CN113008549B - Variable-size RV reducer planetary gear stress measurement device and method - Google Patents
Variable-size RV reducer planetary gear stress measurement device and method Download PDFInfo
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- CN113008549B CN113008549B CN202110388420.1A CN202110388420A CN113008549B CN 113008549 B CN113008549 B CN 113008549B CN 202110388420 A CN202110388420 A CN 202110388420A CN 113008549 B CN113008549 B CN 113008549B
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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
- G01M13/021—Gearings
Abstract
A variable-size RV reducer planetary gear stress measuring device and method comprises a strain measuring device, a planetary gear mechanism, a planetary gear adjusting mechanism, a planetary gear carrier displacement mechanism, a gear ring carrier displacement mechanism, a sun gear shaft displacement mechanism, a torque braking device and a torque driving device; the strain measuring device is used for measuring the strain of a sun gear and a planet gear of the planet gear mechanism, the planet gear adjusting mechanism is connected with the planet gear and used for adjusting the position of a planet gear shaft, the planet gear carrier displacement mechanism is arranged at the lower part of the torque braking device and used for adjusting the horizontal displacement of the planet gear carrier, the sun gear shaft displacement mechanism is arranged at the lower part of the torque driving device and used for adjusting the horizontal displacement of the sun gear shaft and the torque driving device, and the gear ring carrier displacement mechanism is connected with a gear ring of the planet gear mechanism and used for adjusting the vertical displacement of the gear ring. The invention realizes the measurement of the tooth root stress of the planetary gears with different sizes and different specifications.
Description
Technical Field
The invention relates to the technical field of gear measurement, in particular to a device and a method for measuring the stress of a planet gear of an RV reducer with variable size.
Background
Planetary gear drives have a number of unique advantages over common gear drives. The most remarkable characteristics are that power splitting can be performed when power is transmitted, and the input shaft and the output shaft are positioned on the same horizontal line. Planetary gear drives have been widely used in speed reducers, speed increasers and speed changing devices in various mechanical drive systems. The speed reducer part is used as a precise transmission device in the joint of the industrial robot, and the dynamic characteristic, the bearing characteristic and the motion positioning precision of the industrial robot are directly determined. The RV (Rotary Vector) speed reducer has a series of advantages of large transmission ratio, small volume, light weight, long service life, high transmission precision, high transmission efficiency, good precision retention and the like, and is the first choice of the precision speed reducer for the joints of the heavy-duty industrial robot. The RV reducer is formed by connecting a first-stage involute planetary transmission gear train and a first-stage cycloid gear planetary transmission gear train in series. The involute planetary gear structure directly connected with the input end plays a role in determining dynamic transmission characteristics of the RV transmission system, wherein the cycloidal gear of the part has important influence on the transmission precision, service life, vibration noise and other performances of the whole RV reducer.
At present, the measurement of the strain of the planetary gear mainly depends on a photoelastic method and an electric measurement method, wherein a test system required by the electric measurement method is simpler, but an actual planetary gear box is difficult to provide enough installation space for a resistance strain gauge, great difficulty exists in the installation process of the test system, and the planetary gears with different sizes are difficult to share one set of measurement equipment, so that the stress measurement is carried out on the planetary gears with different sizes, different experiment tables are required to be configured, and the cost is overlarge.
Disclosure of Invention
The invention provides a device and a method for measuring the stress of a planetary gear of a RV reducer with variable size, which are used for overcoming the prior art, so as to realize the measurement of the stress of tooth roots of planetary gears with different sizes and different specifications.
The utility model provides a RV reduction gear planetary gear stress measuring device of variable size, contains strain measurement device, planetary gear mechanism, planetary gear adjustment mechanism, planetary gear carrier displacement mechanism, ring gear carrier displacement mechanism, sun gear shaft displacement mechanism, torque braking device and torque driving device;
the strain measuring device is used for measuring the strain of a sun gear and a planet gear of the planet gear mechanism, the planet gear adjusting mechanism is connected with the planet gear and used for adjusting the position of a planet gear shaft, the planet gear carrier displacement mechanism is arranged at the lower part of the torque braking device and used for adjusting the horizontal displacement of the torque braking device and the planet gear adjusting mechanism, the sun gear shaft displacement mechanism is arranged at the lower part of the torque driving device and used for adjusting the horizontal displacement of a sun gear shaft driven by the torque driving device, and the gear ring carrier displacement mechanism is connected with a gear ring of the planet gear mechanism and used for adjusting the vertical displacement of the gear ring.
A method for measuring the stress of a planet gear of an RV reducer with variable size comprises the following steps:
1) Preparing a gear ring on a planetary gear to be detected;
2) Selecting a proper gear ring bracket according to the size of the gear ring, and vertically adjusting the gear ring to a proper position by utilizing a gear ring bracket displacement mechanism;
3) Respectively arranging a torque sensor at the output end of the first motor and the output end of the magnetic powder brake, wherein the torque sensor is connected with a measurement and control system;
4) Setting a sun gear and a planetary gear;
4.1 Connecting a sun gear shaft with a torque driving device, attaching a strain sensor to the tooth root of the sun gear, connecting the output end of the strain sensor with a wireless data acquisition card, and adjusting the sun gear to a corresponding position through a sun gear shaft displacement mechanism;
4.2 The planetary gear to be detected is respectively arranged on the planetary gear carrier, and the position of the planetary gear shaft is adjusted through the planetary gear adjusting mechanism according to the size of the planetary gear to be measured, so that the planetary gear shaft and the planetary gear are positioned at a position capable of being meshed with the measured sun gear;
4.3 The strain sensor is attached to the tooth root and the tooth side of the planetary gear, the output end of the strain sensor is connected with the wireless data acquisition card, the angle of the planetary gear is finely adjusted, and the planetary gear is adjusted to the corresponding position through the displacement mechanism of the planetary gear carrier, so that the planetary gear can be meshed with the sun gear and the gear ring;
5) Starting a first motor to drive a sun gear to rotate, driving a planetary gear to rotate, starting a magnetic powder brake to simulate the load born by the planetary gear, adopting a controllable stabilized current power supply to adjust the load, and collecting corresponding load information by a torque sensor and transmitting the corresponding load information to a measurement and control system;
6) The strain sensor generates corresponding electric signals after being stressed, and the signals are transmitted to a measurement and control system through a wireless acquisition card to observe and collect data;
7) The measurement and control system calculates the tooth root strain of the planetary gear and the sun gear under different loads according to the collected data.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the detection of the stress generated when the planet gears of RV speed reducers with different sizes work, has high measurement precision, can realize the separation and engagement of the planet gears and the sun gear, and has simple operation and good suitability.
The invention can realize the motion with 4 degrees of freedom, the planetary gear adjusting mechanism can realize the position of the planetary gear relative to the gear ring and the sun gear, the gear ring bracket displacement mechanism can realize the vertical displacement adjustment of the gear ring, so as to ensure that the sun gear, the planetary gear and the gear ring are meshed with each other in the experiment, and the position adjustment of the gear ring and the planetary gear which are suitable for different specifications and sizes can also be realized, so that the measurement of different tooth root stresses can be realized. The planet gear carrier displacement mechanism can realize the horizontal displacement of the torque braking device and the planet gear carrier, is convenient for the installation, replacement and adjustment of the planet gears, and the sun gear shaft displacement mechanism can realize the horizontal displacement of the torque driving device and the sun gear shaft, and is convenient for the installation, replacement and adjustment of the sun gears. The planet gear adjusting mechanism, the planet gear carrier displacement mechanism, the gear ring carrier displacement mechanism, the sun gear shaft displacement mechanism, the torque braking device and the torque driving device are mutually matched to realize the stress measurement of the planet gear of the RV reducer.
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples:
drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a planetary gear adjustment mechanism;
FIG. 3 is a partial cross-sectional view of the planetary gear adjustment mechanism;
FIG. 4 is a schematic structural view of a ring gear carrier displacement mechanism;
FIG. 5 is a schematic view of a planetary gear mechanism;
FIG. 6 is a schematic illustration of a torque-driven device and sun gear shaft displacement mechanism;
FIG. 7 is a schematic illustration of a torque brake device and a planet carrier displacement mechanism.
Detailed Description
Referring to fig. 1, a strain measuring device for a planet gear of an RV speed reducer with variable size comprises a strain measuring device 1, a planet gear mechanism 2, a planet gear adjusting mechanism 3, a planet gear carrier displacement mechanism 6, a gear ring carrier displacement mechanism 7, a sun gear shaft displacement mechanism 8, a torque braking device 5 and a torque driving device 9;
as shown in fig. 5, the strain measuring device 1 is used for measuring the strain of the sun gear 18 and the planet gear 27 of the planetary gear mechanism 2, the planet gear adjusting mechanism 3 is connected with the planet gear 27 for adjusting the radial position of the planet gear shaft, the planet gear carrier displacement mechanism 6 is arranged at the lower part of the torque braking device 5 for adjusting the horizontal displacement of the torque braking device 5 and the planet gear adjusting mechanism 3 so as to mount, dismount and adjust the planet gear, the sun gear shaft displacement mechanism 8 is arranged at the lower part of the torque driving device 9 for adjusting the horizontal displacement of the sun gear shaft 19 driven by the torque driving device 9, and the gear ring carrier displacement mechanism 7 is connected with the gear ring 29 of the planetary gear mechanism 2 for adjusting the vertical displacement of the gear ring 29. When in use, the output end of the strain sensor 17 is connected with the measurement and control system 10 through the wireless data acquisition card 16 so as to realize data acquisition and control of an actuating mechanism.
The strain gauge 1 comprises a strain sensor 17 and a wireless data acquisition card 16 connected with the strain sensor 17, wherein the strain sensor 17 is respectively arranged on the tooth root and the tooth side of a sun gear 18 of the planetary gear mechanism 2 and a planetary gear 27 to be detected for accurately and reliably measuring the stress.
Typically, the strain sensor 17 is a strain gauge sensor, and is stuck in a full bridge manner, two pieces are stuck to the tooth root, and the other two pieces are stuck to the tooth side as temperature compensation pieces, and are connected with the measurement and control system 10 through the wireless data acquisition card 16.
The planetary gear mechanism 2 includes a ring gear 29, a planetary gear 27, and a sun gear 18.
Further, as shown in fig. 2, the planetary gear adjusting mechanism 3 comprises a connecting slide block 3-41, a planetary gear carrier 3-40, an adjusting knob 3-43, a first bevel gear 3-46, three second bevel gears 3-47 and three first ball screw pairs, wherein the three first ball screw pairs are uniformly distributed along the circumferential direction and rotatably arranged on the planetary gear carrier 3-40, one side of the connecting slide block 3-41 is rotatably connected with a planetary gear 27, the other side of the connecting slide block 3-41 is fixedly connected with a first nut of a knob on the first ball screw 3-42, one end of the first ball screw 3-42 is connected with a second bevel gear 3-47, the adjusting knob 3-43 is rotatably arranged in the middle of the planetary gear carrier 3-40, the output end of the adjusting knob 3-43 is connected with the first bevel gear 3-46, the first bevel gears 3-46 are meshed with the three second bevel gears 3-47, and the output end of the torque braking device 5 is connected with the planetary gear carrier 3-40.
As shown in fig. 5, for convenience of adjustment, the connecting slider 3-41 is connected with the planetary gear 27 through the first coupling 3-28 and the two planetary gear shafts 3-48, the two planetary gear shafts 3-48 are arranged at both sides of the first coupling 3-28 and are connected together, one planetary gear shaft 3-48 is rotatably connected with the connecting slider 3-41, and the other planetary gear shaft 3-48 is fixedly connected with the planetary gear 27 through a key. The wireless data acquisition card 16 is arranged on the sun gear shaft 19 and the planet gear shafts 3-48.
In the above scheme, as shown in fig. 3, the adjusting knob 3-43 is fixedly arranged on the planetary gear carrier 3-40 through the fixing ring 3-45 and the bearing 3-44, one end of the adjusting knob 3-43 is connected with the first bevel gear 3-46, the first bevel gear 3-46 is meshed with the second bevel gear 3-47, the second bevel gear 3-47 is fixed at the end part of the first ball screw 3-42, the adjusting knob 3-43 drives the first ball screw 3-42 to rotate through the bevel gear pair transmission, and then drives the connecting sliding block 3-41 and the shaft 3-48 to axially move along the first ball screw 3-42, so that radial change of the planetary gear 27 relative to the gear ring 29 and the sun gear 18 is realized. The adjusting knob 3-43 can be a micro motor.
As shown in fig. 7, the torque brake device 5 optionally includes a torque sensor 9-14 and a magnetic powder brake 5-23; the magnetic powder brake 5-23 and the torque sensor 9-14 are driven by the planet gear carrier displacement mechanism 6 to realize linear movement, and two sides of the torque sensor 9-14 are respectively connected with the planet gear carrier 3-40 and the magnetic powder brake 5-23.
In general, the magnetic powder brake 5-23 is mounted on the carrier displacement mechanism 6 through the magnetic powder brake connecting slider 24, and at this time, the torque sensor 9-14 is mounted on the carrier displacement mechanism 6 through the torque measurement connecting slider 15 to achieve horizontal displacement of the magnetic powder brake 5-23 and the torque sensor 9-14. The torque sensor 9-14 is connected to the magnetic particle brake 5-23 via a second coupling 12. The torque sensor 9-14 is connected with the planetary gear carrier 3-40 through the torque connecting shaft 5-22, and the torque of the planetary gear carrier 3-40 is measured in the experimental process.
Further, as shown in fig. 7, the planet carrier displacement mechanism 6 comprises a fourth ball screw pair, a fourth slide rail base 6-25 and a fourth motor 6-22, the fourth motor 6-22 is fixed on the fourth slide rail base 6-25, the fourth ball screw pair is arranged in a groove of the fourth slide rail base 6-25, a fourth ball screw 6-26 is rotatably arranged on the fourth slide rail base 6-25, one end of the fourth ball screw 6-26 is connected with an output end of the fourth motor 6-22, a magnetic powder brake 5-23 and a torque sensor 9-14 are respectively fixed on a corresponding fourth nut on the fourth ball screw 6-26, and an axis of the fourth ball screw 6-26 is collinear with an axis of the sun gear shaft 19. At this time, the torque sensor 9-14 is mounted on the fourth nut through the torque measurement connection slider 5-15, and the magnetic powder brake 5-23 is mounted on the fourth nut through the magnetic powder brake connection slider 5-24 to achieve linear displacement of the magnetic powder brake 5-23 and the torque sensor 9-14. In addition, in order to ensure reliable movement of the fourth ball screw 6-26, the fourth ball screw 6-26 is connected to the output of the fourth motor 6-22 via a third coupling 6-21. Typically, the fourth motor 6-22 is a stepper motor.
Further, as shown in fig. 4, the gear ring bracket displacement mechanism 7 includes a gear ring bracket 7-30, a lifting table 7-31, a double output shaft motor 7-39, a base 7-36, two worm gears 7-38, two worms 7-37 and two second ball screw pairs, wherein the upper side of the gear ring bracket 7-30 is connected with the gear ring 29, the lower side is connected with the lifting table 7-31, the two second ball screws 7-33 of the two second ball screw pairs are vertically arranged, the upper ends of the second ball screws 7-33 are connected with the lifting table 7-31, the second ball screws 7-33 extend into the base 7-36 and can vertically move relative to the base 7-36, the inner rings of the worm gears 7-38 are fixedly connected with second nuts of knobs on the second ball screws 7-33 and are rotatably arranged on the base 7-36, the two output shafts of the double output shaft motor 7-39 are respectively connected with one worm 7-37, the worms 7-37 are rotatably arranged on the corresponding worm gears 7-36 through bearings 7-35, and the worm gears 7-37 are meshed with the corresponding worm gears 7-37. The second ball screw pair is driven to rotate through worm and gear transmission, the lifting tables 7-31 and the gear ring brackets 7-30 are driven to move up and down, so that vertical displacement adjustment of the gear ring 29 is realized, and further, the gear ring 29, the planetary gears 27 and the sun gear 18 are meshed with each other. The ring gear carriers 7-30 may be replaced according to different sizes of ring gears 29. The bottom of the lifting platform 7-31 is provided with two holes in which a positioning block 7-32 is arranged, and the positioning block 7-32 is connected with a second ball screw 7-33.
Preferably, as shown in fig. 6, the torque driving means 9 comprises a first motor 9-11 and a torque sensor 9-14; the first motor 9-11 and the torque sensor 9-14 are driven by the sun gear shaft displacement mechanism 8 to realize linear movement, and two sides of the torque sensor 9-14 are respectively connected with an output shaft of the first motor 9-11 and the sun gear shaft 19. Typically, the first motor 9-11 is mounted on the sun gear shaft displacement mechanism 8 through the motor connecting slider 9-13, and at this time, the torque sensor 9-14 is mounted on the sun gear shaft displacement mechanism 8 through the torque measuring connecting slider 5-15 to achieve movement of the first motor 9-11 and the torque sensor 9-14 in the horizontal direction. The torque sensor 9-14 is connected to the first motor 9-11 via the second coupling 12, and the torque sensor 9-14 is connected to the sun gear 18 via the sun gear shaft 19, in an experimental case, to provide power to the sun gear 18. Typically, the first motor 9-11 is a magnetic torque motor.
Further, as shown in fig. 6, the sun gear shaft displacement mechanism 8 comprises a third ball screw pair, a third slide rail base 8-19 and a third motor 8-22, the third motor 8-22 is fixed on the third slide rail base 8-19, the third ball screw pair is arranged in a groove of the third slide rail base 8-19, the axis of the third ball screw 8-20 is collinear with the axis of the sun gear shaft 19, the third ball screw 8-20 is rotatably arranged on the third slide rail base 8-19, one end of the third ball screw 8-20 is connected with the output end of the third motor 8-22, the first motor 9-11 and the torque sensor 9-14 are respectively fixed on corresponding third nuts on the third ball screw 8-20, and the sun gear 18 is fixedly connected with the sun gear shaft 19. Typically, the first motor 9-11 and the torque sensor 9-14 are mounted on the third nut through the motor connecting slider 9-13 and the torque measuring connecting slider 5-15, respectively, to achieve movement of the first motor 9-11 and the torque sensor 9-14 in the horizontal direction. Typically, the third motors 8-22 are stepper motors.
In the above scheme, the third slide rail bases 8-19 and the fourth slide rail bases 6-25 are internally provided with guide grooves, the corresponding connecting sliding blocks longitudinally move along the guide grooves under the action of the rotation of the ball screw, the inside of the slide rail bases is perforated and rotationally connected with one end of the ball screw, and the corresponding stepping motors are arranged on one sides of the corresponding slide rail bases and connected with the corresponding ball screw. The measurement and control system 10 is connected with the strain sensor 17 and the torque sensors 9-14 through the wireless data acquisition card 16; the measurement and control system 10 can also be connected with the third motor 8-22, the fourth motor 6-22, the first motor 9-11 and the magnetic powder brake 5-23 through a motor controller to realize control.
In another embodiment, as shown in fig. 1-7, there is further provided a method for measuring stress of a planet gear of an RV retarder with variable dimensions, comprising the steps of:
1) Preparing a ring gear 29 on the planetary gear 27 to be detected;
2) Selecting proper gear ring brackets 7-30 according to the size of the gear ring 29, and vertically adjusting the gear ring 29 to a proper position by utilizing a gear ring bracket displacement mechanism 7;
3) The torque sensor 9-14 is respectively arranged at the output end of the first motor 9-11 and the output end of the magnetic powder brake 5-23, and the torque sensor 9-14 is connected with the measurement and control system 10;
4) A sun gear 18 and a planetary gear 27 are provided;
4.1 A sun gear shaft 19 is connected with the torque driving device 9, a strain sensor 17 is attached to the tooth root and the tooth side of a sun gear 18, the output end of the strain sensor 17 is connected with a wireless data acquisition card 16, and the sun gear 18 is adjusted to a corresponding position through a sun gear shaft displacement mechanism 8;
4.2 The planetary gear 27 to be detected is respectively arranged on the planetary gear carriers 3-40, and the position of the planetary gear shafts is adjusted through the planetary gear adjusting mechanism 3 according to the size of the planetary gear 27 to be measured, so that the planetary gear shafts and the planetary gear 27 are positioned at the positions capable of being meshed with the measured sun gear 18;
4.3 The strain sensor 17 is attached to the tooth root and the tooth side of the planetary gear 27, the output end of the strain sensor 17 is connected with the wireless data acquisition card 16, the angle of the planetary gear 27 is finely adjusted, and the planetary gear 27 is adjusted to the corresponding position through the planetary gear carrier displacement mechanism 6, so that the planetary gear 27 can be meshed with the sun gear 18 and the gear ring 29;
5) Starting a first motor 9-11 to drive a sun gear 18 to rotate so as to drive a planetary gear 27 to rotate, starting a magnetic powder brake 5-23 to simulate the load born by the planetary gear 27, adopting a controllable steady-flow power supply to adjust the load, and collecting corresponding load information by a torque sensor 9-14 and transmitting the corresponding load information to a measurement and control system 10;
6) The strain sensor 17 generates corresponding electric signals after being stressed, and the signals are transmitted to the measurement and control system 10 through the wireless data acquisition card 16 to observe and collect data;
7) The measurement and control system 10 calculates the root strain of the planet gears 27 and the sun gear 18 at different loads from the collected data.
As an example, in step 6), the signal is transmitted to the measurement and control system 10 by the wireless data acquisition card 16, and the data is observed and collected in LabVIEW.
The output end of the magnetic powder brake 5-23 is used for being connected with the torque sensor 9-14 and the planetary gear carrier 3-40, the magnetic powder brake 5-23 generates a resisting moment, the output end of the first motor 9-11 is connected with the torque sensor 9-14 and the sun gear shaft 19, the first motor 9-11 drives the sun gear 18 to rotate, the gear ring carrier displacement mechanism 7 is used for adjusting the position of the gear ring 29 so as to adapt to planetary gear mechanisms 2 with different sizes, and the measurement and control system 10 is respectively connected with the torque sensor 9-14 and the strain sensor 17.
The present invention has been described in terms of preferred embodiments, but is not limited to the invention, and any equivalent embodiments can be made by those skilled in the art without departing from the scope of the invention, as long as the equivalent embodiments are possible using the above-described structures and technical matters.
Claims (7)
1. The utility model provides a RV reduction gear planetary gear stress measurement device of variable size which characterized in that: comprises a strain measuring device (1), a planetary gear mechanism (2), a planetary gear adjusting mechanism (3), a planetary gear carrier displacement mechanism (6), a gear ring carrier displacement mechanism (7), a sun gear shaft displacement mechanism (8), a torque braking device (5) and a torque driving device (9);
the strain measuring device (1) is used for measuring the strain of a sun gear (18) and a planet gear (27) of the planet gear mechanism (2), the planet gear adjusting mechanism (3) is connected with the planet gear (27) and is used for adjusting the position of a planet gear shaft, the planet gear carrier displacement mechanism (6) is arranged at the lower part of the torque braking device (5) and is used for adjusting the horizontal displacement of the torque braking device (5) and the planet gear adjusting mechanism (3), the sun gear shaft displacement mechanism (8) is arranged at the lower part of the torque driving device (9) and is used for adjusting the horizontal displacement of the sun gear shaft (19) driven by the torque driving device (9), and the gear ring carrier displacement mechanism (7) is connected with a gear ring (29) of the planet gear mechanism (2) and is used for adjusting the vertical displacement of the gear ring (29);
the planetary gear adjusting mechanism (3) comprises a connecting slide block (3-41), a planetary gear carrier (3-40), an adjusting knob (3-43), a first bevel gear (3-46), three second bevel gears (3-47) and three first ball screw pairs, wherein the three first ball screw pairs are uniformly distributed along the circumferential direction and rotatably arranged on the planetary gear carrier (3-40), one side of the connecting slide block (3-41) is rotatably connected with a planetary gear (27), the other side of the connecting slide block (3-41) is fixedly connected with a first nut of the knob on the first ball screw (3-42), two planetary gear shafts (3-48) are arranged at two sides of the first coupling (3-28) and are connected together, one planetary gear shaft (3-48) is rotatably connected with the connecting slide block (3-41), the other planetary gear shaft (3-48) is fixedly connected with a key of the planetary gear (27), one end of the first ball screw (3-42) is connected with the second bevel gear (3-47), the adjusting knob (3-43) is rotatably arranged at the middle part of the planetary gear carrier (3-40), the first bevel gear shafts (3-46) are meshed with the first bevel gears (3-46), the output end of the torque braking device (5) is connected with the planetary gear carrier (3-40); the gear ring bracket displacement mechanism (7) comprises a gear ring bracket (7-30), a lifting table (7-31), a double-output shaft motor (7-39), a base (7-36), two worm gears (7-38), two worms (7-37) and two second ball screw pairs, wherein the upper side of the gear ring bracket (7-30) is connected with the gear ring (29), the lower side of the gear ring bracket is connected with the lifting table (7-31), the two second ball screws (7-33) of the two second ball screw pairs are vertically arranged, the upper ends of the second ball screws (7-33) are connected with the lifting table (7-31), the second ball screws (7-33) extend into the base (7-36) and can vertically move relative to the base (7-36), the inner rings of the worm gears (7-38) are fixedly connected with second nuts of knobs on the second ball screws (7-33) and are rotatably arranged on the base (7-36), the double-output shaft motor (7-39) is fixedly arranged on the base (7-36), the two worms (7-37) of the double-output shaft motor (7-39) are respectively rotatably arranged on the base (7-37), the corresponding worm wheel (7-38) is meshed with the worm (7-37); the strain measurement device (1) comprises a strain sensor (17) and a wireless data acquisition card (16) connected with the strain sensor (17), wherein the strain sensor (17) is respectively arranged on the tooth root and the tooth side of a sun gear (18) of the planetary gear mechanism (2) and a planetary gear (27) to be detected, and the strain sensor (17) is stuck in a full-bridge mode.
2. The variable dimension RV reducer planetary gear stress measurement device of claim 1, wherein: the torque driving device (9) comprises a first motor (9-11) and a torque sensor (9-14);
the first motor (9-11) and the torque sensor (9-14) are driven by the sun gear shaft displacement mechanism (8) to realize linear movement, and two sides of the torque sensor (9-14) are respectively connected with an output shaft of the first motor (9-11) and the sun gear shaft (19).
3. The variable dimension RV reducer planetary gear stress measurement device of claim 2, wherein:
the sun gear shaft displacement mechanism (8) comprises a third ball screw pair, a third sliding rail base (8-19) and a third motor (8-22), wherein the third motor (8-22) is fixed on the third sliding rail base (8-19), the third ball screw pair is arranged in a groove of the third sliding rail base (8-19), the axis of the third ball screw (8-20) is collinear with the axis of the sun gear shaft (19), the third ball screw (8-20) is rotatably arranged on the third sliding rail base (8-19), one end of the third ball screw (8-20) is connected with the output end of the third motor (8-22), the first motor (9-11) and the torque sensor (9-14) are respectively fixed on corresponding third nuts on the third ball screw (8-20), and the sun gear (18) is fixedly connected with the sun gear shaft (19).
4. A variable dimension RV retarder planetary gear stress measuring device according to claim 3, wherein: the torque braking device (5) comprises a torque sensor (9-14) and a magnetic powder brake (5-23);
the magnetic powder brake (5-23) and the torque sensor (9-14) are driven by the planet gear carrier displacement mechanism (6) to realize linear movement, and two sides of the torque sensor (9-14) are respectively connected with the planet gear carrier (3-40) and the magnetic powder brake (5-23).
5. The variable dimension RV reducer planetary gear stress measurement device of claim 4, wherein: the planet gear carrier displacement mechanism (6) comprises a fourth ball screw pair, a fourth sliding rail base (6-25) and a fourth motor (6-22), the fourth motor (6-22) is fixed on the fourth sliding rail base (6-25), the fourth ball screw pair is arranged in a groove of the fourth sliding rail base (6-25), the fourth ball screw (6-26) is rotatably arranged on the fourth sliding rail base (6-25), one end of the fourth ball screw (6-26) is connected with the output end of the fourth motor (6-22), the magnetic powder brake (5-23) and the torque sensor (9-14) are respectively fixed on a fourth nut corresponding to the fourth ball screw (6-26) on a knob, and the axis of the fourth ball screw (6-26) is collinear with the axis of the sun gear shaft (19).
6. The variable dimension RV reducer planetary gear stress measurement device of claim 5, wherein:
the adjusting knob (3-43) is a miniature motor.
7. A method of measuring the strain of a variable dimension RV retarder planetary gear as defined in claim 5 wherein: comprises the following steps:
1) Preparing a ring gear (29) on the planetary gear (27) to be detected;
2) Selecting proper gear ring brackets (7-30) according to the size of the gear ring (29), and vertically adjusting the gear ring (29) to a proper position by utilizing a gear ring bracket displacement mechanism (7);
3) The torque sensor (9-14) is respectively arranged at the output end of the first motor (9-11) and the output end of the magnetic powder brake (5-23), and the torque sensor (9-14) is connected with the measurement and control system (10);
4) A sun gear (18) and a planetary gear (27) are provided;
4.1 The sun gear shaft (19) is connected with the torque driving device (9), the strain sensor (17) is attached to the tooth root and the tooth side of the sun gear (18), the output end of the strain sensor (17) is connected with the wireless data acquisition card (16), and the sun gear (18) is adjusted to the corresponding position through the sun gear shaft displacement mechanism (8);
4.2 The planetary gear (27) to be detected is respectively arranged on the planetary gear carriers (3-40), and the position of the planetary gear shaft is adjusted through the planetary gear adjusting mechanism (3) according to the size of the planetary gear (27) to be measured, so that the planetary gear shaft and the planetary gear (27) are positioned at a position capable of being meshed with the measured sun gear (18);
4.3 The strain sensor (17) is attached to the tooth root and the tooth side of the planetary gear (27), the output end of the strain sensor (17) is connected with the wireless data acquisition card (16), the angle of the planetary gear (27) is finely adjusted, and the planetary gear (27) is adjusted to the corresponding position through the planetary gear carrier displacement mechanism (6), so that the planetary gear (27) can be meshed with the sun gear (18) and the gear ring (29);
5) Starting a first motor (9-11) to drive a sun gear (18) to rotate, driving a planetary gear (27) to rotate, starting a magnetic powder brake (5-23) to simulate the load born by the planetary gear (27), regulating the loading by adopting a controllable steady-flow power supply, and collecting corresponding load information by a torque sensor (9-14) and transmitting the corresponding load information to a measurement and control system (10);
6) The strain sensor (17) generates corresponding electric signals after being stressed, and the signals are transmitted to the measurement and control system (10) through the wireless data acquisition card (16) to observe and collect data;
7) The measurement and control system (10) calculates the tooth root strain of the planetary gears (27) and the sun gear (18) under different loads according to the collected data.
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| CN113984545B (en) * | 2021-12-30 | 2022-03-04 | 华北理工大学 | Multi-tooth meshing photoelastic instrument |
| CN115380649B (en) * | 2022-01-11 | 2024-03-22 | 浙江理工大学 | Electric drive double-drive agricultural machinery opposite-row transverse moving device |
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