rectifying circuit, and the power supply rectifying circuit is connected between the external power supply and the direct-current bus;
in the test process, the test driving motor drives the harmonic reducer and the load generator to operate by utilizing a recovered power supply generated by an externally connected power supply and the load generator.
2. The device for testing the load of the harmonic reducer with electric energy feedback as claimed in claim 1, wherein the external power module further comprises a filter circuit, and the filter circuit processes the external power to smooth the spike pulse of the external power and reduce the influence of the harmonic on the testing driving motor.
3. The device for testing the load of the harmonic reducer with electric energy feedback as claimed in claim 1, wherein a speed-up box is arranged between the load generator and the harmonic reducer, and the speed-up box is composed of independent transmission components enclosed in a rigid box body.
4. The harmonic reducer load testing device with energy feedback according to any one of claims 1 to 3, further comprising an electrical control module and an upper computer control module.
5. The device for testing the load of the harmonic reducer with the feedback of the electric energy as claimed in claim 4, wherein the electric control module comprises a PLC and a torque and rotation speed sensor, and the PLC is communicated with the motor driving unit through PROFINET to control the rotation of the driving motor.
6. The load testing equipment of the harmonic reducer with energy feedback as claimed in claim 5, wherein the torque speed sensor is installed between the power transmission shafts for measuring the torque speed power of the driving motor and the load generator, and the torque sensor is connected to plc for feedback.
7. The load testing equipment for the harmonic reducer with the electric energy feedback as claimed in claim 4, wherein the upper computer control module is based on an upper computer program developed by a computer and has functions of monitoring equipment hardware, data tracing and report derivation.
8. The load testing equipment for the harmonic speed reducer with the electric energy feedback as claimed in claim 6, wherein the upper computer communicates with the PLC through PROFINET, and acquires data generated by the torque and rotation speed sensor as a feedback signal through the PCI/PCIE data acquisition board card to obtain torque and rotation speed signals of the motor.
9. A load testing method for a harmonic reducer with electric energy feedback is characterized by comprising the following steps:
connecting a harmonic reducer to be tested between a test driving motor and a load generator through a coupler;
the method comprises the following steps that an external power supply is switched on, a power supply rectifying circuit rectifies input three-phase power supply alternating current into stable direct current, the stable direct current is transmitted to a motor reverse current circuit through a direct current bus, the stable direct current is led to a test driving motor after being reversely flowed into alternating current, and the test driving motor drives a harmonic reducer and a load generator to operate by utilizing the external power supply;
the load generator operates to convert mechanical energy of a load into electric energy, alternating current is rectified into direct current through the motor rectifying circuit and is output to the direct current bus, and the direct current bus transmits the direct current to the motor reverse current circuit; the motor reverse current circuit reverses the direct current into alternating current to be supplied to the test driving motor.
10. The method as claimed in claim 9, wherein the filter circuit processes the external power source before the external power source is connected to the dc bus to smooth the spikes of the external power source and reduce the effect of harmonics on the testing of the driving motor.
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| CN201911387741.9A CN111024389A (en) | 2019-12-26 | 2019-12-26 | Harmonic reducer load testing device with electric energy feedback and method |
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| CN201911387741.9A CN111024389A (en) | 2019-12-26 | 2019-12-26 | Harmonic reducer load testing device with electric energy feedback and method |
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Cited By (1)
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Application publication date: 20200417 |