CN209802658U - RV reduction gear return difference measurement test bench - Google Patents
RV reduction gear return difference measurement test bench Download PDFInfo
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- CN209802658U CN209802658U CN201920479624.4U CN201920479624U CN209802658U CN 209802658 U CN209802658 U CN 209802658U CN 201920479624 U CN201920479624 U CN 201920479624U CN 209802658 U CN209802658 U CN 209802658U
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- reducer
- fixedly connected
- torque sensor
- output shaft
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Abstract
an RV reducer return difference measurement test bed belongs to the technical field of precision mechanical transmission. The servo motor is installed on the base through a motor frame, an output shaft of the servo motor is fixedly connected with an input shaft of a torque sensor through a first coupling, an output shaft of the torque sensor is fixedly connected with an input shaft of an angle sensor through a second coupling, an output shaft of the angle sensor fixedly penetrates through a torsional spring mechanism and is fixedly connected with an input shaft of an RV reducer, an output shaft of the RV reducer is fixedly connected with an input shaft of the torque sensor through a third coupling, an output shaft of the torque sensor is fixedly connected with an input shaft of the angle sensor through a fourth coupling, an output shaft of the angle sensor is fixedly connected with a three-jaw chuck, the three-jaw chuck is installed on the base through a three-jaw chuck support, the first torque sensor and the second torque sensor are installed on the base through torque sensor supports, and the RV; the utility model is used for detect the performance of RV reduction gear.
Description
Technical Field
the utility model relates to a RV reduction gear return difference measurement test platform belongs to precision machinery transmission technical field.
Background
The RV reducer has the characteristics of large transmission ratio, large rigidity, small return difference and the like, so that the RV reducer quickly occupies the scientific and technological advanced fields of industrial robots, aerospace and the like. The backlash and the rigidity are important performance indexes of an RV (rotate vector) reducer, and for precision robots and aviation parts, strict requirements are imposed on the backlash and the rigidity of a transmission device in order to ensure the position precision of the precision robots and the aviation parts when reciprocating motions in the same period are completed for multiple times.
The backlash is a phenomenon that an output shaft lags behind an input shaft in motion when the input shaft rotates reversely, and is inevitable due to errors in machining and assembling of parts, load and temperature variation. The commonly measured return difference of the RV reducer generally refers to an output shaft rotation angle value caused by geometrical factors such as tooth flank clearance, bearing clearance and the like in involute transmission and cycloid pinwheel transmission under the condition that 3 percent rated torque is applied to overcome internal friction and oil film resistance and all parts are in good contact.
the test is an important work indispensable in any product development and production process and is the guarantee of production quality. At present, research on the testing aspect of the return difference of the RV reducer is less, and the problems of low testing precision, low automation degree and the like exist, so that a test bed for measuring the return difference of the RV reducer is provided.
Disclosure of Invention
An object of the utility model is to provide a RV reduction gear return difference measurement test platform for detect the performance of RV reduction gear.
the purpose is achieved, the utility model adopts the following technical proposal: a test bed for measuring return difference of an RV reducer comprises a base, a servo motor, a first coupler, a first torque sensor, a second coupler, a first angle sensor, the RV reducer, a three-jaw chuck, a motor frame, a third coupler, a second torque sensor, a fourth coupler, a second angle sensor, a three-jaw chuck support, a torsion spring mechanism, an RV reducer supporting mechanism and two torque sensor supports;
The servo motor is arranged on the base through a motor frame, an output shaft of the servo motor is fixedly connected with an input shaft of a first torque sensor through a first coupling, an output shaft of the first torque sensor is fixedly connected with an input shaft of a first angle sensor through a second coupling, an output shaft of the first angle sensor fixedly penetrates out of a torsion spring mechanism and is fixedly connected with an input shaft of an RV reducer 7, an output shaft of the RV reducer is fixedly connected with an input shaft of the second torque sensor through a third coupling, an output shaft of the second torque sensor is fixedly connected with an input shaft of the second angle sensor through a fourth coupling, an output shaft of the second angle sensor is fixedly connected with a three-jaw chuck, the three-jaw chuck is arranged on the base through a three-jaw chuck support, and the first torque sensor and the second torque sensor are both arranged on the base through a, the RV reducer is installed on the base through the RV reducer supporting mechanism.
compared with the prior art, the beneficial effects of the utility model are that:
1. Because the transmission ratio of the RV reducer is large, when the return difference of the RV reducer is tested, if an input shaft is fixed, the input shaft is loaded to an output shaft, a large torque is required to be applied to an output end and is not consistent with an actual transmission route, and in addition, because the rotating angle of the output end is far smaller than that of the input end, the measurement of the angle change of the output end requires higher precision requirement on a test instrument. Therefore, the RV reducer return difference test adopts the fixed output end, loads the input end, tests the rotating angle of the input end, and divides the rotating angle by the transmission ratio to obtain the rotating angle of the output end. The loading mode of the traditional test is weight loading, wherein the weight loading is also called a successive loading method, namely, in the test process, the number of weights is gradually increased or decreased step by step to realize the loading or unloading of the torque. However, under the condition of high requirement on test accuracy, the sampling points of the hysteresis curve cannot be small, and along with the increase of the loading steps, high requirements are provided for the quantity and the quality of the whole set of weights, and the loading control mode of the weight loading method becomes complicated, so that the test efficiency is not high. The utility model provides a servo loading method is the one end of fixed reduction gear, and the other end is connected with servo motor, through servo motor's rotation, control loading capacity. Considering that the loading needs to be carried out at a low speed and a plurality of points need to be taken, the defect of the traditional loading mode is overcome by using the servo motor for loading, so that the experimental result is more accurate;
2. The utility model discloses whole thinking in the static test experiment is fixed with the output shaft of RV reduction gear, and the static moment of torsion of input shaft loading if adopt servo motor direct drive will make servo motor work for a long time in the locked-rotor state, and this is all unfavorable to servo motor's working property and whole test bench's life. Frequent replacement of the servomotors will increase the use and maintenance costs of the test stand considerably, which is not allowed in engineering practice. The problems are combined and comprehensively considered, and an elastic link-torsion spring mechanism is introduced to solve the problems, so that the torque of the servo motor is converted into static torque and is loaded into the whole static test bed system;
3. The utility model has higher requirement on the torque performance of the driving motor, has no special requirement on the power and the rotational inertia, can be selected from a servo motor with the model of 1FT7064-5AK7 of the Siemens company, has the characteristic of low-speed large-torque output, and has strong overload capacity;
4. The output shaft of the first angle sensor of the utility model is directly inserted into the inner hole of the input shaft of the RV reducer and is connected with the RV reducer through a key, thereby ensuring the precision requirement of the dynamic test experiment;
5. The utility model discloses use the three-jaw chuck, fixed firm reliable for the compact structure of whole test bench, and convenient to detach and change the RV reduction gear that detects.
drawings
fig. 1 is an axonometric view of the overall structure of the RV reducer return difference measurement test bed of the present invention;
FIG. 2 is a schematic structural view of the torsion spring mechanism shown in FIG. 1;
fig. 3 is a schematic structural view of the RV reducer support mechanism shown in fig. 1.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
Fig. 1 ~ fig. 3 shows that the utility model discloses a test bench for measuring return difference of RV reducer, which comprises a base 1, a servo motor 2, a first coupler 3, a first torque sensor 4, a second coupler 5, a first angle sensor 6, a RV reducer 7, a three-jaw chuck 8, a motor frame 9, a third coupler 13, a second torque sensor 14, a fourth coupler 15, a second angle sensor 16, a three-jaw chuck support 17, a torsion spring mechanism 11, a RV reducer support mechanism 12 and two torque sensor supports 10;
the servo motor 2 is installed on the base 1 through a motor frame 9, an output shaft of the servo motor 2 is fixedly connected with an input shaft of a first torque sensor 4 through a first coupling 3, an output shaft of the first torque sensor 4 is fixedly connected with an input shaft of a first angle sensor 6 through a second coupling 5, an output shaft of the first angle sensor 6 fixedly penetrates out of the torsion spring mechanism 11 and is fixedly connected with an input shaft of the RV reducer 7 (the output shaft of the first angle sensor 6 is directly inserted into an inner hole of the input shaft of the RV reducer 7 and is connected with the RV reducer 7 through a key, the precision requirement of a dynamic test experiment is guaranteed, in order to avoid an angle measurement error caused by adopting a transition connecting piece between the output shaft of the first angle sensor 6 and the input shaft of the RV reducer 7 as far as possible, the connection scheme of the output shaft of the first angle sensor 6 and the input shaft of the RV reducer 7 is preferably in direct-inserting, the output shaft of the second torque sensor 14 and the input shaft of the second angle sensor 16 are fixedly connected through a four-15 coupling, the output shaft of the second angle sensor 16 is fixedly connected with the three-jaw chuck 8, the three-jaw chuck 8 is installed on the base 1 through a three-jaw chuck support 17, the first torque sensor 4 and the second torque sensor 14 are installed on the base 1 through a torque sensor support 10, and the RV reducer 7 is installed on the base 1 through an RV reducer supporting mechanism 12.
The second embodiment is as follows: as shown in fig. 1 and 2, the present embodiment is further described with respect to the first embodiment, the torsion spring mechanism 11 includes an outer sleeve 11-1, an inner sleeve 11-2 and a plurality of torsion springs 11-3; the middle of the inner sleeve 11-2 is fixedly connected with an output shaft of the angle sensor I6, and the outer sleeve 11-1 and the inner sleeve 11-2 are fixedly connected through a plurality of torsion springs 11-3.
The third concrete implementation mode: as shown in fig. 1 and 2, the present embodiment is further described with respect to the second embodiment, the side walls of the outer sleeve 11-1 and the inner sleeve 11-2 are respectively and uniformly provided with eight through holes 11-4 along the circumferential direction, the number of the plurality of torsion springs 11-3 is eight, and the torsion springs are divided into two groups, and the two groups of torsion springs 11-3 are installed in the through holes 11-4 of the outer sleeve 11-1 and the inner sleeve 11-2; when the torsion spring 11-3 rotates, the diameter is reduced, the spring body is lengthened, when the torsion spring 11-3 is supported by a rod or a pipe, the best working function is achieved, and therefore the output shaft of the angle sensor I6 penetrates through the central hole of the inner sleeve 11-2.
The fourth concrete implementation mode: as shown in fig. 1 and 3, the present embodiment is further described with respect to a first embodiment, wherein the RV reducer supporting mechanism 12 includes a driving gear 12-1, a driven gear 12-2, a motor 12-3, a threaded rod 12-4, a supporting plate 12-5, a fixing frame 12-6, and a rotating shaft 12-7;
The fixing frame 12-6 is fixed on the base 1, the shell of the motor 12-3 is fixedly connected with the fixing frame 12-6, the output shaft of the motor 12-3 is fixedly connected with the upper end of the rotating shaft 12-7, the lower end of the rotating shaft 12-7 is rotatably connected with the upper end face of the base 1, the driving gear 12-1 is fixedly arranged on the outer side of the rotating shaft 12-7, the driving gear 12-1 is meshed with the driven gear 12-2, the lower end of the threaded rod 12-4 fixedly penetrates through a central hole of the driven gear 12-2 and is rotatably connected with the base 1 through a bearing, the threaded rod 12-4 is in threaded connection with the supporting plate 12-5, and the supporting plate 12-5 is used for supporting and placing the RV reducer 7.
a use method (working principle) of an RV reducer return difference measurement test bed comprises the following steps:
(1) installing an RV reducer 7 to be tested on the base 1, and adjusting an RV reducer supporting mechanism 12 to enable an input shaft and an output shaft of the RV reducer 7 to be on the same axis with other hardware;
(2) the output end of the RV reducer 7 is locked by a three-jaw chuck 8, and the servo motor 2 is loaded at the input end, so that the torque of the output end is gradually increased from 0 to a rated torque N2;
(3) recording the input torque N1 at this time, the input is unloaded;
(4) The three-jaw chuck 8 is locked, the input end is positively loaded, and the torque of the input end is gradually increased to N1;
(5) The servo motor 2 is loaded reversely, so that the torque of the input end is gradually reduced to 0, and the continuous loading is carried out, so that the torque of the input end is gradually increased to-N1;
(6) The servo motor 2 is loaded in the positive direction again, so that the torque of the input end is gradually reduced from-N1 to 0, and the operation is stopped;
(7) Recording input angle with torque ""and processing the data and drawing a hysteresis curve.
The utility model provides a fixed output, input loading, the test mode of test input corner through input/output moment of torsion corresponding relation and the conversion of input/output angle corresponding relation, handles RV reduction gear data. The RV reducer return difference curve fitting analysis model is tested by taking a certain reducer as an object, the return difference curve of the reducer is obtained, the return difference performance of the reducer is obtained according to data analysis and meets the index, and the result shows that the test system of the test bed is reasonable.
The utility model discloses the servo motor that uses can be selected from the siemens company, and torque sensor can be selected from beijing wonderman company, and angle sensor can be selected from the sea derham company, and the three-jaw chuck can be selected from the huohehao dong company, and the specific model of all hardware need be according to the model of waiting to detect the RV reduction gear and decide.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other forms of embodiment without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. The utility model provides a RV reduction gear return difference measurement test platform which characterized in that: the device comprises a base (1), a servo motor (2), a first coupling (3), a first torque sensor (4), a second coupling (5), a first angle sensor (6), an RV reducer (7), a three-jaw chuck (8), a motor frame (9), a third coupling (13), a second torque sensor (14), a fourth coupling (15), a second angle sensor (16), a three-jaw chuck support (17), a torsion spring mechanism (11), an RV reducer supporting mechanism (12) and two torque sensor supports (10);
The servo motor (2) is installed on the base (1) through the motor frame (9), the output shaft of the servo motor (2) and the input shaft of the first torque sensor (4) are fixedly connected through the first coupler (3), the output shaft of the first torque sensor (4) and the input shaft of the first angle sensor (6) are fixedly connected through the second coupler (5), the output shaft of the first angle sensor (6) fixedly penetrates out of the torsion spring mechanism (11) and is fixedly connected with the input shaft of the RV reducer (7), the output shaft of the RV reducer (7) and the input shaft of the second torque sensor (14) are fixedly connected through the third coupler (13), the output shaft of the second torque sensor (14) and the input shaft of the second angle sensor (16) are fixedly connected through the fourth coupler (15), the output shaft of the second angle sensor (16) is fixedly connected with the three-jaw chuck (8), three-jaw chuck (8) are installed on base (1) through three-jaw chuck support (17), and torque sensor (4) and torque sensor two (14) are all installed on base (1) through torque sensor support (10), RV reduction gear (7) are installed on base (1) through RV reduction gear supporting mechanism (12).
2. The RV reducer return difference measurement test stand of claim 1, characterized in that: the torsion spring mechanism (11) comprises an outer sleeve (11-1), an inner sleeve (11-2) and a plurality of torsion springs (11-3); the middle of the inner sleeve (11-2) is fixedly connected with an output shaft of the angle sensor I (6), and the outer sleeve (11-1) is fixedly connected with the inner sleeve (11-2) through a plurality of torsion springs (11-3).
3. The RV reducer return difference measurement test stand of claim 2, characterized in that: the side walls of the outer sleeve (11-1) and the inner sleeve (11-2) are uniformly provided with eight through holes (11-4) along the circumferential direction, the number of the torsion springs (11-3) is eight, the torsion springs are equally divided into two groups, and the two groups of torsion springs (11-3) are arranged in the through holes (11-4) of the outer sleeve (11-1) and the inner sleeve (11-2).
4. The RV reducer return difference measurement test stand of claim 1, characterized in that: the RV reducer supporting mechanism (12) comprises a driving gear (12-1), a driven gear (12-2), a motor (12-3), a threaded rod (12-4), a supporting plate (12-5), a fixing frame (12-6) and a rotating shaft (12-7);
the fixed mount (12-6) is fixed on the base (1), the shell of the motor (12-3) is fixedly connected with the fixed mount (12-6), the output shaft of the motor (12-3) is fixedly connected with the upper end of the rotating shaft (12-7), the lower end of the rotating shaft (12-7) is rotatably connected with the upper end surface of the base (1), a driving gear (12-1) is fixedly arranged on the outer side of the rotating shaft (12-7), the driving gear (12-1) is meshed with a driven gear (12-2), the lower end of the threaded rod (12-4) fixedly penetrates through the central hole of the driven gear (12-2) and is rotationally connected with the base (1), the threaded rod (12-4) is in threaded connection with the supporting plate (12-5), and the supporting plate (12-5) is used for supporting and placing the RV reducer (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920479624.4U CN209802658U (en) | 2019-04-10 | 2019-04-10 | RV reduction gear return difference measurement test bench |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920479624.4U CN209802658U (en) | 2019-04-10 | 2019-04-10 | RV reduction gear return difference measurement test bench |
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| Publication Number | Publication Date |
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| CN209802658U true CN209802658U (en) | 2019-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920479624.4U Expired - Fee Related CN209802658U (en) | 2019-04-10 | 2019-04-10 | RV reduction gear return difference measurement test bench |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883697A (en) * | 2019-04-10 | 2019-06-14 | 苏州鼎智瑞光智能科技有限公司 | A kind of RV retarder return difference measuring test-bed |
| CN115560975A (en) * | 2022-11-09 | 2023-01-03 | 山东海鲲数控设备有限公司 | Reliability test equipment for elastic chuck of numerical control machine tool |
-
2019
- 2019-04-10 CN CN201920479624.4U patent/CN209802658U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883697A (en) * | 2019-04-10 | 2019-06-14 | 苏州鼎智瑞光智能科技有限公司 | A kind of RV retarder return difference measuring test-bed |
| CN115560975A (en) * | 2022-11-09 | 2023-01-03 | 山东海鲲数控设备有限公司 | Reliability test equipment for elastic chuck of numerical control machine tool |
| CN115560975B (en) * | 2022-11-09 | 2023-03-21 | 山东海鲲数控设备有限公司 | Reliability test equipment for elastic chuck of numerical control machine tool |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191217 Termination date: 20200410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |