KR100926574B1 - Stiffness Tester for Harmonic Reducer - Google Patents

Abstract

The present invention relates to a stiffness tester for harmonic reducers that can enable the input and output angle transfer test of the harmonic reducer as well as the overall strength test through one device; A frame including a base provided with a front and rear horizontal rails, a vertical stand vertically mounted on one side of the horizontal rails, and having an output shaft connected to the encoder to be rotated through the horizontal rails; A vertical moving table having an input rotating shaft rotated by driving of the motor, and a harmonic reducer having a horizontal rail between the vertical fixing table and the vertical moving table and connected to the input rotating shaft and the output shaft through the fixing means. It is characterized in that it is configured as a controller for controlling the reduction gear fixed inside, the first motor to receive and analyze the data output from the encoder.

Harmonic reducer, rigidity, test

Description

A Hardness Testing Unit for Decelerator

The present invention relates to a stiffness tester for harmonic reducers, and more particularly, to a stiffness tester for harmonic reducers that can enable the input and output angle transfer test of the harmonic reducer as well as the overall strength test through one device. .

In general, the harmonic drive is a kind of reducer, and is typically used for joints such as robot arms. Generally known harmonic reducer, the reduction ratio of the output shaft to the input shaft can be obtained from 20: 1 to 100: 1, the harmonic reducer briefly described as follows.

Figure 4 shows a typical harmonic reducer, Figure 4a is a longitudinal cross-sectional view, Figure 4b is a cross-sectional view taken along the line B-B of Figure 4a. Accordingly, the harmonic reducer includes an elliptical camshaft 101b having a bearing 101a at its periphery, a wave generator 101 having an input shaft connecting hole 101c at its inner center, and a cup surrounding the bearing 101a. Flexible spline (102) composed of a metallic elastic body having a shape and having a gear (102a) on the outer circumference and connected to the output shaft 22, and a circular pitch in which the flexible spline and a part of the inner circumference are engaged. The inner gear 103a having a circle is provided and is composed of a circular spline 103 fixed to the casing. The number of gears of the flexible spline 102 is smaller than the number of gears of the circular spline 103.

For example, when the reduction ratio between the input shaft and the output shaft is 100: 1, the number of gears of the circular spline 103 becomes two more than the number of gears of the flexible spline 102. Therefore, when the wave generator 101 rotates 100 times, the flexible spline 102 has two fewer gears of the circular spline 103, so that the number of gears is reversed in the direction of rotation of the wave generator 101. It is reversed by two gears which are cars. Therefore, when the wave generator 101 connected to the input shaft is rotated 100 times in the forward direction, the flexible spline 102 connected to the output shaft is operated to output 1 revolution in the reverse direction.

However, conventionally, there has been no device for accurately measuring the performance of the harmonic reducer configured as described above. Therefore, in the related art, the harmonic reducer is directly mounted on a robot or various devices, and then tested for performance. Therefore, a large amount of money was wasted, and a serious problem causing a failure of expensive robots or various devices during the test was caused. In addition, since the test is performed in a state where the harmonic reducer is actually mounted, there is a problem that performance tests such as stiffness of the harmonic reducer cannot be performed at all.

Accordingly, the present invention has been invented to solve the above problems, and an object of the present invention is to provide a stiffness tester of a harmonic reducer that can enable the input and output angle transfer test without actually mounting the harmonic reducer.

It is also another object to provide a stiffness tester for harmonic reducers that allow testing of the overall stiffness. Another object is to provide a stiffness tester of the harmonic reducer that can more accurately measure the lost motion and hysteresis loss and backlash values of the harmonic reducer.

The present invention as a means for achieving the above object,

A frame supporting the base having the front and rear horizontal rails mounted thereon; A vertical holder mounted vertically on one side of the horizontal rail and coupled with the output shaft connected to the encoder to rotate through; A vertical moving table installed on the horizontal rail and moving left and right along the horizontal rail, and having a motor installed at one side thereof and having an input rotation shaft rotated by driving the motor; A reducer holder for moving a horizontal rail between the vertical holder and the vertical holder, and fixing the harmonic reducer connected to the input rotating shaft and the output shaft therein through fixing means; A controller for controlling the first motor to receive and analyze data input from the encoder; It is characterized by the configuration.

In addition, the vertical holder is composed of two side holders for supporting the output shaft to be rotated, and between the two side holders are provided with a rotating arm provided to project the front and rear through the middle fixed to the output shaft, the frame Further comprising an angle changing means for changing the angle of the rotary arm, the control unit is characterized in that for further controlling the angle changing means.

The angle changing means may include a driving part having a wire winding roll which is provided at one side lower portion of the base, and protrudes forward and rearward of a frame that is front and rear of the driving part, and is provided at the front and rear ends of the base. The front and rear protrusions are provided with rear rolls, respectively, and are pulled out in the front and rear in a state in which the wire winding rolls are respectively wound in double, and connected to the front and rear of the rotary arm through the front and rear rolls, respectively. It is characterized by consisting of the front and rear wires.

In addition, the drive unit is characterized in that it is composed of a motor driven by the signal of the control unit, and a reducer provided between the motor and the wire winding roll.

In addition, a load cell connected to the control unit is further installed in the middle of the front, rear, and front and rear rolls of the rotary arm, and the controller receives and analyzes data input from the load cell.

In addition, the fixing means is installed through the front and rear cover of the reducer, the hollow portion is formed on one side of the inside, and the mounting pipe provided with an expansion portion on the other side; A connecting rotary shaft installed rotatably through a bearing in the hollow part and having one side inserted into and connected to the output shaft; A plurality of tab grooves provided around one side of the extension part and fixed to the non-rotational circular splines constituting the harmonic reducer; It is characterized in that it comprises a plurality of tab grooves provided around the other end of the connecting rotary shaft constituting the harmonic reducer is connected in rotation with the connecting rotary shaft through a plurality of bolts.

According to the present invention as described above, by enabling the input and output angle transfer test of the harmonic reducer, the cost loss and damage of the mounted apparatus in advance in the process of testing the harmonic reducer to the actual device in advance There is a preventable effect.

It also has the effect of providing a harmonic reducer with comprehensive performance test data by enabling testing of overall stiffness.

In addition, the loss motion and hysteresis loss and backlash values of the harmonic reducer can be measured more precisely, thereby providing an harmonic reducer having high precision.

In addition, although the invention has been described in connection with the preferred embodiments mentioned, other various modifications and variations may be made without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover such modifications and variations as fall within the true scope of the invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are designated as much as possible even if displayed on different drawings. In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Figure 1 shows a stiffness tester according to the present invention, Figure 1a is a front view, Figure 1b is a right side view, Figure 1c is a left side view.

Rigidity tester of the present invention, the frame 1 including the base 11 is provided with a front and rear horizontal rail 111, and is perpendicular to one side of the horizontal rail 111 is connected to the encoder 23 The vertical holder 2 is provided with the output shaft 22 to be rotated through, and the vertical axis provided with an input rotary shaft 31 which is provided to be moved left and right along the horizontal rail 111 and rotated by the driving of the motor 32. A harmonic is provided between the movable stand 3 and the vertical holder 2 and the vertical movable stand 3 so as to be movable by a horizontal rail 111 and to which the input rotation shaft 31 and the output shaft 22 are connected. The reducer 10 includes a reducer holder 4 fixed therein through a fixing means 41, and a control unit 7 for controlling the motor 32 to receive and analyze data input from the encoder.

In addition, the vertical holder 2 is composed of both side holders 21 for supporting the output shaft 22 to be rotated. That is, the both sides of the holder 21 is formed in a horizontal through-hole is formed through the output shaft 22, the bearing between the through hole and the output shaft 22 can rotate the output shaft 22 smoothly It is provided.

In addition, between the two side holders 21 is further provided with a rotary arm (5) provided in the middle is connected to the output shaft 22 to protrude forward and backward, the frame (1) has the rotary arm ( The angle changing means 6 for changing the angle of 5) is further provided. That is, the angle change means 6, the drive unit 61 including a wire winding roll 613 is provided on one side lower portion of the base 11 and the frame which is the front and rear of the drive unit 61 The front and rear protrusions 62 of the front and rear protrusions 62 and the wire winding rolls 613 are respectively wound on the front and rear ends of the front and rear rolls 621, respectively. In the front and rear, the front and rear rolls 621 through the front and rear of the rotary arm 5, respectively, is composed of a front and rear wire 63 is connected.

Moreover, the said drive part 61 is comprised from the motor 611 driven by the signal of the said control part 7, and the reducer 612 provided between the motor 611 and the said wire winding roll 621. . That is, the speed reducer 612 may reduce the rotational force of the motor 611 and at the same time increase the torque, thereby improving the tensile force of the wire 63 to give a precise torque change in the test.

On the other hand, the input rotation shaft 31 provided in the vertical moving table 3 and the wave generator 101 provided in the harmonic reducer 10 are connected to the input rotation shaft in the through hole provided in the center of the wave generator 101. A 31 is connected to each other, and the wave generator 101 and the input rotation shaft 31 are connected to each other so as to interlock with each other as a key is inserted between the input rotation shaft 31 and the through hole.

Hereinafter, the configuration will be described in more detail.

FIG. 2 is an enlarged view of a portion A of FIG. 1A, wherein the fixing means 41 is provided to penetrate through the front and rear covers 211 in a horizontal through hole formed in the reducer fixing stand 4 and a hollow inside one side thereof. Part 421 is formed and the other side inside the mounting pipe 42 is provided with an expansion portion 422, the hollow portion 421 is provided rotatably through a bearing (421a) and one side to the output shaft 22 It includes a connecting rotary shaft 43 is inserted and connected.

In addition, the fixing means 41 is provided around one side of the expansion part 422 and a plurality of circular splines 103 constituting the harmonic reducer 612 are fixed to the non-rotation through the bolt 46a. The connection shaft 45 is provided with a flexible spline 102 including a tab groove 45 and provided around the other end of the connection shaft 43 to form the harmonic reducer 612. It is to include a plurality of tab grooves 44 are connected to rotate in conjunction with. In addition, the connection between the connecting shaft 43 and the output shaft 22 is possible through the connection of the flange or the key in the figure shows the connection through the connection of the key.

Meanwhile, a load cell 631 connected to the controller 7 is further provided in the middle of each of the front and rear wires between the front and rear of the rotary arm 5 and the front and rear rolls 621. The controller 7 receives and analyzes data input from the load cell 631. That is, the controller 7 may adjust the driving force of the motor 611 by analyzing the load applied to the load cell 631, thereby adjusting the torque applied to the rotary arm 5 according to the test condition.

Hereinafter, the operational relationship of the present invention configured as described above are as follows.

In describing the operating relationship of the present invention, it will be described by dividing the angle transfer test, the stiffness test.

First, when the angle transfer test, as shown in Figures 1 and 2, in the process of moving the reducer holder (4) to one side and the vertical movable table (3) to one side, the vertical holder (2) The output shaft 22 and the input rotary shaft 31 of the vertical moving table 3 are connected to the flexible spline 102 and the wave generator 101 of the harmonic reducer 612 provided in the reducer holder 4, respectively.

Next, the input rotation shaft 31 is rotated by driving the motor 32 according to the command of the controller 7, and the controller 7 is measured by measuring the rotation speed of the output shaft 22 through the encoder 23. ), By analyzing the rotation speed of the motor 32, 611 and the rotation speed of the output shaft 22 input from the encoder 23, the degree of angle transfer of the harmonic reducer 612 can be analyzed precisely. That is, the said angle transfer degree is obtained by the formula of "output-out rotation angle-(input rotation angle / reduction ratio)."

In addition, in the process of carrying out the stiffness test, and when the lost motion, heat terrestrial loss, and backlash are obtained through the stiffness test, as shown in FIGS. 1 and 2, first, the reducer holder 4 is one side. And the output shaft 22 of the vertical holder 2 and the input rotation shaft 31 of the vertical holder 3 in the process of moving the vertical holder 3 to one side, the harmonic provided in the reducer holder 4. It is connected to the flexible spline 102 and the wave generator 103 of the reducer 612, respectively. Next, the motor 32 connected to the input rotary shaft 31 is stopped by the command of the control unit 7 to stop the input rotary shaft 31. Then, as the motor 611 constituting the angle changing means 6 is rotated through the command of the control unit 7 to rotate the wire winding roll 613 in one direction or the other direction, the front and rear wires One of (5) is wound and the other is released.

Thus, in the course of rotating the rotary arm 5 connected to the front and rear wires clockwise or counterclockwise, a graph as shown in FIG. 3 is obtained.

As shown in FIG. 3, the stiffness obtained through the stiffness test is obtained by the formula of “output shaft rotation angle / torque”, and the precise stiffness of the harmonic reducer can be obtained through the above test process.

Then, the lost motion obtained after the stiffness test as described above, is obtained through the value of the first slope value T1 after the stiffness test, as shown in the graph shown in FIG. In addition, as shown in Fig. 3, in the case of obtaining a hysteresis loss, first, the torque applied to the rear arm of the rotary arm is gradually increased (150% of the rated torque) in the stiffness test as described above, and then gradually By reducing, the torsion angle is formed by the lower and upper curves of the first quadrant of the graph plot. The torque applied to the forward arm of the next rotary arm is gradually increased (150% of the rated torque) and then gradually decreased to obtain the torsion angle with the lower quadrant and the upper quadrant of the graph.

That is, the hysteresis loss obtained after the stiffness test under the above conditions is obtained by the sum of the torsional values when T = 0 after the stiffness test. In addition, the backlash can be obtained in the stiffness test. As shown in the graph shown in FIG. 3, the backlash refers to a phenomenon in which the output shaft plays in an extremely small torque (without hysteresis loss) test. Hereinafter, the process of measuring this will be described. When the backlash is obtained, first, the torque applied to the rear arm of the rotating arm is gradually increased in the stiffness test as described above. That is, the maximum torsional value can be obtained by moving the output shaft while increasing the torque by setting the rated torque to less than 5% and then setting it to zero by the torque.

Next, the torque applied to the front arm of the rotary arm is gradually increased. That is, the maximum torsional value is obtained by moving the output shaft while increasing the torque to less than 5% of the rated torque and then setting the torque to zero. Therefore, the backlash is calculated as the sum of the maximum torsion values described before and after the conditions of the stiffness test as described above.

Therefore, as described above, the input / output angle transfer test of the harmonic reducer through one stiffness tester, as well as the overall strength test of the harmonic reducer, has the advantage of being possible. In the strength test, the lost motion value may be analyzed and calculated.

In addition, by varying the torque of the output shaft 22 while the input rotation shaft 31 is stopped in the strength test, the hysteresis loss and backlash of the harmonic reducer may be measured more precisely. It is.

Therefore, the stiffness test has the advantage of providing a dedicated tester of the harmonic reducer that can measure the overall performance of the harmonic reducer.

1 shows a stiffness tester according to the present invention,

       1A is a front view,

       1B is a right side view,

       1C is a left side view.

FIG. 2 is an enlarged view of a portion A of FIG. 1A; FIG.

Figure 3 is a graph obtained after the stiffness test through the stiffness tester according to the present invention.

4 shows a typical harmonic reducer,

       4A is a longitudinal sectional view,

       4B is a cross-sectional view taken along the line B-B in FIG. 4A.

<Description of the symbols for the main parts of the drawings>

1: frame

   11: base

      111: horizontal rail

2: vertical holder

   21: both side holder

      211: cover

   22: output shaft

   23: encoder

3: vertical moving table

   31: input rotation axis

   32: motor

4: reducer fixture

   41: fixing means

   42: mounting tube

      421 hollow part

      422 extension

   43: connecting rotation axis

   44, 45: tap groove

   46, 46a: Bolt

5: rotating arm

6: angle changing means

   61: drive unit

       611: motor

       612: reducer

       613: wire winding roll

   62: protrusion

       621: roll

   63: wire

       631: load cell

7: control unit

10: harmonic reducer

101: Wave Generator

102: Flexible Spline

103: Circular Spline

Claims (6)

A frame 1 for supporting the base 11 having the front and rear horizontal rails 111 mounted thereon; A vertical holder (2) erected vertically on one side of the horizontal rail (111) and coupled with the output shaft (22) connected to the encoder (23) so as to rotate through; Is installed on the horizontal rail 111 is moved to the left and right along the horizontal rail, the motor 32 is installed on one side, the vertical rotation of the input rotation shaft 31 is rotated through the drive of the motor 32 is installed on the other side A moving table 3; The horizontal rail 111 is moved between the vertical holder 2 and the vertical holder 3, and the harmonic reducer 10 is connected to the input rotation shaft 31 and the output shaft 22. A reducer holder (4) fixed therein through; A control unit (7) for controlling the motor (32) to receive and analyze the data output from the encoder (23); Stiffness tester for harmonic reducer, characterized in that consisting of. The method of claim 1, The vertical holder 2 is composed of both side holders 21 for supporting the output shaft 22 to be rotated, Between the two side holders 21 is provided with a rotary arm (5) provided to protrude in the front and rear through the middle is fixed to the output shaft 22, The frame 1 is further provided with an angle changing means 6 for changing the angle of the rotary arm 5, The control unit (7) further controls the angle changing means (6) stiffness tester for harmonic reducer. The method of claim 2, The angle changing means 6, A drive unit 61 having a wire winding roll 613 which is provided at one side lower portion of the base 11 and rotates; The front and rear protrusions 62 are provided to protrude to the front and rear of the frame, which is the front and rear of the drive unit 61, and the front and rear rolls 621 are respectively provided at the front and rear ends thereof. Front and rear wires which are pulled forward and backward in a state in which the wire winding rolls 613 are respectively wound in a double and connected to the front and rear of the rotary arm 5 through the front and rear rolls 621, respectively. A stiffness tester for harmonic reducers, characterized in that (63). The method of claim 3, wherein The drive unit 61, A motor 611 driven by a signal of the controller 7; Stiffness tester for harmonic reducer, characterized in that consisting of a reducer (612) provided between the motor (611) and the wire winding roll (621). The method of claim 3, wherein In the middle of the front and rear of the rotary arm 5 and the front and rear wires 621, the load cell 631 connected to the control unit 7 is further installed, The controller is a stiffness tester for a harmonic reducer, characterized in that for receiving and analyzing the data input from the load cell (631). The method of claim 1, The fixing means 41, A mounting tube 42 installed in the front and rear covers 211 before the reducer holder 4 and having a hollow part 421 formed at one side thereof, and having an extension part 422 at the other side thereof; A connecting rotary shaft 43 installed rotatably on the hollow portion 421 via a bearing 421a and having one side inserted into and connected to the output shaft 22; A plurality of tab grooves 45 provided around one side of the expansion part 422 and constituting the harmonic reducer 10 such that the circular splines 103 are non-rotated through the bolt 46a; A plurality of flexible splines 102 provided around the other end of the connecting rotary shaft 43 constituting the harmonic reducer 10 are connected to the connecting rotary shaft 43 through a plurality of bolts 46 to be interlocked with each other. Stiffness tester for harmonic reducer, characterized in that it comprises a tab groove (44).

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