CN117848707A - Test equipment and method for testing fatigue life of harmonic reducer - Google Patents
Test equipment and method for testing fatigue life of harmonic reducer Download PDFInfo
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Abstract
The application relates to the field of fatigue life testing of harmonic reducers, in particular to test equipment and a method for fatigue life testing of a harmonic reducer, wherein the test equipment comprises a test bed, a rotating piece is arranged on the test bed and used for driving an input end of the harmonic reducer to rotate, and the test equipment further comprises: the vacuum airtight box is arranged on the test bed, and a fixing component for fixing the harmonic reducer is arranged in the vacuum airtight box; the load piece is arranged on one side of the vacuum sealing box, which is away from the rotating piece, and is used for providing output load in the testing process; the air extracting piece is communicated with the vacuum sealed box and is used for extracting air in the vacuum sealed box to create a low-vacuum environment; and the vibration measuring piece is arranged in the vacuum sealing box and is used for collecting vibration signals of the harmonic reducer. The method has the effect of improving the accuracy of fatigue life prediction of the harmonic reducer.
Description
Technical Field
The application relates to the field of fatigue life testing of harmonic reducers, in particular to test equipment and method for testing the fatigue life of a harmonic reducer.
Background
The harmonic gear reducer is a special gear transmission reducer, and is different from the traditional gear transmission structure, the harmonic gear reducer mainly comprises three components, a flexible gear, a rigid gear and a wave generator, wherein an outer gear ring of the flexible gear is meshed with an inner gear ring of the rigid gear, and the wave generator is in a non-standard disc shape and meshed with an inner ring of the flexible gear. In the process of speed reduction transmission, the wave generator is connected with the output shaft of the motor, and the input end serving as a harmonic speed reducer rotates synchronously with the output shaft of the motor, so that the flexible gear is forced to elastically deform and intermittently meshed with the rigid gear.
The harmonic reducer is used as high-performance, precise and high-reliability speed reduction transmission equipment and widely applied to occasions with higher precision transmission requirements such as aerospace, numerical control machine tools and the like, however, in the long-time working process of the harmonic reducer, the internal gear surface of the harmonic reducer is worn, so that faults and even failures are easy to cause, and therefore, the fatigue life test of the harmonic reducer has important significance.
The fatigue life test project is carried out with the aim of predicting the service life of the harmonic reducer, evaluating the reliability of the harmonic reducer and taking corresponding follow-up measures to prolong the service life thereof. At present, the fatigue life testing technology of the harmonic speed reducer is relatively mature, the detection equipment is advanced, but the measurement method and the measurement index of all the fatigue life testing equipment are developed around the working temperature and the transmission efficiency. The working temperature and the transmission efficiency of the harmonic speed reducer are direct manifestations of the operation performance of the harmonic speed reducer.
Aiming at the related technology, the traditional test project can be expanded and improved, and the measurement of other test indexes capable of reflecting the fatigue life of the harmonic reducer is increased, so that the fatigue life of the harmonic reducer is predicted more accurately.
Disclosure of Invention
In order to improve accuracy of fatigue life prediction of a harmonic reducer, the application provides test equipment and method for fatigue life test of the harmonic reducer.
On one hand, the application provides test equipment for testing fatigue life of a harmonic reducer, which adopts the following technical scheme:
the test equipment for testing the fatigue life of the harmonic reducer comprises a test bed, wherein a rotating piece is arranged on the test bed and used for driving the input end of the harmonic reducer to rotate, and the test equipment also comprises;
the vacuum airtight box is arranged on the test bed, and a fixing component for fixing the harmonic reducer is arranged in the vacuum airtight box;
the load piece is arranged on one side of the vacuum sealing box, which is away from the rotating piece, and is used for providing output load in the testing process;
the air extracting piece is communicated with the vacuum sealed box and is used for extracting air in the vacuum sealed box to create a low-vacuum environment;
and the vibration measuring piece is arranged in the vacuum sealing box and is used for collecting vibration signals of the harmonic reducer.
By adopting the technical scheme, the vacuum sealing box and the vibration measuring piece are added on the traditional testing scheme, the air in the vacuum sealing box is pumped by the air pumping piece on the vacuum sealing box, a low-vacuum environment can be created in the performance testing process of the harmonic reducer, the operation performance of the harmonic reducer under the low-vacuum condition is tested, and a qualified detection process is provided for the harmonic reducer applicable to the aerospace field; in the performance test process of the harmonic reducer, a load piece provides load torque to simulate the actual operation process of the harmonic reducer; according to the technical scheme, the vibration measuring piece for collecting vibration signals in the operation process of the harmonic reducer is additionally arranged, the vibration measuring piece is placed at the working position of the harmonic reducer, the vibration signals of the harmonic reducer are measured in the process that the rotating piece provides rotating power, and a tester can know the vibration characteristics of the harmonic reducer by analyzing the frequency spectrum of the vibration signals, so that the tester can further evaluate the performance and the health condition of the harmonic reducer.
Optionally, further comprising;
the noise detection piece is arranged in the vacuum closed box and is used for detecting noise data of the harmonic reducer.
Through adopting above-mentioned technical scheme, noise detection spare can carry out real-time collection to the noise data of harmonic speed reducer speed reduction transmission in-process, can in time discover the abnormal conditions of harmonic speed reducer through the monitoring and the analysis to the noise, mainly lie in can detect the noise of different frequencies and amplitude through the noise monitoring to judge concrete fault location and trouble type roughly, and carry out noise monitoring and data analysis to the harmonic speed reducer of a large amount of different moments of collection, under the rotational speed, predict the law and the characteristics of its fatigue behavior, so add noise detection process in the above-mentioned scheme has very big meaning.
Optionally, further comprising;
the temperature measuring piece is arranged in the vacuum sealing box and is used for measuring the working temperature of the harmonic reducer.
Through adopting above-mentioned technical scheme, because harmonic speed reducer is in the positive and negative rotation and is accelerated and decelerated the motion and lead to the inside heat that produces of harmonic speed reducer owing to friction and the loss of mechanical energy, the temperature rise easily causes the harm to harmonic speed reducer's inner structure, from this, set up the temperature measurement spare in the above-mentioned scheme and carry out harmonic speed reducer's dynamic temperature rise control, the tester in time discovers harmonic speed reducer's temperature anomaly through observing harmonic speed reducer temperature variation's range and efficiency, when the temperature variation range is too big or too fast all show harmonic speed reducer inner structure unable normal meshing, there is the risk of transmission inefficacy, temperature detection can be as one of the detection index that judges whether harmonic speed reducer can normal work.
Optionally, further comprising;
and the torque measuring parts are oppositely arranged at two sides of the vacuum sealing box, and the two torque measuring parts are respectively connected with the rotating part and the load part and are used for measuring the input torque and the output torque of the harmonic reducer.
By adopting the technical scheme, the torque, namely the operation load at the two ends of the harmonic reducer, can reflect the transmission efficiency of the harmonic reducer, and is more visual reflection data of the transmission performance of the harmonic reducer; firstly, the transmission precision and stability of the harmonic reducer can be intuitively evaluated by measuring the input torque and the output torque, and a tester can obtain whether the stability is problematic according to the transmission efficiency of the harmonic reducer; secondly, by comparing the measured values of the input torque and the output torque of different harmonic reducers under the same model, the operation performance of the harmonic reducers can be more accurately estimated, and more accurate basis is provided for the prediction of fatigue life; the torque cannot be suddenly changed in the process of measuring the torque, and if the sudden change occurs, the internal transmission mechanism of the harmonic speed reducer is necessarily damaged.
Optionally, further comprising;
the rotating speed measuring parts are oppositely arranged at two sides of the vacuum sealing box, and the two rotating speed measuring parts are respectively connected with the rotating part and the load part and are used for measuring the input rotating speed and the output rotating speed of the harmonic speed reducer.
By adopting the technical scheme, the measurement of the input rotating speed and the output rotating speed is one of important data for assisting a tester in knowing the transmission performance of the harmonic speed reducer, the tester can obtain whether excessive transmission damage exists by observing the stability of the ratio of the output rotating speed to the input rotating speed, and if the transmission structure in the harmonic speed reducer is unstable in connection, the stable rotating speed ratio cannot be obtained in the measurement process of the input rotating speed and the output rotating speed; in addition, if the difference between the rotation speed ratio and the rated rotation speed ratio is too large, the harmonic speed reducer has faults, and the harmonic speed reducer needs to be checked or maintained.
In one aspect, the application provides a test method for testing fatigue life of a harmonic reducer, comprising the following steps:
a test method for testing fatigue life of a harmonic reducer comprises the following steps of;
opening the vacuum airtight box, installing a harmonic reducer, wherein the input end of the harmonic reducer is connected with a rotating piece, and the output end of the harmonic reducer is connected with a load piece;
setting a load piece to enable the load torque of the output end of the harmonic reducer to be 50N;
starting a torque measuring piece and a rotating speed measuring piece;
opening the rotating piece;
setting the initial output rotating speed of the rotating piece to be 100rpm, and observing and recording torque measurement values and actual rotating speed measurement values of an input end and an output end of the harmonic speed reducer at the initial rotating speed;
slowly increasing the rotating speed to the rated input rotating speed Z of the harmonic speed reducer in the model, calculating and recording the torque variation and the actual transmission ratio of the input end and the output end of the harmonic speed reducer in the rotating speed increasing process, and fitting a torque curve and a transmission ratio variation curve;
and continuously slowly increasing the rotating speed to 1.5Z, calculating and recording the torque variation and the actual transmission ratio of the input end and the output end of the harmonic speed reducer in the process of increasing the input rotating speed, and fitting a torque curve and a transmission ratio variation curve.
Optionally, the method further comprises the following steps:
before the rotating speed of the harmonic speed reducer is slowly increased from the rated rotating speed Z to 1.5Z, starting a temperature measuring piece and a noise detecting piece;
recording noise data of the harmonic speed reducer in the process of increasing the input rotating speed, carrying the noise data into a noise model after curve fitting, and comparing and judging after obtaining a measuring result;
recording the operation temperature of the harmonic reducer at the moment under the rated rotation speed as an initial temperature;
starting the air extraction piece until the air pressure in the vacuum sealed box is less than 0.0015Pa, observing the change trend of the transmission efficiency ratio of the harmonic reducer and the change trend of the temperature in the air pressure change process, and fitting a change curve.
Optionally, the method further comprises the following steps:
starting a vibration measuring piece before the internal environment of the vacuum closed box is a low vacuum environment with the air pressure less than 0.0015 Pa;
in the process of slowly increasing the rotating speed of the harmonic speed reducer from the rated rotating speed Z to 1.5Z:
1. carrying out frequency spectrum analysis on vibration signals acquired by the vibration measuring piece, decomposing components of different vibration frequencies, and respectively comparing the vibration characteristic frequencies of the known harmonic speed reducer;
2. and analyzing temperature data acquired by the temperature measuring piece, fitting a curve chart of temperature change along with time, and evaluating the trend and rule of temperature change along with the increase of the rotating speed.
By adopting the steps, the harmonic reducer is arranged in the vacuum sealed box, and the vacuum sealed box provides environment variables in the performance test process, so that the vacuum environment in the aerospace application field of the harmonic reducer can be simulated, and the detection result is more accurate; the specific detection process is to test the transmission efficiency and transmission precision of the harmonic speed reducer only by taking the input rotation speed of the harmonic speed reducer as a variable before the input rotation speed reaches the rated rotation speed, wherein the input rotation speed and the transmission precision are basic performances of the harmonic speed reducer, and the noise detection, the temperature measurement and the vibration detection in the subsequent overspeed test are significant only on the premise that the basic performances are qualified; after the input rotating speed of the harmonic speed reducer reaches the rated rotating speed, slowly accelerating, detecting noise data, vibration frequency spectrum and temperature rise efficiency after overspeed, reasonably estimating the bearing capacity of the harmonic speed reducer under overspeed test according to the noise data, the vibration data and the temperature rise speed data, and further reasonably estimating the fatigue life of the harmonic speed reducer.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the vacuum airtight box is used for simulating the real application environment of the harmonic reducer, so that the detection result is more accurate;
2. the testing process of noise, vibration and temperature rise is added in the traditional testing process, and the fatigue life of the harmonic reducer is more accurately estimated through various data.
Drawings
Fig. 1 is a schematic structural diagram of a harmonic reducer in an embodiment of the present application.
Fig. 2 is a schematic overall structure of an embodiment of the present application.
Fig. 3 is a schematic view of the structure of the servo motor in the embodiment of the present application.
Fig. 4 is a schematic view of the structure of the motor for highlighting the load in the embodiment of the present application.
Fig. 5 is a sectional view showing the internal structure of the vacuum-tight casing in the embodiment of the present application.
Reference numerals illustrate: 1. a harmonic reducer; 11. rigid wheel; 12. a flexible wheel; 13. a wave generator; 2. a test bed; 21. a vacuum sealing box; 211. a mounting plate; 212. a noise sensor; 213. a temperature sensor; 214. a vibration sensor; 22. a vacuum pump; 221. an air extraction pipeline; 23. a servo motor; 24. a load motor; 25. a torque measuring member; 251. a torque sensor; 26. a rotational speed measuring member; 261. a grating sensor; 27. a slide rail; 271. a bottom plate; 28. an input rotating shaft; 29. and outputting the rotating shaft.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-5.
On the one hand, referring to fig. 1, the embodiment of the application discloses a harmonic reducer, the harmonic reducer includes a rigid gear 11 and a flexible gear 12, the rigid gear 11 is annular, a gear part is circumferentially arranged on the inner ring side of the rigid gear 11, the flexible gear 12 is cylindrical, a gear is circumferentially arranged on the outer wall of one cylindrical end of the flexible gear 12, an external gear of the flexible gear 12 is meshed with the internal gear of the rigid gear 11, and the other end of the flexible gear 12 is an output end of the harmonic reducer 1; the inner wall of one end part of the flexible gear 12 provided with a gear is meshed with a wave generator 13, and a hole for inserting an output shaft of the motor is formed in the center part of the wave generator 13. Therefore, the wave generator 13 is an input end of the harmonic reducer 1, one end of the flexible gear 12, which is away from the gear part, is an output end of the harmonic reducer 1, and in the process of reducing and driving the harmonic reducer 1, the rigid gear 11 is fixedly connected to a motor shell and is a static piece. The harmonic reducer 1 is the prior art, and the specific transmission principle is not described in detail.
In one aspect, an embodiment of the application discloses a test apparatus for testing fatigue life of a harmonic reducer. Referring to fig. 2, a test apparatus for testing fatigue life of a harmonic reducer includes a test stand 2, the test stand 2 being a main body portion of the test apparatus in the present embodiment; the center of the table top of the test bed 2 is fixedly provided with a vacuum sealing box 21, a fixed installation area for the harmonic reducer 1 is arranged in the vacuum sealing box 21, the opposite side walls of the vacuum sealing box 21 are an input end and an output end of the harmonic reducer 1, the side walls of the vacuum sealing box 21, which correspond to the two sides of the input end and the output end of the harmonic reducer 1, are respectively and rotatably connected with a rotating shaft, one rotating shaft, which corresponds to the input end of the harmonic reducer 1, of the vacuum sealing box 21 is an input rotating shaft 28, the other rotating shaft is an output rotating shaft 29, and the input rotating shaft 28 is coaxial with the output rotating shaft 29.
In this embodiment, the side wall of the vacuum enclosure 21 on the side where the input shaft 28 is disposed is the open side, and the tester can detach the side wall to open the vacuum enclosure 21.
Referring to fig. 1 and 2, a servo motor 23 is disposed at an edge of the test stand 2 near an input shaft 28 of the vacuum enclosure 21, an output shaft of the servo motor 23 faces the vacuum enclosure 21 and is coaxial with the input shaft 28, and the servo motor 23 is used as a rotating member of the harmonic reducer 1 in this embodiment, and its output shaft is connected to an input end of the harmonic reducer 1 to drive the wave generator 13 of the harmonic reducer 1 to rotate.
Referring to fig. 2 and 3, a load motor 24 is disposed at an edge of the test stand 2 near an output shaft 29 of the vacuum enclosure 21, an output shaft of the load motor 24 faces the vacuum enclosure 21 and is coaxial with the output shaft 29, in this embodiment, the load motor 24 and the servo motor 23 are disposed opposite to each other, the load motor 24 is used as a load member of the harmonic reducer 1, and an output shaft thereof is connected to an output end of the harmonic reducer 1 to provide a transmission load of the harmonic reducer 1.
Referring to fig. 3 and 4, rotation speed measuring members 26 are respectively disposed between the vacuum sealed box 21 and the servo motor 23, and between the vacuum sealed box 21 and the load motor 24, and the two rotation speed measuring members 26 are disposed opposite to each other on two sides of the vacuum sealed box 21, and are respectively used for measuring rotation speeds of an input end and an output end of the harmonic reducer 1, and a real-time transmission ratio of the harmonic reducer 1 can be calculated through specific measurement values of the input rotation speed and the output rotation speed. In this embodiment, the rotation speed measuring member 26 employs a grating sensor 261, the grating scale of the grating sensor 261 is disc-shaped, the grating scales of the grating sensor 261 are coaxial with the servo motor 23 and the load motor 24, the center portions of the grating scales of the two grating sensors 261 are respectively inserted into the input rotation shaft 28 and the output rotation shaft 29, and rotate synchronously with the input rotation shaft 28 and the output rotation shaft 29, and the detector of the grating sensor 261 is disposed under the grating scales to measure the diffraction fringe frequency on the grating scales in real time. Since the grating sensor 261 belongs to the prior art, the specific principle is not described in detail. The tester obtains the real-time rotation speeds of the input end and the output end of the harmonic reducer 1 through the grating sensor 261, and observes and records the real-time transmission ratio.
Referring to fig. 3 and 4, a torque measuring member 25 is further disposed between the vacuum enclosure 21 and the servo motor 23, and between the vacuum enclosure 21 and the load motor 24, and the two torque measuring members 25 are disposed opposite to each other and are respectively used for measuring the torques at the input end and the output end of the harmonic reducer 1, so as to determine the real-time transmission efficiency of the harmonic reducer 1. In this embodiment, the torque measuring member 25 is a torque sensor 251, a test shaft of the torque sensor 251 on the input side of the harmonic reducer 1 is connected with the input rotating shaft 28 through a spline, and a test shaft of the torque sensor 251 on the output side of the harmonic reducer 1 is connected with the load motor 24 and the output rotating shaft 29 through a spline. Thus, the basic transmission performance of the harmonic reducer 1 is tested by the torque sensor 251 and the rotation speed sensor in the present embodiment.
Referring to fig. 2 and 5, a mounting assembly for mounting the harmonic reducer 1 is arranged in the vacuum enclosure 21, and mainly comprises a mounting plate 211, wherein the mounting plate 211 is vertically arranged, the mounting plate 211 is fixedly arranged on the inner bottom wall of the vacuum enclosure 21, an input rotating shaft 28 is arranged on the central part of the harmonic reducer 1 in a penetrating manner and is connected with a wave generator 13 of the harmonic reducer 1 through a spline, so that the input end of the harmonic reducer 1 rotates synchronously with the output shaft of the servo motor 23; one side of the panel surface of the mounting plate 211, which is close to the harmonic reducer 1, is provided with a mounting groove which is matched with the output part of the harmonic reducer 1, and the output end of the harmonic reducer 1 is clamped in the mounting groove. Thus, when the tester installs the harmonic reducer 1 in the vacuum enclosure 21, first, the wave generator 13 of the harmonic reducer 1 is abutted against the input shaft 28, and the output end side of the harmonic reducer 1 is engaged in the installation groove and abutted against the output shaft 29.
In practical application, the wave generators 13 of the harmonic reducer 1 with different types are used for being in butt joint with the different mounting part diameters of the motor, and the part of the input rotating shaft 28 in the vacuum sealed box 21 is sleeved with the mounting part diameter of the wave generator 13 of the harmonic reducer 1 to be tested.
Referring back to fig. 2, according to the installation process of the harmonic reducer 1, in this embodiment, a slide rail 27 is laid on the input side of the test stand 2 corresponding to the harmonic reducer 1, a bottom plate 271 is slidably connected to the slide rail 27, a slider adapted to the slide rail 27 is fixedly arranged at the bottom end of the bottom plate 271, and a servo motor 23, a grating sensor 261 and a torque sensor 251 are fixedly connected to the bottom plate 271, so that the integral sliding of the input slide rail 27 of the vacuum enclosure 21 is realized by sliding the bottom plate 271 along the slide rail 27, and the butt joint is realized.
Referring to fig. 5, a mounting plate 211 is used for mounting noise sensors on both top and bottom sides of one side of the harmonic reducer 1, and the noise sensors are used for collecting noise data of the harmonic reducer 1, and are noise detection pieces of the harmonic reducer 1 in this embodiment, and the detection head ends of the two noise sensors face the harmonic reducer 1; the mounting plate 211 is used for mounting temperature sensors 213 fixedly arranged at two opposite side edges of one side surface of the harmonic detector, and is used for monitoring the temperature change condition of the harmonic reducer 1 in real time, and is a temperature measuring piece of the harmonic reducer 1 in the embodiment; after the harmonic reducer 1 is installed in the vacuum sealing box 21, the vibration sensor 214 is installed on the rigid wheel 11 of the harmonic reducer 1 and is used for monitoring the vibration frequency and the vibration amplitude in the transmission process of the harmonic reducer 1. In this embodiment, a wireless transmission module is disposed on a side wall of the vacuum enclosure 21, which is close to the mounting plate 211 and corresponds to the temperature sensor 213, the noise sensor and the vibration sensor 214, and is used for wirelessly transmitting test data of the sensor to the control end.
Referring back to fig. 2, the test stand 2 is provided with an air extraction pipeline 221 communicated with the vacuum sealed box 21, one end of the air extraction pipeline 221 is connected with a vacuum pump 22, the vacuum pump 22 operates, and air in the vacuum sealed box 21 is extracted to create a low-vacuum test environment.
The implementation principle of the test equipment for testing the fatigue life of the harmonic reducer is as follows: noise sensor 212, vibration sensor 214 and temperature sensor 213 are arranged in vacuum airtight box 21, noise data, vibration frequency, amplitude and temperature rise in the working process of harmonic reducer 1 are detected in real time, and fatigue life of harmonic reducer 1 is reasonably estimated according to the real-time data.
The main principle is that when the harmonic reducer 1 is subjected to fatigue damage in the running process, certain noise changes can be accompanied when the flexible gear 12 and the rigid gear 11 or the flexible gear 12 and the wave generator 13 are pinched, and the abnormality can be found in time through analysis of a detection box of the noise, and the specific fault type and the specific fault position can be judged; the vibration amplitude and vibration frequency of the flexible gear 12 and the rigid gear 11 are increased along with the abrasion of the meshing gear surface when the rigid gear 11 and the flexible gear 12 of the harmonic speed reducer 1 are meshed, so that the corresponding fault part of the unqualified harmonic speed reducer 1 is predicted in advance according to the vibration frequency spectrum detection, the meshing vibration trend of the rigid gear 11 and the flexible gear 12 can be predicted in advance, and the fatigue life of the meshing part is reasonably predicted; the fluctuation of the temperature reflects the internal loss condition of the harmonic reducer 1 in real time, the collision and friction of the meshing part of the flexible gear 12 and the rigid gear 11 generate heat, and the temperature of the harmonic reducer 1 is increased for a long time, so that the temperature of the harmonic reducer 1 is also an important factor affecting the fatigue life of the harmonic reducer 1 in the normal transmission process. Therefore, reasonable detection items such as vibration detection and noise detection are added on the basis of detection of transmission efficiency, transmission precision and working temperature, and the fatigue life of the harmonic reducer 1 can be indirectly reflected, so that the fatigue life prediction result of the harmonic reducer 1 is more accurate.
Further, the vacuum enclosure 21 can maintain a low vacuum environment after air extraction, and detect the transmission performance of the harmonic reducer 1 under vacuum.
On the one hand, based on the test equipment for testing the fatigue life of the harmonic reducer, the embodiment of the application discloses a test method for testing the fatigue life of the harmonic reducer, which comprises the following steps:
the tester opens the vacuum airtight box 21, installs the harmonic reducer 1, the input end of the harmonic reducer 1 connects the input spindle 28, the output end of the harmonic reducer 1 connects the output spindle 29;
setting the torque of the load motor 24 to enable the load torque of the output end of the harmonic reducer 1 to be 50N;
opening the torque sensor 251 and the grating sensor 261;
starting a servo motor 23, setting the initial output rotating speed of the servo motor 23 to be 100rpm, and observing and recording torque measurement values and actual rotating speed measurement values of the input end and the output end of the harmonic reducer 1 at the initial rotating speed;
slowly increasing the output rotating speed of the servo motor 23 to the rated input rotating speed Z of the harmonic speed reducer 1 under the model, calculating and recording the respective torque variation and actual transmission ratio of the input end and the output end of the harmonic speed reducer 1 in the rotating speed increasing process, and fitting a torque curve and a transmission ratio variation curve;
maintaining the output rotation speed of the servo motor 23 at Z, starting the temperature sensor 213, the noise sensor 212 and the vibration sensor 214, recording noise data, noise data and vibration data when the input rotation speed of the harmonic reducer 1 is Z, and recording the noise data, the noise data and the vibration data as initial values;
continuously slowly increasing the rotating speed to 1.5Z, calculating and recording the torque variation and the actual transmission ratio of the input end and the output end of the harmonic speed reducer 1 in the process of increasing the input rotating speed, and fitting a torque curve and a transmission ratio variation curve;
recording noise data of the harmonic reducer 1 in the process of increasing the input rotating speed, carrying the noise data into a noise model after curve fitting, and comparing and judging after obtaining a measuring result;
recording the amplitude and the vibration frequency in the process of increasing the input rotating speed, carrying out frequency spectrum analysis on the vibration signal, decomposing components of different vibration frequencies of vibration, and respectively comparing the vibration characteristic frequencies of the known harmonic reducer 1;
recording temperature data, fitting a curve graph of temperature change along with time, and evaluating a trend and a rule of temperature change along with the increase of the rotating speed;
after the test is completed, the servo motor 23 stops operating, after the preset period of time is stopped, the torque of the load motor 24 is sequentially adjusted to be 100N, 150N and 200N, and the process is repeated under the load torque output by each different harmonic reducer 1;
when the output load of the harmonic reducer 1 is 150N and 200N, the harmonic reducer belongs to overload, and a tester should pay attention to test data of the harmonic reducer 1 under overload;
after the test is completed, the servo motor 23 stops operating and is stationary for a preset period of time;
turning off the noise sensor 212;
starting the air extracting piece until the air pressure in the vacuum sealed box 21 is less than 0.0015Pa, and maintaining the air pressure at the air pressure condition to ensure that the vacuum sealed box 21 maintains a low vacuum state;
and repeating the steps, and testing the performance of the harmonic reducer 1 under each load torque to obtain the test data of the harmonic reducer 1 under the vacuum condition.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (8)
1. The utility model provides a test equipment for harmonic reducer ware fatigue life test, includes test bench (2), be provided with on test bench (2) and rotate the piece for drive harmonic reducer ware (1) input rotates, its characterized in that: also comprises;
the vacuum airtight box (21) is arranged on the test bed (2), and a fixing component for fixing the harmonic reducer (1) is arranged in the vacuum airtight box;
the load piece is arranged on one side of the vacuum sealing box (21) away from the rotating piece and is used for providing output load in the testing process;
the air extracting piece is communicated with the vacuum sealed box (21) and is used for extracting air in the vacuum sealed box (21) to create a low-vacuum environment;
and the vibration measuring piece is arranged in the vacuum sealing box (21) and is used for collecting vibration signals of the harmonic reducer (1).
2. A test apparatus for fatigue life testing of harmonic reducers according to claim 1, wherein: also comprises;
and the noise detection piece is arranged in the vacuum closed box (21) and is used for detecting noise data of the harmonic reducer (1).
3. A test apparatus for fatigue life testing of harmonic reducers according to claim 1, wherein: also comprises;
the temperature measuring piece is arranged in the vacuum sealing box (21) and is used for measuring the working temperature of the harmonic reducer (1).
4. A test apparatus for fatigue life testing of harmonic reducers according to claim 1, wherein: also comprises;
and the torque measuring pieces (25) are oppositely arranged at two sides of the vacuum sealing box (21), and the two torque measuring pieces are respectively connected with the rotating piece and the load piece and are used for measuring the input torque and the output torque of the harmonic reducer (1).
5. A test apparatus for fatigue life testing of harmonic reducers according to claim 1, wherein: also comprises;
the rotating speed measuring pieces (26) are oppositely arranged on two sides of the vacuum sealing box (21), and the two rotating speed measuring pieces (26) are respectively connected with the rotating piece and the load piece and are used for measuring the input rotating speed and the output rotating speed of the harmonic reducer (1).
6. A test method for testing fatigue life of a harmonic reducer is characterized by comprising the following steps of: the method comprises the following steps:
opening a vacuum airtight box (21), installing a harmonic reducer (1), wherein the input end of the harmonic reducer (1) is connected with a rotating piece, and the output end of the harmonic reducer (1) is connected with a load piece;
setting a load piece to enable the load torque of the output end of the harmonic reducer (1) to be 50N;
opening the torque measuring part (25) and the rotating speed measuring part (26);
opening the rotating piece;
setting the initial output rotating speed of the rotating piece to be 100rpm, and observing and recording torque measurement values and actual rotating speed measurement values of the input end and the output end of the harmonic speed reducer (1) at the initial rotating speed;
slowly increasing the rotating speed to the rated input rotating speed Z of the harmonic speed reducer (1) in the model, calculating and recording the torque variation and the actual transmission ratio of the input end and the output end of the harmonic speed reducer (1) in the rotating speed increasing process, and fitting a torque curve and a transmission ratio variation curve;
and continuously slowly increasing the rotating speed to 1.5Z, calculating and recording the torque variation and the actual transmission ratio of the input end and the output end of the harmonic speed reducer (1) in the process of increasing the input rotating speed, and fitting a torque curve and a transmission ratio variation curve.
7. The test method for testing fatigue life of a harmonic reducer according to claim 6, wherein: the method also comprises the following steps:
before the rotating speed of the harmonic speed reducer (1) is slowly increased from the rated rotating speed Z to 1.5Z, starting the temperature measuring piece and the noise detecting piece;
recording noise data of the harmonic speed reducer (1) in the process of increasing the input rotating speed, carrying the noise data into a noise model after curve fitting, and comparing and judging after obtaining a measuring result;
recording the operation temperature of the harmonic reducer (1) at the moment under the rated rotation speed as an initial temperature;
and opening the air extraction piece until the air pressure in the vacuum sealed box (21) is less than 0.0015Pa, observing the change trend of the transmission efficiency ratio of the harmonic reducer (1) and the change trend of the temperature in the air pressure change process, and fitting a change curve.
8. The test method for testing fatigue life of a harmonic reducer according to claim 7, wherein: the method also comprises the following steps:
starting a vibration measuring piece before the internal environment of the vacuum closed box (21) is a low vacuum environment with the air pressure less than 0.0015 Pa;
in the process that the rotating speed of the harmonic speed reducer (1) is slowly increased to 1.5Z from the rated rotating speed Z:
carrying out frequency spectrum analysis on vibration signals acquired by a vibration measuring piece, decomposing components of different vibration frequencies, and respectively comparing the vibration characteristic frequencies of the known harmonic reducer (1);
and analyzing temperature data acquired by the temperature measuring piece, fitting a curve chart of temperature change along with time, and evaluating the trend and rule of temperature change along with the increase of the rotating speed.
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