CN210322287U - Special machine for testing comprehensive performance parameters of RV reducer - Google Patents
Special machine for testing comprehensive performance parameters of RV reducer Download PDFInfo
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- CN210322287U CN210322287U CN201921166440.9U CN201921166440U CN210322287U CN 210322287 U CN210322287 U CN 210322287U CN 201921166440 U CN201921166440 U CN 201921166440U CN 210322287 U CN210322287 U CN 210322287U
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Abstract
The utility model discloses a RV speed reducer comprehensive properties parameter test special plane, which comprises a frame, the frame is equipped with moment loading servo motor, is located the test bench of moment loading servo motor below and is located the input servo motor of test bench below, the up end of test bench is equipped with the district of placing that is used for placing the speed reducer that awaits measuring, moment loading servo motor's output is towards the test bench, installs output torque speed sensor, output shaft coupling, output angle encoder and output flange on moment loading servo motor's the output, input servo motor's output is towards the test bench, and input torque speed sensor, input shaft coupling and input angle encoder are installed to input servo motor's output. Moment loading servo motor, test bench and input servo motor arrange along vertical direction, promptly the utility model discloses a vertical platform makes things convenient for the tester work, can guarantee the accuracy nature of installation again, and area is little.
Description
Technical Field
The utility model relates to a test equipment, especially a RV speed reducer comprehensive properties parameter testing special plane in the motor detection research field.
Background
The Rorentz and Brown of German creatively provides a planetary transmission mechanism with small tooth difference in 1926, which uses an epicycloid as a tooth profile curve, namely the earliest needle pendulum planetary transmission, and because one of two meshing gears adopts a needle wheel form, the transmission is also called cycloidal needle wheel planetary gear transmission. The RV transmission is a brand new transmission mode, is developed on the basis of the traditional needle pendulum planetary transmission, overcomes the defects of the common needle pendulum transmission, and has a series of advantages of small volume, light weight, large transmission ratio range, long service life, stable precision, high efficiency, stable transmission and the like.
The RV reducer comprises an RV-E series reducer and an RV-C series reducer. The RV-E series speed reducer is a 2-stage speed reducing mechanism with a built-in main bearing and flexible output mode; the RV-C series speed reducer is a 2-stage speed reducing mechanism with a hollow structure and a built-in main bearing.
With the development of automation degree in the industrial field, the use of industrial robots to replace human work has become an important development direction for continuous development of various companies. The demand for robots in China is rapidly increased every year, speed reducers which are one of three large core components of industrial robots are also researched and developed by many enterprises in China and are produced in certain batches, and in order to check that the produced speed reducers in each batch can completely meet various performance parameters and ensure that the speed reducers leave factories to be qualified, the performance parameters are required to be tested.
In the prior art, the test output end of each factory in China at present adopts a magnetic powder brake, and the magnetic powder brake can only adjust the braking torque through a controller, namely, only passively load the torque, but not actively load the torque from the output end. The method specifically comprises the following steps: the magnetic powder brake is adopted at the output end of the speed reducer to provide braking torque, the magnetic powder brake is large in size, cooling water or a water cooler is added for cooling, and otherwise, the test is inaccurate. In the prior art, the following defects also exist: the speed reducer cannot be subjected to simulated loading torque, namely, the important performance parameter of torsional rigidity cannot be tested, and the actual working environment is separated; the universality is poor, the input and the output must be coaxial, and the test cannot be carried out on a non-coaxial speed reducer; the existing testing equipment belongs to the horizontal type, the occupied area is large, the speed reducer is replaced every time for testing, the surface of the speed reducer needs to be printed and corrected, and the time is long.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a RV speed reducer comprehensive properties parameter test special plane, vertical structure, area is little.
The utility model provides a solution of its technical problem is: the utility model provides a RV speed reducer comprehensive properties parameter test special plane, includes the frame, the frame is equipped with moment loading servo motor, is located the test bench of moment loading servo motor below and is located the input servo motor of test bench below, the up end of test bench is equipped with the district of placing that is used for placing the speed reducer that awaits measuring, moment loading servo motor's output is towards the test bench, installs output torque speed sensor, output shaft coupling, output angle encoder and output flange on moment loading servo motor's the output, input servo motor's output is towards the test bench, and input torque speed sensor, input shaft coupling and input angle encoder are installed to input servo motor's output.
The special testing machine at least has the following beneficial effects: moment loading servo motor, test bench and input servo motor arrange along vertical direction, promptly the utility model discloses a vertical platform makes things convenient for the tester work, can guarantee the accuracy nature of installation again, and area is little. In addition, the utility model can directly test the torsional rigidity by the moment loading servo motor, namely, the moment loading servo motor can directly load the torque simulation load from the output end; and the torque loading servo motor can accurately control the output torque in a torque output mode.
As a further improvement of the technical scheme, a torque increasing mechanism is arranged between the output end of the torque loading servo motor and the output torque rotating speed sensor. The torque loading servo motor realizes torque increase through the torque increasing mechanism.
As a further improvement of the above technical solution, the torque-increasing mechanism is a speed reducer. The moment loading servo motor is decelerated through the reduction ratio of the speed reducer, and the moment loading servo motor is used for increasing the torque output through the speed reducer in the same ratio.
As a further improvement of the technical scheme, the torque loading servo motor external servo motion controller is connected with a brake resistor. The utility model discloses left out magnetic powder brake and cooling water circulation system, present internal producer all adopts magnetic powder brake to carry out the moment braking to the speed reducer that awaits measuring through direct current constant voltage power supply, and produced heat needs the cooling water circulation to dispel the heat the hypothermia. And the utility model discloses an external servo motion controller of moment loading servo motor and brake resistance realize this function, and the cost is far less than magnetic powder brake and water cooling system.
As a further improvement of the technical scheme, the device also comprises a temperature sensor and an acceleration sensor. The temperature sensor and the acceleration sensor can detect the temperature and the acceleration of the speed reducer to be tested, and can test multiple key performance parameters at one time.
As a further improvement of the technical scheme, the test bed further comprises a vertical adjusting mechanism driving the test bed to reciprocate along the vertical direction, the vertical adjusting mechanism comprises a vertical mounting seat, two vertical slide rails arranged on the side surface of the vertical mounting seat and a vertical screw rod arranged between the two vertical slide rails, the side surface of the test bed is arranged on the two vertical slide rails, a vertical sliding block meshed with the vertical screw rod is arranged on the side surface of the test bed, and a vertical rocking wheel is arranged at the upper end of the vertical screw rod. The vertical adjusting mechanism realizes the adjustment of the test bed along the vertical direction, can ensure the coaxiality through adjustment, and eliminate installation errors, so that the installation and the disassembly of detection personnel are facilitated in the test process.
As a further improvement of the technical scheme, the horizontal adjusting mechanism comprises an actuating vertical mounting seat and a horizontal adjusting mechanism, the horizontal adjusting mechanism comprises a horizontal adjusting rod, two horizontal sliding rails arranged on the rack and a horizontal sliding block reciprocating along the horizontal sliding rails, a horizontal gear is arranged on the side face of the horizontal sliding block, the horizontal adjusting rod is parallel to the vertical screw rod, a driving gear meshed with the horizontal gear is installed at one end of the horizontal adjusting rod, and a horizontal rocking wheel is installed at the other end of the horizontal adjusting rod. The horizontal adjusting mechanism realizes the movement of the test bed along the horizontal direction, the horizontal adjusting mechanism is matched with the vertical adjusting mechanism, the positions of the test bed in the vertical direction and the horizontal direction can be adjusted, the coaxiality can be guaranteed through adjustment, and installation errors are eliminated, so that the test bed is favorable for the installation and the disassembly of detection personnel in the test process.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.
Fig. 1 is a first schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii of the embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1-2, a special machine for testing comprehensive performance parameters of an RV speed reducer comprises a frame 10, wherein the frame 10 is provided with a torque loading servo motor 11, a test bed 16 positioned below the torque loading servo motor 11 and an input servo motor 20 positioned below the test bed 16, an upper end face of the test bed 16 is provided with a placing area for placing the speed reducer to be tested, an output end of the torque loading servo motor 11 faces the test bed 16, an output torque speed sensor 13, an output coupler 21, an output angle encoder 14 and an output connecting flange 15 are installed on an output end of the torque loading servo motor 11, an output end of the input servo motor 20 faces the test bed 16, and an output torque speed sensor 18, an input coupler 30 and an input angle encoder 17 are installed at an output end of the input servo motor 20.
Moment loading servo motor 11, test bench 16 and input servo motor 20 are arranged along vertical direction, promptly the utility model discloses a vertical platform makes things convenient for the tester work, can guarantee the accuracy nature of installation again, and area is little. In addition, the utility model can directly test the torsional rigidity by the moment loading servo motor 11, i.e. the moment loading simulation load can be directly loaded from the output end; and the torque loading servo motor 11 can accurately control the output torque in the torque output mode.
And a torque increasing mechanism 12 is arranged between the output end of the torque loading servo motor 11 and the output torque rotating speed sensor 13. The torque loading servo motor 11 achieves torque increase through the torque increasing mechanism 12.
The torque-increasing mechanism 12 is a speed reducer. The moment loading servo motor 11 is decelerated through the reduction ratio of the speed reducer, and the moment loading servo motor 11 increases torque output through the speed reducer in the same ratio. Preferably, the reduction ratio of the reducer is selected 171. The model of the speed reducer is RV 320E.
The torque loading servo motor 11 is externally provided with a servo motion controller and a brake connecting resistor. The utility model discloses left out magnetic powder brake and cooling water circulation system, present internal producer all adopts magnetic powder brake to carry out the moment braking to the speed reducer that awaits measuring through direct current constant voltage power supply, and produced heat needs the cooling water circulation to dispel the heat the hypothermia. And the utility model discloses an external servo motion controller of moment loading servo motor 11 and brake resistance realize this function, and the cost is far less than magnetic powder brake and water cooling system. The brake resistor is also called a heating resistor, and is used for consuming energy generated during braking, so that the servo motor can operate for a long time even in a locked-rotor torque state. The generated heat can consume energy through the brake resistor, and the servo motor and the servo controller cannot be burnt out due to overlarge heat. The servo motion controller needs to select the output mode to control in the torque mode. The output torque can be accurately controlled in the torque output mode, and the torque value loaded on the speed reducer to be tested can be known. And the value can be output on a display screen, so that the test record is convenient. But also to print out a torque output curve.
Also comprises a temperature sensor and an acceleration sensor. The temperature sensor and the acceleration sensor can detect the temperature and the acceleration of the speed reducer to be tested, and can test multiple key performance parameters at one time.
Still including ordering about test bench 16 along vertical direction reciprocating motion's vertical adjustment mechanism, vertical adjustment mechanism includes vertical mount pad 22, arranges two vertical slide rails in vertical mount pad 22 side and arranges the vertical lead screw 23 between two vertical slide rails, the side-mounting of test bench 16 is on two vertical slide rails, and the side-mounting of test bench 16 has the vertical slider with vertical lead screw 23 meshing, and the upper end of vertical lead screw 23 is equipped with vertical rocking wheel 24. The vertical adjusting mechanism realizes the adjustment of the test bed 16 along the vertical direction, the coaxiality can be ensured through the adjustment, and the installation error is eliminated, so that the installation and the disassembly of detection personnel are facilitated in the test process.
The horizontal adjusting mechanism comprises a horizontal adjusting rod 26, two horizontal sliding rails arranged on the rack 10 and a horizontal sliding block 25 reciprocating along the horizontal sliding rails, a horizontal gear 28 is arranged on the side face of the horizontal sliding block 25, the horizontal adjusting rod 26 is parallel to the vertical screw rod 23, a driving gear 27 meshed with the horizontal gear 28 is installed at one end of the horizontal adjusting rod 26, and a horizontal rocking wheel 29 is installed at the other end of the horizontal adjusting rod 26. The vertical mounting 22 is fixed to a horizontal slide 25. Horizontal adjustment mechanism realizes the removal of test bench 16 along the horizontal direction, and horizontal adjustment mechanism cooperates vertical adjustment mechanism, can adjust the position of 16 vertical directions of test benches and horizontal direction, can guarantee the axiality through the regulation, eliminates installation error to do benefit to the installation and the dismantlement of convenient measurement personnel in the testing process.
An input servo motor 20 is connected with an input torque and rotating speed sensor 18 through an elastic coupling 19 with zero revolving clearance, and an input coupling 30 with zero revolving clearance and an input angle encoder 17 are connected to an input gear of a speed reducer to be tested. The speed reducer to be tested is connected with a temperature sensor for testing temperature and an acceleration sensor for testing vibration. The two ends of the output connecting flange 15 are connected with a speed reducer to be tested and an output coupler 21 which has zero rotation clearance and can bear large torque, the output coupler 21 is a diaphragm type coupler, and a hollow output angle encoder 14 used for testing the rotation angle of the output end is arranged in the middle of the output connecting flange 15. The output torque and speed sensor 13 is connected with an output coupling 21, and the frame 10 is connected with a torque loading servo motor 11 for loading torque. When each item (except torsional rigidity) is tested, the servo motor at the input end runs, other testing instruments are driven to run through the zero-rotation-clearance coupler and the rigid connection of the connecting flange, and relevant testing data need to be communicated to the control cabinet and fed back to the upper surface of the platform panel in real time through the sensor value acquisition instrument and the control software. It should be noted that when the torsional rigidity is tested again, the torque motor above is required to be started to simulate the load and load the torque.
The performance test of the speed reducer to be tested comprises the following items and modes:
1. measuring the input and output torque and the rotating speed of the speed reducer to be measured: reading the value directly through a sensor;
2. measuring the output power of the speed reducer to be measured: the method comprises the steps of calculating the efficiency value according to the following formula after testing the torque and rotating speed values of an input end and an output end so as to determine the consistency of the mass production of the speed reducer;
wherein: p is Kw, (P1 is the power of the input end, P2 is the power of the output end) T is Nm, and n is rpm;
3. measuring transmission efficiency of a speed reducer to be measured, wherein the transmission efficiency of the speed reducer is η (T (out)/[ T (in) × i (speed ratio) ];
4. when any rotation angle (α) is an input angle, the difference between a theoretical output angle and an actual output angle (β) is expressed by an angular transmission error (theta er), and the angular transmission error is calculated by the following equation:
theta er is α/I- β, wherein I is the transmission ratio of the speed reducer;
5. measuring the working temperature rise of the speed reducer to be measured: directly reading through a temperature sensor;
6. mechanical vibration test of the speed reducer to be tested: the speed reducer is driven by the servo motor to do torsional vibration in the circumferential direction. Collecting relevant data through an acceleration sensor;
7. testing the torsional rigidity of the speed reducer to be tested: fixing an input shaft or an input gear of the speed reducer, applying torque to an output end of the speed reducer, enabling the speed reducer to generate corresponding torsion, and drawing a corresponding curve through software;
8. the speed reducer to be tested accelerates the test of the starting torque: the speed reducer to be tested starts necessary torque from one side of an output shaft in an idle state, and the necessary torque is directly fed back to a panel through a numerical value acquisition instrument of a torque sensor at an output end;
9. testing the no-load running torque of the speed reducer to be tested: the torque applied to the input shaft or the input gear required for operating the speed reducer without load is referred to. The no-load running torque can be obtained through a torque sensor at the input end, and the test can be carried out under the condition that the speed reducer is just installed without connecting an output end flange;
10. testing the working noise of the speed reducer: and a noise measuring instrument is arranged at a position about 1 meter away from the speed reducer body for measurement, the working noise changes of the speed reducer during no load and full load are respectively measured, and the working noise of the speed reducer is determined to be not more than 75 db.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (7)
1. The utility model provides a RV speed reducer comprehensive properties parameter test special plane which characterized in that: the test bed comprises a frame, the frame is equipped with moment loading servo motor, is located the test bed of moment loading servo motor below and is located the input servo motor of test bed below, the up end of test bed is equipped with the district of placing that is used for placing the speed reducer that awaits measuring, moment loading servo motor's output is towards the test bed, installs output torque speed sensor, output shaft coupling, output angle encoder and output flange on moment loading servo motor's the output, input torque speed sensor, input shaft coupling and input angle encoder are installed to input servo motor's output towards the test bed, input servo motor's output.
2. The RV reducer comprehensive performance parameter testing special machine as claimed in claim 1, characterized in that: and a torque increasing mechanism is arranged between the output end of the torque loading servo motor and the output torque rotating speed sensor.
3. The RV reducer comprehensive performance parameter testing special machine as claimed in claim 2, characterized in that: the torque increasing mechanism is a speed reducer.
4. The RV reducer comprehensive performance parameter testing special machine as claimed in claim 1, characterized in that: the moment loading servo motor is externally connected with a servo motion controller and a brake resistor.
5. The RV reducer comprehensive performance parameter testing special machine as claimed in claim 1, characterized in that: also comprises a temperature sensor and an acceleration sensor.
6. The special machine for testing the comprehensive performance parameters of the RV reducer according to any one of claims 1-5, characterized in that: still including ordering about the vertical adjustment mechanism of test bench along vertical direction reciprocating motion, vertical adjustment mechanism includes vertical mount pad, arranges two vertical slide rails in vertical mount pad side and arranges the vertical lead screw between two vertical slide rails, the side-mounting of test bench is on two vertical slide rails, and the side-mounting of test bench has the vertical slider with vertical lead screw meshing, and the upper end of vertical lead screw is equipped with vertical rocking wheel.
7. The RV reducer comprehensive performance parameter testing special machine as claimed in claim 6, characterized in that: still including ordering about vertical mount pad along horizontal direction reciprocating motion's horizontal adjustment mechanism, horizontal adjustment mechanism includes leveling rod, sets up two horizontal slide rails in the frame and along horizontal slide rail reciprocating motion's horizontal slider, the side of horizontal slider is equipped with the horizontal gear, the leveling rod is parallel with vertical lead screw, and the drive gear with horizontal gear meshing is installed to the one end of leveling rod, and the level is installed at the other end of leveling rod and is shaken the wheel.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110441052A (en) * | 2019-07-23 | 2019-11-12 | 清远敏实汽车零部件有限公司 | A kind of RV speed reducer comprehensive performance parameter test special plane |
| CN111537228A (en) * | 2020-05-29 | 2020-08-14 | 中国电子科技集团公司第十四研究所 | Detection method for transmission mechanism of multi-path optical fiber rotary connector |
-
2019
- 2019-07-23 CN CN201921166440.9U patent/CN210322287U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110441052A (en) * | 2019-07-23 | 2019-11-12 | 清远敏实汽车零部件有限公司 | A kind of RV speed reducer comprehensive performance parameter test special plane |
| CN111537228A (en) * | 2020-05-29 | 2020-08-14 | 中国电子科技集团公司第十四研究所 | Detection method for transmission mechanism of multi-path optical fiber rotary connector |
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