CN203981398U - A kind of harmonic speed reducer dynamic performance integrated test system - Google Patents

A kind of harmonic speed reducer dynamic performance integrated test system Download PDF

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Publication number
CN203981398U
CN203981398U CN201420374711.0U CN201420374711U CN203981398U CN 203981398 U CN203981398 U CN 203981398U CN 201420374711 U CN201420374711 U CN 201420374711U CN 203981398 U CN203981398 U CN 203981398U
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CN
China
Prior art keywords
speed reducer
support
harmonic speed
shaft
sensor
Prior art date
Application number
CN201420374711.0U
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Chinese (zh)
Inventor
马权云
马新全
邹赞成
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东莞市鑫拓智能机械科技有限公司
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Priority to CN201420374711.0U priority Critical patent/CN203981398U/en
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Publication of CN203981398U publication Critical patent/CN203981398U/en

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Abstract

The utility model discloses a kind of harmonic speed reducer dynamic performance integrated test system, its base plate upper end side installing electric machine support, harmonic speed reducer support, bearing bracket, brake support frame and first, two sensor stands, electric machine support upper end installing servomotor, accelerator, the first torque sensor is installed in first sensor support upper end, intermediate connecting shaft is installed by supporting bearing base in bearing bracket upper end, the second torque sensor is installed in the second sensor stand upper end, brake support frame upper end installing magnetic powder brake, accelerator power output shaft connects the first torque sensor input shaft, the first torque sensor output shaft connects harmonic speed reducer assembly input coupling shaft, harmonic speed reducer assembly output coupling shaft connects the second torque sensor input shaft by intermediate connecting shaft and connects, the second torque sensor output shaft connects magnetic powder brake.The utlity model has structural design novelty, measuring accuracy is high, test event is many, versatility is good advantage.

Description

A kind of harmonic speed reducer dynamic performance integrated test system
Technical field
The utility model relates to harmonic speed reducer technical field, relates in particular to a kind of harmonic speed reducer dynamic performance integrated test system.
Background technology
Along with the development of high-precision motion control technology with apply, the energy, communication, lathe, instrument and meter, robot, automobile, shipbuilding, weaving, metallurgy, conventional weapon, precision optics equipment, printing mechanism, medicine equipment, as space gearing with for handling High Temperature High Pressure pipeline and all needing high-precision harmonic speed reducer in fields such as having the mechanism of working under atomic radiation or other hazardous medium condition.
Wherein, for harmonic speed reducer, the harmonic speed reducer of high reliability must carry out corresponding detection means and carry out quality inspection; Prior art generally adopts following manner to carry out quality inspection to harmonic speed reducer, be specially: input end and output terminal at harmonic speed reducer are all loaded onto a Photoelectric angular bit pad, utilize motor to connect belt and pass to input shaft, then the angular displacement of input shaft and output shaft is converted to corresponding pulsed frequency, deliver to frequency divider, again the difference of Data Comparison is exported to its graph of errors, namely kinematic error by registering instrument.In actual quality inspection process, there is following defect in above-mentioned quality inspection mode, is specially: 1, the technology of Photoelectric angular bit pad fall behind and precision not high; 2, test event is less; 3, versatility is poor; 4, data are directly perceived not, and data output is simultaneously convenient not.
Summary of the invention
The purpose of this utility model is to provide a kind of harmonic speed reducer dynamic performance integrated test system for the deficiencies in the prior art, and this harmonic speed reducer dynamic performance integrated test system structure design novelty, measuring accuracy is high, test event is many, versatility is good.
For achieving the above object, the utility model is achieved through the following technical solutions.
A kind of harmonic speed reducer dynamic performance integrated test system, include the base plate that horizontal cross is arranged, the upper end side of base plate is equiped with electric machine support, first sensor support, bearing bracket, the second sensor stand, brake support frame and between first sensor support and bearing bracket and for supporting the harmonic speed reducer support of harmonic speed reducer assembly, electric machine support, first sensor support, harmonic speed reducer support, bearing bracket, the second sensor stand and brake support frame are intervally arranged successively along the length direction of base plate;
The upper end of electric machine support is equiped with servomotor and is positioned at the accelerator of the power output shaft side of servomotor, the power output shaft of servomotor is connected with the power intake of accelerator, the upper end of first sensor support is equiped with the first torque sensor, the upper end of bearing bracket is equiped with supporting bearing base, in the center pit of supporting bearing base, be embedded with rotatably intermediate connecting shaft, the upper end of the second sensor stand is equiped with the second torque sensor, the upper end of brake support frame is equiped with magnetic powder brake, the power output shaft of accelerator is connected with the input shaft of the first torque sensor by shaft coupling, the output shaft of the first torque sensor is connected with the input coupling shaft of harmonic speed reducer assembly by shaft coupling, the output coupling shaft of harmonic speed reducer assembly is connected with an end of intermediate connecting shaft by shaft coupling, the other end of intermediate connecting shaft is connected with the input shaft of the second torque sensor by shaft coupling, the output shaft of the second torque sensor is connected with the input shaft of magnetic powder brake by shaft coupling.
Wherein, the upper surface of described base plate is equiped with the horizontal guide rail extending along the length direction of base plate, the corresponding horizontal guide rail in bottom of described electric machine support, described first sensor support, described harmonic speed reducer support, described bearing bracket, described the second sensor stand and described brake support frame is equiped with respectively cross sliding clock, and each cross sliding clock matches with horizontal guide rail respectively; The upper surface of base plate is equiped with respectively Anchor plate kit in the corresponding electric machine support of side, first sensor support, harmonic speed reducer support, the second sensor stand and the brake support frame of horizontal guide rail.
Wherein, each described Anchor plate kit includes respectively and is installed in described plate upper surface and the vertical vertical fixed block extending, the upper end of each vertical fixed block is fitted with respectively horizontal pressure holding piece, the middle part of each horizontal pressure holding piece is screwed on base plate by lock screw, one end portion of each horizontal pressure holding piece compresses respectively corresponding described electric machine support down, described first sensor support, described harmonic speed reducer support, the bottom of described the second sensor stand and described brake support frame, the other end of each horizontal pressure holding piece compresses respectively the upper end of corresponding vertical fixed block down.
Wherein, between the bottom of described bearing bracket and described base plate, be equiped with hand moving device, hand moving device includes the rocking handle mount pad that is installed in plate upper surface; rocking handle mount pad is equiped with rotatably and grips rocking handle and driven wheel; grip rocking handle and synchronize and rotate with driven wheel; the corresponding driven wheel in bottom of bearing bracket is equiped with the driving tooth bar extending along the length direction of described horizontal guide rail, and driven wheel engages with driving tooth bar.
Wherein, described base plate is equiped with respectively snubber assembly in the both ends of described horizontal guide rail side, each snubber assembly includes respectively and is installed in plate upper surface and the vertical vertical supporting piece extending, and the upper end of each vertical supporting piece is equiped with respectively buffering blob of viscose in horizontal guide rail one side.
The beneficial effects of the utility model are: a kind of harmonic speed reducer dynamic performance integrated test system described in the utility model, its base plate upper end side installing spaced apart electric machine support successively, first sensor support, harmonic speed reducer support, bearing bracket, the second sensor stand and brake support frame, electric machine support upper end installing servomotor, accelerator, the first torque sensor is installed in first sensor support upper end, bearing bracket upper end installing supporting bearing base, setting-in intermediate connecting shaft in supporting bearing base center pit, the second torque sensor is installed in the second sensor stand upper end, brake support frame upper end installing magnetic powder brake, accelerator power output shaft is connected with the first torque sensor input shaft by shaft coupling, the first torque sensor output shaft is connected with harmonic speed reducer assembly input coupling shaft by shaft coupling, harmonic speed reducer assembly output coupling shaft is connected with intermediate connecting shaft one end by shaft coupling, intermediate connecting shaft the other end is connected with the second torque sensor input shaft by shaft coupling, the second torque sensor output shaft is connected with magnetic powder brake input shaft by shaft coupling.Design by said structure, the utlity model has structural design novelty, measuring accuracy is high, test event is many, versatility is good advantage.
Brief description of the drawings
Utilize accompanying drawing to be further detailed the utility model below, but the embodiment in accompanying drawing does not form any restriction of the present utility model.
Fig. 1 is diagrammatic cross-section of the present utility model.
Fig. 2 is the diagrammatic cross-section of the utility model another location.
Fig. 3 is work schematic diagram of the present utility model.
In Fig. 1 to Fig. 3, include:
1---base plate 2---electric machine support
3---first sensor support 4---bearing bracket
5---second sensor stand 6---brake support frame
7---harmonic speed reducer support 8---harmonic speed reducer assembly
8a---input coupling shaft 8b---output coupling shaft
9---servomotor 10---accelerator
11---first torque sensor 12---supporting bearing base
13---intermediate connecting shaft 14---second torque sensor
15---magnetic powder brake 16---shaft coupling
17---horizontal guide rail 18---cross sliding clock
The vertical fixed block of 19---Anchor plate kit 19a---
19b---horizontal pressure holding piece 19c---lock screw
20---hand moving device 20a---rocking handle mount pad
20c---gripping rocking handle 21---snubber assembly
21a---vertical supporting piece 21b---cushions blob of viscose.
Embodiment
Below in conjunction with concrete embodiment, the utility model is described.
As depicted in figs. 1 and 2, a kind of harmonic speed reducer dynamic performance integrated test system, include the base plate 1 that horizontal cross is arranged, the upper end side of base plate 1 is equiped with electric machine support 2, first sensor support 3, bearing bracket 4, the second sensor stand 5, brake support frame 6 and between first sensor support 3 and bearing bracket 4 and for supporting the harmonic speed reducer support 7 of harmonic speed reducer assembly 8, electric machine support 2, first sensor support 3, harmonic speed reducer support 7, bearing bracket 4, the second sensor stand 5 and brake support frame 6 are intervally arranged successively along the length direction of base plate 1.
Further, the upper end of electric machine support 2 is equiped with servomotor 9 and is positioned at the accelerator 10 of the power output shaft side of servomotor 9, the power output shaft of servomotor 9 is connected with the power intake of accelerator 10, the upper end of first sensor support 3 is equiped with the first torque sensor 11, the upper end of bearing bracket 4 is equiped with supporting bearing base 12, in the center pit of supporting bearing base 12, be embedded with rotatably intermediate connecting shaft 13, the upper end of the second sensor stand 5 is equiped with the second torque sensor 14, the upper end of brake support frame 6 is equiped with magnetic powder brake 15, the power output shaft of accelerator 10 is connected with the input shaft of the first torque sensor 11 by shaft coupling 16, the output shaft of the first torque sensor 11 is connected with the input coupling shaft 8a of harmonic speed reducer assembly 8 by shaft coupling 16, the output coupling shaft 8b of harmonic speed reducer assembly 8 is connected with an end of intermediate connecting shaft 13 by shaft coupling 16, the other end of intermediate connecting shaft 13 is connected with the input shaft of the second torque sensor 14 by shaft coupling 16, the output shaft of the second torque sensor 14 is connected with the input shaft of magnetic powder brake 15 by shaft coupling 16.
Need further to explain, as shown in Figure 3, servomotor 9 of the present utility model is controlled by corresponding electric machine controller, and magnetic powder brake 15 is controlled by corresponding brake controller; Wherein, electric machine controller, brake controller, the first torque sensor 11 and the second torque sensor 14 are respectively by realizing communication between RS458 mode and industrial computer, industrial computer is controlled the rotating speed of servomotor 9 by electric machine controller, industrial computer is controlled the deceleration loading of magnetic powder brake 15 by brake controller.
In the utility model course of work, the first torque sensor 11 is for torsion and the speed data of the input coupling shaft 8a of Real-time Collection harmonic speed reducer assembly 8, and the second torque sensor 14 is for torsion and the speed data of the output coupling shaft 8b of Real-time Collection harmonic speed reducer assembly 8, below in conjunction with concrete course of action, the utility model is described in detail, be specially: harmonic speed reducer assembly 8 is installed and is arranged on harmonic speed reducer support 7 upper ends according to the installation requirement of harmonic speed reducer assembly 8, open the software systems of industrial computer and servomotor 9 is switched on, software systems send control signal and servomotor 9 starts to rotate, servomotor 9 is by accelerator 10, the first torque sensor 11 and input coupling shaft 8a and drive harmonic speed reducer assembly 8 to move, the output coupling shaft 8b of harmonic speed reducer assembly 8 is by intermediate connecting shaft 13, the second torque sensor 14 and drive magnetic powder brake 15 move, magnetic powder brake 15 provides deceleration loading, in this process, the first torque sensor 11, the second torque sensor 14 send to the data that collect the software systems of industrial computer incessantly, and software systems finally show test results.
Need further point out, the utility model can carry out torsional rigidity test of vehicular, running-in test, efficiency and temperature rise test, hypervelocity overload test, durability test, ratio of gear etc. to harmonic speed reducer, and test event is many and combination property is superior.
Comprehensive above-mentioned situation is known, designs by said structure, the utlity model has structural design novelty, measuring accuracy is high, test event is many, versatility is good advantage.
As preferred embodiment, as depicted in figs. 1 and 2, the upper surface of base plate 1 is equiped with the horizontal guide rail 17 extending along the length direction of base plate 1, the corresponding horizontal guide rail 17 in bottom of electric machine support 2, first sensor support 3, harmonic speed reducer support 7, bearing bracket 4, the second sensor stand 5 and brake support frame 6 is equiped with respectively cross sliding clock 18, and each cross sliding clock 18 matches with horizontal guide rail 17 respectively; The upper surface of base plate 1 is equiped with respectively Anchor plate kit 19 in the corresponding electric machine support 2 of side, first sensor support 3, harmonic speed reducer support 7, the second sensor stand 5 and the brake support frame 6 of horizontal guide rail 17.
Need further to explain, electric machine support 2 of the present utility model, first sensor support 3, harmonic speed reducer support 7, bearing bracket 4, the second sensor stand 5 and brake support frame 6 are installed on horizontal guide rail 17 by cross sliding clock 18, and by coordinating between cross sliding clock 18 and horizontal guide rail 17, the utility model can ensure that electric machine support 2, first sensor support 3, harmonic speed reducer support 7, bearing bracket 4, the second sensor stand 5 and brake support frame 6 have unified centre-height, have ensured the right alignment of each axle effectively.
In addition, harmonic speed reducer assembly 8 being installed in the process of harmonic speed reducer support 7 upper ends, need first the Anchor plate kit 19 of lock shaft base supporting 4, the second torque sensor 14 supports and brake support frame 6 to be unclamped, and there is enough installing spaces towards deviating from first sensor support 3 side shifting bearing brackets 4, the second torque sensor 14 supports and brake support frame 6 to ensure harmonic speed reducer assembly 8; After harmonic speed reducer assembly 8 installs, towards harmonic speed reducer support 7 thruster dynamic bearing seat supports 4, the second torque sensor 14 supports and brake support frame 6 and ensure that the output coupling shaft 8b of harmonic speed reducer assembly 8 docks with intermediate connecting shaft 13.
Further, each Anchor plate kit 19 includes respectively and is installed in base plate 1 upper surface and the vertical vertical fixed block 19a extending, the upper end of each vertical fixed block 19a is fitted with respectively horizontal pressure holding piece 19b, the middle part of each horizontal pressure holding piece 19b is screwed on base plate 1 by lock screw 19c, one end portion of each horizontal pressure holding piece 19b compresses respectively corresponding electric machine support 2 down, first sensor support 3, harmonic speed reducer support 7, the bottom of the second sensor stand 5 and brake support frame 6, the other end of each horizontal pressure holding piece 19b compresses respectively the upper end of corresponding vertical fixed block 19a down.When needs move while regulating electric machine support 2, first sensor support 3, harmonic speed reducer support 7, bearing bracket 4, the second sensor stand 5 and brake support frame 6, only lock screw 19c need be unscrewed and make horizontal pressure holding plate to loosen.
Move for ease of driving bearing seat support 4, the utility model adopts following structural design, be specially: between the bottom of bearing bracket 4 and base plate 1, be equiped with hand moving device 20, hand moving device 20 includes the rocking handle mount pad 20a that is installed in base plate 1 upper surface, rocking handle mount pad 20a is equiped with rotatably and grips rocking handle 20b and driven wheel, gripping rocking handle 20b synchronizes and rotates with driven wheel, the corresponding driven wheel in bottom of bearing bracket 4 is equiped with the driving tooth bar extending along the length direction of horizontal guide rail 17, driven wheel engages with driving tooth bar.In the process of moving shaft holder support 4, staff only needs turn to grip rocking handle 20b, grips rocking handle 20b and drives driven wheel to rotate, and driven wheel drives and drives tooth bar to move, and then driving bearing seat support 4 moves.
As preferred embodiment, for ensureing that the electric machine support 2 and the brake support frame 6 that are positioned at both end sides do not exit horizontal guide rail 17, the utility model adopts following structural design, be specially: base plate 1 is equiped with respectively snubber assembly 21 in the both ends of horizontal guide rail 17 side, each snubber assembly 21 includes respectively and is installed in base plate 1 upper surface and the vertical vertical supporting piece 21a extending, and the upper end of each vertical supporting piece 21a is equiped with respectively buffering blob of viscose 21b in horizontal guide rail 17 1 sides.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.

Claims (5)

1. a harmonic speed reducer dynamic performance integrated test system, it is characterized in that: include the base plate (1) that horizontal cross is arranged, the upper end side of base plate (1) is equiped with electric machine support (2), first sensor support (3), bearing bracket (4), the second sensor stand (5), brake support frame (6) and be positioned at first sensor support (3) and bearing bracket (4) between and for supporting the harmonic speed reducer support (7) of harmonic speed reducer assembly (8), electric machine support (2), first sensor support (3), harmonic speed reducer support (7), bearing bracket (4), the second sensor stand (5) and brake support frame (6) are intervally arranged successively along the length direction of base plate (1),
The upper end of electric machine support (2) is equiped with servomotor (9) and is positioned at the accelerator (10) of the power output shaft side of servomotor (9), the power output shaft of servomotor (9) is connected with the power intake of accelerator (10), the upper end of first sensor support (3) is equiped with the first torque sensor (11), the upper end of bearing bracket (4) is equiped with supporting bearing base (12), in the center pit of supporting bearing base (12), be embedded with rotatably intermediate connecting shaft (13), the upper end of the second sensor stand (5) is equiped with the second torque sensor (14), the upper end of brake support frame (6) is equiped with magnetic powder brake (15), the power output shaft of accelerator (10) is connected with the input shaft of the first torque sensor (11) by shaft coupling (16), the output shaft of the first torque sensor (11) is connected with the input coupling shaft (8a) of harmonic speed reducer assembly (8) by shaft coupling (16), the output coupling shaft (8b) of harmonic speed reducer assembly (8) is connected with an end of intermediate connecting shaft (13) by shaft coupling (16), the other end of intermediate connecting shaft (13) is connected with the input shaft of the second torque sensor (14) by shaft coupling (16), the output shaft of the second torque sensor (14) is connected with the input shaft of magnetic powder brake (15) by shaft coupling (16).
2. a kind of harmonic speed reducer dynamic performance integrated test system according to claim 1, it is characterized in that: the upper surface of described base plate (1) is equiped with the horizontal guide rail (17) extending along the length direction of base plate (1), described electric machine support (2), described first sensor support (3), described harmonic speed reducer support (7), described bearing bracket (4), the corresponding horizontal guide rail in bottom (17) of described the second sensor stand (5) and described brake support frame (6) is equiped with respectively cross sliding clock (18), each cross sliding clock (18) matches with horizontal guide rail (17) respectively, the upper surface of base plate (1) is equiped with respectively Anchor plate kit (19) in side corresponding electric machine support (2), first sensor support (3), harmonic speed reducer support (7), the second sensor stand (5) and the brake support frame (6) of horizontal guide rail (17).
3. a kind of harmonic speed reducer dynamic performance integrated test system according to claim 2, it is characterized in that: each described Anchor plate kit (19) includes respectively and is installed in described base plate (1) upper surface and the vertical vertical fixed block (19a) extending, the upper end of each vertical fixed block (19a) is fitted with respectively horizontal pressure holding piece (19b), the middle part of each horizontal pressure holding piece (19b) is screwed on base plate (1) by lock screw (19c), one end portion of each horizontal pressure holding piece (19b) compresses respectively corresponding described electric machine support (2) down, described first sensor support (3), described harmonic speed reducer support (7), the bottom of described the second sensor stand (5) and described brake support frame (6), the other end of each horizontal pressure holding piece (19b) compresses respectively the upper end of corresponding vertical fixed block (19a) down.
4. a kind of harmonic speed reducer dynamic performance integrated test system according to claim 3, it is characterized in that: between the bottom of described bearing bracket (4) and described base plate (1), be equiped with hand moving device (20), hand moving device (20) includes the rocking handle mount pad (20a) that is installed in base plate (1) upper surface, rocking handle mount pad (20a) is equiped with rotatably and grips rocking handle (20b) and driven wheel, gripping rocking handle (20b) synchronizes and rotates with driven wheel, the corresponding driven wheel in bottom of bearing bracket (4) is equiped with the driving tooth bar extending along the length direction of described horizontal guide rail (17), driven wheel engages with driving tooth bar.
5. a kind of harmonic speed reducer dynamic performance integrated test system according to claim 4, it is characterized in that: described base plate (1) is equiped with respectively snubber assembly (21) in the both ends side of described horizontal guide rail (17), each snubber assembly (21) includes respectively and is installed in base plate (1) upper surface and the vertical vertical supporting piece (21a) extending, and the upper end of each vertical supporting piece (21a) is equiped with respectively buffering blob of viscose (21b) in horizontal guide rail (17) one sides.
CN201420374711.0U 2014-07-08 2014-07-08 A kind of harmonic speed reducer dynamic performance integrated test system CN203981398U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104568426A (en) * 2014-07-08 2015-04-29 蒋桂云 Comprehensive testing system for dynamic property of harmonic speed reducer
CN104634387A (en) * 2014-12-24 2015-05-20 北京泰诚信测控技术股份有限公司 Main reducer bearing rotating torque and active and passive gear pair backlash detection system
CN106289767A (en) * 2016-09-13 2017-01-04 天津沃都电气设备有限公司 A kind of robot is with high-end speed reducer drive accuracy testing platform
CN107991094A (en) * 2017-12-17 2018-05-04 成都育芽科技有限公司 A kind of industrial robot harmonic wave speed reducing machine method for testing performance
CN108204894A (en) * 2017-11-03 2018-06-26 工业和信息化部计算机与微电子发展研究中心(中国软件评测中心) A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading
CN108760291A (en) * 2018-04-11 2018-11-06 重庆理工大学 A kind of speed changer high speed motion transmission error test measurement method
CN108982104A (en) * 2018-09-13 2018-12-11 珠海格力智能装备有限公司 Test platform

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104568426A (en) * 2014-07-08 2015-04-29 蒋桂云 Comprehensive testing system for dynamic property of harmonic speed reducer
CN104568426B (en) * 2014-07-08 2017-10-03 东莞市鑫拓智能机械科技有限公司 A kind of harmonic speed reducer dynamic performance integrated test system
CN104634387A (en) * 2014-12-24 2015-05-20 北京泰诚信测控技术股份有限公司 Main reducer bearing rotating torque and active and passive gear pair backlash detection system
CN106289767A (en) * 2016-09-13 2017-01-04 天津沃都电气设备有限公司 A kind of robot is with high-end speed reducer drive accuracy testing platform
CN108204894A (en) * 2017-11-03 2018-06-26 工业和信息化部计算机与微电子发展研究中心(中国软件评测中心) A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading
CN107991094A (en) * 2017-12-17 2018-05-04 成都育芽科技有限公司 A kind of industrial robot harmonic wave speed reducing machine method for testing performance
CN108760291A (en) * 2018-04-11 2018-11-06 重庆理工大学 A kind of speed changer high speed motion transmission error test measurement method
CN108982104A (en) * 2018-09-13 2018-12-11 珠海格力智能装备有限公司 Test platform

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Inventor after: Zou Zancheng

Inventor before: Ma Quanyun

Inventor before: Ma Xinquan

Inventor before: Zou Zancheng

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