CN112378649B - Speed reducer fixing device for speed reducer comprehensive experiment table - Google Patents
Speed reducer fixing device for speed reducer comprehensive experiment table Download PDFInfo
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Abstract
本发明涉及一种用于减速器综合实验台的减速器固定装置,一种用于减速器综合实验台的减速器固定装置,包括固定支架、减速器夹紧机构、夹紧驱动装置和升降支撑机构,所述减速器夹紧机构包括对称设于固定支架内左、右两侧的两个夹持块,所述两个夹持块安装于夹紧驱动装置上,以在其驱动下同步相向或反向运动,进而夹紧或放松减速器,所述升降支撑机构安装于固定支架下部,以将减速器提升至设定高度,辅助减速器的安装。该装置不仅可以精确、便捷、高效地将减速器固定安装于实验台上,而且能够适配不同结构尺寸的减速器。
The invention relates to a reducer fixing device for a reducer comprehensive test bench, a reducer fixing device for a reducer comprehensive test bench, comprising a fixing bracket, a reducer clamping mechanism, a clamping drive device and a lifting support mechanism, the clamping mechanism of the reducer includes two clamping blocks symmetrically arranged on the left and right sides of the fixed bracket, and the two clamping blocks are installed on the clamping drive device to face each other synchronously under its drive Or move in reverse, and then clamp or loosen the reducer. The lifting support mechanism is installed at the lower part of the fixed bracket to lift the reducer to a set height and assist the installation of the reducer. The device can not only fix and install the reducer on the test bench accurately, conveniently and efficiently, but also can adapt to reducers of different structural sizes.
Description
技术领域technical field
本发明属于减速器测试技术领域,具体涉及一种用于减速器综合实验台的减速器固定装置。The invention belongs to the technical field of reducer testing, and in particular relates to a reducer fixing device used for a reducer comprehensive test bench.
背景技术Background technique
制造业是国民经济的基础,也是今后我国经济“创新驱动、转型升级”的主战场。工业机器人取代人工作业的优势越来越明显,在未来一段时间内,工业机器人将发挥更关键的作用。与此同时,减速器作为工业机器人中的核心部件,占整机成本的35%,其检测平台的设计与制造关乎到减速器的检测精度和效率,不同工况下的工业机器人对减速器的要求不同,其减速器的外形尺寸等也均存在差异,实现多尺度、高效率的精密减速器的精度测量是现阶段减速器综合性能测试的关键问题之一。因此,研究精密减速器的综合性能测试平台对推动减速器的测量效率和生产有着极大的工程运用价值。The manufacturing industry is the foundation of the national economy, and it is also the main battlefield of "innovation-driven, transformation and upgrading" of my country's economy in the future. The advantages of industrial robots replacing manual work are becoming more and more obvious. In the future, industrial robots will play a more critical role. At the same time, as the core component of an industrial robot, the reducer accounts for 35% of the cost of the whole machine. The design and manufacture of its detection platform are related to the detection accuracy and efficiency of the reducer. The requirements are different, and the dimensions of the reducer are also different. To achieve the accuracy measurement of the multi-scale, high-efficiency precision reducer is one of the key issues in the comprehensive performance test of the reducer at this stage. Therefore, the research on the comprehensive performance test platform of the precision reducer has great engineering application value for the measurement efficiency and production of the drive reducer.
现有精密减速器综合测试平台主要采用卧式实验台,在同一水平面上安装驱动电机、扭矩、减速器以及负载电机等,如专利CN201910012641.1和CN201210385572.7所示。被测减速器的安装是实现测试的关键步骤之一,直接决定了检测精度。减速器的安装难点有2个:第1个是减速器的固定。现有测试平台的固定支架安装被测减速器尺寸较为单一,仅能安装外形尺寸与固定支架内已加工好的安装孔尺寸相同的减速器。然而,对于不同工况下的减速器其外形尺寸也不相同,针对此问题,现有方法是在进行减速器的安装前,依据被安装减速器外形尺寸的大小加工出对应的安装盘,然后通过特制的安装盘实现被测减速器的安装固定,若对于尺寸太大或太小的减速器则直接更换整个固定支架。第2个是减速器的定位。大部分减速器的重量都很重,在进行定位前需要多个人协同安装,两个人抬着减速器,另外一个人将减速器推入待安装的孔内,安装效率非常低,很难实现减速器在水平方向与安装支架的对中,且对操作者的体力和操作经验也是一次严峻的挑战,也有少部分采用电葫芦辅助安装,但由于高度难以控制,难以保证减速器固定安装的对中性和精度;综上可知:由于被测减速器尺寸大小不一,而常用的卧式减速器安装孔是已加工好的固定的孔,无法实现多尺寸减速器的安装,如果需要对不同型号的减速器测量需要跟换整个安装架,而安装架制造精度和制造成本均很高,容易造成资源浪费。The existing precision reducer comprehensive test platform mainly adopts a horizontal test bench, and the driving motor, torque, reducer and load motor are installed on the same horizontal plane, as shown in patents CN201910012641.1 and CN201210385572.7. The installation of the tested reducer is one of the key steps to realize the test, which directly determines the detection accuracy. There are two difficulties in the installation of the reducer: the first one is the fixation of the reducer. The size of the tested reducer installed on the fixed bracket of the existing test platform is relatively single, and only the reducer whose external dimension is the same as that of the processed mounting hole in the fixed bracket can be installed. However, the external dimensions of the reducer under different working conditions are not the same. To solve this problem, the existing method is to process the corresponding mounting plate according to the external dimensions of the installed reducer before installing the reducer, and then The installation and fixation of the tested reducer is realized through a special mounting plate. If the size of the reducer is too large or too small, the entire fixing bracket can be replaced directly. The second is the positioning of the reducer. Most of the reducers are very heavy, and multiple people are required to coordinate the installation before positioning. Two people lift the reducer, and the other pushes the reducer into the hole to be installed. The installation efficiency is very low, and it is difficult to achieve deceleration. The centering of the reducer in the horizontal direction and the mounting bracket is also a severe challenge to the physical strength and operating experience of the operator. There are also a small number of auxiliary installations using electric hoists, but because the height is difficult to control, it is difficult to ensure the centering of the fixed installation of the reducer It can be seen from the above that due to the different sizes of the tested reducers, and the commonly used horizontal reducer mounting holes are processed fixed holes, it is impossible to realize the installation of multi-size reducers. The measurement of the reducer needs to replace the entire mounting frame, and the manufacturing accuracy and manufacturing cost of the mounting frame are high, which is easy to cause waste of resources.
随着减速器设计与制造水平的快速发展,减速器的外形尺寸从直径120mm~500mm也越来越多,虽然国内外对减速器测试系统进行了有效改进,但是针对不同型号减速器依然需要设计不同型号的减速器安装支架,缺少一种可实现跨尺度安装、自动且高效的可更换型号精密减速器的安装装置。With the rapid development of reducer design and manufacturing level, the external dimensions of reducers are increasing from 120mm to 500mm in diameter. Although the reducer test system has been effectively improved at home and abroad, it is still necessary to design different types of reducers. Different types of reducer mounting brackets lack an automatic and efficient replacement type precision reducer installation device that can be installed across scales.
发明内容Contents of the invention
本发明的目的在于提供一种用于减速器综合实验台的减速器固定装置,该装置不仅可以精确、便捷、高效地将减速器固定安装于实验台上,而且能够适配不同结构尺寸的减速器。The purpose of the present invention is to provide a reducer fixing device for the comprehensive test bench of the reducer. device.
为实现上述目的,本发明采用的技术方案是:一种用于减速器综合实验台的减速器固定装置,包括固定支架、减速器夹紧机构、夹紧驱动装置和升降支撑机构,所述减速器夹紧机构包括对称设于固定支架内左、右两侧的两个夹持块,所述两个夹持块安装于夹紧驱动装置上,以在其驱动下同步相向或反向运动,进而夹紧或放松减速器,所述升降支撑机构安装于固定支架下部,以将减速器提升至设定高度,辅助减速器的安装。In order to achieve the above object, the technical solution adopted in the present invention is: a speed reducer fixing device for the comprehensive test bench of the speed reducer, including a fixed bracket, a speed reducer clamping mechanism, a clamping drive device and a lifting support mechanism, the speed reducer The clamping mechanism of the device includes two clamping blocks symmetrically arranged on the left and right sides of the fixed bracket, and the two clamping blocks are installed on the clamping drive device to move synchronously in opposite directions or in reverse directions driven by it. Then clamp or loosen the reducer, and the lifting support mechanism is installed on the lower part of the fixed bracket to lift the reducer to a set height and assist the installation of the reducer.
进一步地,所述固定支架安装于减速器综合实验台上。Further, the fixed bracket is installed on the reducer comprehensive test bench.
进一步地,所述夹持块配设有多种不同形状、规格的减速器固定板,所述夹持块上不同位置分布有多种不同型号的固定螺栓孔,在夹持块夹紧减速器后,通过相应的固定螺栓安装相应形状、规格的减速器固定板,所述减速器固定板另一侧部与减速器固定连接,以适配固定不同结构尺寸的减速器,防止减速器发生旋转。Further, the clamping block is equipped with a variety of speed reducer fixing plates of different shapes and specifications, and a variety of different types of fixing bolt holes are distributed in different positions on the clamping block, and the speed reducer is clamped on the clamping block. Finally, install the reducer fixing plate of the corresponding shape and specification through the corresponding fixing bolts, and the other side of the reducer fixing plate is fixedly connected with the reducer, so as to adapt to fix the reducer with different structural sizes and prevent the reducer from rotating. .
进一步地,所述夹持块为V型结构,以通过两个夹持块的同步相向运动,形成菱形夹持空间,夹住减速器。Further, the clamping block has a V-shaped structure, so that the two clamping blocks move towards each other synchronously to form a diamond-shaped clamping space to clamp the reducer.
进一步地,所述夹持块外侧中部连接有导向杆,所述固定支架左、右两侧分别开设有与导向杆相适应的导向通孔,两个夹持块的导向杆分别穿出相应的导向通孔并与其滑动配合,以进一步导向夹持块的运动,保证减速器安装过程中的对中性。Further, a guide rod is connected to the middle part of the outside of the clamping block, guide through holes adapted to the guide rods are opened on the left and right sides of the fixed bracket, and the guide rods of the two clamping blocks pass through the corresponding The through hole is guided and slidably matched with it to further guide the movement of the clamping block to ensure the centering during the installation of the reducer.
进一步地,所述夹紧驱动装置由对称设于固定支架内上、下两侧的两个驱动机构组成,所述驱动机构包括滑轨、两个滑块、动力单元和旋转块,所述两个滑块安装于滑轨上,所述两个夹持块的一端分别安装于相应的滑块上,所述滑轨中部固定设有固定座,所述动力单元的本体安装于其中一个滑块的下部,且其推杆前端与固定座下部固定连接,所述旋转块转动连接于固定座上部,且旋转块两外侧部分别经一连杆与两个滑块铰接,以实现滑块与旋转块之间滑动与转动的转化;推杆伸展或收缩时,驱动其中一个滑块远离或靠近滑轨中部,进而带动旋转块旋转,从而带动另一个滑块联动,实现两个滑块同步反向或相向运动。Further, the clamping driving device is composed of two driving mechanisms arranged symmetrically on the upper and lower sides of the fixed bracket. The driving mechanism includes a slide rail, two sliders, a power unit and a rotating block. The two One slider is installed on the slide rail, one end of the two clamping blocks is respectively installed on the corresponding slider, the middle part of the slide rail is fixed with a fixing seat, and the body of the power unit is installed on one of the sliders The lower part of the push rod, and the front end of the push rod is fixedly connected to the lower part of the fixed seat, the rotating block is connected to the upper part of the fixed seat in rotation, and the two outer parts of the rotating block are respectively hinged to the two sliders through a connecting rod, so as to realize the slider and the rotation Sliding and rotation conversion between blocks; when the push rod is stretched or retracted, one of the sliders is driven away from or close to the middle of the slide rail, and then the rotating block is driven to rotate, thereby driving the other slider to be linked to realize the synchronous reverse of the two sliders or relative motion.
进一步地,所述动力单元为电动推杆或液压缸。Further, the power unit is an electric push rod or a hydraulic cylinder.
进一步地,所述升降支撑机构包括液压升降顶和支撑座,所述液压升降顶安装于固定支架前端下部,所述支撑座安装于液压升降顶上,以在其驱动下上升或下降,将减速器输送至设定高度。Further, the lifting support mechanism includes a hydraulic lifting top and a support base, the hydraulic lifting top is installed on the lower part of the front end of the fixed bracket, and the support base is installed on the hydraulic lifting top to rise or fall under its driving, and the deceleration The device is transported to the set height.
相较于现有技术,本发明具有以下有益效果:提供了一种可以将多种型号不同结构尺寸的减速器安装于减速器综合实验台的固定装置,一方面,解决了现有减速器综合实验台上固定支架减速器安装种类单一、检测和安装效率低等问题,提高了安装效率和安装精度,降低了减速器安装对操作人员的要求;另一方面,通过调整固定支架上的夹持块,可适应不同外形尺寸的减速器的安装和检测,极大提高了测试平台的利用率、节约了减速器的检测成本。 因此,本发明具有很强的实用性和广阔的应用前景。Compared with the prior art, the present invention has the following beneficial effects: it provides a fixing device that can install various types of reducers with different structural sizes on the reducer comprehensive test bench. The fixed bracket reducer on the test bench has a single type of installation, and the detection and installation efficiency is low, which improves the installation efficiency and installation accuracy, and reduces the requirements for the operator in the installation of the reducer; on the other hand, by adjusting the clamping on the fixed bracket The block can be adapted to the installation and testing of reducers of different dimensions, which greatly improves the utilization rate of the test platform and saves the testing cost of the reducer. Therefore, the present invention has strong practicability and wide application prospect.
附图说明Description of drawings
图1是本发明实施例中减速器综合实验台的结构示意图。Fig. 1 is a schematic structural diagram of a reducer comprehensive test bench in an embodiment of the present invention.
图2是本发明实施例的装置结构示意图。Fig. 2 is a schematic diagram of the device structure of the embodiment of the present invention.
图3是本发明实施例中减速器夹紧机构与夹紧驱动装置的连接结构示意图。Fig. 3 is a schematic diagram of the connection structure between the clamping mechanism of the reducer and the clamping driving device in the embodiment of the present invention.
图4是本发明实施例中夹紧驱动装置的正面结构示意图。Fig. 4 is a schematic view of the front structure of the clamping drive device in the embodiment of the present invention.
图5是本发明实施例中夹紧驱动装置的背面结构示意图。Fig. 5 is a schematic diagram of the back structure of the clamping driving device in the embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图及具体实施例对本发明作进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
为了更好阐述本发明的优越性,首先阐述一下减速器综合实验台结构及工作流程,如图1所示,加载电机21、扭矩传感器22、光栅23、固定支架1、光栅24、扭矩传感器25、负载电机26从右至左一字排列,动力从加载电机输入,通过传动轴输入到减速器输入端,然后减速器输出端连接光栅等,实现对减速器输入和输出端信号的检测。对于上述减速器性能的检测,其关键在于减速器的定位和安装,现有减速器的安装,其固定支架只能安装一种或两种减速器,且不能直接安装在固定支架上,需要加工特定的减速器固定盘才能安装在固定支架上,增加了减速器检测成本,现有固定支架固定被测减速器存在型号单一等问题;其次,对于减速器的安装,大部分采用人工搬运安装,需要多人协作才能将减速器安装至固定支架内,其安装精度和对中性难以保证,对安装者的体力和安装经验也极具挑战性;也有少数部分采用电动葫芦吊辅助安装,然而在安装过程中高度难以控制,导致水平轴线与固定之间上的定位孔难以对齐,存在减速器安装效率低等问题。对于上述现有固定支架安装被测减速器存在型号单一、人工安装定位精度低、安装效率低等问题,本发明提供了一种减速器固定装置来解决上述问题。In order to better explain the superiority of the present invention, first explain the structure and working process of the reducer comprehensive test bench, as shown in Figure 1,
请参见图2-5,本发明用于减速器综合实验台的减速器固定装置,包括固定支架1、减速器夹紧机构、夹紧驱动装置和升降支撑机构,所述固定支架1安装于减速器综合实验台上,所述减速器夹紧机构包括对称设于固定支架内左、右两侧的两个夹持块2,所述两个夹持块2安装于夹紧驱动装置上,以在其驱动下同步相向或反向运动,进而夹紧或放松减速器,所述升降支撑机构安装于固定支架下部,以将减速器提升至设定高度,配合夹紧驱动装置实现减速器的安装。Please refer to Figure 2-5, the reducer fixing device used in the reducer comprehensive test bench of the present invention includes a fixed bracket 1, a reducer clamping mechanism, a clamping drive device and a lifting support mechanism, and the fixed bracket 1 is installed on the reducer On the comprehensive test bench of the reducer, the clamping mechanism of the reducer includes two clamping
其中,所述夹持块2配设有多种不同形状、规格的减速器固定板3,所述夹持块2上不同位置分布有多种不同型号的固定螺栓孔4,在夹持块夹紧减速器后,通过相应的固定螺栓安装相应形状、规格的减速器固定板,所述减速器固定板另一侧部与减速器固定连接,以适配固定不同结构尺寸的减速器,防止减速器发生旋转。在本实施例中,所述减速器固定板为L型和T型形状,可依据不同型号减速器选用对应的减速器固定板;所述减速器固定板上设置有不同型号的固定孔,该形状可满足减速器的安装,有力避免了大扭矩工况下减速器发生旋转的问题。Wherein, the
所述夹持块2为V型结构,以通过两个夹持块的同步相向运动,形成菱形夹持空间,夹住减速器。所述夹持块外侧中部连接有导向杆5,所述固定支架1左、右两侧分别开设有与导向杆相适应的导向通孔,两个夹持块的导向杆分别穿出相应的导向通孔并与其滑动配合,以进一步导向夹持块的运动,在提升刚度的同时有效保证减速器夹持块运动平稳性,保证减速器安装过程中的对中性。The
所述夹紧驱动装置由对称设于固定支架内上、下两侧的两个驱动机构组成,所述驱动机构包括滑轨6、两个滑块7、动力单元8和旋转块9,所述两个滑块7安装于滑轨6上,所述两个夹持块2的一端分别安装于相应的滑块7上,所述滑轨6中部固定设有固定座10,所述动力单元8的本体安装于其中一个滑块的下部,且其推杆11前端与固定座10下部固定连接,所述旋转块9转动连接于固定座10上部,且旋转块9两外侧部分别经一连杆12与两个滑块7铰接,以实现滑块与旋转块之间滑动与转动的转化;推杆伸展或收缩时,驱动其中一个滑块远离或靠近滑轨中部,进而带动旋转块旋转,从而带动另一个滑块联动,实现两个滑块同步反向或相向运动。在本实施例中,所述动力单元为电动推杆或液压缸。The clamping driving device is composed of two driving mechanisms symmetrically arranged on the upper and lower sides of the fixed bracket. The driving mechanism includes a
在本实施例中,连杆与滑块的连接点位于滑块的对称中心位置。为了避免滑块运动到机构的死点位置,使机构出现“顶死”现象,可以在滑轨上设置一个限位块,限制滑块的向外最大位移,使两根连杆不会出现共线的情况。在本发明的其他实施例中,也可以将两根连杆与相应滑块的连接点设置于偏离对称中心位置的两侧,从而使滑块在从最外侧向滑轨中部运动时,由于具有侧向力,而不会出现“顶死”情况。In this embodiment, the connection point between the connecting rod and the slider is located at the symmetrical center of the slider. In order to prevent the slider from moving to the dead point of the mechanism and cause the mechanism to "top dead", a limit block can be set on the slide rail to limit the maximum outward displacement of the slider so that the two connecting rods will not have a common line situation. In other embodiments of the present invention, the connection points of the two connecting rods and the corresponding sliders can also be arranged on both sides deviated from the center of symmetry, so that when the slider moves from the outermost to the middle of the slide rail, due to the Lateral force, without "top dead" situation.
所述升降支撑机构包括液压升降顶13和支撑座14,所述液压升降顶13安装于固定支架1前端下部,所述支撑座14安装于液压升降顶13上,以在其驱动下上升或下降,将减速器输送至设定高度。The lifting support mechanism includes a
本发明的工作原理为:首先,将减速器放置在支撑座上,通过控制支撑座下端的液压升降顶将待安装的减速器上升至预设工位。然后通过夹紧驱动装置控制夹持块同步向减速器夹紧,当夹持块的夹持力达到预设夹紧力后锁紧,选用与减速器安装孔和夹持块上设置的固定螺栓孔配套的减速器固定板,通过螺栓对减速器进行固定。然后,支撑座通过液压升降顶下降至初始位置,减速器安装完成。拆卸过程与安装过程相反,采用不同型号的减速器固定板可实现对不同外形尺寸的同轴减速器安装,安装和拆卸过程操作简单,节省了安装时间,提高了整机安装效率和安装精度。完成减速器的安装之后,将试验台的动力输入源和检测源分别与减速器的输入和输出轴连接,经调试和校验后即可实现对减速器综合性能实验。The working principle of the present invention is as follows: firstly, the reducer is placed on the support base, and the reducer to be installed is raised to a preset position by controlling the hydraulic lifting top at the lower end of the support base. Then the clamping drive device controls the clamping block to clamp to the reducer synchronously. When the clamping force of the clamping block reaches the preset clamping force, it is locked, and the fixing bolts set on the mounting hole of the reducer and the clamping block are selected. The reducer fixing plate matched with the hole is used to fix the reducer by bolts. Then, the support seat is lowered to the initial position through the hydraulic lifting top, and the installation of the reducer is completed. The disassembly process is opposite to the installation process. Different types of reducer fixing plates can be used to install coaxial reducers of different dimensions. The installation and disassembly process is easy to operate, saves installation time, and improves the installation efficiency and installation accuracy of the whole machine. After the installation of the reducer is completed, the power input source and detection source of the test bench are respectively connected to the input and output shafts of the reducer, and the comprehensive performance experiment of the reducer can be realized after debugging and verification.
以上所述,仅是本发明的较佳实施例而已,并非对本发明的技术范围作任何限制,故但凡依本发明的权利要求和说明书所做的变化或修饰,皆应属于本发明专利涵盖的范围之内。The above is only a preferred embodiment of the present invention, and does not limit the technical scope of the present invention in any way, so any changes or modifications made according to the claims of the present invention and the description should all be covered by the patent of the present invention. within range.
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