CN209311083U - RV retarder life cycle management precision degradation testing device - Google Patents
RV retarder life cycle management precision degradation testing device Download PDFInfo
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- CN209311083U CN209311083U CN201822254662.8U CN201822254662U CN209311083U CN 209311083 U CN209311083 U CN 209311083U CN 201822254662 U CN201822254662 U CN 201822254662U CN 209311083 U CN209311083 U CN 209311083U
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- retarder
- life cycle
- cycle management
- testing device
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Abstract
The utility model discloses a kind of RV retarder life cycle management precision degradation testing devices.The slide plate driven by driving mechanism is set on plate；It is fixed with mounting bracket on slide plate, and is fixed with servo motor and RV retarder to be tested in mounting bracket, the output end of servo motor is connect with the input terminal of RV retarder；It is further fixed on bearing bracket on plate, there are left risers and right risers on bearing bracket, bearing assembly and encoder are installed in left risers, output flange is set to left risers and is capable of fixing transmission close to RV retarder side, and after the two contact；Loading axis is equipped with by bearing assembly in right risers, output flange axis is connect by shaft coupling with loading axis one end after passing through bearing assembly and encoder inner hole, and the loading axis other end is connected with the load bar with counterweight.The utility model can carry out real-time tracking test to retarder driving error in the fatigue life test complete period, can also test the driving error under retarder receiving varying load condition.
Description
Technical field
The utility model relates to a kind of test devices, more particularly to a kind of for testing RV retarder life cycle management essence
Spend the test device degenerated.
Background technique
RV retarder has small in size, light-weight, gear range as most important joint of robot retarder
Greatly, the series of advantages such as bearing capacity height, high, the high-efficient, stable drive of precision.The quality of its transmission performance directly affects industry
The overall performance of robot.
With the continuous improvement of industrial production automation and precise treatment degree, the demand of industrial robot is quicklyd increase,
It is just more important to develop and develop high performance retarder.Nothing is concentrated on for the equipment of RV retarder drive error testing at present
It carries, the single measurement of even load acquisition driving error, is still directed in RV retarder fatigue life test process without a kind of to transmission
The test equipment of error progress real-time and accurate measurement.
Summary of the invention
For the utility model for certain or certain defects in the prior art, it is right during a kind of variable load fatigue test to provide
The test macro that RV retarder life cycle management precision degenerate case is studied.
In order to solve the above-mentioned technical problem, the utility model is addressed by following technical proposals:
RV retarder life cycle management precision degradation testing device, it includes plate, be provided on plate guide rail and with
Guide rail cooperation constitutes the sliding block of sliding pair, and sliding block is fixedly arranged above horizontal slide plate；Slide plate side, which is fixed with, drives slide plate edge to lead
The driving mechanism of rail direction sliding；Mounting bracket is fixed on the slide plate, and be fixed in mounting bracket servo motor and
The output end of RV retarder to be tested, servo motor is connect with the input terminal of RV retarder, the glide direction of the sliding pair
It is identical as RV retarder axis direction；It is further fixed on bearing bracket on the plate, there are left risers on bearing bracket
And right risers, bearing assembly and encoder are installed in the left risers, output flange is set to left risers close to RV retarder
Side, and it is coaxial with the output end of RV retarder, transmission is capable of fixing after contacting the two；Pass through bearing group in the right risers
Part is equipped with loading axis, and output flange axis passes through shaft coupling and load after passing through bearing assembly and encoder inner hole in left risers
The connection transmission of axis one end, the loading axis other end are connected with the load bar with counterweight.
Preferably, the driving mechanism is gear & rack structure, middle rack is fixed on slide plate side, and gear passes through
Axis and bearing are fixed on plate, and wheel and rack constitutes transmission cooperation.
Further, the gear has handwheel driving rotation.
Preferably, the left risers and right risers center on bearing bracket open up circular hole, axis is respectively set in circular hole
Bearing assembly constitutes twin spans supporting bearing base.
Preferably, the counterweight is set to the end of load bar.
Preferably, the guide rail has two, and be parallel to each other, the flat plate bottom by least 4 pieces of sliding blocks into
Row smooth sliding.
Preferably, the servo motor, RV retarder, output flange, encoder, shaft coupling, loading axis are coaxial
Setting.
Preferably, the flat plate bottom is set up on bracket.
Preferably, the sliding pair is equipped with the locking device of limit slippage.
Preferably, Plane of rotation of the load bar under loading axis drive is vertical with loading axis axis direction.
The utility model in terms of existing technologies, has the advantages that
1) the utility model using the compositions such as guide rail, sliding block, slide plate, locking device, handwheel and rack-and-pinion can
The sliding equipment moved axially adjusts axial mounting distance, convenience and high-efficiency according to the difference of retarder model.
2) clump weight of the utility model passes through counterweight and centre of gyration distance during own wt and circular motion
Variation, to retarder apply alternating load, the drive error testing under varying load condition can be carried out.
3) the utility model utilizes servo motor itself encoder, cooperates with peripheral hardware encoder, carries out driving error measurement,
Structure is simple.
4) the utility model can synchronize the uninterrupted real-time testing for carrying out driving error while fatigue life test,
Whole process avoids retarder, encoder etc. and repeats dismounting to accuracy testing, fatigue life without dismantling to retarder
The influence of test result, test result are more accurate.
Detailed description of the invention
Fig. 1 is RV retarder life cycle management precision degradation testing device side view；
Fig. 2 is RV retarder life cycle management precision degradation testing device axonometric drawing；
Fig. 3 is RV retarder life cycle management precision degradation testing device top view；
Fig. 4 is the assembling schematic diagram of bearing bracket and other assemblies；
In figure: plate 1, guide rail 2, sliding block 3, handwheel 4, servo motor 5, RV retarder 6, mounting bracket 7, output method
Orchid 8, bearing bracket 9, encoder 10, shaft coupling 11, loading axis 12, load bar 13, counterweight 14, gear & rack structure 15, branch
Frame 16, locking device 17, slide plate 18.
Specific embodiment
The utility model is further elaborated and is illustrated with reference to the accompanying drawings and detailed description.In the utility model
The technical characteristic of each embodiment can carry out the corresponding combination under the premise of not conflicting with each other.
As shown in Figures 1 to 3, a kind of RV retarder life cycle management precision degradation testing device of the utility model, it is wrapped
Include plate 1, guide rail 2, sliding block 3, handwheel 4, servo motor 5, RV retarder 6, mounting bracket 7, output flange 8, bearing block
Bracket 9, encoder 10, shaft coupling 11, loading axis 12, load bar 13, counterweight 14, gear & rack structure 15, bracket 16, locking dress
Set 17, slide plate 18.
Wherein, 1 bottom shelf of plate is set on bracket 16, and in order to operate, plate 1 itself should have certain counterweight,
It is set to keep homeostasis not shake during the test.It is provided with two parallel guide rails 2 on plate 1, has on every guide rail 2
There are two pieces of sliding blocks 3, sliding block 3 and the cooperation of guide rail 2 constitute sliding pair.1 bottom shelf of plate is set on 4 pieces of sliding blocks 3, is carried out with sliding block flat
Stable sliding is dynamic.18 side of slide plate is fixed with the driving mechanism for driving slide plate 18 to slide along 2 direction of guide rail.Driving mechanism can be any
The equipment that can be driven, but consider easy to use and manufacturing cost, using gear & rack structure 15 in the present embodiment.Its
Middle rack is fixed on 18 side of slide plate, and gear is fixed on plate 1 by axis and bearing, can rotate, and wheel and rack is nibbled
It closes and constitutes transmission cooperation.Gear has the driving rotation of handwheel 4, can rotate with moving gear when rotating handwheel, and then drive
Rack gear and slide plate 18 are moved along sliding block 3.The mounting bracket 7 of L-type is fixed on slide plate 18, and on the facade of mounting bracket 7
It is fixed with servo motor 5 and RV retarder 6 to be tested, the output end of servo motor 5 is connect with the input terminal of RV retarder 6,
RV retarder 6 is driven by motor.Since the model of retarder is different, size is also different, therefore by slide plate
18 and top carry equipment can integrally move, to adapt to various sizes of retarder.Therefore, it is necessary to guarantee sliding pair
Glide direction is identical as 6 axis direction of RV retarder, i.e. the laying direction of guide rail 2 is identical as 6 axis direction of RV retarder.It is leading
Bearing bracket 9 is further fixed on the plate 1 of 2 one end of rail, 9 bottom of bearing bracket is fixed, and top has left risers and the right side vertical
Plate, left risers and right risers center on bearing bracket 9 open up circular hole, bearing assembly are respectively set in circular hole, constitute double
Across supporting bearing base.Bearing assembly and encoder 10 are installed, output flange 8 is set to left risers and slows down close to RV in left risers
6 side of device, and it is coaxial with the output end of RV retarder 6.After being adjusted to position by sliding pair, output flange 8 and RV subtracts
Fast device 6 is bonded, and is fastened by screw, therefore the two is capable of fixing transmission.It is equipped with and is added by bearing assembly in right risers
Axis 12 is carried, output flange axis passes through shaft coupling 11 and loading axis 12 after passing through 10 inner hole of bearing assembly and encoder in left risers
One end connection transmission.Servo motor 5, RV retarder 6, output flange 8, encoder 10, shaft coupling 11, loading axis 12 are coaxially set
It sets.12 other end of loading axis is connected with the load bar 13 with counterweight 14.Counterweight 14 is set to the end of load bar 13, Er Qiejia
It is vertical with 12 axis direction of loading axis to carry Plane of rotation of the bar 13 under the drive of loading axis 12.Clump weight passes through own wt, with
And during circular motion clump weight and centre of gyration distance variation, to retarder apply variation load.
The engine bench test of usual retarder driving error mostly uses no-load or even load, and RV retarder is in use
Because of the continuous variation of mechanical arm position posture, each joint speed reducer bears live load more, tests under no-load, even load state
The driving error of RV retarder not can accurately reflect the real-time driving error data of retarder in actual use, this
Utility model reduces robot single joint operating status, and test process applies alternating load, and test result can more reflect reality
Situation.
In addition, limitation slide plate 18 no longer slides in order to after adjusting in place, need to be equipped with limit slippage on sliding pair
Locking device 17.The type of locking device can choose diversified forms, such as by opening on two components for constituting sliding pair
If a series of pin holes, limit then is fixed by being inserted into pin, or component is passed through one of by compression bar and with can
The form of release compresses branch and peaks on another component, forms temporary spacing.Any feasible locking limit method can answer
For in the utility model, without limitation.
Below based on above-mentioned test device, a kind of RV retarder life cycle management precision degeneration survey using the device is introduced
Method for testing, comprising the following steps:
1) after RV retarder 6 is installed, specified or counterweight 14 greater than rated weight is installed in 13 end of load bar, is watched
Taking motor 5 drives entire mechanism to carry out forward and reverse 360 ° of rotary motions, and the counterweight 14 for being connected to 13 end of load bar is doing 360 °
Since the distance to the centre of gyration constantly changes during rotary motion, apply the torque of variation to retarder；
2) by the angular encoder built in servo motor 5, and it is mounted on the angle volume of 9 left side vertical plate of bearing bracket
When code device 10 obtains the input of RV retarder 6, the operation of output end single direction, value of angular displacement within the scope of 360 °, in 360 ° of periods
Theoretical output angle subtract reality output angle maximum value be a cycle maximum driving error；
3) RV retarder 6 continuous service 6000 or 6000 hours or more in a fully loaded state, record every group of positive and negative rotation respectively
The driving error data in period draw the curve that forward and reverse driving error changes over time respectively, and it is complete to obtain tested RV retarder 6
Life cycle transmission accuracy deterioration law.
It is described below in detail where the advantage of the utility model, so that those skilled in the art more fully understand that this is practical new
The essence of type.Traditional engine bench test retarder driving error is mostly that retarder inputs, output end respectively sets encoder, theory output
The actual angle that angle subtracts output coder record is driving error, has objectively responded the transmission accuracy situation of retarder.
Because setting encoder scheme before routine, it need to additionally increase transition axis, shaft coupling etc., the precision of transition axis, shaft coupling, encoder
Installation accuracy can impact test result.The utility model eliminates the encoder of front end setting, directly uses servo
Electric machine built-in encoder is measured with the cooperation of peripheral hardware encoder, and retarder input gear axle is directly installed on motor shaft, with
Rack-mount retarder planetary gear engagement driving retarder operating, simplifies structure, not only precision has a distinct increment, and surveys
The repeatability of test result is also preferable, and concrete outcome see the table below 1 test data.
The identical operating condition underdrive error testing data with 1 40E of table 1
In addition, traditional scheme fatigue life test and drive error testing separately carry out, retarder, encoder not can avoid
Test result is impacted Deng the systematic error generated in repeating disassembly process, is embodied as repeating that measurement accuracy is installed
Variation range is larger, it is contemplated that RV retarder is high-accuracy drive apparatus, and influence of the systematic error to test result has surpassed
The result of variations of retarder precision cyclical regression is gone out, therefore can not judge that the degeneration of retarder complete period precision still subtracts
Speed thinks highly of the variation of test result caused by multiple installation.The utility model carries out precision degradation experiment, and test process need to only start to pacify
Dress is primary, and avoiding being dismounted for multiple times influences the discreteness of test result, and test result is more accurate, efficient.In addition match and close
Position machine, driving error can be missed in (6000 hours or more) uninterrupted real-time measurement, the forward and reverse transmission of drafting in a long time
The precision change curve of difference over time, it is intuitive to reflect precision deterioration law.Following table be two schemes with 24 hours for the period
The life cycle management precision degradation experiment data of progress: wherein scheme one is the utility model experimental rig testing scheme, data
For every each one group of 360 ° of driving error maximum value datas of extraction positive and negative rotation in 24 hours；Scheme two is to tear open after fatigue test 24 hours
It unloads retarder and is installed to drive error testing rack, be reinstalled tired rack progress fatigue life examination after testing driving error
It tests.From test data in table 2: the utility model testing stand forward and reverse driving error after retarder testing fatigue 24 hours
More first inspection is reduced, and is increased slightly over time later, is substantially conformed to precision deterioration law.And traditional scheme 288 is small
When interior forward and reverse driving error maximum value, the difference of minimum value be respectively 12.4arc.sec., 14arc.sec., test result is discrete
Property larger, no evident regularity, preliminary analysis is to repeat the systematic error that installation test generates to affect the test knot of driving error
Fruit.
The identical operating condition underdrive error degradation testing data with 2 40E of model of table 2
Embodiment described above is a kind of preferable scheme of the utility model, and so it is not practical to limit
It is novel.Those of ordinary skill in related technical field can be in the case where not departing from the spirit and scope of the utility model
It makes a variety of changes and modification.Therefore all mode technical solutions obtained for taking equivalent substitution or equivalent transformation, all fall within
In the protection scope of the utility model.
Claims (10)
1. a kind of RV retarder life cycle management precision degradation testing device, it is characterised in that: including plate (1), on plate (1)
It is provided with guide rail (2) and cooperates the sliding block (3) for constituting sliding pair with guide rail (2), sliding block (3) is fixedly arranged above horizontal slide plate
(18)；Slide plate (18) side is fixed with the driving mechanism for driving slide plate (18) to slide along guide rail (2) direction；The slide plate (18)
On be fixed with mounting bracket (7), and be fixed with servo motor (5) and RV retarder (6) to be tested in mounting bracket (7), watch
The output end for taking motor (5) is connect with the input terminal of RV retarder (6), the glide direction of the sliding pair and RV retarder (6)
Axis direction is identical；Be further fixed on bearing bracket (9) on the plate (1), on bearing bracket (9) have left risers and
Right risers are equipped with bearing assembly and encoder (10) in the left risers, and output flange (8) is set to left risers and subtracts close to RV
Fast device (6) side, and it is coaxial with the output end of RV retarder (6), transmission is capable of fixing after contacting the two；In the right risers
It is equipped with loading axis (12) by bearing assembly, output flange axis passes through the bearing assembly and encoder (10) inner hole in left risers
Transmission, loading axis (12) other end and the load for having counterweight (14) are connect with loading axis (12) one end by shaft coupling (11) afterwards
Bar (13) is connected.
2. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: the drive
Motivation structure is gear & rack structure (15), and middle rack is fixed on slide plate (18) side, and gear is fixed on flat by axis and bearing
On plate (1), and wheel and rack constitutes transmission cooperation.
3. RV retarder life cycle management precision degradation testing device as claimed in claim 2, it is characterised in that: the tooth
Wheel has handwheel (4) driving rotation.
4. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: bearing block branch
Left risers and right risers center on frame (9) open up circular hole, and bearing assembly is respectively set in circular hole, constitute twin spans spring bearing
Seat.
5. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described matches
Weight (14) is set to the end of load bar (13).
6. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described leads
Rail (2) has two, and is parallel to each other, and the plate (1) bottom carries out smooth sliding by least 4 pieces of sliding blocks (3).
7. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described watches
Motor (5), RV retarder (6), output flange (8), encoder (10), shaft coupling (11), loading axis (12) is taken to be coaxially disposed.
8. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described is flat
Plate (1) bottom shelf is set on bracket (16).
9. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: the cunning
The dynamic secondary locking device (17) for being equipped with limit slippage.
10. RV retarder life cycle management precision degradation testing device as described in claim 1, it is characterised in that: described
Plane of rotation of the load bar (13) in the case where loading axis (12) drive is vertical with loading axis (12) axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822254662.8U CN209311083U (en) | 2018-12-29 | 2018-12-29 | RV retarder life cycle management precision degradation testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822254662.8U CN209311083U (en) | 2018-12-29 | 2018-12-29 | RV retarder life cycle management precision degradation testing device |
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| Publication Number | Publication Date |
|---|---|
| CN209311083U true CN209311083U (en) | 2019-08-27 |
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| CN201822254662.8U Active CN209311083U (en) | 2018-12-29 | 2018-12-29 | RV retarder life cycle management precision degradation testing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN117268739A (en) * | 2023-11-22 | 2023-12-22 | 西安蓝天维特航空科技有限公司 | Helicopter tail speed reducer casing fatigue test device |
-
2018
- 2018-12-29 CN CN201822254662.8U patent/CN209311083U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN117268739A (en) * | 2023-11-22 | 2023-12-22 | 西安蓝天维特航空科技有限公司 | Helicopter tail speed reducer casing fatigue test device |
| CN117268739B (en) * | 2023-11-22 | 2024-04-02 | 西安翼为航空科技有限公司 | Helicopter tail speed reducer casing fatigue test device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201026 Address after: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan City, Taizhou City, Zhejiang Province Patentee after: Zhejiang environmental Robot Joint Technology Co.,Ltd. Address before: 317600 Shengyuan Road, Yuhuan City, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG SHUANGHUAN DRIVELINE Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan City, Taizhou City, Zhejiang Province Patentee after: Zhejiang Huandong Robot Joint Technology Co.,Ltd. Address before: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan City, Taizhou City, Zhejiang Province Patentee before: Zhejiang environmental Robot Joint Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |