CN117330313A - Double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading - Google Patents
Double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading Download PDFInfo
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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
- G01M13/04—Bearings
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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
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Abstract
The invention discloses a double-flexible-bearing mobility performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading. A pair of flexible bearings which are nested on two wave generators with the same structural size and are mutually coaxial and vertical are pressed into inner holes at two ends of a flexible cylinder with the same diameter, and the deformation at two ends of the flexible cylinder is always consistent with the shape of the two vertical wave generators, so that the perpendicular follow-up load with the same size and the same direction is applied to the two rotating flexible bearings by utilizing the orthogonal antisymmetric deformation of the flexible cylinder, the stress areas of the two flexible bearings are ensured to be always followed up at the long shaft ends of the wave generators, and the operation and the loading working conditions of the flexible bearings for a real harmonic reducer are simulated. The device applies loads of different sizes to the flexible bearings through the wave generators and the flexible cylinders with different structural sizes, and the test head is clamped by utilizing the circle-protecting characteristics of the middle section of the flexible cylinders, so that the performance parameters such as vibration, noise, temperature, friction moment and the like of the two test flexible bearings can be measured, and the service life performance of the bearings is checked.
Description
Technical Field
The invention belongs to the technical field of rolling bearing performance detection, and particularly relates to a double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading, which simulates the actual working condition of a flexible bearing in a harmonic reducer and measures the dynamic performance and service life performance of the flexible bearing with certain specification.
Background
The harmonic reducer has the characteristics of small volume, large transmission ratio, light weight, high transmission precision and the like, and is a core part of an industrial robot arm and a robot. With the popularization of intelligent manufacturing, higher requirements are put on the performance of the harmonic speed reducer. Unlike common transmission, the core principle of the harmonic speed reducer is harmonic transmission, which mainly comprises flexible bearings, a wave generator, a rigid gear, a flexible gear and other elements. The wave generator is in a non-circular cam shape, the flexible bearing is arranged on the wave generator and embedded into the inner hole of the flexible gear, and is used for providing controllable elastic deformation to force the flexible gear to deform, so that two ends of a long shaft of the deformed flexible gear are meshed with the rigid gear, differential tooth meshing motion is generated, motion and force are transmitted, and the aim of large reduction ratio is fulfilled.
The flexible bearing is used as one of core components of the harmonic reducer, the wall thickness of the inner ring and the outer ring of the flexible bearing is thinner, the flexible bearing is round before being installed into the wave generator, after being installed into the wave generator, the inner ring and the outer ring are both non-round and bear bending stress which are the same as the wave generator, and in the operation process, the outer ring is also subjected to alternating bending stress and is easy to fail. Therefore, the fatigue life and other performances of the flexible bearing are one of the main factors affecting the transmission life and accuracy of the harmonic reducer. At present, research on flexible bearings for harmonic reducers at home and abroad is mainly focused on theoretical analysis, and failure modes and mechanism of the flexible bearings are not fully known, and corresponding performance testing means are also lacked.
The prior bearing performance testing device is characterized in that the prior bearing performance testing device is a common bearing, the circular shape of the inner ring and the outer ring of the common bearing is basically not changed during normal operation, the flexible bearing for the harmonic reducer is forced to deform under the action of the wave generator during operation, the loaded area of the flexible bearing is changed along with the change of the long axis position of the wave generator under the working state, namely the load is carried out in a follow-up manner, and the performance testing device of the common bearing cannot realize the loading characteristic, which is also an important reason for limiting the development of the flexible bearing test for the harmonic reducer. Patent CN105758642a adopts an epicyclic follow-up loading mechanism to load the flexible bearing, the loading mechanism rotates at a high speed along with the main shaft, but the loading mechanism has a larger structure and a heavier mass than the tested flexible bearing, under high-speed operation, the power consumption is high, the noise is large, and the follow-up load applied to the flexible bearing is reduced due to the centrifugal load generated by the moving parts of the loading mechanism.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a double-flexible-bearing mobility performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading. The core principle of the flexible bearing is that when the flexible bearing arranged on the wave generator is arranged in an inner hole of the flexible wheel, the deformation constraint of the flexible wheel can generate reaction to the flexible bearing, and the load is applied to the flexible bearing by utilizing the deformation internal force of the flexible wheel. In order to achieve the purpose, the invention adopts the constant-diameter thin-wall flexible cylinder to replace the flexible wheel with the gear ring in the harmonic reducer, utilizes the orthogonal antisymmetric deformation of the flexible cylinder, simultaneously loads two flexible bearings, and tests the dynamic performance and service life performance of the two flexible bearings. The flexible bearing stress area is always positioned at the long shaft end of the wave generator in the operation process, the real operation and stress state of the flexible bearing in the harmonic reducer are simulated, and the flexible cylinder and the wave generator with different structural sizes can be used for applying loads with different magnitudes to the flexible bearing.
The testing device consists of a main driving device, a flexible cylinder follow-up loading device and an auxiliary driving device. The main driving device consists of a bottom plate, a main motor seat, a main shaft, an angular contact ball bearing and a bearing seat. The motor is fixed on the bottom plate through a motor base, and the main shaft is supported by a pair of angle contact ball bearings in a cantilever manner. The auxiliary driving device consists of a cup cylinder, an auxiliary shaft, a torque sensor, an auxiliary motor and a moving platform, and is arranged on the moving platform, so that the positioning between the flexible cylinder and the cup cylinder is facilitated.
The flexible cylinder follow-up loading device consists of a wave generator, a flexible bearing, a flexible cylinder, an elastic connecting piece and a sleeve. The flexible cylinder is of an equal-diameter thin-wall structure, the circumferential section of the flexible cylinder is an equal-diameter circular ring along the axis under the unstressed state, two flexible bearings are respectively arranged on two wave generators which are of the same structural size and are mutually coaxial and vertical, the two flexible bearings are respectively embedded into inner holes at two ends of the flexible cylinder, the two ends of the flexible cylinder are forced to generate orthogonal antisymmetric deformation, and the shapes of the two ends of the flexible cylinder and the two vertical wave generators are always consistent. The two flexible bearings are applied with follow-up loads which are equal in size and vertical in direction by utilizing the orthogonal antisymmetric deformation constraint of the flexible cylinder, so that the two flexible bearings are loaded to rotate along with the wave generator in the test operation process, and the size of the two flexible bearings is kept unchanged.
The symmetrical middle section of the flexible cylinder always keeps circular in the working process, and the cylinder wall of the section has the characteristic of slight swing in the axial direction. Therefore, the circle-keeping characteristic of the middle section of the flexible cylinder can be utilized to clamp the flexible cylinder follow-up loading device, namely, the circle-keeping characteristic of the middle section of the flexible cylinder is fixedly connected with the low-rigidity end of the elastic connecting piece at the symmetrical middle section of the flexible cylinder, and the high-rigidity end of the elastic connecting piece is fixedly connected with the cup cylinder in a mechanical connection mode such as a bolt and the like, so that the flexible cylinder is connected with the auxiliary driving mechanism. The auxiliary driving mechanism drives the flexible cylinder to enable the outer ring of the flexible bearing to rotate, simulates the running working conditions of the flexible bearings with different reduction ratios, and utilizes the torque sensor to measure the friction moment of the double flexible bearings.
In order to reduce the influence of the elastic connecting piece on the deformation of the flexible cylinder, the connection of the low-rigidity end of the elastic connecting piece and the flexible cylinder can be in the shape of a ridge piece, a ridge nail or a ridge tooth and the like, and the contact length of the ridge piece, the ridge nail or the ridge tooth and the flexible cylinder in the axial direction is smaller than the contact width of the ridge nail or the ridge tooth in the circumferential direction. When the spine sheets or spine nails are adopted for connection, a plurality of symmetrical middle surfaces of the flexible cylinder are required to be uniformly distributed along the circumferential direction; when the ridge teeth are adopted, the ridge teeth are required to be machined on the symmetrical middle surface of the flexible cylinder.
For the convenience of assembly and replacement, two wave generators which are of the same structural size and are mutually coaxial and perpendicular are circumferentially fixed on the main shaft through the cross spline, the inner-end wave generator is axially positioned by adopting a shaft shoulder, the outer-end wave generator is fixed by utilizing a shaft end cover, and the two wave generators are axially positioned by adopting a sleeve.
By designing the flexible tube and the wave generator in different structural dimensions, for example different lengths and thicknesses of the flexible tube, the application of different magnitudes of load can be achieved. Vibration of the bearing is measured in a non-contact mode at the middle of the flexible cylinder symmetry by utilizing the circle-protecting characteristic of the middle section of the flexible cylinder symmetry, the temperature sensor is used for measuring the surface temperature of the flexible cylinder at the flexible bearing in a non-contact mode, and the noise sensor is used for measuring noise generated when the testing device operates.
The testing device applies load to the two flexible bearings through the deformation internal force of the flexible cylinder, and the main driving device is not subjected to other external loads except the gravity of the flexible cylinder follow-up loading device and the torque of the auxiliary driving device.
Drawings
FIG. 1 is a schematic diagram of the drive principle of a harmonic reducer;
FIG. 2 is a graph of the effect of considering the flexspline and not considering the flexspline on the compliant bearing;
FIG. 3 is a schematic diagram of a dual compliant bearing performance testing apparatus based on compliant cartridge follower orthogonal antisymmetric deformation loading in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic illustration of the connection of the flexible tube to the elastic coupling of the present invention;
fig. 5 is a schematic view of the arrangement of the sensor in the present invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular internal procedures, techniques, etc. in order to provide a thorough understanding of embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
As shown in fig. 1, the harmonic reducer is composed of a wave generator 201, a flexible bearing 202, a flexible gear 401 and a rigid gear 402, wherein the flexible bearing 202 is installed on the wave generator 201 to be non-circular, then embedded into the flexible gear 401 to force the flexible gear 401 to deform, and gear teeth on the outer circles of two ends of the long shaft of the flexible gear 401 are meshed with gear teeth on the inner circle of the rigid gear 402, so that harmonic transmission is generated. Therefore, the flexible bearings 202 are mainly loaded at two ends of the long shaft, and the loaded position of the long shaft synchronously rotates along with the wave generator 201, so that the flexible bearings have the characteristic of follow-up loading. The performance test device of the common bearing is static and fixed, and the characteristic of follow-up loading of the flexible bearing cannot be met.
In view of the above problems, the present invention will describe, in connection with the embodiments, a dual compliant bearing mobility test apparatus based on compliant cartridge follower orthogonal antisymmetric deformation loading. When the compliant bearing 202 is only fitted with the wave generator 201, the distribution of the load on the compliant bearing 202 is as shown in fig. 2, with and without the compliant wheel 401 constraint. It is found that the deformation constraint of the flexspline 401 generates a reaction force on the flexspline 202, and the magnitude of this reaction force is related to the structural dimensions of the flexspline 401, such as the wall thickness and the tube length of the flexspline 401. Therefore, the invention applies load to the flexible bearing 202 by adopting the constant-diameter thin-wall flexible cylinder 203 instead of the flexible wheel 401 with the gear ring on the outer circle.
Examples
As shown in fig. 3, in the embodiment, the testing device for testing the performance of the dual flexible bearings based on the orthogonal deformation follow-up loading of the flexible cylinder is composed of a main driving device, a flexible cylinder follow-up loading device and an auxiliary driving device. The main driving device comprises a main motor 101, a motor base 102, a bottom plate 103, a bearing seat 104, an angular contact ball bearing 105 and a main shaft 106. The main motor 101 is fixed to the base plate 103 via a motor mount 102, and a main shaft 106 is cantilever-supported by a pair of angular contact ball bearings 105. The auxiliary driving device consists of a cup cylinder 306, a secondary shaft 305, a torque sensor 304, a secondary motor 303, a secondary motor seat 302 and a moving platform 301, and is arranged on the moving platform 301, so that the positioning between the flexible cylinder 203 and the cup cylinder 306 is facilitated.
The flexible tube follow-up loading device consists of wave generators 201 and 206, a flexible bearing 202, a flexible tube 203, an elastic coupling 204, a sleeve 205 and a shaft end cover 207. The flexible tube 203 is of a constant-diameter thin-wall structure, and in an unstressed state, the circumferential section of the flexible tube 203 is a constant-diameter circular ring along the axis. Two flexible bearings 202 with the same size are respectively arranged on two wave generators 201 and 206 with the same size and coaxial and vertical, and are respectively embedded into inner holes at two ends of the flexible cylinder 203, so that the flexible cylinder 203 is forced to perform orthogonal antisymmetric deformation, and the symmetrical middle section of the flexible cylinder 203 is always circular in the working process. The perpendicular follow-up load in the same direction is applied to the two rotating flexible bearings 202 by utilizing the orthogonal antisymmetric deformation of the flexible cylinder 203, so that the stress area of the flexible bearings 202 is always follow-up to the long axis end of the wave generator in the test operation process of the two flexible bearings 202, the load is unchanged, and the operation state and the loaded working condition of the flexible bearings 202 for the real harmonic reducer are simulated.
By utilizing the circle-protecting characteristic of the middle section of the flexible tube 203, the low-rigidity end of the flexible tube 203 is fixedly connected with the elastic connection 204 at the symmetrical middle section of the flexible tube 203, and the high-rigidity end of the elastic connection 204 is fixedly connected with the cup tube 306 by a mechanical connection mode such as a bolt, etc., so that the flexible tube 203 is connected with the auxiliary driving mechanism.
In order to achieve elastic connection with the flexible tube 203 and ensure connection strength, the low stiffness end of the elastic connection piece 204 connected with the flexible tube 203 may be in the shape of a ridge piece, a ridge nail or a ridge tooth, as shown in fig. 4 (a), (b) and (c), and the contact length with the flexible tube 203 in the axial direction is smaller than the contact width in the circumferential direction. When the spine sheets or spine nails are adopted for connection, a plurality of symmetrical middle surfaces of the flexible cylinder 203 are uniformly distributed along the circumference; when the ridge teeth are used, the ridge teeth are machined at the symmetrical intermediate surface of the flexible tube 203.
For easy assembly and replacement, two wave generators 201 and 206 which are of the same structural size and are mutually coaxial and perpendicular are circumferentially fixed with the main shaft 106 through cross splines, the wave generator 201 is axially positioned by adopting a shaft shoulder of the main shaft 106, the other wave generator 206 is fixed on the main shaft 106 by utilizing a shaft end cover 207, and a sleeve 205 is adopted between the two wave generators for axial positioning.
The auxiliary driving mechanism drives the flexible cylinder 203 to enable the outer ring of the flexible bearing 202 to rotate, so that the operation conditions of the flexible bearing 202 under different reduction ratios are simulated. The torque sensor 304 is used to measure the friction torque of the dual compliant bearing. The vibration of the flexible cylinder is measured at the symmetrical middle section of the flexible cylinder 203 by using a non-contact vibration sensor 501 by using the circle-keeping characteristic of the symmetrical middle section of the flexible cylinder 203, the temperature of the surface of the flexible cylinder 203 at the outer ring 202 of the flexible bearing is measured by using a temperature sensor 502 in a non-contact manner, and the noise generated by the operation of the testing device is measured by using a noise sensor 503.
The testing device applies load to the flexible bearing 202 through the deformation internal force of the flexible cylinder 203, so that the main driving device is not subjected to other external loads except the gravity of the flexible cylinder follow-up loading device and the torque of the auxiliary driving device.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. The double-flexible-bearing dynamic performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading is characterized in that orthogonal antisymmetric deformation constraint generated by a coaxial and vertical wave generator of an equal-diameter thin-wall flexible cylinder is utilized to apply follow-up loads which are vertical in the same direction to a set of flexible bearings respectively nested at two ends of an inner hole of the flexible cylinder, so that a stress area of the flexible bearings is always positioned at a long shaft end of the wave generator in the operation process, the operation and stress state of the flexible bearings in a harmonic reducer are simulated, and the performance such as vibration, noise, temperature, friction moment and the like of the flexible bearings are tested, and the service life performance of the flexible bearings is checked.
2. The device for testing the dynamic performance of the double flexible bearings based on the flexible cylinder follow-up orthogonal antisymmetric deformation loading according to claim 1, wherein the device for testing the dynamic performance of the double flexible bearings comprises a main driving device, a flexible cylinder follow-up loading device and an auxiliary driving device. The main driving device consists of a bottom plate, a main motor seat, a main shaft, a diagonal contact ball bearing and a bearing seat. The motor is fixed on the bottom plate through a motor base, and the main shaft is supported by a pair of angle contact ball bearings in a cantilever manner. The auxiliary driving device consists of a cup cylinder, an auxiliary shaft, a torque sensor, an auxiliary motor and a moving platform, and is arranged on the moving platform, so that the positioning between the flexible cylinder and the cup cylinder is facilitated.
3. The device for testing the dynamic performance of the double flexible bearings based on the flexible cylinder follow-up orthogonal antisymmetric deformation loading according to claim 1 and 2, wherein the flexible cylinder follow-up loading device consists of a wave generator, a flexible bearing, a flexible cylinder, an elastic connecting piece and a sleeve. The flexible cylinder is of an equal-diameter thin-wall structure, the circumferential section of the flexible cylinder is an equal-diameter circular ring along the axis under the unstressed state, two flexible bearings are respectively arranged on two wave generators which are of the same structural size and are mutually coaxial and perpendicular, and are respectively embedded into inner holes at two ends of the flexible cylinder, so that the two ends of the flexible cylinder are forced to generate orthogonal antisymmetric deformation. The orthogonal antisymmetric deformation constraint of the flexible cylinder is utilized to apply equal-size vertical follow-up loads to the flexible bearings at the two ends, so that the two flexible bearings are loaded to rotate along with the wave generator in the test operation process, and the size of the two flexible bearings is kept unchanged.
4. The device for testing the dynamic performance of the double flexible bearings based on the flexible cylinder follow-up orthogonal antisymmetric deformation loading as claimed in claims 1, 2 and 3, wherein the symmetrical middle circumferential section of the flexible cylinder is always circular in the working process, and the cylinder wall of the section has the characteristic of only slightly swinging in the axial direction. Therefore, the circle protection characteristic of the flexible cylinder is utilized to clamp the flexible cylinder follow-up loading device, namely the circle protection characteristic is fixedly connected with the low-rigidity end of the elastic connecting piece at the symmetrical middle section of the flexible cylinder, and the high-rigidity end of the elastic connecting piece is fixedly connected with the cup cylinder through mechanical connection modes such as bolts and the like, so that the flexible cylinder is connected with the auxiliary driving mechanism.
5. The device for testing dynamic performance of double flexible bearings based on flexible cylinder follow-up orthogonal antisymmetric deformation loading according to claim 1-4, wherein in order to reduce the influence of elastic coupling on the deformation of the flexible cylinder, the connection between the low-rigidity end of the elastic coupling piece and the flexible cylinder can be in the shape of a ridge plate, a ridge nail or ridge teeth, and the contact length of the ridge plate, the ridge nail or the ridge teeth and the flexible cylinder in the axial direction is smaller than the contact width of the ridge nail and the flexible cylinder in the circumferential direction. When the spine sheets or spine nails are adopted for connection, a plurality of symmetrical middle surfaces of the flexible cylinder are required to be uniformly distributed along the circumferential direction; when the ridge teeth are adopted, the ridge teeth are required to be machined on the symmetrical middle surface of the flexible cylinder.
6. The flexible cylinder-following orthogonal antisymmetric deformation loading-based double-flexible-bearing dynamic performance testing device according to claims 1, 2 and 3, wherein for convenient assembly and replacement, two wave generators which have the same structural size and are mutually coaxial and perpendicular are circumferentially fixed with a main shaft through a cross spline, one wave generator is axially positioned by adopting a shaft shoulder, the other wave generator is fixed by adopting a shaft end cover, and the two wave generators are axially positioned by adopting a sleeve.
7. The flexible tube orthogonal deformation follow-up loading-based double-flexible-bearing dynamic performance testing device according to claims 1-6, wherein the application of loads with different sizes can be realized by designing flexible tubes and wave generators with different structural dimensions, such as different lengths and thicknesses of the flexible tubes.
8. The flexible cylinder orthogonal deformation follow-up loading-based double-flexible-bearing dynamic performance testing device according to claim 1 and 2 is characterized in that the auxiliary driving mechanism drives the flexible cylinder to rotate so as to drive the outer ring of the flexible bearing to rotate, thereby realizing the simulation of the operation conditions of the two flexible bearings under different reduction ratios, and measuring the friction moment of the two flexible bearings under different reduction ratios by using a torque sensor in the auxiliary driving device.
9. The device for testing the dynamic performance of the double flexible bearings based on the flexible cylinder follow-up orthogonal antisymmetric deformation loading according to claims 1-6 is characterized in that vibration of the bearings is measured in a non-contact mode at the middle section of the flexible cylinder symmetry by using the circle protection feature of the middle section of the flexible cylinder, the temperature sensor is used for measuring the temperature of the surface of the flexible cylinder at the flexible bearing in a non-contact mode, and the noise sensor is used for measuring noise generated during operation of the testing device.
10. The flexible cylinder follow-up orthogonal antisymmetric deformation loading-based double-flexible-bearing dynamic performance testing device according to claims 1-9, wherein the testing device applies load to two flexible bearings through deformation internal force of the flexible cylinder, and the main driving device is not subjected to other external loads except for the gravity of the flexible cylinder follow-up loading device and the torque of the auxiliary driving device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311472955.2A CN117330313A (en) | 2023-11-07 | 2023-11-07 | Double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311472955.2A CN117330313A (en) | 2023-11-07 | 2023-11-07 | Double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading |
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| CN117330313A true CN117330313A (en) | 2024-01-02 |
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| CN202311472955.2A Pending CN117330313A (en) | 2023-11-07 | 2023-11-07 | Double-flexible-bearing performance testing device based on flexible cylinder follow-up orthogonal antisymmetric deformation loading |
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| CN (1) | CN117330313A (en) |
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- 2023-11-07 CN CN202311472955.2A patent/CN117330313A/en active Pending
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