CN109883697A - A kind of RV retarder return difference measuring test-bed - Google Patents
A kind of RV retarder return difference measuring test-bed Download PDFInfo
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- CN109883697A CN109883697A CN201910286262.1A CN201910286262A CN109883697A CN 109883697 A CN109883697 A CN 109883697A CN 201910286262 A CN201910286262 A CN 201910286262A CN 109883697 A CN109883697 A CN 109883697A
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- retarder
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Abstract
A kind of RV retarder return difference measuring test-bed, belongs to precision mechanical transmission technical field.Servo motor is mounted on the base by motor rack, servo motor output shaft is fixedly connected with one input shaft of torque sensor by shaft coupling one, one output shaft of torque sensor is fixedly connected with one input shaft of angular transducer by shaft coupling two, the output shaft fixation of angular transducer one is pierced by torsion spring mechanism and is fixedly connected with the input shaft of RV retarder, RV reducer output shaft is fixedly connected with two input shaft of torque sensor by shaft coupling three, two output shaft of torque sensor is fixedly connected with two input shaft of angular transducer by shaft coupling four, two output shaft of angular transducer is fixedly connected with scroll chuck, scroll chuck is mounted on the base by scroll chuck bracket, torque sensor one is mounted on the base by torque sensor bracket with torque sensor two, RV retarder is mounted on pedestal by RV retarder support device On；The present invention is used to detect the performance of RV retarder.
Description
Technical field
The present invention relates to a kind of RV retarder return difference measuring test-beds, belong to precision mechanical transmission technical field.
Background technique
RV retarder has the characteristics that transmission ratio is big, rigidity is big, return difference is small, thus rapidly captured industrial robot and
The Environment Sciences such as aerospace field.Return difference and rigidity are the important performance indexes of RV (Rotate Vector) retarder, for
For precision machinery people and aerospace parts, when repeatedly completing the reciprocating motion of same period, to ensure its position precision, to biography
The return difference and rigidity of dynamic device have strict requirements.
When return difference refers to input shaft reversion, output shaft is the phenomenon that lagging behind input shaft in movement, due to part processing, assembly
Error, load and temperature change presence, return difference is inevitable.General measured RV retarder return difference, usually
Refer to apply 3% nominal torque of scholar with overcome internal friction and oil film resistance and each component well contact in the case where, by
Output shaft angle value caused by the geometrical factors such as backlash, bearing clearance in involute transmission and Cycloidal pin-wheel drive.
Test is an all indispensable important process in any product development and production process, is the guarantor of the quality of production
Card.Research at present in terms of the test of RV retarder return difference is less, and that there are measuring accuracies is not high, the degree of automation is low etc.
Problem, therefore propose a kind of measuring test-bed of RV retarder return difference.
Summary of the invention
The purpose of the present invention is to provide a kind of RV retarder return difference measuring test-beds, for detecting the property of RV retarder
Energy.
Realize that above-mentioned purpose, the present invention take following technical proposals: a kind of RV retarder return difference measuring test-bed, including bottom
Seat, servo motor, shaft coupling one, torque sensor one, shaft coupling two, angular transducer one, RV retarder, scroll chuck, electricity
Rack, shaft coupling three, torque sensor two, shaft coupling four, angular transducer two, scroll chuck bracket, torsion spring mechanism, RV slow down
Device supporting mechanism and two torque sensor brackets；
The servo motor is mounted on the base by motor rack, the output shaft of servo motor and the input shaft of torque sensor one
It is fixedly connected by shaft coupling one, the output shaft of the torque sensor one and the input shaft of angular transducer one pass through shaft coupling
Two are fixedly connected, and the output shaft fixation of the angular transducer one is pierced by torsion spring mechanism and fixes with the input shaft of RV retarder 7
The output shaft of connection, the RV retarder is fixedly connected with the input shaft of torque sensor two by shaft coupling three, the torque
The output shaft of sensor two is fixedly connected with the input shaft of angular transducer two by shaft coupling four, the angular transducer two
Output shaft is fixedly connected with scroll chuck, and the scroll chuck is mounted on the base by scroll chuck bracket, torque sensor
One is mounted on the base by torque sensor bracket with torque sensor two, and the RV retarder is supported by RV retarder
Device is mounted on the base.
Compared with prior art, the beneficial effects of the present invention are:
1, due to RV retarder be driven it is bigger, when test RV retarder return difference, if fixation input shaft, to output shaft plus
It carries, needs to apply very big torque in output end, and be not inconsistent with actual transmission route, the angle turned over additionally, due to output end is remote
Smaller than input terminal, measurement output end angle change needs to propose higher required precision to test equipment.Therefore, RV retarder returns
The test of difference is loaded, the angle that test input turns over, then as defeated divided by transmission ratio using fixed output end to input terminal
The angle that outlet turns over.The general loading method of traditional test is counterweight load, and wherein counterweight load is also referred to as gradually Loading Method, that is, exists
In its test process, the quantity of counterweight, the load or unload of Lai Shixian torque are stepped up or reduced by step.But it is testing
The sampled point of hysteresis loop cannot lack under conditions of required precision is high, and with the increase of load step number, to the number of a whole set of counterweight
Amount, quality propose very high requirement, and the load control mode of counterweight Loading Method will become cumbersome, and testing efficiency is not high.
Servo loading method proposed by the present invention is one end of fixed retarder, and the other end is connect with servo motor, passes through servo motor
Rotation controls loading capacity.In view of load need to carry out under the low speed and need to take multiple points, just solved with servo motor load
The deficiency of traditional loading method, keeps experimental result more acurrate；
2, Integral Thought of the present invention in static test experiment is to fix the output shaft of RV retarder, and input shaft load is static
Torque, if being directly driven using servo motor will make servo motor work long hours in locked rotor condition, this is for servo electricity
It is all unfavorable for the working performance of machine and the service life of entire testing stand.Frequently replacement servo motor, testing stand make
It will be greatly increased with maintenance cost, this is not allowed in practice in engineering.In conjunction with problem above and comprehensively consider, passes through
An elastic link-torsion spring mechanism is introduced to solve the above problems, to realize that the torque by servo motor is converted into static torque
And it is loaded into entire static test experimental bench system；
3, the present invention is more demanding to the torsional performance of driving motor, to power and rotary inertia without particular/special requirement, therefore can be selected from
Siemens Company, the servo motor of model 1FT7064-5AK7, the servo motor have the characteristic of low-speed big output, mistake
Loading capability is very strong；
4, it in the inner hole for the input shaft that the output shaft of angular transducer one of the invention is inserted directly into RV retarder, is connected by key
RV retarder ensure that the required precision of dynamic test experiments；
5, the present invention uses scroll chuck, and fixed is solid and reliable so that entire testing stand compact-sized and easy to disassemble and
Replace RV retarder to be detected.
Detailed description of the invention
Fig. 1 is the overall structure axonometric drawing of RV retarder return difference measuring test-bed of the invention；
Fig. 2 is the structural schematic diagram of torsion spring mechanism shown in FIG. 1；
Fig. 3 is the structural schematic diagram of RV retarder supporting mechanism shown in FIG. 1.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention
It states, it is clear that described embodiment is only a part of the embodiment of invention, instead of all the embodiments, based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
Specific embodiment 1: as shown in Fig. 1 ~ Fig. 3, the present invention discloses a kind of RV retarder return difference measuring test-bed,
Including pedestal 1, servo motor 2, shaft coupling 1, torque sensor 1, shaft coupling 25, angular transducer 1, RV retarder
7, scroll chuck 8, motor rack 9, shaft coupling 3 13, torque sensor 2 14, shaft coupling 4 15, angular transducer 2 16, three-jaw
Chuck bracket 17, torsion spring mechanism 11, RV retarder supporting mechanism 12 and two torque sensor brackets 10；
The servo motor 2 is mounted on pedestal 1 by motor rack 9, output shaft and the torque sensor 1 of servo motor 2
Input shaft is fixedly connected by shaft coupling 1, the output shaft of the torque sensor 1 and the input shaft of angular transducer 1
Be fixedly connected by shaft coupling 25, the output shaft of the angular transducer 1 is fixed be pierced by torsion spring mechanism 11 and with RV retarder
7 input shaft is fixedly connected with that (output shaft of angular transducer 1 is inserted directly into the inner hole of the input shaft of RV retarder 7, is passed through
It is keyed RV retarder 7, ensure that the required precision of dynamic test experiments, and in order to avoid adopting between RV retarder 7 as far as possible
With transition piece to generate angle measurement error, the company of the input shaft of the output shaft and RV retarder 7 of angular transducer 1
The scheme of connecing is preferably straight cutting rigid connection), the output shaft of the RV retarder 7 and the input shaft of torque sensor 2 14 pass through connection
Axis device 3 13 is fixedly connected, and the output shaft of the torque sensor 2 14 and the input shaft of angular transducer 2 16 pass through shaft coupling
4 15 are fixedly connected, and the output shaft of the angular transducer 2 16 is fixedly connected with scroll chuck 8, and the scroll chuck 8 passes through
Scroll chuck bracket 17 is mounted on pedestal 1, and torque sensor 1 and torque sensor 2 14 pass through torque sensor bracket
10 are mounted on pedestal 1, and the RV retarder 7 is mounted on pedestal 1 by RV retarder support device 12.
Specific embodiment 2: as shown in Figure 1 and Figure 2, present embodiment be specific embodiment one is made it is further
Illustrate, the torsion spring mechanism 11 includes outer sleeve 11-1, inner sleeve 11-2 and multiple torsional spring 11-3；In the inner sleeve 11-2
Portion is fixedly connected with the output shaft of angular transducer 1, passes through multiple torsional springs between the outer sleeve 11-1 and inner sleeve 11-2
11-3 is fixedly connected.
Specific embodiment 3: as shown in Figure 1 and Figure 2, present embodiment be specific embodiment two is made it is further
Illustrate, the side wall of the outer sleeve 11-1 and inner sleeve 11-2 are along the circumferential direction respectively laid with eight through-hole 11-4, described more
A torsional spring 11-3 quantity is eight, and is divided into two groups, and two groups of torsional spring 11-3 are mounted on outer sleeve 11-1's and inner sleeve 11-2
In through-hole 11-4；When torsional spring 11-3 rotates, diameter becomes smaller, and spring body is elongated, when torsional spring 11-3 has bar or pipe supports, working machine
Can preferably, therefore the centre bore by the output shaft of angular transducer 1 along inner sleeve 11-2 passes through.
Specific embodiment 4: as shown in Figure 1, Figure 3, present embodiment be specific embodiment one is made it is further
Illustrate, the RV retarder supporting mechanism 12 include driving gear 12-1, driven gear 12-2, motor 12-3, threaded rod 12-4,
Support plate 12-5, fixed frame 12-6 and shaft 12-7；
The fixed frame 12-6 is fixed on pedestal 1, and the shell of the motor 12-3 is fixedly connected with fixed frame 12-6, the electricity
The output shaft of machine 12-3 is fixedly connected with the upper end of shaft 12-7, and the lower end of the shaft 12-7 and the upper surface of pedestal 1 rotate
It connects, is fixed with driving gear 12-1 on the outside of the shaft 12-7, the driving gear 12-1 and driven gear 12-2 are mutual
Engagement, the fixed centre bore for being pierced by driven gear 12-2 in the lower end of the threaded rod 12-4 simultaneously rotate company by bearing with pedestal 1
It connects, the threaded rod 12-4 is threadedly coupled with support plate 12-5, and the support plate 12-5, which is used to support, places RV retarder 7.
A kind of RV retarder return difference measuring test-bed application method (working principle):
(1) RV retarder 7 to be measured is mounted on pedestal 1, adjusts RV retarder supporting mechanism 12, makes the defeated of RV retarder 7
Enter axis and output shaft and other hardware on the same axis；
(2) the output end scroll chuck 8 of RV retarder 7 is locked, is loaded in input terminal servo motor 2, turns round output end
Square is gradually increased to nominal torque N2 from 0；
(3) input terminal torque N1, input terminal unload record at this time；
(4) scroll chuck 8 is locked, and the load of input terminal forward direction makes input terminal torque be gradually increased to N1；
(5) 2 Opposite side loading of servo motor gradually reduces input terminal torque to 0, and continuing load is stepped up input terminal torque
To-N1；
(6) the positive load again of servo motor 2, gradually reduces input terminal torque to 0 from-N1, stops；
(7) for record input terminal angle with the variation relation of torque " 0 →+N1 → 0 →-N1 → 0 ", it is bent that hysteresis is simultaneously drawn in data processing
Line.
The invention proposes fixed output end, input terminal load, the test mode of test input corner is defeated by inputting
Torque corresponding relationship and the conversion of input and output angle corresponding relationship out, handle RV retarder data.RV retarder return difference
Curve fitting analysis model, and be tested using certain retarder as object, the return difference curve of the retarder is obtained, according to number
According to analysis, obtains the retarder return difference performance and meets index, the results showed that, the test macro of the testing stand is reasonable.
It is used herein to servo motor can be selected from Siemens Company, it is public that torque sensor can be selected from Beijing Ward row
Department, angular transducer can be selected from Heidenhain company, and scroll chuck can be selected from Huhehaote Zhong Huan company, and all hardware is specific
Model need to be determined according to the model of RV retarder to be detected.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in the form of others dress body.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that by all in the meaning and scope for the condition of equivalent for falling in claim
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. a kind of RV retarder return difference measuring test-bed, it is characterised in that: including pedestal (1), servo motor (2), shaft coupling one
(3), torque sensor one (4), shaft coupling two (5), angular transducer one (6), RV retarder (7), scroll chuck (8), motor
Frame (9), shaft coupling three (13), torque sensor two (14), shaft coupling four (15), angular transducer two (16), scroll chuck branch
Frame (17), torsion spring mechanism (11), RV retarder supporting mechanism (12) and two torque sensor brackets (10)；
The servo motor (2) is mounted on pedestal (1) by motor rack (9), the output shaft and torque sensing of servo motor (2)
The input shaft of device one (4) is fixedly connected by shaft coupling one (3), the output shaft and angle sensor of the torque sensor one (4)
The input shaft of device one (6) is fixedly connected by shaft coupling two (5), and the output shaft fixation of the angular transducer one (6) is pierced by torsion
Spring mechanism (11) is simultaneously fixedly connected with the input shaft of RV retarder (7), the output shaft and torque sensor of the RV retarder (7)
The input shaft of two (14) is fixedly connected by shaft coupling three (13), the output shaft and angle sensor of the torque sensor two (14)
The input shaft of device two (16) is fixedly connected by shaft coupling four (15), the output shaft and three-jaw card of the angular transducer two (16)
Disk (8) is fixedly connected, and the scroll chuck (8) is mounted on pedestal (1) by scroll chuck bracket (17), torque sensor one
(4) it is mounted on pedestal (1) by torque sensor bracket (10) with torque sensor two (14), the RV retarder (7)
It is mounted on pedestal (1) by RV retarder support device (12).
2. a kind of RV retarder return difference measuring test-bed according to claim 1, it is characterised in that: the torsion spring mechanism
It (11) include outer sleeve (11-1), inner sleeve (11-2) and multiple torsional springs (11-3)；The middle part and angle of the inner sleeve (11-2)
The output shaft of degree sensor one (6) is fixedly connected, and passes through multiple torsional springs between the outer sleeve (11-1) and inner sleeve (11-2)
(11-3) is fixedly connected.
3. a kind of RV retarder return difference measuring test-bed according to claim 2, it is characterised in that: the outer sleeve (11-
1) eight through-holes (11-4), the multiple torsional spring (11-3) number are along the circumferential direction respectively laid with the side wall of inner sleeve (11-2)
Amount is eight, and is divided into two groups, and two groups of torsional springs (11-3) are mounted on the through-hole of outer sleeve (11-1) and inner sleeve (11-2)
In (11-4).
4. a kind of RV retarder return difference measuring test-bed according to claim 1, it is characterised in that: the RV retarder branch
Support mechanism (12) includes driving gear (12-1), driven gear (12-2), motor (12-3), threaded rod (12-4), support plate
(12-5), fixed frame (12-6) and shaft (12-7)；
The fixed frame (12-6) is fixed on pedestal (1), and the shell and fixed frame (12-6) of the motor (12-3) are fixed to be connected
It connects, the output shaft of the motor (12-3) is fixedly connected with the upper end of shaft (12-7), the lower end and bottom of the shaft (12-7)
The upper surface of seat (1) is rotatablely connected, and is fixed with driving gear (12-1), the driving gear on the outside of the shaft (12-7)
(12-1) and driven gear (12-2) is intermeshed, and the lower end fixation of the threaded rod (12-4) is pierced by driven gear (12-2)
Centre bore is simultaneously rotatablely connected with pedestal (1), and the threaded rod (12-4) is threadedly coupled with support plate (12-5), the support plate
(12-5), which is used to support, places RV retarder (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286262.1A CN109883697B (en) | 2019-04-10 | 2019-04-10 | RV reduction gear return difference measurement test bench |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286262.1A CN109883697B (en) | 2019-04-10 | 2019-04-10 | RV reduction gear return difference measurement test bench |
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| CN109883697B CN109883697B (en) | 2024-08-20 |
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Cited By (4)
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| CN111649938A (en) * | 2020-07-09 | 2020-09-11 | 四川航天烽火伺服控制技术有限公司 | Loading mechanism for RV reducer test bed |
| CN112098079A (en) * | 2020-07-31 | 2020-12-18 | 盐城工学院 | RV reduction gear hysteresis curve testing arrangement |
| CN114427968A (en) * | 2020-09-09 | 2022-05-03 | 哈尔滨理工大学 | RV reduction gear static test bench |
| CN116718374A (en) * | 2023-08-10 | 2023-09-08 | 江苏万基传动科技有限公司 | Detection device for measuring rotation precision of RV reducer |
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| CN209802658U (en) * | 2019-04-10 | 2019-12-17 | 苏州鼎智瑞光智能科技有限公司 | RV reduction gear return difference measurement test bench |
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| CN104390779A (en) * | 2015-01-06 | 2015-03-04 | 广西柳工机械股份有限公司 | Speed reducer testing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649938A (en) * | 2020-07-09 | 2020-09-11 | 四川航天烽火伺服控制技术有限公司 | Loading mechanism for RV reducer test bed |
| CN112098079A (en) * | 2020-07-31 | 2020-12-18 | 盐城工学院 | RV reduction gear hysteresis curve testing arrangement |
| CN114427968A (en) * | 2020-09-09 | 2022-05-03 | 哈尔滨理工大学 | RV reduction gear static test bench |
| CN116718374A (en) * | 2023-08-10 | 2023-09-08 | 江苏万基传动科技有限公司 | Detection device for measuring rotation precision of RV reducer |
| CN116718374B (en) * | 2023-08-10 | 2023-11-03 | 江苏万基传动科技有限公司 | Detection device for measuring rotation precision of RV reducer |
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| CN109883697B (en) | 2024-08-20 |
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