CN108204894A - A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading - Google Patents
A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于谐波减速器技术领域，具体涉及一种基于双电机伺服加载的谐波减速器综合性能测试平台的设计与实现。The invention belongs to the technical field of harmonic reducers, and in particular relates to the design and realization of a comprehensive performance test platform for harmonic reducers based on dual-motor servo loading.
背景技术Background technique
谐波减速器具有回程误差小、单级减速比范围大、运动平稳、传动效率高的特点，而且其承载力大、体积小、重量轻，在航空航天、机器人等领域应用广泛。谐波减速器的主体由刚轮、柔轮和波发生器组成。通常情况下，刚轮固定，波发生器为椭圆构件，安装在柔轮内部，迫使柔轮按照一定规律在长轴端产生径向变形成为椭圆状，波发生器不断旋转，柔轮轮齿不断和刚轮轮齿重复进行啮入、啮合、啮出、脱开的循环相互错齿运动。这种错齿运动将波发生器的输入转化为柔轮的输出实现减速传动。根据国标要求，谐波减速器在使用前必须进行测试、校验。The harmonic reducer has the characteristics of small return error, large range of single-stage reduction ratio, smooth motion, and high transmission efficiency. Moreover, it has large bearing capacity, small size, and light weight. It is widely used in aerospace, robotics, and other fields. The main body of the harmonic reducer is composed of a rigid wheel, a flexible wheel and a wave generator. Usually, the rigid spline is fixed, the wave generator is an elliptical component, and is installed inside the flexspline, forcing the flexspline to deform radially at the end of the long axis into an ellipse according to a certain rule. The cycle of meshing in, meshing, meshing out, and disengagement is repeated with the teeth of the rigid wheel. This staggered tooth movement converts the input of the wave generator into the output of the flex spline to realize the deceleration transmission. According to the requirements of the national standard, the harmonic reducer must be tested and calibrated before use.
近几年国内对谐波减速器性能测试设备进行了研制，能够测试谐波减速器的各种静态和动态性能指标，但存在着被测谐波减速器不易更换的问题，而本发明所研发的谐波减速器综合性能测试平台不仅不能够对单个谐波减速器的各项性能指标进行测试，还能够实现被测谐波减速器的快速更换，实现高效率、批量化的测试。In recent years, the performance testing equipment of harmonic reducer has been developed in China, which can test various static and dynamic performance indicators of harmonic reducer, but there is a problem that the measured harmonic reducer is not easy to replace, and the research and development of the present invention The comprehensive performance test platform of harmonic reducer not only cannot test the various performance indicators of a single harmonic reducer, but also can realize the rapid replacement of the tested harmonic reducer and realize high-efficiency and batch testing.
发明内容Contents of the invention
为了实现谐波减速器的综合性能测试以及提高批量测试过程中的测试效率，本发明提出了一种基于双电机伺服加载的谐波减速器综合性能测试平台的设计和实现方法。该谐波减速器综合性能测试系统具有结构设计新颖、测试精度高、测试项目多，更换被测谐波减速器方便、简单的特点。In order to realize the comprehensive performance test of the harmonic reducer and improve the test efficiency in the batch test process, the present invention proposes a design and implementation method of a harmonic reducer comprehensive performance test platform based on dual-motor servo loading. The harmonic reducer comprehensive performance test system has the characteristics of novel structure design, high test accuracy, many test items, and convenient and simple replacement of the measured harmonic reducer.
为达到上述目的，本发明通过以下技术方案实现。In order to achieve the above object, the present invention is realized through the following technical solutions.
一种基于双电机伺服加载的谐波减速器综合性能测试平台，包括上端面为台阶式横向布置的骨架式中空底座，底座左侧面固定有负载电机支撑架，上端面从左至右依次固定谐波减速器输出端减速箱支架、谐波减速器输出端编码器支架、谐波减速器组件固定支架、轴承座支架，制动器支架，主动电机支架。在谐波减速器输出端减速箱支架右侧面装设有谐波减速器输出端扭矩传感器支架，在轴承座支架左侧凸台上装设有谐波减速器输入端编码器固定支架，在主动电机支架左侧面固定有谐波减速器输入端扭矩传感器支架，谐波减速器组件固定支架装设在精密平口钳上，精密平口钳固定在底座上。A harmonic reducer comprehensive performance test platform based on dual-motor servo loading, including a skeleton-type hollow base with a stepped horizontal arrangement on the upper end surface, a load motor support frame is fixed on the left side of the base, and the upper end surface is fixed sequentially from left to right Harmonic reducer output gearbox bracket, harmonic reducer output encoder bracket, harmonic reducer component fixing bracket, bearing seat bracket, brake bracket, active motor bracket. The harmonic reducer output end torque sensor bracket is installed on the right side of the harmonic reducer output end reduction box support, and the harmonic reducer input end encoder fixing bracket is installed on the boss on the left side of the bearing seat bracket. The torque sensor bracket at the input end of the harmonic reducer is fixed on the left side of the motor support, the harmonic reducer component fixing bracket is installed on the precision vise, and the precision vise is fixed on the base.
在负载电机支撑架上安装有负载伺服电机，负载电机的输出轴与减速机的输入轴相连接，减速机固定在减速器支架上，减速器输出轴通过联轴器与过渡轴相连接，过渡轴与谐波减速器输出端扭矩传感器连接，输出端扭矩传感器固定在输出端扭矩传感器支架上，通过过渡轴穿过谐波减速器输出端编码器，输出端编码器固定在输出端编码器固定支架上，通过过渡轴连接到谐波减速器的输出端，谐波减速器的输入端通过过渡轴穿过输入侧的编码器，谐波减速器及与它连接的过渡轴均通过谐波减速器组件固定支架支撑。过渡轴通过联轴器与制动器输出端连接，制动器右侧通过联轴器与过渡轴连接，过渡轴与输入侧扭矩传感器连接，输入侧扭矩传感器固定在输入端扭矩传感器支架上，扭矩传感器输出侧与过渡轴连接，过渡轴通过联轴器与主动伺服电机的输出轴连接。主动伺服电机固定在主动电机支架上。A load servo motor is installed on the load motor support frame, the output shaft of the load motor is connected with the input shaft of the reducer, the reducer is fixed on the reducer bracket, the output shaft of the reducer is connected with the transition shaft through a coupling, and the transition The shaft is connected to the torque sensor at the output end of the harmonic reducer, and the torque sensor at the output end is fixed on the bracket of the torque sensor at the output end, and passes through the encoder at the output end of the harmonic reducer through the transition shaft, and the encoder at the output end is fixed on the output end encoder On the bracket, it is connected to the output end of the harmonic reducer through the transition shaft. The input end of the harmonic reducer passes through the encoder on the input side through the transition shaft. The harmonic reducer and the transition shaft connected to it are both reduced by harmonic The device assembly is supported by a fixed bracket. The transition shaft is connected to the output end of the brake through a coupling, and the right side of the brake is connected to the transition shaft through a coupling. The transition shaft is connected to the torque sensor on the input side, and the torque sensor on the input side is fixed on the torque sensor bracket at the input end. It is connected with the transition shaft, and the transition shaft is connected with the output shaft of the active servo motor through a coupling. The active servo motor is fixed on the active motor support.
其中，所述的安装于骨架式中空底座上端右侧平面的水平滑轨，在水平滑轨内侧从左至右依次装设丝杠末端轴承座支架、丝杠电机支架。在水平滑轨上安装有滑块，滑块固定在谐波减速器输入端安装平台上。谐波减速器输入端脱离驱动电机输出轴与减速箱的输入端连接，减速箱的输出端通过联轴器与丝杠连接，减速箱安装在丝杠电机支架上，丝杠末端套入轴承通过丝杠末端轴承座支架支撑。丝杠与丝杠螺母配合将旋转运动转化为直线运动，丝杠螺母与谐波减速器输入端安装平台固定，滑块安装在平台底部，并与水平滑轨相配合。小位移激光传感器安装在平台左侧底座上。Wherein, the horizontal slide rail installed on the plane on the right side of the upper end of the skeleton-type hollow base, the screw end bearing bracket and the screw motor bracket are sequentially installed on the inside of the horizontal slide rail from left to right. A slide block is installed on the horizontal slide rail, and the slide block is fixed on the installation platform of the input end of the harmonic reducer. The input end of the harmonic reducer is separated from the output shaft of the drive motor and connected to the input end of the reduction box. The output end of the reduction box is connected to the lead screw through a coupling. Screw end bearing bracket support. The lead screw and lead screw nut cooperate to convert the rotary motion into linear motion, the lead screw nut is fixed with the installation platform at the input end of the harmonic reducer, and the slider is installed at the bottom of the platform and matched with the horizontal slide rail. The small displacement laser sensor is installed on the base on the left side of the platform.
本发明具有以下有益效果：The present invention has the following beneficial effects:
在本发明提出的基于双电机伺服加载的谐波减速器综合性能测试平台，能够实现谐波减速器各种综合性能指标的测试。谐波减速器输入端脱离装置的创新性设计，使得该测试系统能够快速实现被测谐波减速器的更换，实现高效率、批量化的测试。The comprehensive performance test platform of the harmonic reducer based on the dual-motor servo loading proposed by the present invention can realize the testing of various comprehensive performance indexes of the harmonic reducer. The innovative design of the disconnecting device at the input end of the harmonic reducer enables the test system to quickly replace the tested harmonic reducer and realize high-efficiency and batch testing.
附图说明Description of drawings
图1(a)(b)为本发明中基于双电机伺服加载的谐波减速器综合性能测试平台总体结构图，在图1中包括有：Fig. 1 (a) (b) is the overall structure diagram of the harmonic reducer comprehensive performance test platform based on dual-motor servo loading in the present invention, includes in Fig. 1:
1——骨架式中空底座 2——负载电机支撑架1——Skeleton hollow base 2——Load motor support frame
3——谐波减速器输出端减速箱支架 4——谐波减速器输出端编码器支架3——Harmonic reducer output end reducer bracket 4——Harmonic reducer output end encoder support
5——谐波减速器组件固定支架 6——轴承座支架 7——制动器支架5——Harmonic reducer component fixing bracket 6——Bearing seat bracket 7——Brake bracket
8——主动电机支架 9——谐波减速器输出端扭矩传感器支架8—Active motor bracket 9—Harmonic reducer output torque sensor bracket
10——谐波减速器输入端编码器固定支架 11——谐波减速器输入端扭矩传感器支架 12——负载伺服电机 13——减速机 14——联轴器 15——过渡轴10—Encoder fixing bracket at input end of harmonic reducer 11—Torque sensor bracket at input end of harmonic reducer 12—Load servo motor 13—Reducer 14—Coupling 15—Transition shaft
16——谐波减速器输出端扭矩传感器 17——过渡轴16——Torque sensor at output end of harmonic reducer 17——Transition shaft
18——谐波减速器输出端编码器 19——过渡轴18——Encoder at output end of harmonic reducer 19——Transition shaft
20——谐波减速器 21——过渡轴 22——谐波减速器输入端编码器20——Harmonic reducer 21——Transition shaft 22—Encoder at input end of harmonic reducer
23——过渡轴 24——通过联轴器 25——制动器 26——联轴器23——Transition shaft 24——Through coupling 25——Brake 26——Coupling
27——过渡轴 28——谐波减速器输入端扭矩传感器 29——过渡轴27——transition shaft 28——torque sensor at input end of harmonic reducer 29——transition shaft
30——联轴器 31——主动伺服电机 32——水平滑轨30—coupling 31—active servo motor 32—horizontal slide rail
33——丝杠末端轴承座支架 34——丝杠电机支架 33——滑块33——Screw End Bearing Bracket 34——Screw Motor Bracket 33——Slider
34——谐波减速器输入端安装平台 35——谐波减速器输入端脱离驱动电机36——减速箱 37——联轴器 38——丝杠 39——丝杠螺母34——Installation platform for input end of harmonic reducer 35——Input end of harmonic reducer is separated from driving motor 36——Gear box 37——Coupling 38——Lead screw 39——Lead screw nut
40——小位移激光传感器 41——精密平口钳40——Small Displacement Laser Sensor 41——Precision Flat Neck Pliers
具体实施方式Detailed ways
下面结合具体的实施方式对本发明进行说明：The present invention is described below in conjunction with specific embodiment:
如图1(a)所示，一种基于双电机伺服加载的谐波减速器综合性能测试平台，包括上端面为台阶式横向布置的骨架式中空底座1，底座1左侧面固定有负载电机支撑架2，上端面从左至右依次固定谐波减速器输出端减速箱支架3、谐波减速器输出端编码器支架4、谐波减速器组件固定支架5、轴承座支架6，制动器支架7，主动电机支架8。在谐波减速器输出端减速箱支架3右侧面装设有谐波减速器输出端扭矩传感器支架9，在轴承座支架6左侧凸台上装设有谐波减速器输入端编码器固定支架10，在主动电机支架8左侧面固定有谐波减速器输入端扭矩传感器支架11，谐波减速器组件固定支架5装设在精密平口钳41上，精密平口钳41固定在底座1上。As shown in Figure 1(a), a harmonic reducer comprehensive performance test platform based on dual-motor servo loading includes a skeleton-type hollow base 1 with a stepped horizontal arrangement on the upper end surface, and a load motor is fixed on the left side of the base 1 Support frame 2, the upper end surface is fixed from left to right in turn, the harmonic reducer output end reduction box bracket 3, the harmonic reducer output end encoder bracket 4, the harmonic reducer component fixing bracket 5, the bearing seat bracket 6, the brake bracket 7. Active motor support 8. The harmonic reducer output end torque sensor support 9 is installed on the right side of the harmonic reducer output end reduction box bracket 3, and the harmonic reducer input end encoder fixing bracket is installed on the boss on the left side of the bearing seat bracket 6 10. The torque sensor bracket 11 at the input end of the harmonic reducer is fixed on the left side of the active motor bracket 8. The harmonic reducer component fixing bracket 5 is installed on the precision vise 41, and the precision vise 41 is fixed on the base 1.
进一步的，在负载电机支撑架2上安装有负载伺服电机12，负载电机的输出轴与减速机13的输入轴相连接，减速机13固定在减速器支架3上，减速器输出轴通过联轴器14与过渡轴15相连接，过渡轴15与谐波减速器输出端扭矩传感器16连接，输出端扭矩传感器16固定在输出端扭矩传感器支架9上，通过过渡轴17穿过谐波减速器输出端编码器18，输出端编码器固定在输出端编码器固定支架4上，通过过渡轴19连接到谐波减速器20的输出端，谐波减速器20的输入端通过过渡轴21穿过输入侧的编码器22，谐波减速器20及与它连接的过渡轴均通过谐波减速器组件固定支架5支撑。过渡轴23通过联轴器24与制动器25输出端连接，制动器25右侧通过联轴器26与过渡轴27连接，过渡轴27与输入侧扭矩传感器28连接，输入侧扭矩传感器28固定在输入端扭矩传感器支架11上，扭矩传感器28输出侧与过渡轴29连接，过渡轴29通过联轴器30与主动伺服电机31的输出轴连接。主动伺服电机31固定在主动电机支架8上。Further, a load servo motor 12 is installed on the load motor support frame 2, the output shaft of the load motor is connected with the input shaft of the reducer 13, the reducer 13 is fixed on the reducer bracket 3, and the output shaft of the reducer is passed through the shaft coupling The converter 14 is connected with the transition shaft 15, the transition shaft 15 is connected with the torque sensor 16 at the output end of the harmonic reducer, the output end torque sensor 16 is fixed on the bracket 9 of the torque sensor at the output end, and passes through the harmonic reducer through the transition shaft 17 to output End encoder 18, the output end encoder is fixed on the output end encoder fixing bracket 4, connected to the output end of the harmonic reducer 20 through the transition shaft 19, the input end of the harmonic reducer 20 passes through the input end through the transition shaft 21 The encoder 22 on the side, the harmonic reducer 20 and the transition shaft connected to it are all supported by the fixed bracket 5 of the harmonic reducer assembly. The transition shaft 23 is connected to the output end of the brake 25 through a coupling 24, the right side of the brake 25 is connected to the transition shaft 27 through a coupling 26, the transition shaft 27 is connected to the input side torque sensor 28, and the input side torque sensor 28 is fixed at the input end On the torque sensor bracket 11 , the output side of the torque sensor 28 is connected to the transition shaft 29 , and the transition shaft 29 is connected to the output shaft of the active servo motor 31 through a coupling 30 . The active servo motor 31 is fixed on the active motor support 8 .
需进一步解释，本发明的谐波减速器输出端减速箱支架3、谐波减速器输出端编码器支架4直接安装在底座1上，谐波减速器组件固定支架5安装在精密平口钳41上，精密平口钳41安装在底座1上，轴承座支架6，制动器支架7，主动电机支架8安装在平台34上，平台34上的滑块33与水平滑轨32相配合，水平滑轨32固定在底座1上，通过合理分配各个零件的加工误差，保证谐波减速器输出端减速箱支架3、谐波减速器输出端编码器支架4、谐波减速器组件固定支架5、轴承座支架6，制动器支架7，主动电机支架8具有统一的中心高度，即有效保证了各轴的同轴度。Further explanation is required, the reduction box support 3 at the output end of the harmonic reducer and the encoder support 4 at the output end of the harmonic reducer of the present invention are directly installed on the base 1, and the fixing bracket 5 of the harmonic reducer assembly is installed on the precision vise 41 , the precision vise 41 is installed on the base 1, the bearing housing bracket 6, the brake bracket 7, and the active motor bracket 8 are installed on the platform 34, the slider 33 on the platform 34 is matched with the horizontal slide rail 32, and the horizontal slide rail 32 is fixed On the base 1, by rationally distributing the processing errors of each part, it is ensured that the harmonic reducer output end reduction box support 3, the harmonic reducer output end encoder support 4, the harmonic reducer component fixing support 5, and the bearing housing support 6 , the brake bracket 7, and the active motor bracket 8 have a uniform center height, which effectively ensures the coaxiality of each shaft.
需进一步说明，如图1(b)所示，一种基于双电机伺服加载的谐波减速器综合性能测试平台，具有安装于骨架式中空底座上端右侧平面的水平滑轨32、在水平滑轨内侧从左至右依次装设丝杠末端轴承座支架33、丝杠电机支架34。在水平滑轨32上安装有滑块33，滑块33固定在谐波减速器输入端安装平台34上。谐波减速器输入端脱离驱动电机35输出轴与减速箱36的输入端连接，减速箱36的输出端通过联轴器37与丝杠38连接，减速箱36安装在丝杠电机支架34上，丝杠38末端套入轴承通过丝杠末端轴承座支架33支撑。丝杠38与丝杠螺母39配合将旋转运动转化为直线运动，丝杠螺母39与谐波减速器输入端安装平台34固定，滑块33安装在平台34底部，并与水平滑轨32相配合。小位移激光传感器40安装在平台34左侧底座1上，谐波减速器组件固定支架5装设在精密平口钳41上，精密平口钳41固定在底座1上。Further explanation is required, as shown in Figure 1(b), a harmonic reducer comprehensive performance test platform based on dual-motor servo loading has a horizontal slide rail 32 installed on the plane on the right side of the upper end of the skeleton-type hollow base. Lead screw end bearing seat support 33, leading screw motor support 34 are installed successively from left to right in the rail inner side. A slide block 33 is installed on the horizontal slide rail 32, and the slide block 33 is fixed on the installation platform 34 of the input end of the harmonic reducer. The input end of the harmonic reducer is separated from the drive motor 35 and the output shaft is connected to the input end of the reduction box 36. The output end of the reduction box 36 is connected to the lead screw 38 through a coupling 37, and the reduction box 36 is installed on the lead screw motor support 34. The bearing at the end of the leading screw 38 is inserted into the bearing and supported by the bearing bracket 33 at the end of the leading screw. Lead screw 38 cooperates with lead screw nut 39 to convert rotary motion into linear motion. Lead screw nut 39 is fixed to installation platform 34 at the input end of harmonic reducer. Slider 33 is installed at the bottom of platform 34 and cooperates with horizontal slide rail 32 . The small displacement laser sensor 40 is installed on the base 1 on the left side of the platform 34 , the harmonic reducer assembly fixing bracket 5 is installed on the precision vise 41 , and the precision vise 41 is fixed on the base 1 .
作为优选的实施方式，如图1(b)所示，当一个谐波减速器测试完成之后，需要更换下一个谐波减速器时，首先将固定谐波减速器输入端编码器支架10到谐波减速度器组件支架5的螺丝取下，然后控制谐波减速器输入端脱离驱动电机35使平台34向后移动，再拆卸谐波减速器上的连接螺丝，卸下谐波减速器，更换为下一个谐波减速器，安装谐波减速器连接螺丝，控制谐波减速器输入端脱离驱动电机35使平台34向前运动，通过小位移激光传感器40控制平台运动到合适位置，安装固定谐波减速器输入端编码器支架10到谐波减速度器组件支架5的螺丝，完成被测谐波减速器的更换。As a preferred implementation, as shown in Fig. 1(b), when a harmonic reducer is tested and the next harmonic reducer needs to be replaced, the encoder bracket 10 at the input end of the fixed harmonic reducer is first connected to the harmonic Remove the screws of the bracket 5 of the wave reducer assembly, then control the input end of the harmonic reducer to separate from the drive motor 35 to move the platform 34 backward, then remove the connecting screws on the harmonic reducer, remove the harmonic reducer, and replace For the next harmonic reducer, install the connecting screw of the harmonic reducer, control the input end of the harmonic reducer to separate from the drive motor 35 to move the platform 34 forward, control the platform to move to a suitable position through the small displacement laser sensor 40, install and fix the harmonic reducer Screw the encoder bracket 10 at the input end of the wave reducer to the bracket 5 of the harmonic reducer assembly to complete the replacement of the measured harmonic reducer.
以上内容仅为本发明的较佳实施例，对于本领域的普通技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，本说明书内容不应理解为对本发明的限制。The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.
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