CN212903896U

CN212903896U - Speed reducer performance testing device

Info

Publication number: CN212903896U
Application number: CN202022348133.1U
Authority: CN
Inventors: 叶振良; 李家晖; 刘啟惠; 李子龙; 杨医华; 周文
Original assignee: Borunte Robot Co Ltd
Current assignee: Borunte Robot Co Ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2021-04-06
Anticipated expiration: 2030-10-20

Abstract

A performance testing device for a speed reducer comprises a movable unit, a testing unit, a load simulating unit and a connecting unit, wherein the movable unit is used for driving a driving motor and the speed reducer to be tested to move; the load simulation unit includes a transmission having a low-speed end as an input end facing the movable unit and a brake connected to a high-speed end of the transmission. Compared with the prior art, the utility model discloses a speed reducer capability test device can test the great speed reducer of output torque.

Description

Speed reducer performance testing device

Technical Field

The utility model relates to a product performance test field especially relates to a speed reducer capability test device.

Background

More and more mechanical devices currently use speed reducers to achieve precise transmission. Particularly, in order to improve the automation degree, robots are increasingly commonly used nowadays, and speed reducers play a great role in controlling the precise movement of joints of the robots. For the robot joint, performance requirements such as large transmission ratio, large rigidity, high motion precision, high transmission efficiency, small return difference and the like need to be met, so that the following performance indexes need to be detected for a speed reducer installed at the robot joint: transmission precision, rated torque, reduction ratio, backlash size and the like.

In order to detect the performance of the speed reducer, various performance testing devices are provided in the prior art. Referring to fig. 1, a patent with application number 201921810486.X discloses a robot speed reducer testing bench, which comprises a base 1, a speed reducer bracket 2 arranged on the base 1, an input motor 3, an input bearing seat 4, an input angle encoder 5, an output bearing seat 6, an output angle encoder 7 and a load motor 8. The input motor 3 is connected with the input angle encoder 5 through a coupler, and the output angle encoder 7 is connected with the load motor 8 through a coupler. During detection, the input end and the output end of a speed reducer to be detected (not shown in the figure) are respectively connected with the input angle encoder 5 and the output angle encoder 7, and the input angle encoder 5 and the output angle encoder 7 detect the input end and the output end of the speed reducer to be detected to acquire relevant data for calculating the performance of the speed reducer by adjusting the power of the input motor 3 and the power of the load motor 8.

Along with the wider application range of the robot, the load of the robot is larger and larger, so that the required load capacity of the speed reducer is larger and larger, and the torque output by the speed reducer is larger and larger. As can be seen from the robot speed reducer test bench structure, the load size depends on the intensity and the power of the load motor in a mode of simulating the load by the motor. In order to detect the speed reducer with the output torque increasing day by day, a motor with larger power is needed for simulation, so that the cost is increased, and the motor is easily damaged when the speed reducer outputs larger torque during load simulation.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a speed reducer capability test device of the great output torque of test.

The utility model discloses a following scheme realizes:

a performance testing device for a speed reducer comprises a movable unit, a testing unit, a load simulating unit and a connecting unit, wherein the movable unit is used for driving a driving motor and the speed reducer to be tested to move; the load simulation unit includes a transmission having a low-speed end as an input end facing the movable unit and a brake connected to a high-speed end of the transmission.

Compared with the prior art, the utility model discloses a speed reducer capability test device uses the variable-speed motor to replace the motor and carries out the load simulation to the cooperation stopper can bear great moment of torsion, thereby realizes enlarging application range to the test of the speed reducer of exporting the big moment of torsion.

Further, the movable unit comprises a sliding assembly, a motor mounting frame and a speed reducer mounting frame; the sliding assembly comprises a mounting plate capable of sliding towards the load simulation unit and a lead screw in threaded connection with the mounting plate; the motor mounting rack and the speed reducer mounting rack are respectively mounted on the same side face of the mounting plate, and the speed reducer mounting rack is located between the motor mounting rack and the load simulation unit; the axis direction of the lead screw is parallel to the sliding direction of the mounting plate. The distance between the speed reducer mounting frame and the load simulation unit is adjusted through the sliding mounting plate, and therefore the speed reducers with different sizes are mounted.

The movable unit, the load simulation unit, the connection unit and the test unit are all arranged on the side face of the same side of the base; the sliding assembly further comprises a fixing ring movably clamped on the lead screw to limit the lead screw to rotate, and the fixing ring is fixed with the base. The screw rod can be locked by the fixing ring in the testing process, so that the mounting plate is prevented from sliding due to rotation of the screw rod, the testing result is influenced, and the testing accuracy is improved.

Further, the sliding assembly also comprises a handle arranged at the tail end of the lead screw far away from the mounting plate; the fixed ring is arranged between the handle and the mounting plate. The handle is convenient for rotate the lead screw, conveniently adjusts the sliding distance of mounting panel.

Further, the transmission is a helical gear reducer, and a low-speed end of the transmission faces the reducer mounting frame; the brake is a magnetic powder brake.

Further, the connecting unit comprises an input shaft used for connecting a driving motor and a speed reducer to be tested, an input flange fixed on the speed reducer mounting frame, an output flange connected with the output end of the speed reducer to be tested, an output shaft connected between the output flange and the load simulation unit and a support frame supporting the output shaft. Different input shafts and input flanges can be replaced according to the type of the speed reducer to be tested, and the test device is suitable for testing various speed reducers.

Further, an angular contact bearing is arranged in the speed reducer mounting frame to support the input shaft; a deep groove ball bearing is arranged in the supporting frame to support the output shaft. Because the angular contact bearing is suitable for supporting high-speed rotating objects, and the deep groove ball bearing can bear axial and radial loads, the two bearings can be used in a combined mode to improve the stability of the output shaft and the output shaft.

Further, the test unit includes a first torque sensor for detecting an output torque of the drive motor and a second torque sensor connected between the output shaft and the input end of the transmission.

Further, the test unit also comprises a first rotary encoder which is arranged on the input shaft and rotates coaxially with the input shaft, and a second rotary encoder which is arranged on the output shaft and rotates coaxially with the output shaft.

Further, the test unit still includes the magnetism temperature sensor that is used for detecting the speed reducer surface temperature that awaits measuring and respectively with first torque sensor, second torque sensor, first rotary encoder, second rotary encoder and the electrically connected data processor of magnetism temperature sensor.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic structural diagram of a test bench for a robot speed reducer in the prior art;

fig. 2 is a schematic view of the overall structure of the performance testing device of the speed reducer of the present invention;

fig. 3 is a front sectional view of the overall structure of the performance testing device of the speed reducer of the present invention;

fig. 4 is a top view of the overall structure of the performance testing device of the speed reducer of the present invention;

fig. 5 is a partial enlarged sectional view of the present invention projected along the direction a-a in fig. 4;

fig. 6 is a partial enlarged view B of fig. 3 according to the present invention.

Detailed Description

Specifically, please refer to fig. 2, the performance testing apparatus of the speed reducer of the present invention includes a base 10 placed on the table top of the working table, a movable unit 20 movably mounted on the base 10, a load simulation unit 30 fixed on the base 10 and at the same side as the movable unit 20, a connection unit 40 connected between the movable unit 20 and the load simulation unit 30 for transmission, a testing unit 50 disposed at the input end and the output end of the speed reducer 9 to be tested, and a driving motor 60. The driving motor 60 and the speed reducer 9 to be tested are both mounted on the movable unit and move along with the movable unit. The driving motor 60 drives the speed reducer 9 to be tested to rotate through the connecting unit 40, the speed reducer 9 to be tested inputs torque to the load simulation unit 30, the load simulation unit 30 performs load simulation and braking as required, and the test unit 50 detects performance parameters of the input end and the output end of the speed reducer 9 to be tested. In the present embodiment, the driving motor 60 is a servo motor.

Referring to fig. 3 and 4, the movable unit 20 includes a sliding assembly 21, a motor mounting bracket 22 moving along with the movable assembly 21, and a reducer mounting bracket 23. The movable assembly 21 includes a mounting plate 211, a lead screw 212, a lead screw mounting bracket 213, and a support 214. The base 10 is provided with a guide rail (not shown) extending toward the load simulation unit 30. The mounting plate 211 is provided with a sliding block (not shown) which is arranged in the guide rail to slide, and the screw rod mounting rack 213 is arranged on the mounting plate 211 and on the same side as the sliding block. The lead screw 212 has one end screwed to the lead screw mounting bracket 213 and the other end supported by a support 214 fixed to the base 10 such that the axial direction thereof is parallel to the extending direction of the guide rail. The motor mounting frame 22 and the reducer mounting frame 23 are both fixed on the mounting plate 211 and are opposite to the screw rod mounting frame 213. The driving motor 60 is installed on the motor installation frame 22, and the reducer installation frame 23 is arranged between the motor installation frame 22 and the load simulation unit 30 and supports the reducer 9 to be tested. The high-speed end of the speed reducer 9 to be tested serves as an input end and faces the motor mounting frame 22, and the low-speed end of the speed reducer serves as an output end and faces the load simulation unit 30. Rotate lead screw 212, lead screw mounting bracket 213 drives mounting panel 211 follows the guide rail slides, speed reducer mounting bracket 23 is close to or keeps away from load analog unit 30, adjusts according to the volume size of speed reducer mounting bracket 23 with distance between the load analog unit 30. Further, in order to facilitate the rotation of the screw rod 212, the movable assembly 21 further includes a handle 215, and the handle 215 is disposed at an end of the screw rod 212 far away from the mounting plate 211; in this embodiment, the handle 214 is a circular hand wheel. Further, the movable assembly 21 further comprises a fixing ring 216 movably sleeved on the screw 212, wherein the fixing ring 216 is located between the handle 215 and the support 214 and limits the rotation of the screw 212 to prevent the mounting plate 211 from sliding during the test; in this embodiment, referring to fig. 5, the fixing ring 216 includes two hinged semi-circular rings 2161, a screw 2162 passing through one end of the two semi-circular rings 2161, and a fixing block 2163 connected to one side of the two semi-circular rings 2161 and fixed to the base 10. The screw rod 212 penetrates between the two semi-circular rings 2161, the screw 2162 is screwed down to clamp the fixing ring 216 on the screw rod 212, and the rotation of the screw rod 212 can be limited.

The load simulator 30 includes a transmission 31 and a brake 32 connected to the transmission 31. In the present embodiment, the transmission 31 is a helical gear reducer, and a speed-increasing gear may be used. The brake 32 is a magnetic particle brake. The low-speed end of the transmission 31 faces the reducer mounting frame 23 as an input end, and the high-speed end thereof is connected to the brake 32 through a coupling as an output end. And selecting the variable speed machines 31 with different torques according to the rated torque of the speed reducer 9 to be tested. Since the torque generated by the brake 32 is small, a reduction gear that outputs a large torque cannot be tested, as compared with the case where only the brake 32 is used. The load is simulated by the transmission 31 and the brake 32 which take a low-speed end as an input end, a low-speed but large torque is input to the low-speed end of the transmission 31, the low-speed but large torque is changed into a high-speed but small torque when the high-speed end of the transmission 31 outputs the torque, then the small torque is input to the brake 32, and the current or voltage of the brake is adjusted by the brake 32 through a matched tension controller (not shown), so that the size of the simulated load is adjusted, and the load simulation and braking of the speed reducer 9 to be tested with large torque output are realized.

Referring to fig. 6, the connection unit 40 includes an input shaft 41, an input flange 42, an output flange 43, an output shaft 44, and a support bracket 45. One end of the input shaft 41 is connected with the output end of the driving motor 60 through a coupler, the other end of the input shaft is in threaded connection with the input end of the speed reducer 9 to be tested, and different types of speed reducer tests can be realized by replacing different types of input shafts 41 according to different speed reducer types. The input flange 42 is fixed on the speed reducer mounting frame 23, and the speed reducer 9 to be tested is fixed with the input flange 42 through a screw to support the speed reducer 9 to be tested. The output flange 43 is connected between the output end of the speed reducer 9 to be tested and the output shaft 44, and is driven by the speed reducer 9 to be tested to rotate, so that the output shaft 44 is driven to rotate. The output shaft 44 is connected to a low-speed end of the transmission 31. The support bracket 45 is fixed to the base 10 between the output flange 43 and the transmission 31 to support the output shaft 44. Further, an angular contact bearing 46 is arranged on the reducer mounting bracket 23 to support the input shaft 41, and a deep groove ball bearing 47 is arranged on the support frame 45 to support the output shaft 44, so that the stability of the input shaft 41 and the output shaft 44 during operation is improved.

The testing unit 50 includes a first torque sensor 51, a second torque sensor 52, a first rotary encoder 53, a second rotary encoder 54, and a data processor (not shown) electrically connected thereto. In this embodiment, the data processor is a computer provided with a central processing unit. The first torque sensor 51 is coupled between the output end of the driving motor 60 and the input shaft 41 through a coupling. The second torque sensor 52 is coupled between the low-speed end of the transmission 31 and the output shaft 44 via a coupling. Furthermore, the first torque sensor 51 and the second torque sensor 52 transmit the real-time torque to the data processor via an aerospace joint. The first rotary encoder 53 is mounted on the input shaft 41 to rotate coaxially with the input shaft 41 by means of a mounting plate mounted on the input shaft 41 to rotate coaxially therewith. The second rotary encoder 54 is mounted on and rotates coaxially with the output shaft 44 by a mounting plate that is mounted on and rotates coaxially with the output shaft 44. The first rotary encoder 53 and the second rotary encoder 54 detect the rotation angles of the input shaft 41 and the output shaft 44, respectively, and transmit data to the data processor. And the data processor analyzes and calculates performance parameters of the speed reducer 9 to be tested, such as large transmission ratio, large rigidity, high motion precision, high transmission efficiency, small return difference and the like according to the acquired real-time torque and the acquired rotation angle. Further, the test unit 50 further includes a magnetic temperature sensor (not shown) disposed on the outer surface of the body of the speed reducer 9 to be tested, the magnetic temperature sensor is electrically connected to the data processor, and transmits the real-time measured surface temperature change data of the body of the speed reducer 9 to be tested to the data processor for analysis.

When the speed reducer is used, the proper speed changer 31 is selected according to the rated parameters of the speed reducer 9 to be tested to be connected with the output shaft 44, and the torque of the brake 32 is set. And adjusting according to the size and type of the speed reducer 9 to be tested, selecting a proper input shaft 41 and connecting the input shaft with the driving motor 60, and selecting a proper output flange 43 to connect the output end of the speed reducer 9 to be tested. Then, the screw rod 212 is rotated to slide the mounting plate 211 to adjust the distance between the speed reducer mounting frame 23 and the support frame 45, so that the speed reducer 9 to be tested is mounted on the speed reducer mounting frame 23. Then, the driving motor 60 and the input shaft 41 are connected through a coupler, the input shaft 41 is in threaded connection with the input end of the speed reducer 9 to be tested, and the output flange 43 is connected to the output end of the speed reducer 9 to be tested. Finally, the driving motor 60 is activated, and the first torque sensor 51, the second torque sensor 52, the first rotary encoder 53, the second rotary encoder 54, and the magnetic temperature sensor transmit the detected data to the data processor for analysis.

Compared with the prior art, the utility model discloses a speed reducer capability test device passes through the variable-speed motor and combines together the dummy load with the stopper, can bear great moment of torsion, enlarges the test range. The mounting space can be adjusted to detect speed reducers with different types and volumes including harmonic speed reducers and RV speed reducers, and the adjustment is simple. In addition, the speed reducer to be tested can be prevented from moving in the testing process, the stability and accuracy of detection are effectively improved, and the testing of multiple parameters can be realized.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. The utility model provides a speed reducer capability test device which characterized in that: the device comprises a movable unit for driving a driving motor and a speed reducer to be tested to move, a test unit for testing output and input parameters of the speed reducer to be tested, a load simulation unit and a connecting unit connected among the movable unit, the load simulation unit and the test unit; the load simulation unit includes a transmission having a low-speed end as an input end facing the movable unit and a brake connected to a high-speed end of the transmission.

2. The speed reducer performance test device according to claim 1, characterized in that: the movable unit comprises a sliding assembly, a motor mounting frame and a speed reducer mounting frame; the sliding assembly comprises a mounting plate capable of sliding towards the load simulation unit and a lead screw in threaded connection with the mounting plate; the motor mounting rack and the speed reducer mounting rack are respectively mounted on the same side face of the mounting plate, and the speed reducer mounting rack is located between the motor mounting rack and the load simulation unit; the axis direction of the lead screw is parallel to the sliding direction of the mounting plate.

3. The speed reducer performance testing device according to claim 2, characterized in that: the movable unit, the load simulation unit, the connection unit and the test unit are all arranged on the same side face of the base; the sliding assembly further comprises a fixing ring movably clamped on the lead screw to limit the lead screw to rotate, and the fixing ring is fixed with the base.

4. The speed reducer performance testing device according to claim 3, characterized in that: the sliding assembly further comprises a handle arranged at the tail end of the lead screw, which is far away from the mounting plate; the fixed ring is arranged between the handle and the mounting plate.

5. The speed reducer performance testing device according to claim 4, characterized in that: the speed changer is a bevel gear speed reducer, and the low-speed end of the speed changer faces the speed reducer mounting frame; the brake is a magnetic powder brake.

6. The speed reducer performance testing device according to claim 5, characterized in that: the connecting unit comprises an input shaft, an input flange, an output flange and a supporting frame, wherein the input shaft is used for connecting a driving motor and a speed reducer to be tested, the input flange is fixed on the speed reducer mounting frame, the output flange is connected with the output end of the speed reducer to be tested, the output flange is connected with an output shaft between the load simulation units, and the supporting frame supports the output shaft.

7. The speed reducer performance testing device according to claim 6, characterized in that: an angular contact bearing is arranged in the speed reducer mounting frame to support the input shaft; a deep groove ball bearing is arranged in the supporting frame to support the output shaft.

8. The speed reducer performance testing device according to claim 7, characterized in that: the test unit includes a first torque sensor for detecting an output torque of the drive motor and a second torque sensor connected between the output shaft and an input end of the transmission.

9. The speed reducer performance testing device according to claim 8, characterized in that: the test unit also comprises a first rotary encoder which is arranged on the input shaft and rotates coaxially with the input shaft, and a second rotary encoder which is arranged on the output shaft and rotates coaxially with the output shaft.

10. The speed reducer performance test device according to claim 9, characterized in that: the testing unit further comprises a magnetic temperature sensor for detecting the surface temperature of the speed reducer to be tested and a data processor electrically connected with the first torque sensor, the second torque sensor, the first rotary encoder, the second rotary encoder and the magnetic temperature sensor respectively.