CN205665004U - RV reduction gear circulating power flows test device - Google Patents

Abstract

The utility model discloses a closed power flow test device for an RV speed reducer. The drive motor is connected to the worm gear reducer, the worm gear reducer is connected to the first and second stage cylindrical gear reducer, the first and second stage cylindrical gear reducer is connected to the friction mechanical continuously variable transmission, and the friction mechanical continuously variable transmission is loaded with magnetic powder The magnetic powder loader is connected to the second-stage cylindrical gear reducer, the second-stage cylindrical gear reducer is connected to the input torque sensor, the input torque sensor is connected to one end of the RV reducer to be tested through the input angle sensor, and the RV to be tested The other end of the reducer is connected to the output torque sensor through the output angle sensor, and the output torque sensor is connected to the first and second stage cylindrical gear reducer. The RV reducer to be tested is equipped with a vibration monitor, and the RV reducer to be tested is equipped with a noise monitor and temperature monitor. The test device has a simple structure, saves energy, can shorten test time, improve test efficiency, and reduce test cost.

Description

A closed power flow test device for RV reducer

technical field

The utility model relates to a test device, in particular to a closed power flow test device for an RV reducer.

Background technique

With the rapid development of economy and technology, the use of robots to replace manpower in the fields of machinery, aviation, and automobile industry has moved towards a high-level industrialization. Robot technology has received unprecedented attention, and the transmission device of robot joints, as a key link in the development and manufacture of robots, has also received extremely high attention. The main transmission devices of robot joint transmission include harmonic reducer, cycloid reducer, RV reducer, etc.

The RV reducer is a precision reducer for industrial robots composed of the front stage of a planetary gear reducer and the rear stage of a cycloidal pinwheel reducer. It is developed on the basis of traditional pendulum planetary transmission, and has a series of advantages such as small size, light weight, large range of transmission ratio, long life, stable precision, high efficiency, and stable transmission. Today, RV reducers have gradually replaced cycloidal reducers and harmonic reducers to a large extent.

During the RV reducer R&D and manufacturing process, a large number of tests on the RV reducer are required. The vast majority of existing test benches adopt the power open flow type, usually consisting of a motor, a test reducer and an energy-consuming load device. Chinese patent (patent number CN 204679273U) reports "a static/dynamic performance test device for RV reducer", which uses a power open flow structure to detect the static/dynamic performance of the RV reducer, which has strong applicability, but the energy of the motor passes through The tested reducer, consumption and load device caused a lot of waste of energy. If the life test of the reducer needs to be operated for a long time, the energy consumption will be even greater. The commonly used energy-consuming load device is a magnetic powder brake, which generates a large amount of heat energy during the braking process. It needs to cooperate with a water cooling device during operation, which makes the overall device structure complex.

With the continuous improvement of some high-precision positioning occasions and industrial robots on the performance of the reducer, the life test and transmission test of the RV reducer have attracted more and more attention. Therefore, there is a lack of a test device in the prior art, which can perform an accelerated life test, accelerate the verification of the fatigue damage characteristics of the RV reducer, and find weak links. At the same time, noise, transmission performance and temperature rise can also be tested on the test device, thereby shortening test time, improving test efficiency and reducing test cost.

Utility model content

In order to solve the problems existing in the background technology, the purpose of this utility model is to disclose a closed power flow test device for RV speed reducers. The test device constitutes a closed loop in structure, which can automatically adjust the speed ratio, realize power closure, and reduce energy consumption. High efficiency; accelerated life test can be carried out, and vibration and noise, transmission performance and temperature rise tests can also be carried out. The test device of the utility model has high efficiency and energy saving, realizes the life test of the reducer and in-depth analysis of various performance parameters, and is helpful for understanding and evaluating the comprehensive mechanical performance of the RV reducer.

The technical scheme that the utility model adopts is:

The utility model comprises a base, on which a driving motor, a worm gear reducer, a first-level and second-level cylindrical gear reducer, a friction mechanical stepless transmission, a magnetic powder loader, a second-level cylindrical gear reducer, and a temperature monitor are arranged. , input torque sensor, input angle sensor, vibration monitor, RV reducer to be tested, output angle sensor, output torque sensor and noise monitor; the output shaft of the driving motor is connected with the worm gear reducer, and the output end of the worm gear reducer It is connected with the first two-stage cylindrical gear reducer through the first coupling, and the first two-stage cylindrical gear reducer is connected with the input end of the friction mechanical continuously variable transmission through the second coupling, and the friction mechanical continuously variable transmission The output end is connected to the magnetic powder loader through the third coupling, the magnetic powder loader is connected to the second-stage cylindrical gear reducer through the fourth coupling, and the second-stage cylindrical gear reducer is connected to the input through the fifth coupling. The input end of the torque sensor is connected, the output end of the input torque sensor is connected to one end of the RV reducer to be tested through the input angle sensor, the other end of the RV reducer to be tested is connected to the input end of the output torque sensor through the output angle sensor, and the output torque sensor The output end of the motor is connected to the first and second stage cylindrical gear reducer through the sixth coupling. A vibration monitor is fixedly installed on the RV reducer to be tested, and a noise monitor and a temperature monitor are installed on the side of the RV reducer to be tested. .

Measure the characteristics of noise, vibration and temperature rise of the RV reducer to be tested under different speeds and loads through vibration monitors, noise monitors, and temperature monitors.

The first two-stage helical gear reducer and the second two-stage helical gear reducer are the same reducer with the same reduction ratio and are arranged in reverse.

The high-speed shaft of the first-stage helical gear reducer is connected to the first coupling, the low-speed shaft of the first-stage helical gear reducer is connected to the sixth coupling, and the second-stage helical gear reducer The high-speed shaft is connected to the fifth coupling, and the low-speed shaft of the second-stage cylindrical gear reducer is connected to the fourth coupling, thus forming a closed-loop structure; the drive motor drives the worm gear reducer to rotate, and passes through the first-stage The high-speed shaft of the cylindrical gear reducer is transmitted to the friction mechanical continuously variable transmission. After the speed is adjusted by the friction mechanical continuously variable transmission, it is loaded by the magnetic powder loader, and the acceleration is transmitted to the RV to be tested through the second two-stage cylindrical gear reducer. The RV reducer to be tested is decelerated and then transmitted back to the first and second stage cylindrical gear reducer to realize the power closure of the test device.

It also includes the industrial computer, the input torque sensor and the output torque sensor are connected to the industrial computer through the AD acquisition card, the input angle sensor and the output angle sensor are connected to the industrial computer through the encoder counting card, the temperature monitor, the vibration monitor and the noise monitor All are connected to the industrial computer, so that the device of the utility model can carry out the accelerated life test of the RV reducer to be tested under the conditions of accelerating the rotating speed, increasing the ambient temperature, and increasing the stress of the RV reducer to be tested through the magnetic powder loader.

Through the angle sensor, torque sensor, encoder counting card, A/D acquisition card, the transmission performance such as transmission accuracy, transmission efficiency, friction torque, backlash and stiffness of the RV reducer to be tested is measured. In order to ensure the measurement accuracy, the measured value of the sensor needs to exceed 1/3 of the full range, and the measured value of the sensor must not be greater than 120% of the rated value.

The device can test the vibration noise, transmission performance and temperature rise of the RV reducer to be tested under normal temperature and pressure.

The transmission performance test includes tests of transmission accuracy, transmission efficiency, friction torque, backlash and torsional rigidity.

The test device, without changing the failure mode and failure mechanism of the RV reducer, is tested under conditions that are harsher than normal working conditions, so as to obtain the life time and life distribution of the product in a short period of time ; or test the newly developed reducer product to verify its fatigue failure mode, find weak links, and realize the feedback of test results to design, manufacturing, assembly and other links.

In order to shorten the test time and save the test cost, adopting the device of the utility model needs to formulate an accelerated life test load spectrum higher than the normal speed, load and ambient temperature for the test.

The beneficial effect that the utility model has is:

1) The test device of the utility model adopts a power closed flow type, which can carry out a long-term life test, has high energy utilization rate, energy saving and high efficiency, and accurate test results.

2) The test device described above uses a friction-type mechanical continuously variable transmission to realize the automatic adjustment of the speed ratio of the test device, and can test different series of RV reducers, and has a wide range of applications.

3) The test device described above uses a magnetic powder loader with an input and output shaft for loading to realize automatic loading of the test device without manual loading, which is convenient and efficient.

4) The described test device can not only carry out the accelerated life test on the RV reducer under the conditions of increasing the stress, speeding up the rotating speed and raising the ambient temperature, but also can carry out the vibration noise and transmission performance test on the RV reducer at normal temperature and pressure. and temperature rise tests. Realize one test device to complete multiple test tests.

Description of drawings

Fig. 1 is the structural representation of the utility model device.

Fig. 2 is a schematic diagram of the power closure of the test device of the present invention.

Fig. 3 is a scheme diagram of the accelerated life test performed by the test device of the present invention.

Fig. 4 is a scheme diagram of the transmission performance test performed by the test device of the present utility model.

In the figure: drive motor 1, worm gear reducer 2, first coupling 3, first and second stage cylindrical gear reducer 4, second coupling 5, friction mechanical continuously variable transmission 6, third coupling 7. Magnetic powder loader 8, fourth coupling 9, second-stage cylindrical gear reducer 10, temperature monitor 11, fifth coupling 12, input torque sensor 13, input angle sensor 14, vibration monitor 15 , the RV reducer 16 to be tested, the output angle sensor 17 , the output torque sensor 18 , the sixth coupling 19 and the noise monitor 20 .

detailed description

The utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted here that the descriptions of these embodiments are used for understanding the present utility model, but are not intended to limit the present utility model.

As shown in Figure 1, the utility model includes a base, and the base is provided with a drive motor 1, a worm gear reducer 2, a first coupling 3, a first two-stage cylindrical gear reducer 4, a second coupling 5, Friction mechanical continuously variable transmission 6, third coupling 7, magnetic powder loader 8, fourth coupling 9, second and second stage cylindrical gear reducer 10, temperature monitor 11, fifth coupling 12, input Torque sensor 13, input angle sensor 14, vibration monitor 15, RV reducer to be tested 16, output angle sensor 17, output torque sensor 18, sixth coupling 19, noise monitor 20 and industrial computer.

The output shaft of the drive motor 1 is connected to the worm gear reducer 2, the output end of the worm gear reducer 2 is connected to the first-stage cylindrical gear reducer 4 through the first coupling 3, and the first-stage cylindrical gear reducer 4 The input end of the friction mechanical continuously variable transmission 6 is connected through the second coupling 5, the output end of the friction mechanical continuously variable transmission 6 is connected with the magnetic powder loader 8 through the third coupling 7, and the magnetic powder loader 8 passes through the second The four-coupling 9 is connected to the second-stage helical gear reducer 10, the second-stage helical gear reducer 10 is connected to the input end of the input torque sensor 13 through the fifth coupling 12, and the output end of the input torque sensor 13 is passed through The input angle sensor 14 is connected to one end of the RV speed reducer 16 to be tested, and the other end of the RV speed reducer 16 to be tested is connected to the input end of the output torque sensor 18 through the output angle sensor 17, and the output end of the output torque sensor 18 is connected through the sixth joint. The shaft device 19 is connected with the first and second stage cylindrical gear reducer 4, and the RV reducer 16 to be tested is fixedly installed with a vibration monitor 15 for carrying out the vibration test and detecting the termination criterion of the accelerated life test. The RV reducer 16 to be tested is The side is provided with a noise monitor 20 and a temperature monitor 11 .

Input torque sensor 13 and output torque sensor 18 are connected to industrial computer through AD acquisition card, input angle sensor 14 and output angle sensor 17 are connected to industrial computer through encoder counting card, temperature monitor 11, vibration monitor 15 and noise monitor 20 are all connected to the industrial computer, so that the device of the utility model can carry out the accelerated life test of the RV reducer 16 to be tested under the conditions of accelerating the rotating speed, improving the ambient temperature, and increasing the stress of the RV reducer to be tested through the magnetic powder loader 8.

The first-stage helical gear reducer 4 and the second-stage helical gear reducer 10 are the same reducer with the same reduction ratio, and are arranged in reverse.

The high-speed shaft of the first-stage helical gear reducer 4 is connected to the first coupling 3, the low-speed shaft of the first-stage helical gear reducer 4 is connected to the sixth coupling 19, and the second-stage helical gear reducer The high-speed shaft of 10 is connected to the fifth coupling 12, and the low-speed shaft of the second-stage helical gear reducer 4 is connected to the fourth coupling 9, thereby forming a closed-loop structure.

In the utility model, the drive motor 1 drives the worm gear reducer 2 to rotate, the purpose of which is to change the steering and improve the space utilization of the test device, and then transmit it to the friction machine through the high-speed shaft of the first and second stage cylindrical gear reducer 4 Continuously variable transmission 6. The friction mechanical continuously variable transmission 6 can automatically adjust the speed ratio to realize the automatic speed regulation of the test device. After the speed regulation of the friction mechanical continuously variable transmission 6, it is loaded by the magnetic powder loader 8 and connected with the low-speed shaft of the second-stage cylindrical gear reducer 10, which can be carried out under the condition of increased stress for the RV reducer to be tested. Accelerated life testing. The second two-stage cylindrical gear reducer 10 and the first two-stage cylindrical gear reducer 4 are the same reducer with the same reduction ratio, and are arranged in opposite directions in the test device of the present utility model. The high-speed shaft of the first-stage helical gear reducer 4 is decelerated and connected with the low-speed shaft of the second-stage helical gear reducer 10 through the friction mechanical continuously variable transmission 6 . The high-speed shaft of the second-stage helical gear reducer 10 is decelerated by the RV reducer 16 to be tested, and is connected with the low-speed shaft of the first-stage helical gear reducer 4 to realize power closure of the test device.

The accelerated life test of the present utility model needs to formulate the accelerated life test load spectrum higher than normal rotating speed, load, ambient temperature to test, in the test process, through input torque sensor 13, output torque sensor 18, vibration monitor 15, noise The monitor 20 is used to observe the RV speed reducer to be tested. If the output torque becomes smaller, the efficiency becomes lower, severe vibration or abnormal running noise occurs, it can be used as a criterion for terminating the accelerated life test.

The concrete embodiment of the utility model and test process thereof are as follows:

As shown in Figure 2, the power flow of the test device of the present invention forms a closed loop. The reducer to be tested in this embodiment is a SHPR-20E RV reducer with a reduction ratio of 81 and a rated output speed of 15 r/min. After being decelerated by the worm gear reducer 2, the output speed of the driving motor is 1215r/min, that is, the high-speed shaft speed of the first and second stage cylindrical gear reducer 4 is 1215r/min. In this embodiment, the reduction ratio of the first-stage helical gear reducer 4 and the reduction ratio of the second-stage helical gear reducer 10 are also 81. Through the deceleration of the first-stage helical gear reducer 4, the speed of the low-speed shaft The rotational speed is 15r/min, that is, the rotational speed of the output shaft of the RV reducer is 15r/min. Since the reduction ratio of the SHPR-20E type RV reducer is 81, the input shaft speed of the RV reducer is 1215r/min, that is, the high-speed shaft speed of the second-stage cylindrical gear reducer 10 is 1215r/min.

After being decelerated by the second-stage helical gear reducer 10, the rotational speed of the low-speed shaft is 15 r/min. The friction-type mechanical continuously variable transmission 6 has the function of automatically adjusting the speed ratio, and can adjust the speed of the high-speed shaft speed 1215r/min of the first-stage helical gear reducer 4 to the low-speed shaft speed of the second-stage helical gear reducer 10 15r/min, the power flow of the test device is closed, energy recovery is realized, long-term tests can be carried out, the energy utilization rate is high, and energy saving is efficient.

The accelerated life test scheme is shown in Figure 3, and the mechanical transmission part is not shown in the figure. The reducer to be tested in this embodiment is a SHPR-20E type RV reducer with a rated output speed of 15 r/min and a maximum output speed of 75 r/min. In this embodiment, the input speed of the RV reducer is 6075r/min, and it operates at the highest output speed of 75r/min, and the preset accelerated life load spectrum is loaded on the reducer through the magnetic powder loader 8 . Under the condition of not changing the failure mode and failure mechanism of the RV reducer, the accelerated fatigue life test is carried out by increasing the rotating speed and applying the stress load. The test device of the utility model can also carry out the accelerated life test under the condition of increasing the ambient temperature. The RV reducer to be tested is observed through the vibration monitor 15 and the noise monitor 20. If there is severe vibration or abnormal running noise, it can be used as a criterion for stopping the accelerated life test. Through the accelerated life test, the test time is shortened, and it is verified that the life of the RV reducer to be tested, that is, the average time between failures, can reach 6000 hours.

The transmission performance test is shown in Figure 4, and the mechanical transmission part is not shown in the figure. The reducer to be tested in this embodiment is a SHPR-20E type RV reducer. Through the input torque sensor 13, input angle sensor 14, output angle sensor 17, output torque sensor 18 installed on both sides of the input shaft and output shaft of the RV reducer, and the vibration monitor 15 and noise monitor 20 installed on the RV reducer . The temperature monitor 11 tests the vibration and noise, transmission performance and temperature rise of the RV reducer to be tested.

The transmission error of the reducer is the difference between the theoretical rotation angle and the actual rotation angle of the output shaft of the reducer, and the transmission accuracy is the difference between the maximum value and the minimum value of these transmission error values. Through the input angle sensor 14 and the encoder counting card, the actual rotation angle of the input shaft can be measured The output angle sensor 17 and the encoder counting card can measure the actual rotation angle of the output shaft The transmission ratio of the reducer to be tested is i, then the transmission error Take multiple test points within one revolution of the output shaft of the RV reducer to be tested, and conduct multiple tests to obtain the transmission accuracy.

The transmission efficiency of the reducer usually refers to the ratio of the output power or output torque to the product of the rated input power or input torque and the transmission ratio when the rated input power or input torque is reached at the rated input speed. The input torque T ₁ can be measured by the input torque sensor 13 and the A/D acquisition card, and the output torque T ₂ can be measured by the output torque sensor 18 and the A/D acquisition card, then the transmission efficiency of the RV reducer to be tested

The friction torque of the reducer refers to the torque of the input shaft or output shaft of the transmission device when it starts, and it is gradually loaded on the output shaft end of the RV reducer to be tested until the input shaft reaches the critical start state, that is, the input angle sensor 14 If the measured angle value suddenly increases, the torque value measured in real time by the output torque sensor 18 is the friction torque of the output shaft of the reducer. On the contrary, the input shaft end of the RV speed reducer to be tested is gradually loaded until the output shaft reaches the critical starting state, that is, the angle value measured by the output angle sensor 17 suddenly increases, and the torque measured by the input torque sensor 13 in real time The value is the friction torque of the reducer input shaft.

The backlash of the reducer refers to the lag between the output shaft rotation angle and the theoretical value when the input shaft rotation direction of the transmission device changes. In this embodiment, at several test points within one revolution of the output shaft of the RV reducer to be tested, change the steering direction of the drive motor to make the input shaft reverse until the angle of the output shaft changes, and the output angle sensor 17 measures the input shaft reverse. The angular value of the rotation is carried out several times, and the maximum value is taken as the backlash of the reducer.

The torsional rigidity of the reducer refers to the ratio of the torque to the corresponding torsion angle when the input shaft remains stationary and the output shaft produces different torsion angles under the action of different torsion torques. In this embodiment, the input shaft of the RV speed reducer to be tested is fixed, the torque of the output shaft is measured by the output torque sensor 18, the rotation angle of the output shaft is measured by the output angle sensor 17, and the speed reducer to be tested can be obtained by performing multiple tests. torsional rigidity.

It can be seen from the implementation process that the test device of the present utility model can carry out various tests on different series of RV reducers, and is especially suitable for accelerated life tests of RV reducers under the conditions of accelerating the speed and raising the ambient temperature, without manual loading. It has outstanding and significant technical effects such as long life, high energy utilization rate, energy saving and high efficiency, and good accuracy.

The above-mentioned specific embodiments are used to explain the utility model, rather than to limit the utility model. Within the spirit of the utility model and the scope of protection of the claims, any modifications and changes made to the utility model fall into the scope of the utility model. scope of protection.

Claims (6)

1. a RV decelerator circulation power load assay device, it is characterised in that: include that base, base are provided with driving motor (1), worm type of reduction gearing (2), the first Two Grade Column Gear Reducer (4), friction-type mechanical stepless transmission (6), magnetic powder Loader (8), the second Two Grade Column Gear Reducer (10), temperature monitoring (11), input torque sensor (13), input angle Degree sensor (14), vibration monitor (15), RV decelerator to be measured (16), output angle sensor (17), output torque sensing Device (18) and noise monitor (20)；

The output shaft driving motor (1) is connected with worm type of reduction gearing (2), and the outfan of worm type of reduction gearing (2) is through the One shaft coupling (3) is connected with the first Two Grade Column Gear Reducer (4), and the first Two Grade Column Gear Reducer (4) is through second Axial organ (5) is connected with the input of friction-type mechanical stepless transmission (6), the outfan of friction-type mechanical stepless transmission (6) Being connected with magnetic powder loader (8) through the 3rd shaft coupling (7), magnetic powder loader (8) is through the 4th shaft coupling (9) and the two or two grade of cylinder Gear reduction unit (10) connects, and the second Two Grade Column Gear Reducer (10) is through the 5th shaft coupling (12) and input torque sensor (13) input connects, and input torque sensor (13) outfan is through input angle sensor (14) and RV decelerator to be measured (16) one end connects, and the other end of RV decelerator (16) to be measured is through output angle sensor (17) and output torque sensor (18) input connects, and the outfan of output torque sensor (18) is through the 6th shaft coupling (19) and the one or two grade of roller gear Decelerator (4) connects, and RV decelerator (16) to be measured is installed with vibration monitor (15), the side of RV decelerator (16) to be measured Side is provided with noise monitor (20) and temperature monitoring (11).

A kind of RV decelerator circulation power load assay device the most according to claim 1, it is characterised in that: described first Two Grade Column Gear Reducer (4) and the second Two Grade Column Gear Reducer (10) are the same decelerations with identical speed reducing ratio Device, and reversed arrangement.

A kind of RV decelerator circulation power load assay device the most according to claim 1 and 2, it is characterised in that: described The high speed shaft of the first Two Grade Column Gear Reducer (4) and the first shaft coupling (3) connect, the first Two Grade Column Gear Reducer (4) slow-speed shaft and the 6th shaft coupling (19) connect, the high speed shaft of the second Two Grade Column Gear Reducer (10) and the 5th shaft coupling Device (12) connects, and the slow-speed shaft of the second Two Grade Column Gear Reducer (4) and the 4th shaft coupling (9) connect, and are consequently formed closing Ring structure；Motor (1) is driven to drive worm type of reduction gearing (2) to rotate, by the height of the first Two Grade Column Gear Reducer (4) Speed axle is delivered to friction-type mechanical stepless transmission (6), after the speed governing of rubbed formula mechanical stepless transmission (6), is added by magnetic powder Carry device (8) to load, accelerate to be delivered to RV decelerator (16) to be measured by the second Two Grade Column Gear Reducer (10), to be measured RV decelerator (16) transfers back to the first Two Grade Column Gear Reducer (4) after slowing down again, it is achieved assay device Power close.

A kind of RV decelerator circulation power load assay device the most according to claim 1, it is characterised in that: further comprises work Control machine, input torque sensor (13) and output torque sensor (18) are connected to industrial computer through AD capture card, and input angle passes Sensor (14) and output angle sensor (17) encoded device numbered card are connected to industrial computer, temperature monitoring (11), vibration prison Survey device (15) and noise monitor (20) be all connected to industrial computer so that described device can revving up, promote ambient temperature, Increased by magnetic powder loader (8), under conditions of RV decelerator to be measured meets with stresses, RV decelerator (16) to be measured is accelerated the longevity Life test.

A kind of RV decelerator circulation power load assay device the most according to claim 1, it is characterised in that: described device energy At normal temperatures and pressures RV decelerator (16) to be measured is carried out the test of vibration noise, transmission performance and temperature rise.

A kind of RV decelerator circulation power load assay device the most according to claim 5, it is characterised in that: described transmission Performance test includes transmission accuracy, transmission efficiency, moment of friction, idle running return difference and the test of torsional rigidity.