CN111272419A - Flexible assembly platform for reliability test of coaxial speed reducer - Google Patents
Flexible assembly platform for reliability test of coaxial speed reducer Download PDFInfo
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- CN111272419A CN111272419A CN202010128333.8A CN202010128333A CN111272419A CN 111272419 A CN111272419 A CN 111272419A CN 202010128333 A CN202010128333 A CN 202010128333A CN 111272419 A CN111272419 A CN 111272419A
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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
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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
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
Abstract
The invention discloses a flexible assembly platform for a coaxial speed reducer reliability test, which comprises a workbench, an input device, an output device and a tested speed reducer supporting device, wherein the workbench is provided with a plurality of working platforms; the input device comprises an input module and an input driving device; the input module comprises an input mechanism and an input measurement sensor; the output device comprises an output module and an output driving device; the output module comprises a load mechanism, a speed raising box and an output measuring sensor; the load motor is connected with the speed raising box; the acceleration box is connected with the output measurement sensor; the tested speed reducer supporting device comprises a supporting seat; the speed reducer to be measured is arranged on the supporting seat, and the input end of the speed reducer to be measured is connected with the input measuring sensor through an input connecting shaft; the output end is connected with the output measuring sensor through an output connecting shaft. The flexible assembly platform can select different types of test modules according to different test requirements, so that the test cost is reduced.
Description
Technical Field
The invention relates to a test platform, in particular to a flexible assembly platform for a coaxial speed reducer reliability test.
Background
The reducer has compact structure, wide transmission ratio range and special requirements on transmission precision and bearing capacity, has multiple types of same-shaft reducers such as harmonic reducers, RV reducers, planetary reducers, cycloidal pin wheel reducers and the like, and is widely applied to the industrial fields of robots, medical instruments, metallurgical machinery and the like.
The speed reducer is used as a key part of equipment, and the reliability of the speed reducer has important influence on the stability of the equipment. Therefore, the performance, the precision and the life reliability of the speed reducer need to be tested to evaluate the quality level of the speed reducer, and each type of test covers a plurality of test items, such as no-load, overload, transmission efficiency, starting torque and torsional rigidity tests, the precision test comprises idle stroke, backlash and transmission error tests, and the life is a fatigue life test. In the current stage, different test tests have different requirements on the types and the arrangement of a loading device and a measuring sensor; therefore, different test platforms are needed for carrying out performance, precision and service life tests, but the flexibility level of the current test equipment is low, and only single test requirements can be completed, so that the test cost is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a flexible assembly platform for a coaxial speed reducer reliability test, wherein different types of test modules can be selected according to different test requirements by the flexible assembly platform, so that the test cost is reduced.
The technical scheme for solving the technical problems is as follows:
a flexible assembly platform for a coaxial speed reducer reliability test comprises a workbench, an input device, an output device and a tested speed reducer supporting device, wherein the input device, the output device and the tested speed reducer supporting device are arranged on the workbench;
the input device comprises an input module arranged on the workbench and an input driving device used for driving the input module to move along the length direction of the workbench, wherein the input module comprises an input mechanism and an input measuring sensor, and the input mechanism is connected with the input measuring sensor;
the output device comprises an output module arranged on the workbench and an output driving device used for driving the output module to move along the length direction of the workbench, wherein the output module comprises a load mechanism, a speed raising box and an output measuring sensor, and the load mechanism is connected with the speed raising box; the acceleration box is connected with the output measurement sensor;
the tested speed reducer supporting device comprises a supporting seat, wherein the tested speed reducer is arranged on the supporting seat, and the input end of the tested speed reducer is connected with the input measuring sensor through an input connecting shaft; the output end is connected with the output measuring sensor through an output connecting shaft.
Preferably, the input driving device comprises an input moving sliding table and an input driving mechanism for driving the input moving sliding table to move, wherein a guide rail is arranged on the workbench, and the guide rail extends along the length direction of the workbench; and a first sliding block matched with the guide rail is arranged on the input moving sliding table.
Preferably, the input measuring sensor is an input torque sensor or/and an input angle coding sensor, and the input torque sensor and the input angle coding sensor are respectively and fixedly connected with the input movable sliding table through an input torque sensor seat and an input angle coding sensor seat.
Preferably, the output driving device comprises an output moving sliding table and an output driving mechanism for driving the output moving sliding table to move, wherein a second sliding block matched with the guide rail is arranged on the output moving sliding table.
Preferably, the output measuring sensor is an output torque sensor or/and an output angle coding sensor, and the output torque sensor and the output angle coding sensor are respectively and fixedly connected with the output movable sliding table through an output torque sensor seat and an output angle coding sensor seat.
Preferably, the number of the guide rails is two, and the two guide rails are arranged in parallel; correspondingly, the first sliding block and the second sliding block are divided into two groups.
Preferably, the input driving mechanism and the output driving mechanism adopt a mode of combining a driving motor and a synchronous belt transmission mechanism, or adopt a mode of combining a driving motor and a gear rack transmission mechanism, or adopt a mode of combining a driving motor and a screw rod transmission mechanism.
Preferably, the input driving mechanism and the output driving mechanism adopt a mode of combining a hand wheel and a gear rack transmission mechanism, and comprise a rack arranged on the workbench and gears arranged on the input moving sliding table and the output moving sliding table, wherein the length direction of the rack is parallel to the length direction of the guide rail; the gear is rotationally connected to the input movable sliding table and the output movable sliding table; the hand wheel is coaxially connected with the gears on the input moving sliding table and the output moving sliding table.
Preferably, the device for supporting the speed reducer to be tested further comprises a vertical adjusting mechanism, a transverse adjusting mechanism and a longitudinal adjusting mechanism, wherein the vertical adjusting mechanism is arranged on the supporting seat and used for driving the speed reducer to be tested to do vertical motion, the transverse adjusting mechanism is used for driving the speed reducer to be tested to do transverse motion, and the longitudinal adjusting mechanism is used for driving the speed reducer to be tested to do longitudinal motion.
Preferably, the load mechanism is a load motor, and the input mechanism is an input motor; or, the load mechanism is an input/output fixed shaft, and the input mechanism is an input motor; or, the output mechanism is a load motor, and the input mechanism is an input/output fixed shaft.
Compared with the prior art, the invention has the following beneficial effects:
1. the flexible assembly platform for the reliability test of the coaxial speed reducer can flexibly select the input mechanism, the output mechanism, the input measuring sensor and the output measuring sensor according to different requirements to be tested, so that different test tests of the coaxial speed reducer are met.
2. The flexible assembly platform for the coaxial speed reducer reliability test can meet different test tests on the coaxial speed reducer and is low in test cost.
Drawings
Fig. 1 is a schematic perspective view of a flexible assembly platform for a coaxial reducer reliability test according to an embodiment of the present invention.
Fig. 2 is a plan view.
FIG. 3 is a design drawing of an interchangeability hole site of the flexible assembling platform for the reliability test of the coaxial reducer.
FIG. 4 is a front view of the flexible assembly platform for the coaxial reducer reliability test, which is configured when the flexible assembly platform is used for evaluating transmission errors, starting torques and idle running conditions of the reducer.
FIG. 5 is a front view of the flexible assembling platform for the coaxial speed reducer reliability test, which is used for the back clearance test of the speed reducer.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
Referring to fig. 1 to 4, the flexible assembling platform for the coaxial reducer reliability test of the invention comprises a frame 1, a workbench 2 arranged on the frame 1, an input device, an output device and a measured reducer supporting device arranged on the workbench 2, wherein the input device and the output device are respectively arranged on two sides of the measured reducer supporting device, and the input device, the output device and the measured reducer supporting device are in the same straight line.
Referring to fig. 1 to 4, the input device includes an input module disposed on a workbench 2 and an input driving device for driving the input module to move along a length direction of the workbench 2, wherein the input driving device includes an input moving slide 3 and an input driving mechanism 5 for driving the input moving slide 3 to move, wherein a guide rail 7 is disposed on the workbench 2, and the guide rail 7 extends along the length direction of the workbench 2; the input moving sliding table 3 is provided with a first sliding block matched with the guide rail 7; the input module comprises an input motor 20 and an input measurement sensor, wherein the input motor 20 is installed on the input mobile sliding table 3 through an input motor fixing seat 10, and a main shaft of the input motor 20 is connected with the input measurement sensor; the input measuring sensor is an input torque sensor 21 or/and an input angle coding sensor 22, and the input torque sensor 21 and the input angle coding sensor 22 are respectively and fixedly connected with the input moving sliding table 3 through an input torque sensor seat 11 and an input angle coding sensor seat 12.
Referring to fig. 1 to 4, the output device includes an output module disposed on the working table 2 and an output driving device for driving the output module to move along the length direction of the working table 2, wherein the output driving device includes an output moving sliding table 4 and an output driving mechanism 8 for driving the output moving sliding table 4 to move, and a second sliding block engaged with the guide rail 7 is disposed on the output moving sliding table 4; the output module comprises a load motor 27, an acceleration box 26 and an output measurement sensor, wherein the load motor 27 is mounted on the output mobile sliding table 4 through a load motor fixing seat 18, and a main shaft of the load motor 27 is connected with the acceleration box 26; the speed increasing box 26 is arranged on the output moving sliding table 4 through a speed increasing box fixing seat, and the speed increasing box 26 is connected with the output measuring sensor; the output measuring sensor is an output torque sensor 25 or/and an output angle coding sensor 24, and the output torque sensor 25 and the output angle coding sensor 24 are respectively and fixedly connected with the output moving sliding table 4 through an output torque sensor seat 17 and an output angle coding sensor seat 16.
The number of the guide rails 7 in this embodiment is two, and the two guide rails 7 are arranged in parallel; correspondingly, the first sliding block and the second sliding block are divided into two groups.
Referring to fig. 1 to 4, the input driving mechanism 5 and the output driving mechanism 8 are combined by a driving motor and a synchronous belt transmission mechanism, or by a driving motor and a gear rack, a transmission mechanism, or by a driving motor and a screw transmission mechanism. In the present embodiment, the input driving mechanism 5 and the output driving mechanism 8 adopt a manner of combining a hand wheel and a rack-and-pinion transmission mechanism, and include a rack 6 disposed on the working table 2 and gears disposed on the input moving sliding table 3 and the output moving sliding table 4, wherein the length direction of the rack 6 is parallel to the length direction of the guide rail 7; the gear is rotationally connected to the input moving sliding table 3 and the output moving sliding table 4; the hand wheel is coaxially connected with the gears on the input moving sliding table 3 and the output moving sliding table 4.
Referring to fig. 1-4, the tested speed reducer 23 supporting device comprises a supporting seat 14, wherein a matching surface is arranged on the supporting seat 14, so that the height tolerance from the mounting axis of the speed reducer to a bottom reference surface is within an allowable range; the speed reducer 23 to be measured is mounted on the supporting seat 14, and the input end of the speed reducer 23 to be measured is connected with the input measuring sensor through the input connecting shaft 13; the output end is connected with the output measuring sensor through an output connecting shaft 15.
Referring to fig. 1 to 4, the measured speed reducer supporting device further includes a vertical adjusting mechanism for driving the supporting seat 14 to move vertically, a horizontal adjusting mechanism for driving the supporting seat 14 to move horizontally, and a vertical adjusting mechanism for driving the supporting seat 14 to move vertically. The specific structure of the transverse adjusting mechanism, the longitudinal adjusting mechanism and the vertical adjusting mechanism can be implemented by referring to the invention patent of 'a parallel xyz three-degree-of-freedom micro-positioning platform' with the publication number of CN 105931675B. By arranging the transverse adjusting mechanism, the longitudinal adjusting mechanism and the vertical adjusting mechanism, the height and the horizontal position of the supporting seat 14 or the measured sensor 23 can be adjusted, so that the height and the horizontal position of the measured speed reducer 23 are adjusted, and the measured sensor 23 is smoothly connected with the input device and the output device.
In this embodiment, the height of the axis of the rotating shaft of the input device is based on the upper surface of the input moving sliding table 3, the height of the axis of the rotating shaft of the output module is based on the upper surface of the output moving sliding table 4, and the height of the axis of the rotating shaft of the supporting seat 14 of the measured reducer supporting device is based on the upper surface of the table 2, so that the assembling coaxiality accuracy of the input/output fixed shaft seat 9 is ensured by controlling the flatness of three planes and the height tolerance of the rotating axis.
In addition, an interchangeable mounting hole site is designed on the input movable sliding table 3, the mounting hole site of the input motor fixing seat 10 is constrained by adopting a universal hole distance D1, and the mounting hole sites of the input torque sensor seat 11 and the input angle coding sensor seat 12 are constrained by adopting a universal hole distance D2; interchangeable mounting hole sites are designed on the output moving sliding table 4, the mounting hole sites of the load motor fixing seat 18 are constrained by the universal hole pitch D3, and the mounting hole sites of the output torque sensor seat 17 and the output angle coding sensor seat 16 are constrained by the universal hole pitch D4; when different kinds of reliability tests are carried out, appropriate mounting holes can be selected for different configured components as required, and the assembly flexibility level of the test platform is improved. In the design, D1 is 60mm, D2 is 90mm, D3 is 280mm, and D4 is 90 mm.
Referring to fig. 1 to 4, the working principle of the flexible assembly platform for the coaxial reducer reliability test of the invention is as follows:
when the transmission error, the starting torque and the idle running condition of the speed reducer need to be evaluated, the input end and the output end of the tested speed reducer 23 are respectively connected with the input connecting shaft 13 and the output connecting shaft 15 through bolts, and the tested speed reducer 23 assembly is fixed on the supporting seat 14 and is arranged at the middle section of the workbench 2; an input motor 20, an input torque sensor 21 and an input angle coding sensor 22 are sequentially arranged on the input moving sliding table 3, and the input motor, the input torque sensor 21 and the input angle coding sensor are fixedly connected to the upper surface of the input moving sliding table 3 through fixed supports with customized sizes; an output angle coding sensor 24, an output torque sensor 25, a speed increasing box 26 and a load motor 27 are sequentially arranged on the output movable sliding table 4, wherein the load motor 27 is directly connected with the speed increasing box 26 through a bolt and fixedly connected with the output movable sliding table 4 through a load motor fixing seat 18, and the corresponding output angle coding sensor 24 and the corresponding output torque sensor 25 are provided with fixing supports with customized sizes, namely an output angle coding sensing seat 16 and an output torque sensing seat 17. In addition, all components of the input device and the output device are connected through rigid couplings; in order to improve the assembly efficiency, the side edges of the input moving sliding table 3 and the output moving sliding table 4 are respectively provided with an input driving mechanism 5 and an output driving mechanism 8 which are used for driving gears in the input moving sliding table 3 and the output moving sliding table 4 to be meshed with a rack 6 on the workbench 2, so that the input moving sliding table 3 and the output moving sliding table 4 are driven to be close to or away from the tested speed reducer 23, the tested speed reducer 23 can be conveniently dismounted and the coaxiality can be conveniently adjusted, and the input moving sliding table 3 and the output moving sliding table 4 slide in parallel based on the guide rails 7, and the straightness of the moving process is ensured.
During operation, the input motor 20 drives the detected speed reducer 23 to rotate, the detected speed reducer 23 rotates and simultaneously drives the load motor 27 to rotate, in the process, parameters such as the angle and the torque of the input end and the output end of the detected speed reducer 23 are obtained through the input torque sensor 21 and the input angle coding sensor 22 which are arranged between the input motor 20 and the detected speed reducer 23, the output angle coding sensor 24 and the output torque sensor 25 which are arranged between the load motor 27 and the detected speed reducer 23, and then data such as the starting torque and the transmission error of the detected speed reducer 23 are obtained.
Example 2
Referring to fig. 5, the present embodiment is different from embodiment 1 in that the flexible mount platform is used for the torsional rigidity test evaluation of the speed reducer, wherein,
the specific structure of the output device is the same as that of embodiment 1, the input motor 20 is replaced by the input/output fixed shaft 9 in the input device, one end of the input/output fixed shaft 9 is fixed with the input angle encoding sensor 22, and the other end of the input/output fixed shaft is fixedly connected with the output connecting shaft 15 of the tested speed reducer 23 through a rigid coupling, so that the output connecting shaft 15 of the tested speed reducer 23 is locked.
Example 3
The difference between this embodiment and embodiment 2 lies in that the flexible assembly platform is used for the backlash test of the tested speed reducer 23, and the specific structure is as follows: the input device of embodiment 1 is retained, and the output device only retains the input/output fixing shaft 9 and is connected with the output connecting shaft 15 of the tested speed reducer 23 through a coupler, so that the output end of the tested speed reducer 23 is locked (specifically, refer to embodiment 2), and a backlash test on the tested speed reducer 23 can be carried out.
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. A flexible assembly platform for a coaxial speed reducer reliability test is characterized by comprising a workbench, an input device, an output device and a tested speed reducer supporting device, wherein the input device, the output device and the tested speed reducer supporting device are arranged on the workbench;
the input device comprises an input module arranged on the workbench and an input driving device used for driving the input module to move along the length direction of the workbench, wherein the input module comprises an input mechanism and an input measuring sensor, and the input mechanism is connected with the input measuring sensor;
the output device comprises an output module arranged on the workbench and an output driving device used for driving the output module to move along the length direction of the workbench, wherein the output module comprises a load mechanism, a speed raising box and an output measuring sensor, and the load mechanism is connected with the speed raising box; the acceleration box is connected with the output measurement sensor;
the tested speed reducer supporting device comprises a supporting seat, wherein the tested speed reducer is arranged on the supporting seat, and the input end of the tested speed reducer is connected with the input measuring sensor through an input connecting shaft; the output end is connected with the output measuring sensor through an output connecting shaft.
2. The flexible assembly platform for the coaxial reducer reliability test is characterized in that the input driving device comprises an input moving sliding table and an input driving mechanism for driving the input moving sliding table to move, wherein a guide rail is arranged on the workbench, and the guide rail extends along the length direction of the workbench; and a first sliding block matched with the guide rail is arranged on the input moving sliding table.
3. The flexible assembling platform for the reliability test of the coaxial speed reducer according to claim 2, wherein the input measuring sensor is an input torque sensor or/and an input angle coding sensor, and the input torque sensor and the input angle coding sensor are fixedly connected with the input moving sliding table through an input torque sensor seat and an input angle coding sensor seat respectively.
4. The flexible assembling platform for the coaxial speed reducer reliability test according to claim 2, wherein the output driving device comprises an output moving sliding table and an output driving mechanism for driving the output moving sliding table to move, and a second sliding block matched with the guide rail is arranged on the output moving sliding table.
5. The flexible assembling platform for the reliability test of the coaxial speed reducer according to claim 4, wherein the output measuring sensor is an output torque sensor or/and an output angle coding sensor, and the output torque sensor and the output angle coding sensor are respectively and fixedly connected with the output moving sliding table through an output torque sensor seat and an output angle coding sensor seat.
6. The flexible assembling platform for the coaxial speed reducer reliability test is characterized in that the number of the guide rails is two, and the two guide rails are arranged in parallel; correspondingly, the first sliding block and the second sliding block are divided into two groups.
7. The flexible assembly platform for the coaxial speed reducer reliability test according to claim 5, wherein the input driving mechanism and the output driving mechanism are combined by a driving motor and a synchronous belt transmission mechanism, or by a driving motor and a rack-and-pinion transmission mechanism, or by a driving motor and a lead screw transmission mechanism.
8. The flexible assembly platform for the coaxial speed reducer reliability test is characterized in that the input driving mechanism and the output driving mechanism are combined by a hand wheel and a gear rack transmission mechanism and comprise a rack arranged on the workbench and gears arranged on the input moving sliding table and the output moving sliding table, wherein the length direction of the rack is parallel to the length direction of the guide rail; the gear is rotationally connected to the input movable sliding table and the output movable sliding table; the hand wheel is coaxially connected with the gears on the input moving sliding table and the output moving sliding table.
9. The flexible assembling platform for the coaxial speed reducer reliability test according to claim 1, wherein the tested speed reducer supporting device further comprises a vertical adjusting mechanism, a transverse adjusting mechanism and a longitudinal adjusting mechanism, the vertical adjusting mechanism is arranged on the supporting seat and used for driving the tested speed reducer to move vertically, the transverse adjusting mechanism is used for driving the tested speed reducer to move transversely, and the longitudinal adjusting mechanism is used for driving the tested speed reducer to move longitudinally.
10. The flexible assembly platform for the coaxial speed reducer reliability test according to claim 1, wherein the load mechanism is a load motor, and the input mechanism is an input motor; or, the load mechanism is an input/output fixed shaft, and the input mechanism is an input motor; or, the output mechanism is a load motor, and the input mechanism is an input/output fixed shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010128333.8A CN111272419A (en) | 2020-02-28 | 2020-02-28 | Flexible assembly platform for reliability test of coaxial speed reducer |
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| CN202010128333.8A CN111272419A (en) | 2020-02-28 | 2020-02-28 | Flexible assembly platform for reliability test of coaxial speed reducer |
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| CN112254961A (en) * | 2020-10-15 | 2021-01-22 | 哈尔滨工业大学 | High low temperature testing arrangement of transmission efficiency |
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Application publication date: 20200612 |