CN212458877U - Speed reducer on-line testing equipment - Google Patents
Speed reducer on-line testing equipment Download PDFInfo
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- CN212458877U CN212458877U CN202021658454.5U CN202021658454U CN212458877U CN 212458877 U CN212458877 U CN 212458877U CN 202021658454 U CN202021658454 U CN 202021658454U CN 212458877 U CN212458877 U CN 212458877U
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Abstract
The utility model discloses a speed reducer on-line testing equipment, servo motor are through the coupling joint input shaft, the input shaft is connected the input of being surveyed the speed reducer, the output shaft is connected to the output of being surveyed the speed reducer, the output shaft passes through the coupling joint stopper, all be equipped with first skew detecting element on input shaft and the output shaft, two first skew detecting element all is equipped with two laser displacement sensor, two laser sensor gathers the distance signal of output shaft and input shaft looks homonymy, first skew detecting element passes through the signal line and connects industry control computer system to the distance signal who will acquire sends to industry control computer system. The utility model discloses there is the precision height, and the uniformity is good, reliability life height etc. advantage.
Description
Technical Field
The utility model relates to a speed reducer technical field especially relates to harmonic speed reducer machine eccentric wear state on-line monitoring test equipment.
Background
The popularization of industrial robots is an effective means for realizing automatic production, improving social production efficiency and promoting the development of enterprise and social productivity. At present, the method is widely applied to the fields of automobiles, aerospace, electronics, food, new energy and the like. With the development of industrial robots becoming mature day by day, the advantages of the industrial robots are increasingly embodied and become important means for realizing industrial production automation, improving social production efficiency and promoting the development of enterprise and social productivity. In foreign countries, each technology of industrial robots has become mature, and has become a standard device which is widely concerned by the industry, and a group of international industrial robots which have great influence and become the pillar industry of the region where the international industrial robots are located are formed in succession. Some of the Alkenchu include ABB Robotics, Sweden, KUKA Roboter Gmbh, Germany, COMAU, Italy, and FANUC, Japan. In China, although the industrial robot industry is still in the stages of theoretical research and small-batch prototype trial production, the industrial robot industry has strong growth momentum and huge development space. From the 80 s of the last century, all universities and scientific research units in China have developed comprehensive research in the field of industrial robots, and have obtained extraordinary achievements in scientific research in nearly 20 years. But has not been organically integrated with the enterprise, so far, it has been an industry with influential product and scale. Particularly, corresponding part industries are not synchronously developed in the initial stage of robot development in China, so that domestic enterprises can only rely on parts imported in a matched mode in the process of robot production, and the market competitiveness of the domestic enterprises is undoubtedly weakened. Therefore, in order to realize industrialization of the industrial robot, the related parts need to be manufactured, and the joint reducer of the industrial robot is one of the important items to be developed.
The harmonic reducer and the RV reducer are two types of speed reducers which are most widely applied to joints of industrial robots at present. The harmonic reducer has the advantages of large speed ratio, stable motion, simple structure, high efficiency and the like, and is a joint speed reducing device with excellent performance. However, the harmonic reducer transmits power by the elastic deformation principle of the flexible gear, so that the harmonic reducer is accompanied with inherent defects of low rigidity, large elastic return difference, remarkable reduction of transmission precision along with the increase of service time and the like. The RV transmission is a novel multistage planetary transmission with large speed ratio developed gradually on the basis of the cycloidal pin gear transmission, compared with the existing common planetary transmission form, the reducer adopts a structural form of shared crankshaft and central disc support to form closed planetary transmission, thus not only overcoming some defects of the original cycloidal pin gear transmission, but also having much higher fatigue strength, rigidity and service life than a harmonic reducer, and having the advantages of large transmission ratio, large rigidity, high motion precision, high transmission efficiency, small return difference, stable bearing and the like, along with the increase of the service time, thereby being particularly suitable for industrial robots and other precise servo transmission systems. Compared with a harmonic reducer, the RV reducer has higher rigidity and rotation precision. Therefore, in the articulated robot, the RV reducer is generally placed at a heavy-load position such as a base, a boom, a shoulder, and the like; while the harmonic reducer is placed on the forearm, wrist or hand.
The speed reducer is used as an important transmission mechanism, has excellent comprehensive transmission performance, and is widely applied to various transmission mechanisms. However, dynamic service behaviors of the speed reducer under the action of comprehensive stress of a complex working environment and failure mechanisms of the speed reducer are not deeply researched and analyzed, and a scientific and reasonable performance and service life test method and a performance and service life reliability evaluation system are not established, so that the application of the speed reducer in the industries of aerospace, robots, ships and the like is greatly restricted.
Around the development requirement of the industrial robot on the high-precision and high-efficiency speed reducer, the accurate test of the performance parameters can be used for verifying the reliability of theoretical analysis or correcting a theoretical formula, so that the theoretical analysis tends to be accurate and complete, and the research of a prototype can be guided more reliably. Therefore, it is necessary to develop experimental research on the performance parameter detection of the speed reducer of the industrial robot. The system develops the research of the key test of the speed reducer, plays an important role in overcoming the key technical problems of the speed reducer in the aspects of digital design, manufacturing process, precision, efficiency maintenance and the like, has important engineering significance in promoting the development of industrial robot industry in China, and is lack of equipment capable of testing the harmonic speed reducer on line at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that realize one kind and can carry out real-time on-line test's equipment to the speed reducer eccentric wear state, the specially adapted harmonic speed reducer machine to reach the purpose of the eccentric wear state of real-time detection transmission shaft.
In order to realize the purpose, the utility model discloses a technical scheme be: the utility model provides a speed reducer on-line testing equipment, servo motor is through the coupling joint input shaft, the input shaft is connected the input of being surveyed the speed reducer, the output shaft is connected to the output of being surveyed the speed reducer, the output shaft passes through the coupling joint stopper, all be equipped with first skew detecting element, two on input shaft and the output shaft first skew detecting element all is equipped with two laser displacement sensor, two laser displacement sensor gathers the distance signal of output shaft and input shaft homonymy, first skew detecting element passes through signal line connection industry control computer system to the distance signal who will acquire sends to industry control computer system.
The laser displacement detection device is characterized in that second deviation detection units are further arranged on the input shaft and the output shaft, the two second deviation detection units are respectively provided with two laser displacement sensors, the two laser displacement sensors collect distance signals of the same side of the output shaft and the input shaft, the second deviation detection units are connected with an industrial control computer system through signal lines and send the obtained distance signals to the industrial control computer system, and laser beams emitted by the laser displacement sensors of the first deviation detection unit and the second deviation detection unit are perpendicular to each other.
The first deviation detection unit is located right above or right below the output shaft and the input shaft and used for collecting the deviation state of the output shaft and the input shaft in the vertical direction, and the second deviation detection unit is located on the side face of the output shaft and the side face of the input shaft and used for collecting the deviation state of the output shaft and the input shaft in the horizontal direction.
The device is provided with two rotary platforms which act on the output shaft and the input shaft respectively, the rotary platforms are provided with bearings fixed on the output shaft or the input shaft, the bearings are fixedly connected with a rack, the rack is fixedly connected with a power shaft of a motor, and the extension direction of the power shaft of the motor penetrates through the axis of the output shaft or the input shaft and is parallel to a laser beam emitted by a laser displacement sensor of the second deviation detection unit.
A round supporting plate is fixed on the rack and perpendicular to a power shaft of the motor, two electric cylinders are arranged on two sides of the round supporting plate respectively, push rods of the two electric cylinders are coaxial and contact with the side face of the supporting plate, and the electric cylinders and the motor are fixed beside an output shaft or an input shaft through supports.
And the two torque sensors are connected with an industrial control computer system through signal lines and transmit the two groups of acquired torque signals to the industrial control computer system.
The industrial control computer system comprises an interface unit for acquiring signals, a host for processing the signals, a display for displaying test data and a printer for printing the test data, wherein the host is connected with the sensor and the torsion platform through the interface unit, a video interface of the host is connected with the display screen through a data line, and a printing interface of the host is connected with the printer through the data line.
The utility model discloses with the help of laser displacement sensor's feedback, know the eccentric wear situation of transmission shaft in real time to timely torsion platform with motor through loading under the frame rectifies, improves traditional harmonic speed reducer machine owing to have the eccentric wear state can't know, shortcoming such as the unable correction of eccentric wear. The method has the advantages of high precision, good consistency, high reliability and service life and the like.
Drawings
The following brief descriptions of the contents expressed by each figure and the marks in the figures in the specification of the present invention are as follows:
FIG. 1 is a schematic diagram of the operation of an online testing device for a speed reducer;
FIG. 2 is a schematic diagram of the structure of the online testing equipment for the speed reducer;
FIG. 3 is a schematic diagram of a test normal state;
FIG. 4 is a schematic view of a test bias wear state;
FIG. 5 is a schematic diagram of a twist platform configuration;
FIG. 6 is a top view of the base of FIG. 2;
the labels in the above figures are: 1. an input shaft; 2. a frame; 3. a circular support disc; 4. a bearing; 5. an electric motor; 6. an electric cylinder; 7. a base; 8. a limiting sheet.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to explain the embodiments of the present invention in further detail, such as the shapes and structures of the components, the mutual positions and connection relationships among the components, the functions and working principles of the components, the manufacturing process, and the operation and use method, etc., so as to help those skilled in the art to understand the concept and technical solutions of the present invention more completely, accurately and deeply.
As shown in figure 1, the online test equipment for the speed reducer comprises a servo motor, an input shaft 1, an output shaft, a brake, a frequency converter, torque sensors, an industrial control computer system and an industrial control computer system, wherein the servo motor is connected with the input shaft 1 through the coupling, the input shaft 1 is connected with the input end of the tested speed reducer, the output end of the tested speed reducer is connected with the output shaft, the output shaft is connected with the brake through the coupling, the servo motor and the brake are powered through the frequency converter, the torque sensors can be arranged on the coupling connected with the input shaft 1 and the output shaft, input torque and output torque are collected respectively and used for data.
The input shaft 1 and the output shaft are both provided with first deviation detection units, preferably the first deviation detection units collect vertical deviation, each first deviation detection unit is provided with two laser displacement sensors, the two laser displacement sensors collect distance signals on the same side of the output shaft and the input shaft 1 and are generally fixed at the same height position right above the output shaft and the input shaft 1, as shown in fig. 3, the distance X between the laser displacement sensors and the output shaft and the input shaft 1 is collected, and as the positions of the laser displacement sensors are fixed, the distance X is a fixed value, namely, in a normal state, the distances measured by one group of laser displacement sensors are X1 and X2 respectively; if the output shaft and the input shaft 1 are shifted up and down, the X value of one or both of the sensors will be changed, and as shown in fig. 4, when the eccentric wear condition occurs, the distances measured by the laser displacement sensor are X3 and X4. Now using the formula
The slope k of the eccentric wear of the transmission shaft is measured, and the motor 5 drives the torsion platform to correct the eccentric wear.
In order to measure whether the deflection exists in the horizontal direction or not, the input shaft 1 and the output shaft are also provided with second deflection detection units, the two second deflection detection units are both provided with two laser displacement sensors, the two laser displacement sensors collect distance signals on the same side of the output shaft and the input shaft 1 and are generally fixed on the side surfaces of the output shaft and the input shaft 1, the distances from the side surfaces of the two laser displacement sensors to the output shaft and the input shaft 1 are also the same, and the distance Y between the two laser displacement sensors and the output shaft and the input shaft 1 is also a fixed value, namely in a normal state, the distances measured by one group of laser displacement sensors are respectively Y1 and Y2; if the output shaft and the input shaft 1 are displaced in the horizontal direction, the Y value of one or both of the sensors changes, and the company for testing the displacement is the same as the first displacement detection unit.
The first deviation detection unit and the second deviation detection unit are connected with an industrial control computer system through signal lines and send the acquired distance signals to the industrial control computer system. The industrial control computer system comprises an interface unit for acquiring signals, a host for processing the signals, a display for displaying test data and a printer for printing the test data, wherein the host is connected with the sensor and the torsion platform through the interface unit, a video interface of the host is connected with the display screen through a data line, and a printing interface of the host is connected with the printer through the data line.
The equipment is provided with two rotary platforms which act on an output shaft and an input shaft 1 (transmission shaft) respectively, the rotary platforms are provided with bearings 4 fixed on the transmission shaft, supports are fixedly connected below the bearings 4 and are suspended on the bearings 4, a rack 2 is fixedly connected with a power shaft of a motor 5, the motor 5 is arranged right below the rack 2, the extension direction of the power shaft of the motor 5 penetrates through the axis of the output shaft or the input shaft 1, the rack 2 can be driven to rotate through the rotation of the motor 5, so that the transmission shaft can be corrected and deflected in the horizontal direction, in order to improve the torque output capacity of the motor 5, the motor 5 can be connected with the rack 2 through a gear box, and the output torque is improved.
Simultaneously two rotary platform still have vertical direction correction's ability, the last rigid coupling of motor 5 has spacing piece 8, motor 5's below is equipped with base 7, be equipped with the spout on the base 7, the extending direction of spout is parallel with the axis direction of transmission axle, spacing piece 8 inserts in the spout, can swing in the spout, then frame 2, motor 5, spacing piece 8 all utilizes bearing 4 to suspend in midair on the transmission axle, in order to reduce the weight of suspending in midair, the preferred aluminum alloy material of these devices, or set up the gasket that supports spacing piece 8 bottom the spout, because spacing piece 8 is the lamellar structure, only can swing in the spout, therefore motor 5 can utilize spacing piece 8 and spout to provide reverse torsion when rotatory. Be fixed with circular supporting disk 3 in the frame 2, circular supporting disk 3 is perpendicular with motor 5 power shaft, and the both sides of circular supporting disk 3 respectively are equipped with an electronic jar 6, and the push rod of two electronic jars 6 is coaxial and contact the backup pad side, through the cooperation of two electronic jars 6, can promote circular supporting disk 3, then whole frame 2 can be along the swing of spout direction to realize the skew of vertical direction correction transmission axle. The electric motors 5 and the electric cylinders 6 of the two rotary platforms are connected with an industrial personal computer system, and the industrial personal computer system drives the two rotary platforms to work through the deflection condition of the transmission shaft.
The industrial control computer system controls the servo motor and the brake to be coaxial according to a set program, the first deviation detection unit transmits a signal obtained in real time to the industrial control computer system, when the difference value of two distance signals of two output shafts or input shafts 1 is larger than a set value, deviation occurs in the vertical direction, the two electric cylinders 6 are driven to work to push the rack 2 to deflect, the deflection direction aims at reducing the difference value, and in the working process of the electric cylinders 6, the difference value signal is fed back in real time until the difference value of the two distance signals is smaller than the set value.
Similarly, the second deviation detection unit transmits the signal acquired in real time to the industrial computer system, when the difference value between two distance signals of two output shafts or input shafts 1 is greater than a set value, deviation occurs in the horizontal direction, the motor 5 is driven to work to rotate the rack 2, the rotating direction aims at reducing the difference value, and the motor 5 feeds back the difference value signal in real time in the selection process until the difference value between the two distance signals is less than the set value.
After the equipment test is finished, the electric cylinder 6 and the electric motor 5 are driven to return to the initial positions.
Based on the system and the control method, once the eccentric wear condition of the transmission shaft occurs, the displacement difference measured by the laser displacement sensor is transmitted into the industrial control computer system, and then the motor 5 drives the torsion platform to perform eccentric wear correction. The load loaded by the tested speed reducer can be adjusted by only controlling the loading angle of the loader. The dragging equipment only supplements the power lost by the speed reducer and other parts of the test bed.
The present invention has been described above with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above-mentioned manner, and various insubstantial improvements can be made without modification to the method and technical solution of the present invention, or the present invention can be directly applied to other occasions without modification, all within the scope of the present invention.
Claims (7)
1. The utility model provides a speed reducer on-line testing equipment, servo motor are through the coupling joint input shaft, the input shaft is connected the input of being surveyed the speed reducer, the output shaft is connected to the output of being surveyed the speed reducer, the output shaft passes through coupling joint stopper, its characterized in that: the industrial control computer system is characterized in that first deviation detection units are arranged on the input shaft and the output shaft, two laser displacement sensors are arranged on the two first deviation detection units, the two laser displacement sensors collect distance signals of the same side of the output shaft and the input shaft, and the first deviation detection units are connected with the industrial control computer system through signal lines and send the obtained distance signals to the industrial control computer system.
2. The online speed reducer testing device according to claim 1, wherein: the laser displacement detection device is characterized in that second deviation detection units are further arranged on the input shaft and the output shaft, the two second deviation detection units are respectively provided with two laser displacement sensors, the two laser displacement sensors collect distance signals of the same side of the output shaft and the input shaft, the second deviation detection units are connected with an industrial control computer system through signal lines and send the obtained distance signals to the industrial control computer system, and laser beams emitted by the laser displacement sensors of the first deviation detection unit and the second deviation detection unit are perpendicular to each other.
3. The online speed reducer testing device according to claim 2, wherein: the first deviation detection unit is located right above or right below the output shaft and the input shaft and used for collecting the deviation state of the output shaft and the input shaft in the vertical direction, and the second deviation detection unit is located on the side face of the output shaft and the side face of the input shaft and used for collecting the deviation state of the output shaft and the input shaft in the horizontal direction.
4. The online speed reducer testing device according to claim 1, 2 or 3, wherein: the device is provided with two rotary platforms which act on the output shaft and the input shaft respectively, the rotary platforms are provided with bearings fixed on the output shaft or the input shaft, the bearings are fixedly connected with a rack, the rack is fixedly connected with a power shaft of a motor, and the extension direction of the power shaft of the motor penetrates through the axis of the output shaft or the input shaft and is parallel to a laser beam emitted by a laser displacement sensor of the second deviation detection unit.
5. The online speed reducer testing device according to claim 4, wherein: a round supporting plate is fixed on the rack and perpendicular to a power shaft of the motor, two electric cylinders are arranged on two sides of the round supporting plate respectively, push rods of the two electric cylinders are coaxial and contact with the side face of the supporting plate, and the electric cylinders and the motor are fixed beside an output shaft or an input shaft through supports.
6. The online speed reducer testing device according to claim 5, wherein: and the two torque sensors are connected with an industrial control computer system through signal lines and transmit the two groups of acquired torque signals to the industrial control computer system.
7. The online speed reducer testing device according to claim 6, wherein: the industrial control computer system comprises an interface unit for acquiring signals, a host for processing the signals, a display for displaying test data and a printer for printing the test data, wherein the host is connected with the sensor and the torsion platform through the interface unit, a video interface of the host is connected with the display screen through a data line, and a printing interface of the host is connected with the printer through the data line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021658454.5U CN212458877U (en) | 2020-08-11 | 2020-08-11 | Speed reducer on-line testing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021658454.5U CN212458877U (en) | 2020-08-11 | 2020-08-11 | Speed reducer on-line testing equipment |
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| CN212458877U true CN212458877U (en) | 2021-02-02 |
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| CN202021658454.5U Expired - Fee Related CN212458877U (en) | 2020-08-11 | 2020-08-11 | Speed reducer on-line testing equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029560A (en) * | 2021-03-09 | 2021-06-25 | 安徽工程大学 | Adaptive high-precision RV reducer performance testing device and control method thereof |
| CN113237655A (en) * | 2021-04-16 | 2021-08-10 | 安徽理工大学 | RV reducer delivery quality comprehensive performance quantitative detection experiment table and detection method thereof |
-
2020
- 2020-08-11 CN CN202021658454.5U patent/CN212458877U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029560A (en) * | 2021-03-09 | 2021-06-25 | 安徽工程大学 | Adaptive high-precision RV reducer performance testing device and control method thereof |
| CN113237655A (en) * | 2021-04-16 | 2021-08-10 | 安徽理工大学 | RV reducer delivery quality comprehensive performance quantitative detection experiment table and detection method thereof |
| CN113237655B (en) * | 2021-04-16 | 2021-11-16 | 安徽理工大学 | RV reducer delivery quality comprehensive performance quantitative detection experiment table and detection method thereof |
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