WO2022218291A1

WO2022218291A1 - Test bench for factory quality comprehensive performance quantitative testing of rv reducer and detection method therefor

Info

Publication number: WO2022218291A1
Application number: PCT/CN2022/086261
Authority: WO
Inventors: 姜阔胜; 范再川; 周远远; 丁平平
Original assignee: 安徽理工大学
Priority date: 2021-04-16
Filing date: 2022-04-12
Publication date: 2022-10-20
Also published as: CN113237655A; CN113237655B; ZA202104139B

Abstract

A test bench for factory quality comprehensive performance quantitative testing of an RV reducer (6) and a detection method therefor, the test bench comprising an eccentric sleeve (12) which is provided on a sensor first shaft (4), the exterior of the eccentric sleeve (12) being sleeved with a sensor outer cylinder (14), and the eccentric sleeve (12) rotating with the sensor first shaft (4) and a sensor second shaft (8). A displacement signal between a laser displacement sensor (3) and the eccentric sleeve (12) is acquired in real time by means of the high-precision laser displacement sensor (3), and a feature signal curve is obtained by using a data acquisition card and by means of a LabVIEW design data acquisition system to calculate, after performing spectral transformation, the transmission ratio of an input shaft to an output shaft of the RV reducer (6), and a transmission error of the RV reducer (6) can be obtained by comparing a theoretical transmission ratio with an actual transmission ratio. The combination of the high-precision laser displacement sensor (3) and the eccentric sleeve (12) achieves contactless measuring, and can accurately capture and recognize a feature signal of the RV reducer (6).

Description

Quantitative test bench for comprehensive performance of RV reducer delivery quality and its test method

technical field

The invention relates to the technical field of detection equipment, in particular to an experimental bench for quantitative detection of the comprehensive performance of the delivery quality of an RV reducer and a detection method thereof.

Background technique

As a highly flexible automation equipment, industrial robots have been widely used in aerospace, national defense and military, automobile manufacturing, electronic and electrical and many other fields, which are of great significance to improving the flexibility of manufacturing production lines. RV reducer is the most precise core component of industrial robots. It is used in joint positions such as machine base, arm, shoulder, etc. It is an important guarantee for fast and accurate execution of various complex mechanical actions, and is also a key factor affecting the stability of the robot. . Therefore, researching and establishing an efficient and fast performance evaluation technology for RV reducers can not only improve the predictive maintenance capability and intelligence level of industrial robots, but also help to discover the reliability shortcomings of the reducer and provide service for the optimal design of high-end products. Information feedback has important academic research significance and engineering application value.

However, in order to realize the quantitative detection of RV reducer performance, the first problem is to have efficient signal extraction and signal processing methods, as well as high-resolution and high-precision sensors to accurately capture and identify its characteristic signals. The traditional feature signal extraction methods mainly rely on the vibration acceleration sensor to obtain the vibration signal, or the encoder to obtain the instantaneous speed signal. However, the RV reducer has a complex structure and is mostly used in low-speed and heavy-load conditions, and the motion form is reciprocating motion. Vibration acceleration sensors and encoders have certain limitations in extracting characteristic signals of RV reducers. Vibration acceleration sensors are not suitable for low-speed conditions, while encoders are not suitable for reciprocating motion and can only be installed at the shaft end.

To this end, we provide an experimental bench for quantitative detection of comprehensive performance of RV reducer factory quality and its detection method to solve the above problems.

SUMMARY OF THE INVENTION

Aiming at the problems existing in the above-mentioned prior art, the present invention provides an experimental bench for quantitative detection of the comprehensive performance of the factory quality of the RV reducer and a detection method thereof. The combination of a high-precision laser displacement sensor and an eccentric sleeve realizes non-contact measurement and can Accurately capture and identify the characteristic signals of the RV reducer.

In order to achieve the above purpose, a kind of RV reducer factory quality comprehensive performance quantitative detection test bench adopted in the present invention includes a sensor shaft that is connected to the end of the servo motor, and one side of the servo motor is connected to the RV reducer. The end of the RV reducer is connected with two sensor shafts coaxial with the first sensor shaft, and also includes:

An eccentric sleeve arranged on one axis of the sensor, the outer sleeve of the eccentric sleeve is sleeved with a sensor outer cylinder, and a high-precision laser displacement sensor for capturing and identifying the characteristic signal of the RV reducer is arranged above the sensor outer cylinder;

A hollow cavity arranged inside the eccentric sleeve and used to store heavy materials, the hollow cavity is arranged at one end of the eccentric part, and a supplementary cavity is provided inside the eccentric sleeve at one end away from the eccentric part, and a belt passes between the hollow cavity and the supplementary cavity. The partitions with through holes are separated, and the hollow cavity is provided with a magnetic push plate that can move and push the weight material stored in the hollow cavity to enter the supplementary cavity through the through hole to change the weight distribution in the eccentric sleeve when moving.

As a further optimization of the above solution, a guide rod is fixed in the hollow cavity for the magnetic push plate to move away from or close to the partition plate in parallel, the middle of the magnetic push plate moves through the guide rod, and the magnetic push plate and the guide rod The connection between them is kept sealed, and a rubber ring is fixedly arranged on the outside of the magnetic push plate, which is movably fitted and sealed between the magnetic push plate and the inner wall of the hollow cavity.

In this embodiment, the eccentric sleeve rotates with the first axis of the sensor and the second axis of the sensor, and the displacement signal between the laser displacement sensor and the eccentric sleeve is obtained in real time through the high-precision laser displacement sensor, and the data acquisition card is used to design a data acquisition system through LabVIEW to obtain the displacement signal. Characteristic signal curve, after spectrum transformation, the transmission ratio of the input shaft and output shaft of the RV reducer is calculated. By comparing the theoretical transmission ratio with the actual transmission ratio, the transmission error of the RV reducer, high-precision laser displacement sensor and eccentricity can be obtained. The combination of the sleeve realizes non-contact measurement, which can accurately capture and identify the characteristic signal of the RV reducer, and the eccentric sleeve is simple to process and easy to achieve high-precision machining, thereby ensuring the accuracy of the detection data and high reliability.

As a further optimization of the above solution, a spring for pulling the magnetic push plate is fixed and welded on the inner wall of the hollow cavity on the side away from the partition plate.

It should be noted that when the eccentric sleeve rotates with the first axis of the sensor and the second axis of the sensor, due to the uneven weight distribution of the eccentric sleeve, a centrifugal effect will be generated when the eccentric sleeve rotates, so that the first axis of the sensor and the second axis of the sensor will produce The large centrifugal phenomenon is not conducive to the stable rotation of the first axis of the sensor and the second axis of the sensor. Therefore, a hollow cavity is provided on the inner side of the eccentric sleeve, which is used to make the eccentric sleeve relative to the first axis of the sensor and the outer ring of the second axis of the sensor. The weight is evenly distributed to reduce centrifugation.

As a further optimization of the above solution, the side of the supplementary cavity away from the hollow cavity is provided with an installation groove, the installation groove is arranged on the surface of the eccentric sleeve, and the end of the installation groove is fixed with an arc-shaped cover by long screws. The outer surface of the eccentric cover and the outer surface of the eccentric sleeve maintain an arc fit, the installation groove stores an attraction unit that can attract the magnetic push plate, and one side of the attraction unit is provided with a control for supplying power to the attraction unit unit.

In order to facilitate the adjustment of the centrifugal phenomenon on the first axis of the sensor and the second axis of the sensor, a supplementary cavity is provided on one side of the hollow cavity. Attract the magnetic push plate close to the partition plate, so as to push the weight material stored in the hollow cavity into the supplementary cavity through the through hole for replenishment, so that the side of the eccentric sleeve away from the eccentric part is heavier. When the eccentric sleeve rotates, the eccentric sleeve is away from the eccentric part. The centrifugal force is greater than the side close to the eccentric part. Therefore, the centrifugal effect generated by the eccentric sleeve at this time will offset part of the centrifugal force generated by the first axis of the sensor and the second axis of the sensor toward the eccentric part of the eccentric sleeve, so that the first axis of the sensor and the second axis of the sensor rotate stably. Reduce the centrifugal phenomenon caused by sensor one axis and sensor two axis.

As a further optimization of the above solution, an elastically deformable rubber filling block is fixed at one end of the long screw, and the outer end of the rubber filling block is adapted to the curvature of the arc-shaped cover surface. The middle part of the screwdriver is provided with an expandable support and when the support is expanded, the external screwdriver can enter the gap for operating the long screw.

Specifically, the guide rod is used to guide the movement of the magnetic push plate, the spring has the function of pulling the magnetic push plate to reset, the weight material can use heavier granular materials such as lead particles, the attracting unit can use electromagnet, and the control unit can use DC batteries and gear output devices, etc., control the magnetic attraction force generated by the attraction unit through the gear output device, so as to attract the distance when the magnetic push plate moves toward the side of the partition.

As a further optimization of the above solution, the middle of the eccentric sleeve is provided with a shaft hole for being sleeved on the first axis of the sensor, and the side of the eccentric sleeve is provided with a fixing plate for fixing on the first sensor axis. Fixed on one axis of the sensor.

Among them, the surface of the eccentric sleeve is smooth, which is convenient for measuring the distance between the surface of the eccentric sleeve and the high-precision laser displacement sensor, thereby generating regular curve data. .

As a further optimization of the above solution, the eccentric sleeves are provided with two groups, and the two groups of eccentric sleeves are respectively arranged on the sensor axis and the sensor axis.

In this embodiment, two sets of high-precision laser displacement sensors and eccentric sleeves are correspondingly arranged, which facilitates observation of changes and deviations of characteristic signals when one axis of the sensor rotates and the two axes of the sensor rotate, and has high accuracy.

As a further optimization of the above solution, the sensor outer cylinder and the two sensor shafts are connected by a support bearing, the bottom of the sensor outer cylinder is fixedly provided with a sensor support leg supported on the ground at the bottom of the sensor outer cylinder, and the upper part of the sensor outer cylinder There is a sensor bracket for fixing the high-precision laser displacement sensor. The bottom of the servo motor is fixed on the bottom surface of the bottom through the servo motor bracket. The servo motor bracket, sensor legs, RV reducer bracket, and AC loading motor bracket are all made of triangles. Bracket, the structure is stable and firm.

As a further optimization of the above solution, the output shaft of the RV reducer and the two sensor shafts are connected by flanges, and the ends of the two sensor shafts are connected with an AC loading motor through a coupling, and the AC loading motor is The bottom is fixed to the ground at its bottom by means of an AC loading motor bracket.

Further, the AC loading motor is connected with a speed controller, and the speed controller is used to control the rotation speed of the AC loading motor and play the role of loading torque.

The invention also discloses the detection method of the quantitative detection test bench for the comprehensive performance of the RV reducer factory quality as described in any of the above, including the following steps:

S1: Install the eccentric sleeve, the eccentric sleeve is fixed on the first axis of the sensor and the second axis of the sensor by screws, and the sensor bracket is welded with the sensor outer cylinder and the sensor leg to form the main structure of the sensor;

S2: After completing the above installation, start the servo motor and use the servo motor to control the output speed. The output shaft of the servo motor is connected to the sensor shaft with a coupling, and the sensor shaft is also connected to the input shaft of the RV reducer with a coupling. The RV reducer decelerates the output, the second shaft of the sensor is connected with the output shaft of the RV reducer through the flange, the output shaft of the AC loading motor is connected with the second shaft of the sensor with a coupling, and its speed is controlled by the controller;

S3: Quantitatively calculate the transmission ratio of the RV reducer, obtain the displacement signal between the laser displacement sensor and the eccentric sleeve in real time through the high-precision laser displacement sensor, use the data acquisition card and design the data acquisition system through LabVIEW to obtain the characteristic signal curve, and perform spectrum transformation After calculating the transmission ratio of the input shaft and output shaft of the RV reducer, the transmission error of the RV reducer can be obtained by comparing the theoretical transmission ratio with the actual transmission ratio.

An experimental bench for quantitative detection of comprehensive performance of RV reducer delivery quality and a detection method thereof of the present invention have the following beneficial effects:

1. A kind of RV reducer factory quality comprehensive performance quantitative detection test bench of the present invention, the eccentric sleeve rotates with the sensor one axis and the sensor two axis, and the high-precision laser displacement sensor monitors the relationship between the high-precision laser displacement sensor and the eccentric sleeve outer ring in real time. The real-time monitoring distance is recorded and drawn into curve data, which realizes non-contact measurement and can accurately capture and identify the characteristic signal of the RV reducer;

2. A kind of RV reducer factory quality comprehensive performance quantitative detection test bench of the present invention is provided with a hollow cavity on the inner side of the eccentric sleeve, which is used to make the eccentric sleeve relative to the weight of the sensor one-axis and the sensor two-axis outer ring part Evenly distributed to reduce centrifugal phenomenon;

3. A kind of RV reducer factory quality comprehensive performance quantitative detection test bench of the present invention, in order to facilitate the adjustment of the centrifugal phenomenon in the sensor one axis and the sensor two axis, the magnetic push plate is attracted by the attracting unit to be close to the partition plate, thereby pushing the hollow cavity The weight material stored in the medium enters the supplementary cavity through the through hole for replenishment, so that the side of the eccentric sleeve away from the eccentric part is heavier. The centrifugal effect generated by the sleeve at this time will offset the centrifugal force generated by part of the first axis of the sensor and the second axis of the sensor towards the eccentric part of the eccentric sleeve, so that the first axis of the sensor and the second axis of the sensor rotate stably, reducing the centrifugal phenomenon caused by the first axis of the sensor and the second axis of the sensor ;

4. A quantitative detection method for the comprehensive performance of the factory quality of the RV reducer of the present invention, the eccentric sleeve is fixed on the first sensor axis and the second sensor axis with the set screw, and the sensor axis rotates together with the sensor axis two, and the high-precision laser displacement The signal measured by the sensor is the displacement between the high-precision laser displacement sensor and the eccentric sleeve. The surface of the eccentric sleeve is smooth, which is convenient for measuring the distance between the surface of the eccentric sleeve and the high-precision laser displacement sensor, thereby generating regular curve data. Here On this basis, the change law of the dynamic characteristic signal of the RV reducer is studied, and then the transmission error, torsional stiffness and dynamic performance of the RV reducer are quantitatively detected.

With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention may be employed. It should be understood that the embodiments of the present invention are not thereby limited in scope. Embodiments of the invention include many changes, modifications and equivalents within the spirit and scope of the appended claims.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the eccentric sleeve structure schematic diagram of the present invention;

3 is a schematic diagram of the internal structure of the eccentric sleeve of the present invention;

FIG. 4 is a schematic diagram of the detection principle of the instantaneous phase of the present invention.

In the figure: Servo motor 1, sensor bracket 2, high-precision laser displacement sensor 3, sensor axis 4, support bearing 5, RV reducer 6, flange 7, sensor axis 8, AC loading motor 9, AC loading motor bracket 10. RV reducer bracket 11, eccentric sleeve 12, sensor leg 13, sensor outer cylinder 14, servo motor bracket 15, hollow cavity 16, supplementary cavity 17, partition 18, through hole 19, shaft hole 20, rubber ring 21 , Magnetic push plate 22 , spring 23 , guide rod 24 , installation slot 25 , long screw 26 , attraction unit 27 , control unit 28 , arc cover 29 , rubber filling block 30 .

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention, and not to limit the scope of the present invention.

It should be noted that, when an element is referred to as being "disposed on, provided with" another element, it may be directly on the other element or there may also be intervening elements, when an element is referred to as being "connected, connected" to another element An element may be directly connected to another element or there may be an intervening element at the same time, "fixed connection" means fixed connection, there are many ways of fixed connection, not as the protection scope of this article, the terms used in this article "Vertical," "horizontal," "left," "right," and similar expressions are for illustrative purposes only and do not represent the only implementation.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention, and the terms used in the specification are only for the purpose of describing specific embodiments, not For the purpose of limiting the invention, the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items;

Please refer to the accompanying drawings 1-4 of the description, the present invention provides a technical solution: an experimental bench for quantitative detection of the comprehensive performance of the RV reducer factory quality, including a sensor shaft 4 connected to the end of the servo motor 1, One side of the transmission is connected with the RV reducer 6, and the end of the RV reducer 6 is connected with the two sensor shafts 8 coaxial with the first sensor shaft 4, and also includes:

The eccentric sleeve 12 is arranged on the sensor shaft 4, the outer sleeve of the eccentric sleeve 12 is provided with a sensor outer cylinder 14, and the upper part of the sensor outer cylinder 14 is provided with a high precision for capturing and identifying the characteristic signal of the RV reducer 6 Laser displacement sensor 3;

A hollow cavity 16 arranged inside the eccentric sleeve 12 and used to store weight materials, the hollow cavity 16 is arranged at one end of the eccentric part, and a supplementary cavity 17 is provided inside the eccentric sleeve 12 at one end away from the eccentric part, and the hollow cavity 16 and the supplementary cavity 17 pass through The partitions 18 with through holes 19 are separated, and the hollow cavity 16 is provided with a magnetic material that can move and push the weight material stored in the hollow cavity 16 into the supplementary cavity 17 through the through hole 19 to change the weight distribution in the eccentric sleeve 12 when moving. Push plate 22.

A guide rod 24 is fixed in the hollow cavity 16 for the magnetic push plate 22 to move away from or close to the baffle 18 in parallel. The connection is kept sealed, and a rubber ring 21 is fixed outside the magnetic push plate 22 , which is movably attached and sealed between the magnetic push plate 22 and the inner wall of the hollow cavity 16 .

In this embodiment, in this embodiment, the eccentric sleeve 12 rotates with the first axis 4 of the sensor and the second axis 8 of the sensor, and the high-precision laser displacement sensor 3 obtains the displacement signal between the laser displacement sensor 3 and the eccentric sleeve 12 in real time, using The data acquisition card and the data acquisition system are designed through LabVIEW to obtain the characteristic signal curve. After spectrum transformation, the transmission ratio of the input shaft and the output shaft of the RV reducer 6 is calculated. By comparing the theoretical transmission ratio and the actual transmission ratio, the RV deceleration can be obtained. The transmission error of the RV reducer 6, the combination of the high-precision laser displacement sensor 3 and the eccentric sleeve 12 realizes non-contact measurement, which can accurately capture and identify the characteristic signal of the RV reducer 6, and the eccentric sleeve 12 is simple and easy to process. Realize high-precision processing, thereby ensuring the accuracy and reliability of detection data.

A spring 23 for pulling the magnetic push plate 22 is fixed and welded on the inner wall of the hollow cavity 16 on the side away from the partition plate 18 .

It should be noted that when the eccentric sleeve 12 rotates with the first sensor shaft 4 and the second sensor shaft 8, due to the uneven weight distribution of the eccentric sleeve 12, when the eccentric sleeve 12 rotates, a centrifugal effect will be generated, making the sensor one shaft 4. The second sensor shaft 8 produces a large centrifugal phenomenon, which is not conducive to the stable rotation of the first sensor shaft 4 and the second sensor shaft 8. Therefore, a hollow cavity 16 is provided on the inner side of the eccentric sleeve 12, which is used to make the eccentric sleeve 12 relative to each other. The weight of the outer ring part of the first sensor shaft 4 and the second sensor shaft 8 is evenly distributed to reduce the centrifugal phenomenon.

The side of the supplementary cavity 17 away from the hollow cavity 16 is provided with an installation groove 25, the installation groove 25 is arranged on the surface of the eccentric sleeve 12, and the end of the installation groove 25 is fixed with an arc-shaped cover 29 by a long screw 26. The arc-shaped cover The outer surface of 29 and the outer surface of the eccentric sleeve 12 keep an arc fit, the installation groove 25 stores an attraction unit 27 that can attract the magnetic push plate 22, and one side of the attraction unit 27 is provided with a control for supplying power to the attraction unit 27. unit 28.

In order to facilitate the adjustment of the centrifugal phenomenon in the first sensor shaft 4 and the second sensor shaft 8, a supplementary cavity 17 is provided on one side of the hollow cavity 16. When the centrifugal phenomenon occurs in the first sensor shaft 4 and the second sensor shaft 8, the The attraction unit 27 is activated, and the attraction unit 27 attracts the magnetic push plate 22 close to the partition 18, thereby pushing the weight material stored in the hollow cavity 16 into the supplementary cavity 17 through the through hole 19 for replenishment, so that the side of the eccentric sleeve 12 away from the eccentric part is relatively small. When the eccentric sleeve 12 rotates, the centrifugal force generated by the eccentric sleeve 12 away from the eccentric part is greater than the side close to the eccentric part. Therefore, the centrifugal effect generated by the eccentric sleeve 12 at this time will offset part of the sensor axis 4 and sensor axis 8 towards the eccentric The centrifugal force generated by the eccentric part of the sleeve 12 makes the first sensor shaft 4 and the second sensor shaft 8 rotate stably, reducing the centrifugal phenomenon caused by the first sensor shaft 4 and the second sensor shaft 8 .

One end of the long screw 26 is fixedly provided with an elastically deformable rubber filling block 30. The outer end of the rubber filling block 30 is adapted to the curvature of the surface of the arc-shaped cover 29. When expanding the support, an external screwdriver can enter the gap for operating the long screw 26 .

Specifically, the guide rod 24 serves the purpose of guiding the magnetic push plate 22 to move, and the spring 23 has the function of pulling the magnetic push plate 22 to reset. The weight material can use heavier granular materials such as lead particles, and the attracting unit 27 can use electromagnetic Iron, the control unit 28 uses a DC battery and a gear output device, etc., and controls the magnetic attraction force generated by the attracting unit 27 through the gear output device, so as to attract the distance when the magnetic push plate 22 moves toward the side of the partition 18 .

The middle of the eccentric sleeve 12 is provided with a shaft hole 20 for being sleeved on the sensor-1 shaft 4, and the side of the eccentric sleeve 12 is provided with a fixing plate for fixing on the sensor-1 shaft 4, and the fixing plate is fixed on the sensor-1 shaft 4 by screws. superior.

Among them, the surface of the eccentric sleeve 12 is smooth, which is convenient for measuring the distance between the surface of the eccentric sleeve 12 and the high-precision laser displacement sensor 3, so as to generate regular curve data. 26 screws, easy to use.

There are two sets of eccentric sleeves 12 . The two sets of eccentric sleeves 12 are respectively arranged on the first sensor axis 4 and the second sensor axis 8 .

In this embodiment, two sets of high-precision laser displacement sensors 3 and eccentric sleeves 12 are correspondingly arranged, which facilitates observation of changes and deviations of characteristic signals during rotation between the first sensor axis 4 and the second sensor axis 8, with high accuracy.

The sensor outer cylinder 14 is connected with the two sensor shafts 8 through the support bearing 5. The bottom of the sensor outer cylinder 14 is fixedly provided with a sensor support leg 13 supported on the ground at the bottom of the sensor outer cylinder 14. The upper part of the sensor outer cylinder 14 is provided with a fixed high precision laser For the sensor bracket 2 of the displacement sensor 3, the bottom of the servo motor 1 is fixed on the bottom surface of the bottom through the servo motor bracket 15. The servo motor bracket 15, the sensor leg 13, the RV reducer bracket 11, and the AC loading motor bracket 10 all use a triangular bracket , the structure is stable and firm.

The output shaft of the RV reducer 6 and the second sensor shaft 8 are connected through the flange 7, the end of the second sensor shaft 8 is connected with an AC loading motor 9 through a coupling, and the bottom of the AC loading motor 9 is connected by an AC loading motor bracket 10. Fixed to the ground at its bottom.

Further, the AC loading motor 9 is connected with a speed controller, and the speed controller is used to control the rotation speed of the AC loading motor 9, and play the role of loading torque.

S1: Install the eccentric sleeve 12, the eccentric sleeve 12 is fixed on the first sensor shaft 4 and the second sensor shaft 8 by screws, and the sensor bracket 2 is welded with the sensor outer cylinder 14 and the sensor leg 13 to form the main structure of the sensor;

S2: After the above installation is completed, start the servo motor 1, use the servo motor 1 to control the output speed, the output shaft of the servo motor 1 is connected to the sensor shaft 4 with a coupling, and the sensor shaft 4 also uses a coupling to connect to the RV reducer 6 The input shaft is connected to the RV reducer 6 for deceleration output, the second sensor shaft 8 is connected to the output shaft of the RV reducer 6 through the flange 7, and the output shaft of the AC loading motor 9 is connected with the second sensor shaft 8 by a coupling. controlled by the controller;

S3: Quantitatively calculate the transmission ratio of the RV reducer 6, obtain the displacement signal between the laser displacement sensor 3 and the eccentric sleeve 12 in real time through the high-precision laser displacement sensor 3, use the data acquisition card and design the data acquisition system through LabVIEW to obtain the characteristic signal curve , after the spectrum transformation is performed, the transmission ratio of the input shaft and the output shaft of the RV reducer 6 is calculated, and the transmission error of the RV reducer 6 can be obtained by comparing the theoretical transmission ratio with the actual transmission ratio.

It is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. .

Claims

An experimental bench for quantitative detection of the comprehensive performance of the factory quality of the RV reducer, comprising a sensor shaft connected to the end of a servo motor, one side of the servo motor is connected to the RV reducer, and the end of the RV reducer is driven A sensor shaft two coaxial with the sensor shaft one is connected, and it is characterized in that, it also includes:

An eccentric sleeve arranged on one axis of the sensor, the outer sleeve of the eccentric sleeve is sleeved with a sensor outer cylinder, and a high-precision laser displacement sensor for capturing and identifying the characteristic signal of the RV reducer is arranged above the sensor outer cylinder;

A hollow cavity arranged inside the eccentric sleeve and used to store heavy materials, the hollow cavity is arranged at one end of the eccentric part, and a supplementary cavity is provided inside the eccentric sleeve at one end away from the eccentric part, and a belt passes between the hollow cavity and the supplementary cavity. The partitions with through holes are separated, and the hollow cavity is provided with a magnetic push plate that can move and push the weight material stored in the hollow cavity to enter the supplementary cavity through the through hole to change the weight distribution in the eccentric sleeve when moving.
A kind of RV reducer factory quality comprehensive performance quantitative detection test bench according to claim 1, characterized in that: the hollow cavity is fixed with a guide rod for the magnetic push plate to move away from or close to the partition plate, and the The middle part of the magnetic push plate moves through the guide rod, and the connection between the magnetic push plate and the guide rod is kept sealed. between the rubber rings.
An experimental bench for quantitative detection of comprehensive performance of RV reducer delivery quality according to claim 2, characterized in that: a spring for pulling the magnetic push plate is fixed and welded on the inner wall of the side of the hollow cavity away from the partition plate.
An experimental bench for quantitative detection of comprehensive performance of RV reducer factory quality according to claim 3, characterized in that: a side of the supplementary cavity away from the hollow cavity is provided with a mounting groove, and the mounting groove is provided on the surface of the eccentric sleeve , and the end of the installation slot is fixed with an arc-shaped cover through long screws, the outer surface of the arc-shaped cover and the outer surface of the eccentric sleeve maintain an arc fit, and the installation slot stores a magnet that can attract the magnetic push plate. A suction unit, one side of the suction unit is provided with a control unit for supplying power to the suction unit.
An experimental bench for quantitative detection of comprehensive performance of RV reducer delivery quality according to claim 4, characterized in that: one end of the long screw is fixedly provided with an elastically deformable rubber filling block, and the outer end of the rubber filling block is Compatible with the curvature of the surface of the arc-shaped cover, the middle of the rubber filling block is provided with an expandable support, and when the support is expanded, an external screwdriver can enter the gap for operating the long screw.
An experimental bench for quantitative detection of comprehensive performance of RV reducer factory quality according to claim 5, characterized in that: the middle of the eccentric sleeve is provided with a shaft hole for being sleeved on a shaft of the sensor, and the eccentric sleeve is provided with a shaft hole in the middle. The side is provided with a fixing plate for fixing on the first axis of the sensor, and the fixing plate is fixed on the first axis of the sensor through screws.
An experimental bench for quantitative detection of comprehensive performance of RV reducer factory quality according to claim 1, characterized in that: the eccentric sleeves are provided with two groups, and the two groups of eccentric sleeves are respectively arranged on the first axis of the sensor and the second axis of the sensor, There are two sets of the high-precision laser displacement sensors corresponding to the two sets of eccentric sleeves.
An experimental bench for quantitative detection of comprehensive performance of RV reducer factory quality according to claim 1, characterized in that: the sensor outer cylinder and the two sensor shafts are connected by a support bearing, and the bottom of the sensor outer cylinder is fixedly arranged There are sensor legs supported on the ground at the bottom, a sensor bracket for fixing a high-precision laser displacement sensor is arranged above the sensor outer cylinder, and the bottom of the servo motor is fixed on the bottom surface of its bottom through the servo motor bracket.
An experimental bench for quantitative detection of comprehensive performance of RV reducer delivery quality according to claim 1, characterized in that: the output shaft of the RV reducer and the two sensor shafts are connected by flanges, and the two sensor shafts are connected by flanges. The end is connected with an AC loading motor through a coupling, and the bottom of the AC loading motor is fixed on the ground at the bottom of the AC loading motor through an AC loading motor bracket.
Based on the detection method of the RV reducer factory quality comprehensive performance quantitative detection test bench described in any one of claims 1-9, it is characterized in that: comprising the following steps:

S1: Install the eccentric sleeve, the eccentric sleeve is fixed on the first axis of the sensor and the second axis of the sensor by screws, and the sensor bracket is welded with the sensor outer cylinder and the sensor leg to form the main structure of the sensor;

S2: After completing the above installation, start the servo motor and use the servo motor to control the output speed. The output shaft of the servo motor is connected to the sensor shaft with a coupling, and the sensor shaft is also connected to the input shaft of the RV reducer with a coupling. The RV reducer decelerates the output, the second shaft of the sensor is connected with the output shaft of the RV reducer through the flange, the output shaft of the AC loading motor is connected with the second shaft of the sensor with a coupling, and its speed is controlled by the controller;

S3: Quantitatively calculate the transmission ratio of the RV reducer, obtain the displacement signal between the laser displacement sensor and the eccentric sleeve in real time through the high-precision laser displacement sensor, use the data acquisition card and design the data acquisition system through LabVIEW to obtain the characteristic signal curve, and perform spectrum transformation After calculating the transmission ratio of the input shaft and output shaft of the RV reducer, the transmission error of the RV reducer can be obtained by comparing the theoretical transmission ratio with the actual transmission ratio.