CN205879529U - RV reduction gear combined test stand - Google Patents

Abstract

The utility model discloses a comprehensive test bench for an RV reducer, which can test multiple performance parameters such as angle transmission error, hysteresis, torsional rigidity, service life, temperature rise, efficiency and torque of a high-precision RV reducer. It includes the base and the servo motor placed above, the linear motor, the first torque sensor, the first high-precision angle encoder, the RV reducer bracket to be tested, the mounting flange, the temperature sensor, the second torque sensor, the second high Precision angle encoders, diaphragm couplings and brakes, among which the mounting flange can be replaced, which can realize multi-type reducer testing. Compared with other test instruments, the utility model greatly improves the test efficiency and precision test accuracy, has reliable performance, good test repeatability, simple operation to replace the measured object, high installation and positioning accuracy, and low cost.

Description

A comprehensive test bench for RV reducer

technical field

The utility model relates to a comprehensive test bench for an RV reducer, which belongs to the fields of precision test and measurement technology, precision instruments and mechanical transmission.

Background technique

With the rapid development of industrial robots, RV reducers are used in the joints of industrial robots and are one of the core components of the entire robot. Its accuracy is crucial in industrial robots. Industrial robots have requirements for RV reducers such as large transmission ratio, high rigidity, high motion precision, high transmission efficiency, and small hysteresis. The performance indicators of the RV reducer include: hysteresis, angular transmission error, torsional rigidity, transmission efficiency, temperature rise, torque rigidity, etc.

When the RV reducer is widely used, it is necessary to strictly test the performance of the RV reducer, so many test platforms have been widely used. However, the existing RV reducer test device cannot guarantee the accuracy of repeated installation tests, the installation operation is more complicated, the comprehensive performance test is difficult to achieve, and the applicability to multiple types of products is not strong, resulting in low test efficiency of the entire device Not very accurate.

Utility model content

The purpose of this utility model is to provide a comprehensive test bench for RV reducer, which can test multiple performance parameters such as angle transmission error, hysteresis, torsional stiffness, life, temperature rise, efficiency and torque of high-precision RV reducer. It is novel, reasonable in structure, easy to use and install, and reliable in repeatability. It can realize multi-type testing of products and improve testing efficiency.

A comprehensive test bench for an RV reducer, including a base, on which a guide rail is provided for installing a linear motor; on the base, an RV reducer to be tested, a bracket of the RV reducer to be tested, a second angle code device bracket, the second high-precision angle encoder, the second torque sensor bracket, the second torque sensor, the brake and the brake bracket; the linear motor is respectively equipped with a servo motor, a servo motor bracket, a first torque sensor, a first torque sensor Sensor bracket, the first high-precision angle encoder, the first angle encoder bracket; the RV reducer to be tested is fixed on the RV reducer bracket to be tested through a mounting flange; the servo motor and the first torque sensor pass through The first diaphragm coupling is connected, the first torque sensor and the first high-precision angle encoder are connected through the second diaphragm coupling, and the input of the first high-precision angle encoder and the RV reducer to be tested The shaft is connected through the third diaphragm sensor, the output shaft of the RV reducer to be tested and the second high-precision angle encoder pass through the fourth diaphragm coupling, and the second high-precision angle encoder and the second torque sensor The second torque sensor is connected to the brake through the sixth diaphragm coupling; a temperature sensor is installed on the first angle encoder bracket.

The servo motor support, the first torsion sensor support and the first angle encoder support are respectively installed on the guide rails of the linear motor, so that when disassembling the RV reducer to be tested, the guide rails can be moved to free up an appropriate amount of space for easy operation and installation , to prevent repeated positioning errors.

The first torque sensor and the second torque sensor are respectively used to collect the input and output torque of the RV reducer to be tested, and the first torque sensor is also used to test and collect the actual output torque of the servo motor.

The first high-precision angle encoder and the second high-precision angle encoder are respectively used to collect the input and output angles of the RV reducer to be tested, the speed ratio of the RV reducer to be tested is known, and the collected data is processed and analyzed , the performance parameters such as angle transmission error can be obtained.

Described temperature sensor is installed on the first angle encoder support, preferably adopts infrared temperature sensor, adjusts the direction of infrared according to the model of measured object, is convenient to monitor the temperature of RV speed reducer to be tested at all times, and data collection is on the industrial computer, It is convenient to obtain the temperature rise of the RV reducer to be tested.

The bracket of the RV reducer to be tested is provided with installation positioning holes and grooves for installing flanges, and the grooves are provided with limiting grooves, which are uniformly distributed and adjacent in size. Rectangular, easy to identify the installation and positioning position, greatly improving the installation accuracy of the installation flange. Each type of RV reducer to be tested is equipped with different mounting flanges, which can be replaced to realize the test of multiple types of RV reducers.

The input and output shaft ends of the two high-precision angle encoders are connected through a diaphragm coupling, so as to prevent the high-precision angle encoder from being directly connected to the connection shaft of the torsion sensor and being subjected to the torque transmitted by the connection shaft, resulting in There is a large error between the torque angle collected by the high-precision angle encoder and the actual torque angle of the RV reducer to be tested, thus ensuring the measurement accuracy of the high-precision angle encoder.

The diaphragm coupling can compensate the axial, radial and angular offsets between the input shaft and the output shaft due to manufacturing errors, installation errors, bearing deformation, and temperature rise changes, and can accurately transmit High speed, no slip in operation, high transmission efficiency, and improved transmission accuracy.

The RV reducer comprehensive test bench of the utility model can better ensure the positioning accuracy of repeated installation of the RV reducer to be tested; it can realize multi-model and multi-performance parameter testing; the parameter data of the test can be monitored in real time, and the test data can be automatically calculated ; The test bench is easy to operate and install, compact and reasonable in structure, and has high precision.

Description of drawings

Fig. 1 is the structural representation of the utility model RV speed reducer comprehensive test bench;

Fig. 2 is a schematic structural view of the RV reducer bracket to be tested;

Fig. 3 is a frame diagram of the electrical principle of the utility model RV reducer comprehensive test bench.

detailed description

Below in conjunction with accompanying drawing and example the utility model is described further.

In the figure: 1. base, 2. linear motor, 3. servo motor, 4. servo motor bracket, 5. first diaphragm coupling, 6. first torque sensor, 7. first torque sensor bracket, 8. The second diaphragm coupling, 9, the first high-precision angle encoder, 10, the first angle encoder bracket, 11, the temperature sensor, 12, the third diaphragm sensor, 13, the RV reducer to be tested, 14, Install the flange, 15. RV reducer bracket to be tested, 1501-groove, 1502-limit groove, 16. The fourth diaphragm coupling, 18. The second high-precision angle encoder, 17. The second angle Encoder bracket, 19, the fifth diaphragm shaft coupling, 20, the second torque sensor, 21, the second torque sensor bracket, 22, the sixth diaphragm shaft coupling, 23, brake, 24, brake bracket.

As shown in Figures 1 and 2, a comprehensive test bench for an RV reducer includes a base 1, on which a guide rail is provided for installing and positioning a linear motor 2, and an RV reducer to be tested is also installed on the base 1 13. The RV reducer bracket 15 to be tested, the second angle encoder bracket 17, the second high-precision angle encoder 18, the second torque sensor bracket 21, the second torque sensor 20, the brake bracket 24 and the brake 23; Servo motor 3, servo motor support 4, first torque sensor 6, first torque sensor support 7, first high-precision angle encoder 9, first angle encoder support 10 are respectively installed on the linear motor 2; The RV reducer 13 is fixed on the RV reducer bracket 15 to be tested through the mounting flange 14, the servo motor 3 and the first torque sensor 6 are connected through the first diaphragm coupling 5, the first torque sensor 6 and the first high The precision angle encoder 9 is connected through the second diaphragm coupling 8, the input shaft of the first high-precision angle encoder 9 and the RV reducer 13 to be tested is connected through the third diaphragm sensor 12, and the input shaft of the RV reducer 13 to be tested The output shaft and the second high-precision angle encoder 18 are connected through the fourth diaphragm coupling 16, the second high-precision angle encoder 18 and the second torque sensor 20 are connected through the fifth diaphragm coupling 19, and the second torque The sensor 20 and the brake 23 are connected through the sixth diaphragm coupling 22 ; the temperature sensor 11 is installed on the first angle encoder bracket 10 .

Among them, the base 1 is provided with a plurality of guide grooves, the servo motor 3, the servo motor bracket 4, the first diaphragm coupling 5, the first torque sensor 6, the first torque sensor bracket 7, and the second diaphragm coupling 8 , the first high-precision angle encoder 9, and the first angle encoder bracket 10 are all installed on the track of the linear motor 2, which is more convenient for positioning, clamping installation, and simple operation. At the same time, it can reduce the stress concentration of the material due to the previous period and prevent A small amount of deformation occurs at the end of the installation base to avoid affecting the overall test accuracy.

In the above embodiments, the RV reducer 13 to be tested is installed on the bracket 15 of the RV reducer to be tested by installing the flange 14 , which is applicable to various types of tests. Wherein, the bracket 15 of the RV speed reducer to be tested is provided with an installation positioning hole and a groove 1501 for installing the flange 14, and there is a limit groove 1502 in the groove, and the limit groove 1502 is a rectangle evenly distributed and adjacent in size. It is convenient to identify the installation positioning position, and greatly improves the installation accuracy of the installation flange. Each type of RV reducer 13 to be tested is equipped with a mounting flange 14. When the external dimensions of each model are different, the mounting flange 14 can be replaced, thus realizing the test of multiple types of RV reducers.

In the above embodiment, the servo motor support 4, the first torsion sensor support 7 and the first angle encoder support 10 are installed on the guide rail of the linear motor 2, so that when disassembling the RV reducer 13 to be tested, by operating the industrial computer, When the signal is given, the guide rail can be precisely moved through the driver, freeing up an appropriate amount of space, which is convenient for installing the RV reducer 13 to be tested, with safe operation and simple installation. The motion guide rail is controlled by the linear motor 2, which utilizes the advantages of the linear motor to prevent accuracy errors during manual repeated operations to move the guide rail. The linear motor has compact structure, low power loss, and high rapid movement speed. By directly driving the load, it can realize high-precision position positioning control of repeated motion.

The first torque sensor 6 and the second torque sensor 20 are respectively used to collect the input and output torques of the RV speed reducer 13 to be tested. After the data is collected, the actual torque value of the input and output of the RV reducer can be calculated through the analysis and calculation of the data. The first torque sensor 6 also tests and collects the actual output torque of the servo motor 3 to verify the theoretical output torque and the actual output torque value of the servo motor. The first high-precision angle encoder 9 and the second high-precision angle encoder 18 are respectively used to collect the input and output angles of the RV reducer 13 to be tested. The speed ratio of the RV reducer 13 to be tested is known, and the collected data is processed. Through the analysis, performance parameters such as angle transmission error can be obtained.

The temperature sensor 11 is installed on the first angle encoder bracket 10, and an infrared temperature sensor is used to adjust the direction of the infrared according to the model of the measured object, so as to monitor the temperature of the RV reducer 13 to be tested at all times, and the data is collected to the industrial control system. On the machine, it is convenient to obtain the temperature rise of the RV reducer 13 to be tested.

In the RV reducer comprehensive test bench of the utility model, the linear motor can ensure the positioning accuracy of the servo motor, the first torsion sensor and the first high-precision angle sensor when the RV reducer to be tested is repeatedly installed; The integration or replacement of mounting holes can realize multi-model multi-performance parameter testing; there is a positioning groove on the bracket of the RV reducer to be tested, which is convenient for installation and positioning, and ensures its position accuracy; the parameters transmitted by the sensor data can be obtained on the industrial computer Real-time monitoring, and can automatically calculate multiple performance test data such as angular transmission error, hysteresis, torsional stiffness, efficiency, temperature rise; the test bench is safe to operate, easy to install, compact and reasonable in structure, and high in accuracy.

Claims (3)

1. A kind of RV speed reducer comprehensive test stand, it is characterized in that: comprise base, described base is provided with guide rail, is used to install linear motor; Said base is also equipped with to-be-tested RV speed reducer, to-be-tested RV speed reducer Bracket, second angle encoder bracket, second high-precision angle encoder, second torque sensor bracket, second torque sensor, brake and brake bracket; A servo motor, a servo motor bracket, a first torque sensor, a first torque sensor bracket, a first high-precision angle encoder, and a first angle encoder bracket are respectively installed on the linear motor; The RV reducer to be tested is fixed on the RV reducer bracket to be tested through a mounting flange; The servo motor and the first torque sensor are connected through a first diaphragm coupling, the first torque sensor and the first high-precision angle encoder are connected through a second diaphragm coupling, and the first high-precision angle The encoder and the input shaft of the RV reducer to be tested are connected through the third diaphragm sensor, the output shaft of the RV reducer to be tested and the second high-precision angle encoder are connected through the fourth diaphragm coupling, and the second The high-precision angle encoder is connected to the second torque sensor through the fifth diaphragm coupling, and the second torque sensor is connected to the brake through the sixth diaphragm coupling; A temperature sensor is installed on the first angle encoder bracket. 2. A comprehensive test bench for RV reducer according to claim 1, characterized in that: the bracket of the RV reducer to be tested is provided with an installation positioning hole and a groove, and the groove is provided with a limiting groove. 3. A comprehensive test bench for RV reducer according to claim 1, characterized in that: said temperature sensor is an infrared temperature sensor.