CN113310687A - Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table - Google Patents
Multi-working-condition comprehensive performance experiment table for precision speed reducer and use method of multi-working-condition comprehensive performance experiment table Download PDFInfo
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Abstract
本发明公开了一种精密减速器多工况综合性能实验台及其使用方法，属于精密减速器测试技术领域。本发明通过设计等效机器人转臂、转轴离合器、磁粉制动器，不仅可以实现多负载工况调整，同时可以避免反复移动实验台带来精度不足的问题；设计驱动电机的控制方式实现多驱动工况；通过多负载工况配合多驱动控制方式的调整，使测试环境更加多样化且更加贴近真实工作环境，从而模拟更加真实的工业机器人用精密减速器作业工况；进一步地，通过多样化测试设备，实现对被测精密减速器综合性能的全面测试，解决了现有实验台测试功能单一的问题；再进一步地，通过减速器安装支架实现不同型号和规格精密减速器测试，解决了现有实验台测试种类单一的问题。
The invention discloses a multi-working condition comprehensive performance test bench for a precision reducer and a method for using the same, and belongs to the technical field of precision reducer testing. By designing the equivalent robot rotating arm, rotating shaft clutch and magnetic powder brake, the invention can not only realize the adjustment of multi-load working conditions, but also avoid the problem of insufficient precision caused by repeatedly moving the test bench; the control method of the driving motor is designed to realize multiple driving conditions ;Through the adjustment of multi-load conditions and multi-drive control methods, the test environment is more diverse and closer to the real working environment, thereby simulating more realistic working conditions of precision reducers for industrial robots; further, through diversified test equipment , to achieve a comprehensive test of the comprehensive performance of the precision reducer under test, and solve the problem of a single test function of the existing test bench; further, through the reducer mounting bracket, the test of precision reducers of different types and specifications is realized, which solves the problem of the existing experiment. Bench test kind of single question.
Description
Technical Field
The invention relates to a multi-working-condition comprehensive performance experiment table for a precision speed reducer, and belongs to the technical field of precision speed reducer testing.
Background
The industrial robot market has already advanced a high-speed growth stage, and the demand for the high-speed growth of the industrial robot drives the development of a precision speed reducer of an upstream part of the industrial robot, so that the research on the performance of the precision speed reducer for the industrial robot plays an important role in the development of the field of the industrial robot and the field of the precision speed reducer. At present, the problems of single type of experimental test, single type of the tested speed reducer and single driving and loading form of the experiment table exist in the existing performance experiment table for the precision speed reducer, the comprehensive performance test, the type, the actual driving and the loading working condition of the precision speed reducer for the industrial robot are not completely considered, and the comprehensive performance and the universality of the experiment table are not strong.
Disclosure of Invention
The invention provides a multi-working-condition comprehensive performance experiment table for a precision speed reducer, which is used for adjusting multi-load working conditions and controlling multi-driving working conditions.
The technical scheme of the invention is as follows: a precise speed reducer multi-working-condition comprehensive performance experiment table comprises an experiment table base 16, wherein a driving motor 1, an input end torque and speed sensor 2, an input end angle sensor 3, a speed reducer mounting support 4, a measured precise speed reducer 5, an equivalent robot rotating arm 6, a rotating shaft clutch 7, a rotating shaft support 8, an output end angle sensor 9, an output end torque and speed sensor 10, a speed increaser 11 and a magnetic powder brake 12 are coaxially and sequentially connected with the experiment table base 16 through a rotating shaft 13, a coupling I14 and a coupling II 15; the open-close wrench 36 in the shaft clutch 7 rotates to drive the iron plate 46 on the open-close wrench 36 to adsorb the corresponding magnetized switch magnet seat, and then the open-close wrench 36 disconnects/connects the subsequent transmission system according to the lever principle.
A laboratory bench measurement and control system 40 is arranged beside the laboratory bench base 16, and the laboratory bench measurement and control system 40 comprises a measurement and control computer 20, a PLC21, a transducer forward rotation terminal 22, a transducer reverse rotation terminal 23, a controllable power supply 24 and a data acquisition unit 39; the PLC21 is a control component, the input end of the PLC21 is connected with the measurement and control computer 20 through a data line, the output end of the PLC21 is connected with the frequency converter forward rotation terminal 22 and the frequency converter reverse rotation terminal 23 through data lines, and the frequency converter forward rotation terminal 22 and the frequency converter reverse rotation terminal 23 are connected with the driving motor 1 through data lines; the controllable power supply 24 is a control component, the input end of the controllable power supply 24 is connected with the measurement and control computer 20 through a data line, and the output end of the controllable power supply 24 is connected with the magnetic powder brake 12 through a data line; the data acquisition unit 39 is a testing component, the output end of the data acquisition unit 39 is connected with the measurement and control computer 20 through a data line, and the input end of the data acquisition unit 39 is connected with each sensor on the experiment table base 16 through a data acquisition line.
The device also comprises an input end eddy current sensor 25, an output end eddy current sensor 26 and four acceleration sensors 27; the input end eddy current sensor 25 and the output end eddy current sensor 26 are installed at two axial ends of the measured precision speed reducer 5, and the four acceleration sensors 27 are respectively installed on the shell of the measured precision speed reducer 5 and the equivalent robot rotating arm 6 through a bottom suction device.
The input end eddy current sensor 25 and the output end eddy current sensor 26 are fixedly arranged on respective sensor supports, two groups of sensor supports and the same support T-shaped groove 38 on the experiment table base 16 are connected to the two axial ends of the measured precision speed reducer 5, and the sensor supports can freely move along the axial direction; the four acceleration sensors 27 are respectively installed on any two vertical surfaces of the shell of the measured precision speed reducer 5 in any two vertical radial directions and at any two vertical surfaces of the rotating arm 28 in the rotating arm 6 of the equivalent robot, which are close to one end of the balancing weight 29 in the rotating arm 6 of the equivalent robot, through a bottom suction device.
The equivalent robot rotating arm 6 comprises a rotating arm 28, a balancing weight 29, a rotating arm connecting flange 30, a balancing weight bolt 31, a stop block 32 and a balancing weight nut 33; wherein balancing weight 29 passes through counterweight bolt 31, counterweight nut 33 fixes on rocking arm 28 upper portion, rocking arm 28 upper portion processing has the through-hole of different positions for adjust balancing weight 29's mounted position, rocking arm 28 lower part from last recess 47 and ladder square groove 48 of processing in proper order down, ladder square groove 48 cooperates with the square groove in rocking arm flange 30, recess 47 and dog 32 fixed connection are on rocking arm flange 30, rocking arm flange 30 both sides respectively with by survey accurate reduction gear 5, pivot clutch 7 fixed connection.
The rotating shaft clutch 7 comprises an opening-closing wrench 34, a clutch support shell 35, a first half clutch 36, a second half clutch 41, a sliding sleeve 42, a transverse moving spring 43, a switch magnet seat I44, a switch magnet seat II 45 and an iron plate 46; wherein clutch support housing 35 fixed mounting is in laboratory bench base 16 top, install wrench 34 that opens and shuts through the axle on the clutch support housing 35, fixed switch magnet seat I44, fixed switch magnet seat II 45, first half clutch 36 and the rocking arm flange 30 fixed connection in the rocking arm 6 of equivalent robot, install second half clutch 41 from the input to the output direction in proper order on the pivot 13 of connecting pivot clutch 7 and pivot support 8, sliding sleeve 42, sideslip spring 43: the second half clutch 41 is matched with a key groove of the rotating shaft 13, the second half clutch 41 can axially move along a sliding groove on the rotating shaft 13 and rotate along with the rotating shaft 13, the sliding sleeve 42 and the second half clutch 41 are axially and fixedly connected through a bearing, the sliding sleeve 42 can axially move along the rotating shaft 13 and does not rotate along with the rotating shaft 13, one end of the transverse moving spring 43 is fixedly connected to the sliding sleeve 42, and the other end of the transverse moving spring 43 is limited; the upper part of the open-close wrench 34 extends out of the clutch support shell 35 as a hand-held end, the middle part of the open-close wrench 34 is connected to the clutch support shell 35 through a shaft pin, the middle part is fixedly connected with iron plates 46 along two sides of the axial direction, and the lower part of the open-close wrench 34 is connected to the sliding sleeve 42 through a shaft pin.
The coupler I14 is a quincunx coupler, and the coupler II 15 is an elastic coupler.
The use method of the precision speed reducer multi-working-condition comprehensive performance experiment table comprises multi-load working condition adjustment, wherein the multi-load working condition adjustment mode is as follows:
when disassembling the boom 28 in the equivalent robot boom 6: rotating a knob on the switch magnet seat I44 to enable the switch magnet seat I44 to be magnetized, rotating the opening and closing wrench 34 to enable an iron plate 46 on the opening and closing wrench 34 to be in adsorption connection with the switch magnet seat I44, driving the sliding sleeve 42 and the second half clutch 41 to move along the axial direction of the rotating shaft 13 to the output direction by the lower portion of the opening and closing wrench 34, disconnecting a subsequent transmission system, and enabling the measured precision speed reducer 5 to run in an idle load mode;
when disassembling the boom 28 in the equivalent robot boom 6: the knob on the reverse rotation switch magnet seat I44 enables the switch magnet seat I44 to be demagnetized and disconnected with the iron plate 46 on the opening and closing wrench 34, the knob on the rotation switch magnet seat II 45 enables the switch magnet seat II 45 to be magnetized, the opening and closing wrench 34 is rotated to enable the iron plate 46 on the opening and closing wrench 34 to be connected with the switch magnet seat II 45 in an adsorption mode, the lower portion of the opening and closing wrench 34 drives the sliding sleeve 42 and the second half clutch 41 to move in the input direction along the axial direction of the rotating shaft 13, the first half clutch 36 and the second half clutch 41 are meshed with each other to be connected with a subsequent transmission system, the voltage change of the controllable power supply 24 is controlled through the measurement and control computer 20, and the magnetic powder brake 12 is controlled through the controllable power supply 24 to apply different axial loads to the measured precision speed reducer 5;
when the swivel arm 28 is fixedly mounted on the swivel arm attachment flange 30: rotating a knob on the switch magnet seat I44 to enable the switch magnet seat I44 to be magnetized, rotating the opening and closing wrench 34 to enable an iron plate 46 on the opening and closing wrench 34 to be in adsorption connection with the switch magnet seat I44, and driving the sliding sleeve 42 and the second half clutch 41 to move along the axial direction of the rotating shaft 13 to the output direction by the lower portion of the opening and closing wrench 34 to disconnect a subsequent transmission system; different radial loads are applied to the measured precision speed reducer 5 by replacing the balancing weights 29 with different masses and changing the mounting positions of the balancing weights 29 on the rotating arms 28;
when the swivel arm 28 is fixedly mounted on the swivel arm attachment flange 30: reversely rotating a knob on the switch magnet seat I44 to demagnetize the switch magnet seat I44 and disconnect the switch magnet seat I44 from an iron plate 46 on the opening and closing wrench 34, rotating a knob on the switch magnet seat II 45 to electrify the switch magnet seat II 45, rotating the opening and closing wrench 34 to make the iron plate 46 on the opening and closing wrench 34 and the switch magnet seat II 45 be connected in an adsorption manner, driving a sliding sleeve 42 and a second half clutch 41 to move left along the axial direction of a rotating shaft 13 by the lower part of the opening and closing wrench 34, and mutually engaging a first half clutch 36 and the second half clutch 41 to connect a subsequent transmission system; the voltage change of the controllable power supply 24 is controlled by the measurement and control computer 20, and the magnetic powder brake 12 is controlled by the controllable power supply 24 to apply different axial loads to the measured precision reducer 5; by replacing the counterweights 29 of different masses and changing the mounting position of the counterweights 29 on the rotating arm 28, it is achieved that different radial loads are applied to the precision reducer 5 to be measured.
Still include many driving condition control, many driving condition control mode: the PLC21 is controlled by the measurement and control computer 20 in the experiment table measurement and control system 40, and the PLC21 controls the transducer forward rotation terminal 22 and the transducer reverse rotation terminal 23 of the transducer connected with the driving motor 1 through control voltage signals, so that the driving motor 1 is controlled to reciprocate or move continuously in a single direction.
The invention has the beneficial effects that: by designing the equivalent robot rotating arm, the rotating shaft clutch and the magnetic powder brake, the invention not only can realize the adjustment of the multi-load working condition, but also can avoid the problem of insufficient precision caused by repeatedly moving the experiment table; designing a control mode of a driving motor to realize multiple driving working conditions; through the adjustment of the multi-load working condition and the multi-drive control mode, the test environment is more diversified and closer to the real working environment, so that the more real working condition of the precision speed reducer for the industrial robot is simulated; furthermore, comprehensive testing of the comprehensive performance of the tested precision speed reducer is realized through diversified testing equipment, and the problem of single testing function of the existing experiment table is solved; furthermore, the test of the precise speed reducers with different models and specifications is realized through the speed reducer mounting bracket, so that the problem of single test type of the conventional experiment table is solved; therefore, through the precision reducer multi-working-condition comprehensive performance experiment table and the use method thereof, experimental data meeting the research needs of the precision reducer for the industrial robot and fitting practical operation are obtained according to different test objects, the universality is strong, and a foundation can be provided for subsequent research.
Drawings
FIG. 1 is a schematic view of the overall structure of the experimental table of the present invention;
FIG. 2 is a schematic diagram of a structure of a rotating arm of an equivalent robot according to the present invention;
FIG. 3 is a partial view of the structure of the arm of the equivalent robot of the present invention with a part of the arm connecting flange removed;
FIG. 4 is a schematic structural diagram of a rotating arm connecting flange part in the equivalent robot of the present invention;
FIG. 5 is a schematic view of a swivel arm of the present invention;
FIG. 6 is a schematic view of the structure of the stopper of the present invention;
FIG. 7 is a schematic structural view of a shaft clutch according to the present invention;
FIG. 8 is a schematic view of a rotary shaft clutch of the present invention without a support housing;
FIG. 9 is a schematic view of the structure of the opening-closing wrench and iron plate of the present invention
FIG. 10 is a left side view of the base of the experiment table of the present invention;
FIG. 11 is a block diagram of a laboratory bench measurement and control system of the present invention;
the reference numbers in the figures are: 1-drive motor, 2-input torque speed sensor, 3-input angle sensor, 4-reducer mounting bracket, 5-measured precision reducer, 6-equivalent robot rotating arm, 7-rotating shaft clutch, 8-rotating shaft bracket, 9-output angle sensor, 10-output torque speed sensor, 11-speed increaser, 12-magnetic powder brake, 13-rotating shaft, 14-first coupling, 15-second coupling, 16-experiment table base, 17-drive platform, 18-load platform, 19-T-shaped groove slide rail, 20-measurement and control computer, 21-PLC, 22-converter forward rotation terminal, 23-converter reverse rotation terminal, 24-controllable power supply, 25-input electric eddy current sensor, 26-output end eddy current sensor, 27-acceleration sensor, 28-rotating arm, 29-balancing weight, 30-rotating arm connecting flange, 31-balancing bolt, 32-stop block, 33-balancing nut, 34-opening and closing wrench, 35-clutch supporting shell, 36-first half clutch, 37-platform T-shaped groove, 38-support T-shaped groove, 39-data collector, 40-experiment table measuring and controlling system, 41-second half clutch, 42-sliding sleeve, 43-transverse spring, 44-switch magnet seat I, 45-switch magnet seat II, 46-iron plate, 47-groove and 48-step square groove.
Detailed Description
Example 1: as shown in fig. 1-11, a precision reducer multi-condition comprehensive performance experiment table comprises an experiment table base 16, wherein a driving motor 1, an input end torque and rotation speed sensor 2, an input end angle sensor 3, a reducer mounting bracket 4, a measured precision reducer 5, an equivalent robot rotating arm 6, a rotating shaft clutch 7, a rotating shaft bracket 8, an output end angle sensor 9, an output end torque and rotation speed sensor 10, a speed increaser 11 and a magnetic powder brake 12 (namely, two ends of each coupler in fig. 1 are connected with a rotating shaft) are coaxially and sequentially connected on the experiment table base 16 through a rotating shaft 13, a coupler i 14 and a coupler ii 15; the open-close wrench 36 in the shaft clutch 7 rotates to drive the iron plate 46 on the open-close wrench 36 to adsorb the corresponding magnetized switch magnet seat, and then the subsequent transmission system (i.e. the shaft support 8, the output end angle sensor 9, the output end torque and speed sensor 10, the speed increaser 11 and the magnetic powder brake 12) is disconnected/connected according to the lever principle.
Further, a laboratory bench measurement and control system 40 may be arranged beside the laboratory bench base 16, and the laboratory bench measurement and control system 40 includes a measurement and control computer 20, a PLC21, a converter forward rotation terminal 22, a converter reverse rotation terminal 23, a controllable power supply 24, and a data acquisition unit 39; the PLC21 is a control component, the input end of the PLC21 is connected with the measurement and control computer 20 through a data line, the output end of the PLC21 is connected with the frequency converter forward rotation terminal 22 and the frequency converter reverse rotation terminal 23 through data lines, and the frequency converter forward rotation terminal 22 and the frequency converter reverse rotation terminal 23 are connected with the driving motor 1 through data lines; the controllable power supply 24 is a control component, the input end of the controllable power supply 24 is connected with the measurement and control computer 20 through a data line, and the output end of the controllable power supply 24 is connected with the magnetic powder brake 12 through a data line; the data acquisition unit 39 is a testing component, the output end of the data acquisition unit 39 is connected with the measurement and control computer 20 through a data line, and the input end of the data acquisition unit 39 is connected with each sensor (the input end torque and rotation speed sensor 2, the input end angle sensor 3, the output end angle sensor 9, the output end torque and rotation speed sensor 10, the input end eddy current sensor 25, the output end eddy current sensor 26 and the four acceleration sensors 27) on the experiment table base 16 through a data acquisition line.
The input end torque and rotation speed sensor 2 and the output end torque and rotation speed sensor 10 are arranged on the left side and the right side of the measured precision speed reducer 5 and are close to the driving motor 1 and the speed increaser 11, so that more accurate torque and rotation speed can be conveniently measured and collected, the torque and rotation speed signals of the input end and the output end of the measured precision speed reducer 5, which are measured and collected, are transmitted to the data acquisition unit 39 through a data acquisition line, and the data acquisition unit 39 feeds back the processed signals to the measurement and control computer 20 to convert the processed signals into visual data; the input end angle sensor 3 and the output end angle sensor 9 are arranged on the left side and the right side of the measured precision speed reducer 5 and are close to the measured precision speed reducer 5, the angle and gap signals of the input end and the output end of the measured precision speed reducer 5, which are acquired by testing, are transmitted to the data acquisition unit 39 through a data acquisition line, and the data acquisition unit 39 processes the signals and feeds the processed signals back to the measurement and control computer 20 to be converted into visual data; the input end eddy current sensor 25 and the output end eddy current sensor 26 transmit radial displacement signals of the input end rotating shaft 13 and the output end rotating shaft 13 of the tested precision reducer 5 acquired through testing to the data acquisition unit 39 through data acquisition lines, and the data acquisition unit 39 processes the signals and feeds the processed signals back to the testing and controlling computer 20 to be converted into visual data; the four acceleration sensors 27 transmit acceleration signals of any two vertical radial directions of the precision speed reducer 5 to be tested and two measuring points on the rotating arm 6 of the equivalent robot, which are acquired by testing, to the data acquisition unit 39, and the data acquisition unit 39 processes the signals and feeds the processed signals back to the testing and controlling computer 20 to be converted into visual data.
Various sensors which are symmetrical are designed at the input end and the output end, so that the comparison effect of diversified data at the two ends is achieved, and the comparison of the diversified data can ensure that the comprehensive performance test of the experiment table is more real and reliable; acceleration sensors are designed through different measuring points, the vibration condition of the tail end of the equivalent robot is obtained, and the influence rule of the measured precision reducer 5 on the joint arm of the industrial robot can be obtained more intuitively; therefore, the obtained data is more in line with the actual operation condition of the precision speed reducer for the industrial robot, and the obtained data is more comprehensive.
Further, an input-end eddy current sensor 25, an output-end eddy current sensor 26, and four acceleration sensors 27 may be further included; the input end eddy current sensor 25 and the output end eddy current sensor 26 are installed at two axial ends of the measured precision speed reducer 5, and the four acceleration sensors 27 are respectively installed on the shell of the measured precision speed reducer 5 and the equivalent robot rotating arm 6 through a bottom suction device.
Further, the input end eddy current sensor 25 and the output end eddy current sensor 26 may be fixedly mounted on their respective sensor brackets, and the two sets of sensor brackets and the same bracket T-shaped groove 38 on the experiment table base 16 are bolted to two axial ends of the measured precision reducer 5 (during actual measurement, since the centering directions of the input and output of the rotating shaft may be shifted, the input end eddy current sensor 25 and the output end eddy current sensor 26 may be simultaneously mounted on the bracket T-shaped groove 38 on the left/right side in fig. 10, or the rear/front side in the direction shown in fig. 1, so as to measure the offset in the front/rear direction to reflect the fatigue wear of the actual reducer), the sensor brackets may freely move in the axial direction, so as to ensure that the eddy current sensors can test various positions of the experiment table, so as to obtain richer experimental data, the position of the sensor can be conveniently adjusted after the speed reducers of different models are replaced; the four acceleration sensors 27 are respectively installed on any two vertical surfaces of the casing of the measured precision speed reducer 5 in any two vertical radial directions and at one end of the rotating arm 28 close to the two balancing weights 29 (namely any two surfaces of the four surfaces of the other end of the rotating arm except the top surface) through a bottom suction device.
Further, the torque and speed sensor can be an NJ1D type sensor.
Further, can set up driving motor 1, input torque speed sensor 2, input angle sensor 3 pass through the bolt fastening on drive platform 17, pivot clutch 7, pivot support 8, output angle sensor 9, output torque speed sensor 10, speed increaser 11, magnetic powder brake 12 passes through the bolt fastening on load platform 18, drive platform 17, reduction gear installing support 4 passes through T type groove slide rail 19 through bolted connection in laboratory bench base 16 one side, load platform 18 passes through T type groove slide rail 19 through bolted connection in laboratory bench base 16 opposite side. Drive platform 17, reduction gear installing support 4, load platform 18 can freely remove around 19 cross-sectional direction of T type groove slide rail, laboratory bench base 16 is cast iron T type groove platform, and T type groove slide rail 19 passes through nut, the bolt that is used for placing bolted connection in the bolted connection T type groove 37 with platform T type groove 37 on the laboratory bench base 16, and T type groove slide rail 19 freely removes along 37 directions in platform T type groove. That is, the T-shaped groove slide rail 19 moves along the axial direction through the T-shaped groove on the experiment table base 16, and the driving platform 17, the reducer mounting bracket 4 and the load platform 18 drive the components mounted thereon to move freely back and forth along the cross-sectional direction of the T-shaped groove slide rail 19, that is, back and forth in the direction shown in fig. 1, so as to ensure the coaxiality of all parts of the experiment table.
Further, the equivalent robot rotating arm 6 can be provided with a rotating arm 28, a balancing weight 29, a rotating arm connecting flange 30, a balancing weight bolt 31, a stop 32 and a balancing weight nut 33; wherein two balancing weights 29 pass through counter weight bolt 31, counter weight nut 33 is fixed in rocking arm 28 upper portion both sides, removable different quality, the through-hole that has different positions is processed on rocking arm 28 upper portion, a mounted position for adjusting balancing weight 29, rocking arm 28 lower part is from last to down processes recess 47 and ladder square groove 48 in proper order, ladder square groove 48 cooperates with the square groove in rocking arm flange 30, restriction rocking arm 28 removes, recess 47 passes through bolt fixed connection on rocking arm flange 30 with dog 32, complete fixed rocking arm 28, rocking arm flange 30 both sides pass through the bolt respectively with by survey precision reduction gear 5, pivot clutch 7 fixed connection.
Further, the rotating shaft clutch 7 may include an opening and closing wrench 34, a clutch support housing 35, a first half clutch 36, a second half clutch 41, a sliding sleeve 42, a traverse spring 43, a switch magnet base i 44, a switch magnet base ii 45, and an iron plate 46; wherein clutch support housing 35 fixed mounting is in laboratory bench base 16 top (further can install on load platform 18), clutch support housing 35 is last to be installed through the axle and to open and shut spanner 34, welding fixed switch magnet seat I44, welding fixed switch magnet seat II 45, first half clutch 36 passes through bolt fixed connection with rocking arm flange 30 in equivalent robot rocking arm 6, connect and install second half clutch 41 from the input to the output direction in proper order on the pivot 13 of pivot clutch 7 and pivot support 8, sliding sleeve 42, sideslip spring 43: the second half clutch 41 is matched with a key groove of the rotating shaft 13, the second half clutch 41 can axially move along a sliding groove on the rotating shaft 13 and rotate along with the rotating shaft 13, the sliding sleeve 42 and the second half clutch 41 are axially and fixedly connected through a bearing (the sliding sleeve 42 is in interference fit with an inner ring of the bearing, and the second half clutch 41 is in interference fit with an outer ring of the bearing), the sliding sleeve 42 can axially move along the rotating shaft 13 and does not rotate along with the rotating shaft 13, one end of the traverse spring 43 is fixedly connected on the sliding sleeve 42 through welding, and the other end of the traverse spring 43 is limited through a shaft shoulder/clutch support shell 35; open and close 34 upper portion of spanner and stretch out clutch support housing 35 as handheld end, open and close 34 middle parts of spanner and pass through pin connection on clutch support housing 35 and middle part along axial both sides welded connection iron plate 46, open and close 34 lower parts of spanner are U-shaped structure and two free ends pass through pin connection on sliding sleeve 42 (iron plate 46 be used for with lead to the switch magnet seat I44 after magnetism, switch magnet seat II 45 is connected, open and close the handheld end of spanner when the operation, and then drive the switch magnet seat after the corresponding magnetism that leads to of iron plate absorption on the open and close spanner, and then the part that drives the open and close spanner sub-unit connection of root lever principle removes along the axial relative direction).
Further, the precision reducer 5 to be measured may be provided as a harmonic reducer, an RV reducer, or a planetary reducer.
Further, the coupler I14 can be a quincunx coupler, and the coupler II 15 can be an elastic coupler. The shaft couplings of different types are matched, vibration generated by a part of shafts can be offset, the input and output precision of the speed reducer is further ensured, torque can be transmitted to the output end of the speed reducer more accurately, and meanwhile, the cost can be reduced.
The rotary arm 28 is assembled and disassembled in a vertical direction, when the rotary arm 28 is disassembled, the stop block 32 is disassembled, the rotary arm 28 is released from the fixed relation with the rotary arm connecting flange 30, and the rotary arm 28 can be drawn out along the direction vertical to the axial direction of the rotary shaft 13; when the rotating arm 28 is installed, the rotating arm 28 is inserted into the rotating arm connecting flange 30 in a direction perpendicular to the axial direction of the rotating shaft 13, so that the stepped square groove 48 is engaged with the square groove in the rotating arm connecting flange 30, the stopper 32 is installed, and the rotating arm 28 and the rotating arm connecting flange 30 are completely fixed.
The use method of the precision speed reducer multi-working-condition comprehensive performance experiment table comprises multi-load working condition adjustment, wherein the multi-load working condition adjustment mode is as follows: when the swivel arm 28 is disassembled: rotating a knob on the switch magnet seat I44 to enable the switch magnet seat I44 to be magnetized, rotating the opening and closing wrench 34 to enable an iron plate 46 on the opening and closing wrench 34 to be in adsorption connection with the switch magnet seat I44, driving the sliding sleeve 42 and the second half clutch 41 to move along the axial direction of the rotating shaft 13 to the output direction by the lower portion of the opening and closing wrench 34, disconnecting a subsequent transmission system, and enabling the measured precision speed reducer 5 to run in an idle load mode; the type of the switch magnet seat I44 can be T8.
When the swivel arm 28 is disassembled: the knob on the reverse rotation switch magnet seat I44 enables the switch magnet seat I44 to be demagnetized and disconnected with the iron plate 46 on the opening and closing wrench 34, the knob on the rotation switch magnet seat II 45 enables the switch magnet seat II 45 to be magnetized, the opening and closing wrench 34 is rotated to enable the iron plate 46 on the opening and closing wrench 34 to be connected with the switch magnet seat II 45 in an adsorption mode, the lower portion of the opening and closing wrench 34 drives the sliding sleeve 42 and the second half clutch 41 to move in the input direction along the axial direction of the rotating shaft 13, the first half clutch 36 and the second half clutch 41 are meshed with each other to be connected with a subsequent transmission system, the voltage change of the controllable power supply 24 is controlled through the measurement and control computer 20, and the magnetic powder brake 12 is controlled through the controllable power supply 24 to apply different axial loads to the measured precision speed reducer 5;
when the swivel arm 28 is fixedly mounted on the swivel arm attachment flange 30: rotating a knob on the switch magnet seat I44 to enable the switch magnet seat I44 to be magnetized, rotating the opening and closing wrench 34 to enable an iron plate 46 on the opening and closing wrench 34 to be in adsorption connection with the switch magnet seat I44, and driving the sliding sleeve 42 and the second half clutch 41 to move along the axial direction of the rotating shaft 13 to the output direction by the lower portion of the opening and closing wrench 34 to disconnect a subsequent transmission system; different radial loads are applied to the measured precision speed reducer 5 by replacing the balancing weights 29 with different masses and changing the mounting positions of the balancing weights 29 on the rotating arms 28;
when the swivel arm 28 is fixedly mounted on the swivel arm attachment flange 30: reversely rotating a knob on the switch magnet seat I44 to demagnetize the switch magnet seat I44 and disconnect the switch magnet seat I44 from an iron plate 46 on the opening and closing wrench 34, rotating a knob on the switch magnet seat II 45 to electrify the switch magnet seat II 45, rotating the opening and closing wrench 34 to make the iron plate 46 on the opening and closing wrench 34 and the switch magnet seat II 45 be connected in an adsorption manner, driving a sliding sleeve 42 and a second half clutch 41 to move left along the axial direction of a rotating shaft 13 by the lower part of the opening and closing wrench 34, and mutually engaging a first half clutch 36 and the second half clutch 41 to connect a subsequent transmission system; the voltage change of the controllable power supply 24 is controlled by the measurement and control computer 20, and the magnetic powder brake 12 is controlled by the controllable power supply 24 to apply different axial loads to the measured precision reducer 5; different radial loads are applied to the measured precision speed reducer 5 by replacing the balancing weights 29 with different masses and changing the mounting positions of the balancing weights 29 on the rotating arms 28;
further, the method can further comprise multi-drive working condition control, and the multi-drive working condition control mode comprises the following steps: the PLC21 is controlled by the measurement and control computer 20 in the experiment table measurement and control system 40, and the PLC21 controls the transducer forward rotation terminal 22 and the transducer reverse rotation terminal 23 of the transducer connected with the driving motor 1 through control voltage signals, so that the driving motor 1 is controlled to reciprocate or move continuously in a single direction.
A method for realizing replacement of a precision speed reducer by adopting a precision speed reducer multi-working-condition comprehensive performance experiment table specifically comprises the following steps: the through holes with different position sizes are formed in the speed reducer mounting bracket 4, when the precise speed reducer needs to be replaced, the speed reducer model corresponding to the position size of the through hole needs to be selected, and replacement is completed through bolt connection.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. The utility model provides a precision reduction gear multiplex condition comprehensive properties laboratory bench which characterized in that: the device comprises a laboratory bench base (16), wherein a driving motor (1), an input end torque and rotating speed sensor (2), an input end angle sensor (3), a speed reducer mounting support (4), a measured precision speed reducer (5), an equivalent robot rotating arm (6), a rotating shaft clutch (7), a rotating shaft support (8), an output end angle sensor (9), an output end torque and rotating speed sensor (10), a speed increaser (11) and a magnetic powder brake (12) are coaxially and sequentially connected on the laboratory bench base (16) through a rotating shaft (13), a coupling I (14) and a coupling II (15); the open-close wrench (36) in the rotating shaft clutch (7) rotates to drive an iron plate (46) on the open-close wrench (36) to adsorb a corresponding magnetized switch magnet base, and then the open-close wrench (36) disconnects/connects a subsequent transmission system according to a lever principle.
2. The precision reducer multi-condition comprehensive performance experiment table according to claim 1, characterized in that: a laboratory bench measurement and control system (40) is arranged beside the laboratory bench base (16), and the laboratory bench measurement and control system (40) comprises a measurement and control computer (20), a PLC (21), a converter forward rotation terminal (22), a converter reverse rotation terminal (23), a controllable power supply (24) and a data acquisition unit (39); the PLC (21) is a control component, the input end of the PLC (21) is connected with the measurement and control computer (20) through a data line, the output end of the PLC (21) is connected with a forward rotation terminal (22) of the frequency converter and a reverse rotation terminal (23) of the frequency converter through a data line, and the forward rotation terminal (22) of the frequency converter and the reverse rotation terminal (23) of the frequency converter are connected with the driving motor (1) through data lines; the controllable power supply (24) is a control component, the input end of the controllable power supply (24) is connected with the measurement and control computer (20) through a data line, and the output end of the controllable power supply (24) is connected with the magnetic powder brake (12) through a data line; the data acquisition unit (39) is a testing component, the output end of the data acquisition unit (39) is connected with the measurement and control computer (20) through a data line, and the input end of the data acquisition unit (39) is connected with each sensor on the experiment table base (16) through a data acquisition line.
3. The precision reducer multi-condition comprehensive performance experiment table according to claim 1, characterized in that: the device also comprises an input end eddy current sensor (25), an output end eddy current sensor (26) and four acceleration sensors (27); the input end eddy current sensor (25) and the output end eddy current sensor (26) are arranged at the two axial ends of the measured precision speed reducer (5), and the four acceleration sensors (27) are respectively arranged on the shell of the measured precision speed reducer (5) and the equivalent robot rotating arm (6) through a bottom suction device.
4. The precision reducer multi-condition comprehensive performance experiment table according to claim 3, characterized in that: the input end eddy current sensor (25) and the output end eddy current sensor (26) are fixedly arranged on respective sensor supports, two groups of sensor supports and the same support T-shaped groove (38) on the experiment table base (16) are connected to the two axial ends of the measured precision speed reducer (5), and the sensor supports can freely move along the axial direction; the four acceleration sensors (27) are respectively arranged on any two vertical planes in any two vertical radial directions of a shell of the measured precision speed reducer (5) through a bottom suction device, and a rotating arm (28) in the rotating arm (6) of the equivalent robot is close to one end of a balancing weight (29) in the rotating arm (6) of the equivalent robot.
5. The precision reducer multi-condition comprehensive performance experiment table according to claim 1, characterized in that: driving motor (1), input torque speed sensor (2), input angle sensor (3) are fixed on drive platform (17), pivot clutch (7), pivot support (8), output angle sensor (9), output torque speed sensor (10), speed increaser (11), magnetic powder brake (12) are fixed on load platform (18), drive platform (17), reduction gear installing support (4) are connected in laboratory bench base (16) one side through T type groove slide rail (19), load platform (18) are connected at laboratory bench base (16) opposite side through T type groove slide rail (19).
6. The precision reducer multi-condition comprehensive performance experiment table according to any one of claims 1 to 5, characterized in that: the equivalent robot rotating arm (6) comprises a rotating arm (28), a balancing weight (29), a rotating arm connecting flange (30), a balancing weight bolt (31), a stop block (32) and a balancing weight nut (33); wherein balancing weight (29) are through counter weight bolt (31), counter weight nut (33) are fixed on rocking arm (28) upper portion, rocking arm (28) upper portion processing has the through-hole of different positions, a mounted position for adjusting balancing weight (29), rocking arm (28) lower part is from last to down processing recess (47) and ladder square groove (48) in proper order, ladder square groove (48) and the square groove cooperation in rocking arm flange (30), recess (47) and dog (32) fixed connection are on rocking arm flange (30), rocking arm flange (30) both sides respectively with surveyed precision reduction gear (5), pivot clutch (7) fixed connection.
7. The precision reducer multi-condition comprehensive performance experiment table according to any one of claims 1 to 5, characterized in that: the rotary shaft clutch (7) comprises an opening and closing wrench (34), a clutch support shell (35), a first half clutch (36), a second half clutch (41), a sliding sleeve (42), a transverse moving spring (43), a switch magnet seat I (44), a switch magnet seat II (45) and an iron plate (46); wherein clutch support housing (35) fixed mounting is in laboratory bench base (16) top, install wrench (34) that opens and shuts through the axle on clutch support housing (35), fixed switch magnet seat I (44), fixed switch magnet seat II (45), tumbler flange (30) fixed connection in first half clutch (36) and equivalent robot tumbler (6), install second half clutch (41) from the input to the output direction in proper order on pivot (13) of connecting pivot clutch (7) and pivot support (8), sliding sleeve (42), sideslip spring (43): the second half clutch (41) is matched with a key groove of the rotating shaft (13), the second half clutch (41) can axially move along a sliding groove on the rotating shaft (13) and rotate along with the rotating shaft (13), the sliding sleeve (42) is axially and fixedly connected with the second half clutch (41) through a bearing, the sliding sleeve (42) can axially move along the rotating shaft (13) and does not rotate along with the rotating shaft (13), one end of the transverse moving spring (43) is fixedly connected to the sliding sleeve (42), and the other end of the transverse moving spring (43) is limited; the upper part of the opening and closing wrench (34) extends out of the clutch support shell (35) to serve as a handheld end, the middle part of the opening and closing wrench (34) is connected to the clutch support shell (35) through a shaft pin, the middle part of the opening and closing wrench is fixedly connected with iron plates (46) along two axial sides, and the lower part of the opening and closing wrench (34) is connected to the sliding sleeve (42) through the shaft pin.
8. The precision reducer multi-condition comprehensive performance experiment table according to any one of claims 1 to 5, characterized in that: the coupling I (14) is a quincunx coupling, and the coupling II (15) is an elastic coupling.
9. A use method of a precision speed reducer multi-working-condition comprehensive performance experiment table is characterized by comprising the following steps: the method comprises the following steps of adjusting the multiple load working conditions:
when disassembling a boom (28) in an equivalent robot boom (6): rotating a knob on a switch magnet seat I (44) to enable the switch magnet seat I (44) to be magnetized, rotating an opening and closing wrench (34) to enable an iron plate (46) on the opening and closing wrench (34) to be in adsorption connection with the switch magnet seat I (44), driving a sliding sleeve (42) and a second half clutch (41) to move in the output direction along the axial direction of a rotating shaft (13) by the lower portion of the opening and closing wrench (34), disconnecting a subsequent transmission system, and enabling a measured precision reducer (5) to run in an idle load mode;
when disassembling a boom (28) in an equivalent robot boom (6): reversely rotating a knob on the switch magnet seat I (44) to break the magnetic field of the switch magnet seat I (44) and disconnect the magnetic field of the switch magnet seat I from an iron plate (46) on the opening and closing wrench (34), rotating the knob on the switch magnet seat II (45) to electrify the switch magnet seat II (45), rotating the opening and closing wrench (34) to make the iron plate (46) on the opening and closing wrench (34) and the switch magnet seat II (45) be connected in an adsorption manner, driving a sliding sleeve (42) and a second half clutch (41) to move along the axial direction of a rotating shaft (13) at the lower part of the opening and closing wrench (34) to the input direction, mutually engaging a first half clutch (36) and the second half clutch (41) to connect a subsequent transmission system, the voltage change of the controllable power supply (24) is controlled by the measurement and control computer (20), the magnetic powder brake (12) is controlled by a controllable power supply (24) to apply different axial loads to the measured precision reducer (5);
when the rotating arm (28) is fixedly arranged on the rotating arm connecting flange (30): rotating a knob on the switch magnet seat I (44) to enable the switch magnet seat I (44) to be magnetized, rotating an opening and closing wrench (34) to enable an iron plate (46) on the opening and closing wrench (34) to be in adsorption connection with the switch magnet seat I (44), and driving a sliding sleeve (42) and a second half clutch (41) to move in the output direction along the axial direction of a rotating shaft (13) by the lower portion of the opening and closing wrench (34) to disconnect a subsequent transmission system; different radial loads are applied to the measured precision speed reducer (5) by replacing the balancing weights (29) with different masses and changing the mounting positions of the balancing weights (29) on the rotating arm (28);
when the rotating arm (28) is fixedly arranged on the rotating arm connecting flange (30): reversely rotating a knob on the switch magnet seat I (44) to enable the switch magnet seat I (44) to be demagnetized and disconnected with an iron plate (46) on the opening and closing wrench (34), rotating the knob on the switch magnet seat II (45) to enable the switch magnet seat II (45) to be magnetized, rotating the opening and closing wrench (34) to enable the iron plate (46) on the opening and closing wrench (34) to be adsorbed and connected with the switch magnet seat II (45), driving a sliding sleeve (42) and a second half clutch (41) to move left along the axial direction of a rotating shaft (13) by the lower portion of the opening and closing wrench (34), and enabling a first half clutch (36) and the second half clutch (41) to be meshed with each other to be connected with a subsequent transmission system; the voltage change of a controllable power supply (24) is controlled by a measurement and control computer (20), and the magnetic powder brake (12) is controlled by the controllable power supply (24) to apply different axial loads to the measured precision speed reducer (5); different radial loads are applied to the measured precision speed reducer (5) by replacing the balancing weights (29) with different masses and changing the mounting positions of the balancing weights (29) on the rotating arms (28).
10. The use method of the precision reducer multi-condition comprehensive performance experiment table according to claim 9 is characterized in that: still include many driving condition control, many driving condition control mode: the PLC (21) is controlled by a measuring and controlling computer (20) in the experiment table measuring and controlling system (40), the PLC (21) further controls a converter forward rotation terminal (22) and a converter reverse rotation terminal (23) of a converter connected with the driving motor (1) through control voltage signals, and finally the driving motor (1) is controlled to reciprocate or move continuously in a single direction.
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