CN215218056U

CN215218056U - RV reduction gear capability test device based on arm

Info

Publication number: CN215218056U
Application number: CN202120927502.4U
Authority: CN
Inventors: 付磊; 刘永明; 赵转哲; 叶国文; 马强; 芮羽健
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-12-17
Anticipated expiration: 2031-04-30

Abstract

The utility model discloses a RV reduction gear capability test device based on arm, testing arrangement are equipped with the base, be fixed with RV reduction gear, servo motor and two torque speed sensor through the support on the base, one of them torque speed sensor passes through shaft coupling and servo motor output shaft and RV reduction gear input shaft, and another torque speed sensor passes through the shaft coupling and is connected with RV reduction gear output shaft and arm, the arm is as the load of testing RV reduction gear, and the device has reduced the support and has made the quantity of material man-hour, has practiced thrift testing arrangement's cost.

Description

RV reduction gear capability test device based on arm

Technical Field

The utility model relates to a speed reducer detects technical field.

Background

Since the advent of the RV reducer, the RV reducer has been widely used in many fields requiring precision transmission, such as industrial robots, aerospace, etc., because of its advantages of compact structure, small size, light weight, long service life, large transmission ratio range, high transmission accuracy, smooth transmission, high transmission efficiency, etc. Compared with another common harmonic reducer of a precision reducer, the RV reducer has higher rigidity and more stable return difference precision, can bear larger torque, and the movement precision of the RV reducer cannot be obviously reduced along with the increase of the service time. Therefore, as a joint reducer of an advanced industrial robot, the RV reducer is more advantageous than a harmonic reducer.

The market of the Chinese industrial robot is rapidly developing, but the domestic industrial robot market is always occupied by foreign brands, and the main reason is that core parts cannot be self-sufficient. The precise speed reducer, the drive and controller and the servo motor are the three most important core parts of the robot. The precise speed reducer is the most important factor for developing the robot technology and the first factor for limiting the cost reduction of the domestic robot.

At present, in the existing integrated RV reducer performance testing device in the market, the magnetic powder brake is adopted as a load at the output end of a transmission system of most testing devices, so that the testing device is not only heavy, but also loses the simulation of the RV reducer in the actual application condition of a robot arm. Therefore, the reasonably designed comprehensive performance test platform for the speed reducer not only can provide reference for formulating the quality standard and the detection method related to the RV speed reducer of the robot, but also provides practical reference data and design basis for improving various performances of the speed reducer.

Disclosure of Invention

The utility model aims to solve the technical problem that realize the RV reduction gear capability test device that one kind, solve the unable actual simulation RV reduction gear of load equipment that traditional RV reduction gear capability test device transmission system output adopted the condition of multi freedom motion in the arm, and the relatively heavy problem of load equipment.

In order to realize the purpose, the utility model discloses a technical scheme be: the utility model provides a RV reduction gear capability test device based on arm, testing arrangement are equipped with the base, be fixed with RV reduction gear, servo motor and two torque speed sensor through the support on the base, one of them torque speed sensor passes through the shaft coupling and is connected with RV reduction gear input shaft with servo motor output shaft, and another torque speed sensor passes through the shaft coupling and is connected with RV reduction gear output shaft and arm, the arm is as the load of testing the RV reduction gear.

The servo motor and the RV reducer as well as the torque and speed sensor for connecting the servo motor and the RV reducer are fixed on an independent support, the independent support is fixed on the guide rail through a sliding block, and a positioning pin for locking the sliding block on the guide rail is arranged on the sliding rail.

And grating encoders are arranged on an output shaft and an input shaft of the RV reducer, and are connected with the industrial control computer, and the collected signals are transmitted to the industrial control computer.

The industrial control computer is connected with the PLC and outputs a control signal to the PLC, the PLC outputs the control signal to the driver, the driver outputs a driving signal to the three-phase transformer, and the three-phase transformer is connected with the power supply and supplies power to the servo motor and the mechanical arm.

The utility model discloses adopt robotic arm as the load at RV reduction gear detection device's output, the arm of simulation robot joint department RV reduction gear performance parameter's precision condition when actual operation carries out analysis and processing with the performance parameter who surveys, is used for verifying RV reduction gear theoretical design's feasibility or revises the theoretical computational model of a certain performance, has great significance to the process that promotes domestic RV reduction gear.

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 a RV reducer performance testing device;

FIG. 2 is a schematic structural diagram of an RV reducer performance testing device;

FIG. 3 is a schematic diagram of the robot arm of FIG. 2;

FIG. 4 is a block diagram of a power management circuit of the RV reducer performance testing device;

the labels in the above figures are: 1. a mechanical arm; 2. a coupling; 3. a torque and rotation speed sensor; 4. a base; 5. a support; 6. an RV reducer; 7. a servo motor; 8. a guide rail; 9. a slider; 10. and a positioning pin.

Detailed Description

The following description of the embodiments with reference to the drawings is intended to illustrate the present invention in further detail, such as the shapes and structures of the components, the mutual positions and connections between the components, the functions and working principles of the components, the manufacturing process, and the operation and use methods, etc., so as to help those skilled in the art understand the present invention more completely, accurately and deeply.

A performance testing device of an RV reducer 6 based on a mechanical arm 1 is characterized in that a base 4 is used for supporting and fixing the position of each hardware device in the vertical direction and is designed into a hollow structure to save materials in the machining process and meet the extrusion deformation borne by the mechanism materials in the vertical direction, and meanwhile, the coaxiality of the testing device is guaranteed. Install hardware support 5 under RV reduction gear 6, torque speed sensor 3, servo motor 7's base 4, its purpose is in order to change different grade type RV reduction gear 6 the time, realizes letting hardware equipment move about on the horizontal direction through locating pin 10 on the support 5, conveniently changes installation different grade type RV reduction gear 6 and other hardware equipment.

The tail end of the output of the testing device is connected with different types of mechanical arms 1 to be tested through a coupler 2, when all hardware equipment is assembled, a red starting button of the device is pressed, the whole testing device starts to operate, and at the moment, the rotating speed of a servo motor 7 is adjusted to be within a proper range for preheating the whole equipment. Hardware devices such as a torque rotating speed sensor 3, an RV reducer 6 and a mechanical arm 1 are connected through different types of couplings 2 and start to rotate under the driving of a servo motor 7; the torque and rotation speed sensor 3 is used for detecting the rotation speed and the torque of the RV reducer 6; the mechanical arm 1 is used for simulating the working condition of the speed reducer when the robot is actually used.

When the testing device starts to operate, the torque and rotation speed sensors 3 at the input end and the output end of the RV reducer 6 can detect rotation speed and torque signals of the input end and the output end of the RV reducer 6 and collect the rotation speed and torque signals through the data acquisition card, finally, the collected signals are transmitted to the upper computer, the upper computer processes the data through a designed detection system and displays the data on a human-computer interaction interface, and the performance of the RV reducer 6 can be predicted and evaluated through the measured data.

As shown in figure 1, when the device works, a steering and rotating speed adjusting instruction of a servo motor 7 and a space pose adjusting instruction of a mechanical arm 1 are sent out through an industrial control computer system, meanwhile, a torque rotating speed sensor 3, an RV reducer 6, a grating encoder and the mechanical arm 1 start to work under the driving of the power of the servo motor 7, detected signals of rotating speed, torque, angle change values and the like are collected through a data acquisition card and transmitted to the industrial control computer system to be subjected to data processing, storage and generation of reports and curves, and finally the reports and curves are displayed on an HMI (human machine interface).

The power management circuit mainly comprises a data acquisition system, a logic control system, an HMI (human machine interface) measurement and control software system and the like, a schematic diagram is shown in figure 4, wherein the working principle of the data acquisition system is that when all hardware equipment of a test bed is assembled and starts to work, signals are acquired for the hardware equipment through a grating encoder and a torque and rotation speed sensor 3, the acquired signals are filtered and screened through a signal isolation amplification filter circuit, finally, the signals are acquired by a data acquisition card, the acquired signal data of torque, rotation angle, rotation speed and the like are transmitted to an industrial personal computer through a PXI (peripheral component interconnect) bus, and the data processing is carried out through the HMI measurement and control software system to present a report and a curve. The working principle of the logic control system is that a PLC sends out a control instruction, and the servo motor 7 and the mechanical arm 1 work after receiving the instruction; the PLC can control the positive and negative rotation and the rotating speed of the servo motor 7 and control the mechanical arm 1 to stay at different positions in space; and finally, feeding back the running condition to the PLC, and transmitting the adjusting result to the industrial control computer by the PLC through a TCP/IP bus.

The device adopts the mechanical arm 1 as a test object for the load at the output end of a transmission system of the test device, and simultaneously, when the device runs, the mechanical arm 1 can be rotated to different positions in space to simulate the performance parameter condition of the RV reducer 6 in the actual motion process of the robot, a torque sensor at the input end and the output end of the transmission system of the RV reducer 6 is used for measuring the torque and the rotating speed signals of the robot, the measured signal data is transmitted to an industrial computer, and the industrial computer can display and store corresponding data to obtain the transmission efficiency of the RV reducer 6; meanwhile, corresponding angle change information can be detected by the grating encoders at the input end and the output end of the transmission system of the RV reducer 6, the information is transmitted to industrial control calculation, data processing is carried out to detect the transmission error of the RV reducer 6, and finally the feasibility of theoretical design of the RV reducer 6 is verified or a theoretical calculation model of certain performance is corrected through the performance parameters.

The present invention has been described above with reference to the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, and that the invention is not limited to the specific embodiments described above, but rather is intended to cover various insubstantial modifications of the inventive method and solution, or its application to other applications without modification.

Claims

1. The utility model provides a RV reduction gear capability test device based on arm which characterized in that: testing arrangement is equipped with the base, be fixed with RV reduction gear, servo motor and two torque speed sensor through the support on the base, one of them torque speed sensor passes through shaft coupling and servo motor output shaft and RV reduction gear input shaft, and another torque speed sensor passes through the shaft coupling and is connected with RV reduction gear output shaft and arm, the arm is as the load of test RV reduction gear.

2. The mechanical arm-based RV reducer performance testing device according to claim 1, characterized in that: the servo motor and the RV reducer as well as the torque and speed sensor connected with the servo motor and the RV reducer are fixed on an independent support, the independent support is fixed on a guide rail through a sliding block, and a positioning pin for locking the sliding block on the guide rail is arranged on the guide rail.

3. The mechanical arm-based RV reducer performance testing device according to claim 1 or 2, characterized in that: and grating encoders are arranged on an output shaft and an input shaft of the RV reducer, and are connected with the industrial control computer, and the collected signals are transmitted to the industrial control computer.

4. The mechanical arm-based RV reducer performance testing device according to claim 3, characterized in that: the industrial control computer is connected with the PLC and outputs a control signal to the PLC, the PLC outputs the control signal to the driver, the driver outputs a driving signal to the three-phase transformer, and the three-phase transformer is connected with the power supply and supplies power to the servo motor and the mechanical arm.