CN109357867A - A radial loading device for fatigue life test of RV reducer - Google Patents
A radial loading device for fatigue life test of RV reducer Download PDFInfo
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- CN109357867A CN109357867A CN201811573098.4A CN201811573098A CN109357867A CN 109357867 A CN109357867 A CN 109357867A CN 201811573098 A CN201811573098 A CN 201811573098A CN 109357867 A CN109357867 A CN 109357867A
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- retarder
- lower connecting
- electric cylinder
- connecting plate
- connecting pin
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- 238000011068 loading method Methods 0.000 title claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 15
- 238000012360 testing method Methods 0.000 title claims abstract description 14
- 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 description 29
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims 1
- 235000011613 Pinus brutia Nutrition 0.000 claims 1
- 241000018646 Pinus brutia Species 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
- G01M13/026—Test-benches of the mechanical closed-loop type, i.e. having a gear system constituting a closed-loop in combination with the object under test
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
本发明公开了一种RV减速器疲劳寿命试验径向加载装置，RV减速器安装于支架中，接盘轴与RV减速器的输出轴相连。上连接板由上连接销与电动缸相连接，两侧的上挡销为了防止上连接销的轴向窜动。电动缸通过下连接销安装于下连接板上。当电动缸工作时下连接板与底座可以上下滑动，同时下连接板的下底面会压紧或放松安装于底座孔中的压力传感器。通过锁紧螺钉将底座安装于RV减速器疲劳寿命试验工作台上。压力传感器实时检测加载力的大小，并通过数据采集板卡将采集的数据送回工控机，工控机将采集到的信号与控制信号进行对比实时修正电动缸的载荷大小。本发明通用性强，可以用于其他类型疲劳寿命测试加载装置的设计，应用范围广泛。
The invention discloses a radial loading device for a fatigue life test of an RV reducer. The RV reducer is installed in a bracket, and the connecting plate shaft is connected with the output shaft of the RV reducer. The upper connecting plate is connected with the electric cylinder by the upper connecting pin, and the upper stop pins on both sides are used to prevent the axial movement of the upper connecting pin. The electric cylinder is mounted on the lower connecting plate through the lower connecting pin. When the electric cylinder is working, the lower connecting plate and the base can slide up and down, and at the same time, the lower bottom surface of the lower connecting plate will press or loosen the pressure sensor installed in the base hole. Install the base on the RV reducer fatigue life test bench by locking screws. The pressure sensor detects the magnitude of the loading force in real time, and sends the collected data back to the industrial computer through the data acquisition board. The industrial computer compares the collected signal with the control signal and corrects the load of the electric cylinder in real time. The invention has strong versatility, can be used for the design of other types of fatigue life test loading devices, and has a wide range of applications.
Description
Technical field
The present invention relates to a kind of novel RV retarder performance test loading devices, belong to precision measurement measurement technology, precision
Instrument and mechanical transmission fields.
Background technique
RV retarder, with the design of more compact structure and excellent service performance, is made compared with cycloid planetary speed reducer
The masterwork of precision mechanics industry for a kind of small size, large transmission ratio, high-precision retarder, be widely used in welding,
The engineering fields such as robot, medical treatment and military affairs.With the development of robot technology, RV precision speed reduction device is passed in advanced robot
There is the development trend for gradually replacing harmonic speed reducer in dynamic, RV precision speed reduction device has become one of modern machines people's key technology.
For a long time, robot of China key core component relies on import substantially, seriously constrains China in the development of robot industry.
Wherein the accurate RV retarder of joint of robot accounts for cost ratio and is up to about 34%, and research and development difficulty is very big, to material science,
Precision Machining equipment, assembly technology, high-precision detection technique propose high requirement.Foreign countries are constantly in skill to RV retarder
Art blocked styate is difficult to obtain related data information.Still there is a big difference compared with foreign capitals brand for domestically produced machine human reriability, the longevity
Life only 8000 hours, and foreign capitals brand can achieve 50,000-10 ten thousand hours, main cause is existed in drive mechanism part precision
Defect.Due to lacking brand advantage, domestic user still holds the suspicious attitude to the quality of domestically produced machine people.Therefore, carry out RV
Retarder Fatigue Life Research is the certainty for guaranteeing the important technical of its reliability, while being also China's research and development RV retarder
Selection.However China RV retarder Fatigue Life Research has reality urgent at present also in the ground zero stage.
RV retarder fatigue life test stand generallys use two ways load when designing, one is pass through magnetic powder brake
Or load motor load, such loading method can only simulate the torque loads that RV retarder is subject to.But it is practical in RV retarder
Moment of flexure load is inevitably born in use process, such as robot arm is in spatial movement, due to the inertia of transient state
Load effect will receive very big moment of flexure load on RV reducer output shaft, load when moment of flexure more than RV retarder built in it is thin
The precision that bearing then can be seriously destroyed when wall loading ability of bearing range, scraps so as to cause RV retarder.Another way is to utilize
The shortcomings that eccentric inertia mass is used as loading device, such loading method is can only statically to adjust inertia mass size to simulate
Fixed load can not achieve the load of real-time dynamic change.Therefore, consider in RV retarder fatigue life test instantaneous curved
The effect of square load is to guarantee the important measures of its reliability in use.
Summary of the invention
It is simple, easy for installation that the purpose of the present invention is to provide a kind of structures, is able to achieve any to RV reducer output shaft
Rotation position accurately applies the radial loading device of controllable bending load, so that simulating RV retarder actual condition carries out fatigue
Life test.The present invention provides a kind of effective technological means for research RV retarder fatigue life, improves RV retarder fortune
Reliability during row.
The technical solution adopted by the present invention is a kind of RV retarder fatigue life to test loading mechanism, which includes lower block
Sell (1), pressure sensor (2), lock-screw (3), lower connecting plate (4), pedestal (5), lower connecting pin (6), electric cylinder (7), on
Backing pin (8), mandrel (10), circlip (11), roller bearing (12), upper junction plate (13), connects dish axle (14), RV at upper connecting pin (9)
Reducer stent (15), RV retarder (16), industrial personal computer (17) and data collecting plate card (18).
RV retarder (16) is installed in RV reducer stent (15), connects the output shaft of dish axle (14) Yu RV retarder (16)
It is connected, thus output torque and rotation.Radial load is applied to by roller bearing (12) and connects dish axle (14) by electric cylinder (7)
On.Roller bearing (12) is installed on upper junction plate (13) by mandrel (10), and the circlip (11) of mandrel (10) two sides prevents from rolling
Sub- bearing (12) axial float.Upper junction plate (13) is connected by upper connecting pin (9) with electric cylinder (7), the upper backing pin (8) of two sides
The axial float of upper connecting pin (9) in order to prevent.Electric cylinder (7) is installed on lower connecting plate (4) by lower connecting pin (6), and two
The lower backing pin (1) of side prevents the axial float of lower connecting pin (6).It is clearance fit between lower connecting plate (4) and pedestal (5), when
Lower connecting plate (4) can be slided up and down with pedestal (5) when electric cylinder (7) works, while the bottom surface of lower connecting plate (4) can compress
Or loosen the pressure sensor (2) being installed in pedestal (5) hole.Pedestal (5) is installed on RV retarder by lock-screw (3)
On fatigue life workbench.The size of pressure sensor (2) real-time detection loading force, and will be adopted by data collecting plate card (18)
The data of collection are sent back to industrial personal computer (17), industrial personal computer (17) by collected signal with control signal compare correct in real time it is electronic
The magnitude of load of cylinder (7).
Compared with prior art, the present invention can obtain it is following the utility model has the advantages that
1) the present invention provides it is a kind of realize that RV retarder fatigue life tests when moment of flexure load technical solution, cooperation turn round
Square load, to simulate realistically the actual condition of RV retarder.
2) actual condition of the invention according to RV retarder, by closed-loop control, it can be achieved that appointing to RV reducer output shaft
Meaning angle position applies accurate radial load.
3) operation of the present invention is simple, easy for installation, can freely adjust radial loaded dress according to the RV retarder of different model
The installation site and stroke range set.
4) present invention is versatile, can be used for the design of other types fatigue life loading device for testing, application range
Extensively.
Detailed description of the invention
Fig. 1 is radial loading device structural assembly diagram.
Fig. 2 is radial loading device superstructure figure.
Fig. 3 is radial loading device lower junction composition.
Fig. 4 is upper junction plate structure chart.
Fig. 5 is lower connecting plate structure chart.
In figure: 1, lower backing pin, 2, pressure sensor, 3, lock-screw, 4, lower connecting plate, 5, pedestal, 6, lower connecting pin, 7,
Electric cylinder, 8, upper backing pin, 9, upper connecting pin, 10, mandrel, 11, circlip, 12, roller bearing, 13, upper junction plate, 14, connect dish axle,
15, RV reducer stent, 16, RV retarder, 17, industrial personal computer, 18, data collecting plate card.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figs. 1-5, a kind of RV retarder fatigue life test radial loading device structure, the structure include lower backing pin
(1), pressure sensor (2), lock-screw (3), lower connecting plate (4), pedestal (5), lower connecting pin (6), electric cylinder (7), upper gear
Pin (8), upper connecting pin (9), mandrel (10), circlip (11), roller bearing (12), upper junction plate (13), connect dish axle (14), RV subtracts
Fast device bracket (15), RV retarder (16), industrial personal computer (17) and data collecting plate card (18).
RV retarder (16) is installed in RV reducer stent (15), connects the output shaft of dish axle (14) Yu RV retarder (16)
It is connected, thus output torque and rotation.Radial load is applied to by electric cylinder (7) by roller bearing (12) simultaneously connects dish axle
(14) on.Roller bearing (12) is installed on upper junction plate (13) by mandrel (10), and the circlip (11) of mandrel (10) two sides is anti-
Only roller bearing (12) axial float.Upper junction plate (13) is connected by upper connecting pin (9) with electric cylinder (7), the upper gear of two sides
Sell the axial float that (8) go up connecting pin (9) in order to prevent.Electric cylinder (7) is installed on lower connecting plate (4) by lower connecting pin (6)
On, the lower backing pin (1) of two sides prevents the axial float of lower connecting pin (6).It is that gap is matched between lower connecting plate (4) and pedestal (5)
It closes, when electric cylinder (7) work, lower connecting plate (4) can be slided up and down with pedestal (5), while the bottom surface of lower connecting plate (4)
It can compress or loosen the pressure sensor (2) being installed in pedestal (5) hole.Pedestal (5) is installed on RV by lock-screw (3)
On retarder fatigue life workbench.The size of pressure sensor (2) real-time detection loading force, and pass through data collecting plate card
(18) data of acquisition are sent back to industrial personal computer (17), industrial personal computer (17) compares collected signal and control signal in real time
Correct the magnitude of load of electric cylinder (7).
When replacing different RV retarder (16), lock-screw (3) only need to be unclamped, pedestal (5) are adjusted and arrive position appropriate
It sets, and selects suitable electric cylinder (7) stroke, so that the roller bearing (12) of two sides side by side is adjacent to and connects dish axle (14) outside cylinder table
Face.Roller bearing (12) can rotate together with output shaft, guarantee to apply using four roller bearings being symmetrically installed (12)
The uniformity of load, upper junction plate (13) are adaptively rotated around upper connecting pin (9) axis.
Claims (2)
1. a kind of RV retarder fatigue life test radial loading device, it is characterised in that: the mechanism includes lower backing pin (1), pressure
Force snesor (2), lock-screw (3), lower connecting plate (4), pedestal (5), lower connecting pin (6), electric cylinder (7), upper backing pin (8),
Upper connecting pin (9), circlip (11), roller bearing (12), upper junction plate (13), connects dish axle (14), RV retarder branch at mandrel (10)
Frame (15), RV retarder (16), industrial personal computer (17) and data collecting plate card (18)；
RV retarder (16) is installed in RV reducer stent (15), connects the output shaft phase of dish axle (14) with RV retarder (16)
Even, thus output torque and rotation；Radial load is applied to by roller bearing (12) and is connect on dish axle (14) by electric cylinder (7)；
Roller bearing (12) is installed on upper junction plate (13) by mandrel (10), and the circlip (11) of mandrel (10) two sides prevents Roller Shaft
Hold (12) axial float；Upper junction plate (13) is connected by upper connecting pin (9) with electric cylinder (7), the upper backing pins (8) of two sides in order to
Prevent the axial float of connecting pin (9)；Electric cylinder (7) is installed on lower connecting plate (4) by lower connecting pin (6), two sides
Lower backing pin (1) prevents the axial float of lower connecting pin (6)；It is clearance fit between lower connecting plate (4) and pedestal (5), when electronic
Lower connecting plate (4) can be slided up and down with pedestal (5) when cylinder (7) works, while the bottom surface of lower connecting plate (4) can be compressed or be put
Pine is installed on the pressure sensor (2) in pedestal (5) hole；Pedestal (5) is installed on RV retarder fatigue by lock-screw (3)
On service life workbench；The size of pressure sensor (2) real-time detection loading force, and pass through data collecting plate card (18) for acquisition
Data are sent back to industrial personal computer (17), and collected signal and control signal are compared amendment electric cylinder in real time by industrial personal computer (17)
(7) magnitude of load.
2. a kind of RV retarder fatigue life test radial loading device according to claim 1, it is characterised in that:
When replacing different RV retarder (16), lock-screw (3) only need to be unclamped, pedestal (5) are adjusted and arrive position appropriate, and
Suitable electric cylinder (7) stroke is selected, so that the roller bearing (12) of two sides side by side is adjacent to and connects dish axle (14) outer cylinder surface；Rolling
Sub- bearing (12) can rotate together with output shaft, guarantee to apply load using four roller bearings being symmetrically installed (12)
Uniformity, upper junction plate (13) are adaptively rotated around upper connecting pin (9) axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573098.4A CN109357867B (en) | 2018-12-21 | 2018-12-21 | Radial loading device for fatigue life test of RV reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573098.4A CN109357867B (en) | 2018-12-21 | 2018-12-21 | Radial loading device for fatigue life test of RV reducer |
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| Publication Number | Publication Date |
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| CN109357867A true CN109357867A (en) | 2019-02-19 |
| CN109357867B CN109357867B (en) | 2020-05-08 |
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|---|---|---|---|
| CN201811573098.4A Active CN109357867B (en) | 2018-12-21 | 2018-12-21 | Radial loading device for fatigue life test of RV reducer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110160777A (en) * | 2019-06-10 | 2019-08-23 | 北京工业大学 | A kind of experimental provision measuring the plastic gear planetary reduction gear service life |
| CN111678663A (en) * | 2020-06-22 | 2020-09-18 | 重庆大学 | A combined test device for bending rigidity and loading fatigue performance of a robot reducer |
| CN112098080A (en) * | 2020-08-04 | 2020-12-18 | 盐城工学院 | An RV reducer fatigue life testing machine |
| CN112240827A (en) * | 2020-04-02 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Composite loading device and test bench for reducer testing |
| WO2022105458A1 (en) * | 2020-11-20 | 2022-05-27 | 北京工业大学 | Precision retentivity and fatigue life testing device for rv reducer |
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| CN106769021A (en) * | 2017-01-15 | 2017-05-31 | 吉林大学 | A kind of industrial robot power unit reliability test bench |
| DE102016217938A1 (en) * | 2016-09-20 | 2018-03-22 | Aktiebolaget Skf | Bearings with a vibration sensor and load detection |
| CN208091696U (en) * | 2017-12-28 | 2018-11-13 | 上海建桥学院 | The rolling bearing fatigue life pilot system of radially alternating load can be applied |
| CN108871773A (en) * | 2018-09-14 | 2018-11-23 | 合肥工业大学 | A kind of electronic tail gearbox testing stand of helicopter |
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| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| CN204373906U (en) * | 2014-12-25 | 2015-06-03 | 昆明理工大学 | A kind of radial loading device of shaft element load test |
| CN104897400A (en) * | 2015-06-29 | 2015-09-09 | 合肥工业大学 | Robot joint reducer test bed |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110160777A (en) * | 2019-06-10 | 2019-08-23 | 北京工业大学 | A kind of experimental provision measuring the plastic gear planetary reduction gear service life |
| CN112240827A (en) * | 2020-04-02 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Composite loading device and test bench for reducer testing |
| CN111678663A (en) * | 2020-06-22 | 2020-09-18 | 重庆大学 | A combined test device for bending rigidity and loading fatigue performance of a robot reducer |
| CN112098080A (en) * | 2020-08-04 | 2020-12-18 | 盐城工学院 | An RV reducer fatigue life testing machine |
| WO2022105458A1 (en) * | 2020-11-20 | 2022-05-27 | 北京工业大学 | Precision retentivity and fatigue life testing device for rv reducer |
| US11921003B2 (en) | 2020-11-20 | 2024-03-05 | Beijing University Of Technology | Testing device for precision retaining ability and fatigue life of RV reducer |
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| Publication number | Publication date |
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| CN109357867B (en) | 2020-05-08 |
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