CN104374569B - RV retarders drive characteristic tests system - Google Patents
RV retarders drive characteristic tests system Download PDFInfo
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- CN104374569B CN104374569B CN201410594449.5A CN201410594449A CN104374569B CN 104374569 B CN104374569 B CN 104374569B CN 201410594449 A CN201410594449 A CN 201410594449A CN 104374569 B CN104374569 B CN 104374569B
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- 238000012360 testing method Methods 0.000 title claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 239000006247 magnetic powder Substances 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000008878 coupling Effects 0.000 description 13
- 238000010168 coupling process Methods 0.000 description 13
- 238000005859 coupling reaction Methods 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The present invention relates to a kind of test device, more particularly to RV retarders drive characteristic test system.It includes pedestal, pedestal is equipped with RV stents, torque sensor and loading device, RV stents are equipped with mounting hole, connecting plate for setting RV retarders to be measured is detachably installed, connecting plate both sides are respectively equipped with the angular displacement sensor with the input shaft of RV retarders to be measured, output shaft cooperation at mounting hole；Torque sensor is used for the torsional moment for detecting RV retarders to be measured, and loading device is used for the load for controlling RV retarders to be measured.The configuration of the present invention is simple, measurand replace easy, measuring accuracy height.
Description
Technical field
The present invention relates to a kind of test device, more particularly to a kind of it is used to test RV retarders drive characteristics test system
System.
Background technology
RV retarders are a kind of the most commonly used cycloidal type precision speed reduction devices, have it is compact-sized, kinematic accuracy is high, transmission
Than it is big, bearing capacity is high, with small vibration, noise is low and low power consumption and other advantages, be mainly used in industrial robot joint position, generally
Industrial robot there are multiple frees degree, the quality of the transmission performance of each joint retarder directly affects industrial robot
Integral working.
With the continuous improvement of industrial production automation and precise treatment degree, the demand of industrial robot quickly increases,
It is just important all the more to develop and develop high performance RV retarders, during RV retarders are researched and developed and are fabricated, detects its biography
Dynamic characteristic with evaluate with Curve guide impeller reasonability, be must can not be seldom one of link.Due to the RV retarders of different model
Have very big difference in terms of the characteristic such as appearance and size and nominal torque, all lack all the time it is a set of can easily realize it is more
The test system of a model RV retarders transmission performance test.With size from small to large, it can be transmitted existing RV retarders
Power, i.e. torque load also differs from small to large.In the prior art, join generally according to torque load and nominal torque etc.
RV retarders are divided into the smaller and larger two kinds of models of nominal torque by number.For example, RV6E, RV20E in existing RV retarders,
RV40E etc. because its nominal torque be no more than 412Nm thus be categorized as RV retarder of the nominal torque compared with ting model, and RV80E,
110E, 160E etc. are because their nominal torque is relatively large and transmission RV that is bigger therefore being categorized as the larger model of nominal torque subtracts
Fast device.
The content of the invention
The present invention is for certain or some defects in the prior art, there is provided a kind of RV retarders drive characteristic test system
System.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
RV retarders drive characteristic tests system, it includes pedestal, and pedestal is equipped with RV stents, torque sensor and plus
Carry and put, RV stents are equipped with mounting hole, and the connecting plate for setting RV retarders to be measured is detachably provided with mounting hole, even
Fishplate bar both sides are respectively equipped with the angular displacement sensor with the input shaft of RV retarders to be measured, output shaft cooperation；Torque sensor is used
In the torsional moment for detecting RV retarders to be measured, loading device is used for the load for controlling RV retarders to be measured.
The present invention, can be to volume when carrying out transmission accuracy, torsion stiffness and return difference to RV retarders, detent torque being tested
The RV retarders for determining the smaller and larger model of moment of torsion are accurately tested so that strong applicability of the present invention.The RV stents of the present invention
Mounting hole is equipped with, various types of RV retarders are to be arranged on by matching connecting plate on mounting hole, this structure
Make and ensure that the present invention can set various types of RV retarders, ensure that being normally carried out for follow-up test.The company of the present invention
Fishplate bar both sides can be equipped with the angular displacement sensor coordinated with the input shafts of RV retarders to be measured, output shaft, by with angular displacement
The supporting PCI numbered cards of sensor, can gather the input shafts of RV retarders to be measured, output shaft in real time in operation process
The data of collection are carried out handling and analyzing the transmission essence that can draw RV retarders to be measured accordingly by the data such as windup-degree
Degree.The present invention is additionally provided with torque sensor and loading device, when the RV retarders to different model are accurately tested, loading
Device can be chosen to be suitable load mode, and torque sensor can measure the precise load value of RV retarders to be measured, this guarantor
Various types of RV retarders can accurately be tested by having demonstrate,proved the present invention, and can accurate control load value, ensure that survey
Try the accuracy of data.
Preferably, can also include locking system, locking system can be arranged on connecting plate so as to which locking RV to be measured subtracts
The shaft end of fast device.
Preferably, locking system can also include the fixed flange and the first expansion sleeve being fixed together, first is swollen
The fixed shaft end for being used to hold RV retarders to be measured tightly, fixed flange is used for affixed with connecting plate.
Present invention additionally comprises locking system, locking system can be fixed on connecting plate and to the corresponding of RV retarders to be measured
Shaft end carries out locking, when carrying out torsion stiffness and return difference, detent torque test etc. to RV retarders to be measured, it is necessary to will treat
Tested after surveying the corresponding axis locking of RV retarders.The locking system of the present invention can include the fixed flange that is fixed together and
First expansion sleeve, utilizes the corresponding axis of expansion sleeve locking RV retarders to be measured, expansion sleeve installation, adjustment, convenient disassembly, intensity
Height, connective stability is reliable, and in overload the corresponding axis of RV retarders to be measured can be protected without damage.Fixed flange energy
Enough easy dismounts on connecting plate, this enables, and the locking system of the present invention is easy, stablize to RV retarders to be measured
Corresponding axis locking, so as to ensure the stabilization of follow-up test in the present invention, efficiently carry out.
Preferably, loading device is coordinated using loading ring flange and the second expansion sleeve, the second expansion sleeve is used for will loading
Ring flange is fixed in the shaft end of RV retarders to be measured, and loading ring flange is equipped with loading lever, and loading lever is used to hang counterweight.
Preferably, loading device is coordinated using loading disc and the 3rd expansion sleeve, the 3rd expansion sleeve is used to consolidate loading disc
It is connected on the shaft end of RV retarders to be measured, winding rope on loading disc, rope hangs counterweight around support plate rearward end.
Preferably, loading device uses magnetic powder brake.
The present invention's provides a variety of loading devices, and loading device can be obviously easy by its specific structure
Be arranged on the present invention load shaft part, by easily replacing loading device, can realize to various types of RV retarders into
Row multifrequency nature is tested.
Preferably, be also provided with conduit on pedestal in the longitudinal direction, conduit cross section is "convex" shaped, RV branch
Frame, torque sensor and loading device are arranged on pedestal by bolt, and the head of the bolt is arranged in conduit.
The pedestal upper end of the present invention is also provided with a plurality of parallel T-slot road, this causes RV stents in the present invention, turns
Square sensor, loading device etc. can be arranged on conduit by bolt, this construction of conduit so that on pedestal of the present invention
Mechanism can be fixed on when bolt screws tight on pedestal, level can be carried out on pedestal in the case of bolt looseness
Displacement, this enables the loading device of the present invention and connecting plate easily to install or remove.
The present invention is by different shaft end fixing tools and load mode, for the less retarder of nominal torque using solid
Retarder input terminal and the test mode in output terminal loading are determined, for the larger retarder of nominal torque using fixed retarder
Output terminal and the test mode in input terminal loading, can realize to multiple model RV retarders transmission accuracies, detent torque, torsion
Turn true, the accurate detection of the drive characteristics such as rigidity and return difference, the configuration of the present invention is simple, measurand replace easy, test essence
Degree is high.
Brief description of the drawings
Fig. 1 is the structure diagram of RV retarders drive characteristic test system in the embodiment of the present invention 1；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the side view of Fig. 1；
Fig. 4 is the schematic diagram for carrying out transmission accuracy test in the embodiment of the present invention 1 to RV retarders to be measured；
Fig. 5 is the structure diagram of RV stents in Fig. 1；
Fig. 6 is the sectional view of Fig. 5；
Fig. 7 is that RV retarder to be measured to ting model carries out torsion stiffness in the embodiment of the present invention 1 and return difference, detent torque are surveyed
The setting schematic diagram of RV retarders to be measured during examination；
Fig. 8 is that RV retarder to be measured to ting model carries out torsion stiffness in the embodiment of the present invention 1 and return difference, detent torque are surveyed
The schematic diagram of loading device used during examination；
Fig. 9 is that medium-and-large-sized number of the embodiment of the present invention 1 RV retarders to be measured carry out torsion stiffness and return difference, detent torque test
The schematic diagram of Shi Suoyong loading devices；
Figure 10 is that medium-and-large-sized number of the embodiment of the present invention 1 RV retarders to be measured carry out torsion stiffness and return difference, detent torque are surveyed
The setting schematic diagram of RV retarders to be measured during examination.
The toponym that each number designation is referred in attached drawing is as follows：
100th, pedestal；110th, RV stents；120th, connecting plate；121st, angular encoder；130th, first shaft coupling；140th, torque
Sensor；141st, first support；150th, second shaft coupling；160th, bearing block；161st, second support；170th, loading device；171、
3rd stent；180th, conduit；210th, servomotor；220th, end cap is inputted；230th, end cap is exported；240th, the 3rd shaft coupling；410、
Control unit；420th, data acquisition processing device；430th, the 4th shaft coupling；440th, rotary encoder；450th, RV retarders to be measured；
510th, mounting hole；710th, fixed flange；720th, the first expansion sleeve；810th, ring flange is loaded；820th, the second expansion sleeve；830th, add
Carry lever；831st, groove is hung；840th, the first counterweight；910th, loading disc；920th, the 3rd expansion sleeve；930th, support plate；940th, support
Disc carrier；950th, rope；960th, the second counterweight.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, system is tested for the RV retarders drive characteristic of the present embodiment, it includes pedestal 100,
It is equipped with conduit 180 on pedestal 100 in the longitudinal direction, 180 cross section of conduit is "convex" shaped, RV stents 110, torque sensor
140 and loading device 170 be arranged on by bolt on pedestal 100, the head of the bolt is arranged in conduit 180.It is to be measured
RV retarders can be arranged on RV stents 110 by connecting plate 120, and torque sensor 140 can be set by first support 141
On pedestal 100, loading device 170 can be arranged on pedestal 100 by the 3rd stent 171.The axis energy of RV retarders to be measured
Enough coupled by first shaft coupling 130 with torque sensor 140, bearing block is equipped between torque sensor 140 and loading device 170
160, bearing block 160 is arranged on pedestal 100 by second support 161, and bearing block 160 is equipped with bearing axle, torque sensor 140
It can be coupled by second shaft coupling 150 with bearing axle, loading device 170 can be joined by the 3rd shaft coupling 240 with bearing axle
Connect.
As shown in Figure 5, Figure 6, the structure of RV stents 110 in the present embodiment is disclosed, its center is equipped with mounting hole 510, pacifies
The periphery for filling the profile and connecting plate 120 in hole 510 is adapted, and connecting plate 120 can be arranged on mounting hole 510 by screw.
As shown in figure 4, RV retarders 450 to be measured are carried out using the RV retarders drive characteristic test system of the present embodiment
When transmission accuracy is tested, RV retarders 450 to be measured are arranged on RV stents 110 by supporting connecting plate 120, connecting plate 120
Side is equipped with the input end cap 220 for being used to support 450 input shaft of RV retarders to be measured, and the opposite side of connecting plate 120, which is equipped with, to be used for
Support the output end cap 230 of 450 output shaft of RV retarders to be measured.The input shaft of RV retarders 450 to be measured passes through the 4th shaft coupling
430 couple with servomotor 210, and the output shaft of RV retarders 450 to be measured passes through first shaft coupling 130 and torque sensor 140
Connection, servomotor 210 are installed on the end of input end cap 220.Rotary encoder 440 is through the defeated of RV retarders 450 to be measured
Enter on axis and be fixed on connecting plate 120, for detecting the input shaft angular displacement information of RV retarders 450 to be measured.Angular coding
Device 121 is through on the output shaft of RV retarders 450 to be measured and is fixed in the end of output end cap 230, subtracts for detecting RV to be measured
The output shaft angular displacement information of fast device 450.Loading device 170 uses magnetic powder brake, and the axis of magnetic powder brake passes through the 3rd
Axis device 240 couples with bearing axle.Control unit 410 includes servo-driver, motion control card, stabilized current supply and interlock circuit,
It is used for realization the accurate control of the rotating speed of servomotor 210, torque and magnetic powder brake payload.Data acquisition process fills
Put 420 include computer, numbered card, data collecting card, relative program, software, its be used for synchronous acquisition rotary encoder 440,
The information of angular encoder 121 and torque sensor 140, and the information of collection is handled, and then show that RV to be measured subtracts
The drive characteristic parameters such as the driving error of fast device 450, idle running return difference simultaneously analyze its feature.
As shown in Figure 7, Figure 8, subtracted using the RV retarders drive characteristic test system RV to be measured to ting model of the present embodiment
When fast device 450 carries out torsion stiffness and return difference, detent torque test, input end cap 220 is removed, utilizes 710 He of fixed flange
First expansion sleeve 720 carries out locking to the input shaft of RV retarders 450 to be measured.The 3rd shaft coupling 240 is dismantled, utilizes the second swelling
Loading ring flange 810 is locked on bearing axle by set 820, and the edge of loading ring flange 810 can be arranged with loading lever 830,
Loading lever 830, which is equipped with, hangs groove 831, and the first counterweight 840 can be hung by hanging on groove 831.By adding and subtracting the first counterweight 840
Realize the application to 450 load of RV retarders to be measured, precise load value is measured by torque sensor 140, the torsion angle of output shaft
Degree is drawn by angular encoder 121.
As shown in Figure 9, Figure 10, subtracted using the RV retarders drive characteristic test system RV to be measured to big model of the present embodiment
When fast device 450 carries out torsion stiffness and return difference, detent torque test, dismantle first shaft coupling 130 and remove output end cap 230,
Locking is carried out to the output shaft of RV retarders 450 to be measured using 710 and first expansion sleeve 720 of fixed flange, RV to be measured slows down
450 input shaft of device is coupled by first shaft coupling 130 with torque sensor 140, torque sensor by the 3rd shaft coupling 240 with
Bearing axle couples.Loading disc 910 is locked on bearing axle using the 3rd expansion sleeve 920,2 ropes of winding on loading disc 910
950,2 ropes 950 can hang the second counterweight 960, support plate around 2 different 930 rearward ends of support plate respectively
930 by supporting disc carrier 940 to be arranged on pedestal 100.Realized by increasing and decreasing the second counterweight 960 to RV retarders to be measured
The application of 450 load, precise load value are measured by torque sensor 140, and the windup-degree of input shaft is surveyed by rotary encoder 440
Go out.
In short, the foregoing is merely presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent
Change and modification, should all belong to the covering scope of patent of the present invention.
Claims (5)
1.RV retarders drive characteristic tests system, it is characterised in that：Including pedestal (100), pedestal (100) is equipped with RV stents
(110), torque sensor (140) and loading device (170)；Pedestal (100) is equipped with conduit (180), RV in the longitudinal direction
Stent (110) is arranged on conduit (180) place by bolt, and conduit (180) cross section is arranged on groove for the head of "convex" shaped and bolt
In road (180)；RV stents (110) are equipped with mounting hole (510), and RV retarders to be measured are arranged on installation by a connecting plate (120)
Hole (510) place, connecting plate (120) are detachably connected with mounting hole (510)；The corresponding shaft end of RV retarders to be measured and locking system
Connection, it is right for the less retarder of nominal torque using fixed retarder input terminal and the test mode in output terminal loading
In the larger retarder of nominal torque using fixed retarder output terminal and the test mode in input terminal loading；Locking system energy
Enough it is arranged on connecting plate (120) so as to the corresponding shaft end of locking RV retarders to be measured；Locking system is treated including can be used in holding
Survey the input shaft of RV retarders or the first expansion sleeve (720) of output shaft and for the mounting flange affixed with connecting plate (120)
Disk (710), fixed flange (710) and the first expansion sleeve (720) are fixed together；Connecting plate (120) both sides be respectively equipped with
The angular displacement sensor that input shaft, the output shaft of RV retarders to be measured coordinate, angular displacement sensor are used to detect RV decelerations to be measured
Device corresponds to the windup-degree of shaft end；One end and torque sensor (140) that RV retarders to be measured are not connected with locking system are coaxial
Connection, loading device (170) be arranged on torque sensor (140) corresponding shaft end；Torque sensor (140) is used to detect to be measured
The torsional moment of RV retarders, loading device (170) are used for the load for controlling RV retarders to be measured；Angular displacement sensor includes using
In with the rotary encoder (440) of the input shaft of RV retarders to be measured cooperation and for coordinating with the output shaft of RV retarders to be measured
Angular encoder (121), the letter that torque sensor (140), rotary encoder (440) and angular encoder (121) are gathered
Breath is analyzed and processed by a data processing equipment (420).
2. RV retarders drive characteristic according to claim 1 tests system, it is characterised in that：Loading device (170) is adopted
Coordinated with loading ring flange (810) and the second expansion sleeve (820), the second expansion sleeve (820) is used for loading ring flange (810) is solid
The shaft end of RV retarders to be measured is connected on, loading ring flange (810) is equipped with loading lever (830), and loading lever (830) is used to hang
If counterweight.
3. RV retarders drive characteristic according to claim 1 tests system, it is characterised in that：Loading device (170) is adopted
Coordinated with loading disc (910) and the 3rd expansion sleeve (920), the 3rd expansion sleeve (920) is used to loading disc (910) being fixed in be measured
The shaft end of RV retarders, winding rope (950) on loading disc (910), rope (950) hang around support plate (930) rearward end
Counterweight.
4. RV retarders drive characteristic according to claim 1 tests system, it is characterised in that：Loading device (170) is adopted
Use magnetic powder brake.
5. RV retarders drive characteristic according to claim 1 tests system, it is characterised in that：In length on pedestal (100)
Degree direction is equipped with conduit (180), and conduit (180) cross section is "convex" shaped, torque sensor (140) and loading device
(170) it is arranged on by bolt on pedestal (100), the head of the bolt is arranged in conduit (180).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410594449.5A CN104374569B (en) | 2014-10-29 | 2014-10-29 | RV retarders drive characteristic tests system |
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| CN201410594449.5A CN104374569B (en) | 2014-10-29 | 2014-10-29 | RV retarders drive characteristic tests system |
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| CN104374569B true CN104374569B (en) | 2018-04-17 |
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