A test bench for RV reducer performance testing that simulates impact loads and applies them in real time.

Abstract

This invention discloses a test bench for simulating impact loads and real-time loading of RV reducers, relating to the field of reducer reliability testing technology. It includes a base workbench on which a drive motor, an input torque sensor, an input angle grating sensor, an RV reducer bracket for mounting the RV reducer under test, an output angle grating sensor, an output torque sensor, and a rotary damper are fixedly mounted. The output shaft of the rotary damper is equipped with a gear loading device. By simultaneously simulating torque loads and impact loads through the rotary damper and gear loading device, the actual working conditions of the RV reducer can be better simulated. Compared to a fixed loading device, the hydraulic loading method allows for control of the load during the experiment, solving the problem that existing RV reducer test benches can only conduct experiments under a single continuous load condition or impact load, and cannot perform real-time loading to simulate actual working conditions during testing.

Description

Technical Field

[0001] This invention relates to the field of speed reducer reliability testing technology, specifically to an RV speed reducer performance testing bench that simulates impact loads and applies them in real time. Background Technology

[0002] RV reducers are critical functional components of industrial robot joints, significantly impacting robot performance. Existing RV reducer performance tests are conducted under stable and singular load conditions, failing to reflect their reliability under actual operating conditions. Therefore, simulating real-time loading and applying various loads to RV reducers under these loads, and then performing performance tests, is crucial for reliability testing of industrial robot reducers.

[0003] Therefore, a test bench for RV reducer performance testing that simulates impact loads and applies them in real time is proposed to solve the above problems. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: an RV reducer performance test bench that simulates impact load and loads it in real time, including a base, a drive motor, an input torque sensor, an input angle grating sensor, an RV reducer under test, an output angle grating sensor, an output torque sensor, and a rotary damper connected in sequence on the base, and the output shaft of the rotary damper is provided with a gear loading device;

[0005] The gear loading device includes a wide gear and a first gear fixed on the output shaft of the rotary damper, a proximity sensor, a fixed base bracket, and a motor push rod fixed on the base, a gear shift baffle rotatably mounted on the output shaft of the rotary damper, a second gear and a third gear rotatably mounted on the gear shift baffle, a fixed base fixed on the fixed base bracket, a nut rotatably mounted on the fixed base, a lead screw gear shaft threaded onto the nut, and a large gear fixed on the outside of the nut; the gear shift baffle is movably connected to the output end of the motor push rod via a ball joint, the lead screw gear shaft includes a lead screw and a gear fixed together, the second gear meshes with the wide gear, the third gear meshes with the first gear and the third gear, and a hydraulic loading device is provided at the end of the lead screw away from the rotary damper;

[0006] The hydraulic loading device includes a base, a slide rail, a lifting lug hydraulic cylinder, a bracket, a pressure plate, and a slider. The base is fixed on the base, and the slide rail and bracket are both fixed on the base. The slider is slidably mounted on the slide rail. The lifting lug hydraulic cylinder is suspended on the bracket, and the output end of the lifting lug hydraulic cylinder is rotatably mounted on the pressure plate. The pressure plate is fixedly connected to the slider, and the end of the lead screw gear shaft away from the rotation damper is rotatably connected to the slider.

[0007] Preferably, the hydraulic loading device also includes a friction pad, which is disposed on the upper end of the slide rail and located between the slide rail and the slider.

[0008] Preferably, the output shaft of the drive motor is connected to the input shaft of the input torque sensor via a first coupling, the output shaft of the input torque sensor is connected to the input shaft of the input angle grating sensor via a second coupling, the input shaft of the RV reducer under test is coaxially connected to the output shaft of the input angle grating sensor, the output shaft of the RV reducer under test is connected to the input shaft of the output angle grating sensor via a third coupling, the output shaft of the output angle grating sensor is connected to the input shaft of the output torque sensor via a fourth coupling, and the output shaft of the output torque sensor is connected to the input shaft of the rotary damper via a fifth coupling.

[0009] Preferably, the drive motor is fixed to the base by a motor bracket.

[0010] Preferably, the input torque sensor is fixed to the base via an input torque sensor base.

[0011] Preferably, the input angle grating sensor is fixed to the base by an input angle grating sensor bracket.

[0012] Preferably, the output angle grating sensor is fixed on the base by an output angle grating sensor bracket.

[0013] Preferably, the output torque sensor is fixed to the base via an output torque sensor base.

[0014] Preferably, the rotary damper is fixed to the base via a rotary damper base.

[0015] The present invention has the following beneficial effects:

[0016] This invention simulates both torque and impact loads simultaneously using a rotary damper and a gear loading device, enabling a better simulation of the actual operating conditions of RV reducers. The hydraulic loading method, compared to a fixed loading device, allows for control of the load during the experiment, solving the problem that existing RV reducer test benches can only conduct experiments under a single continuous load or impact load condition, and cannot perform real-time loading to simulate actual operating conditions during testing. This invention has a simple mechanism and low cost, using only one motor for drive, which reduces the procurement and maintenance costs of the motor compared to a dual-motor test bench that also uses a load motor at the load end. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a three-dimensional structural diagram of the lead screw gear shaft and the large gear in this invention;

[0019] Figure 3 This is a schematic diagram of the structure of the wide gear, gear shifting baffle, and first pinion in this invention;

[0020] Figure 4 This is a schematic diagram of the structure of the lead screw gear shaft and nut in this invention;

[0021] Figure 5 This is a three-dimensional structural diagram of the lifting lug hydraulic cylinder, slider, and slide rail in this invention.

[0022] In the diagram: 1. Base worktable; 2. Motor bracket; 3. Input torque sensor base; 4. Input angle grating sensor bracket; 5. RV reducer bracket; 6. Output angle grating sensor bracket; 7. Output torque sensor base; 8. Rotary damper base; 9. Proximity sensor; 10. Lead screw gear shaft; 11. Fixed base bracket; 12. Hydraulic base; 13. Drive motor; 14. First coupling; 15. Input torque sensor; 16. Second coupling; 17. Input angle grating sensor; 18. To be... 19. RV reducer; 20. Third coupling; 21. Output angle grating sensor; 22. Fourth coupling; 23. Output torque sensor; 24. Fifth coupling; 25. Rotary damper; 26. Wide gear; 27. First pinion; 28. Second pinion; 29. ​​Third pinion; 30. Gear shift baffle; 31. Motor push rod; 32. Nut; 33. Large gear; 34. Fixed base; 35. Slide rail; 36. Lifting lug hydraulic cylinder; 37. Hydraulic support; 38. Pressure plate; 39. Friction pad; 30. Slider. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0025] Embodiments of the present invention

[0026] like Figures 1 to 4As shown, a test bench for simulating impact loads and real-time loading of an RV reducer performance includes a base worktable 1. A drive motor 13, an input torque sensor 15, an input angle grating sensor 17, an RV reducer bracket 5, an output angle grating sensor 20, an output torque sensor 22, and a rotation damper 24 are fixedly mounted on the base worktable 1. The output shaft of the drive motor 13 is connected to the input shaft of the input torque sensor 15 via a first coupling 14. The output shaft of the input torque sensor 15 is connected to the input shaft of the input angle grating sensor 17 via a second coupling 16. The output shaft of the output angle grating sensor 20... The fourth coupling 21 is connected to the input shaft of the output torque sensor 22. The output shaft of the output torque sensor 22 is connected to the input shaft of the rotary damper 24 via the fifth coupling 23. The RV reducer bracket 5 is used to install the RV reducer 18 under test. The input shaft of the RV reducer 18 under test is coaxially connected to the output shaft of the input angle grating sensor 17. The output shaft of the RV reducer 18 under test is connected to the input shaft of the output angle grating sensor 20 via the third coupling 19. The output shaft of the rotary damper 24 is equipped with a gear loading device. The torque of the rotary damper 24 is proportional to the rotational speed, and the damping coefficient is adjustable to simulate different torque loads.

[0027] The drive motor 13 is fixed to the base worktable 1 via the motor bracket 2. The input torque sensor 15 is fixed to the base worktable 1 via the input torque sensor base 3. The input angle grating sensor 17 is fixed to the base worktable 1 via the input angle grating sensor bracket 4. The output angle grating sensor 20 is fixed to the base worktable 1 via the output angle grating sensor bracket 6. The output torque sensor 22 is fixed to the base worktable 1 via the output torque sensor base 7. The rotary damper 24 is fixed to the base worktable 1 via the rotary damper base 8.

[0028] The gear loading device includes a wide gear 25 and a first pinion 26 fixed on the output shaft of the rotary damper 24; a proximity sensor 9, a fixed base bracket 11, and a motor push rod 30 fixed on the base worktable 1; a gear shifting baffle 29 rotatably mounted on the output shaft of the rotary damper 24; a second pinion 27 and a third pinion 28 rotatably mounted on the gear shifting baffle 29; a fixed base 33 fixed on the fixed base bracket 11; a nut 31 rotatably mounted on the fixed base 33; and a lead screw gear shaft 10 threadedly connected to the nut 31. A large gear 32 is fixed outside the nut 31; a gear shift baffle 29 is movably connected to the output end of the motor push rod 30 via a ball joint; the lead screw gear shaft 10 includes a lead screw and a gear fixed together; the lead screw is threadedly connected to the nut 31; the gear meshes with a wide gear 25; the wide gear 25 is coaxially connected with a first small gear 26; the first small gear 26 meshes with a second small gear 27; the second small gear 27 meshes with a third small gear 28; a hydraulic loading device is provided at the end of the lead screw away from the rotation damper 24 for adjusting the resistance encountered when the lead screw gear shaft 10 moves.

[0029] like Figure 1 , Figure 2 and Figure 5 As shown, the hydraulic loading device includes a hydraulic base 12, a slide rail 34, a lifting lug hydraulic cylinder 35, a hydraulic support 36, a pressure plate 37, and a slider 39. The hydraulic base 12 is fixed on the base worktable 1. The slide rail 34 and the hydraulic support 36 are both fixed on the hydraulic base 12. The slider 39 is slidably mounted on the slide rail 34. The lifting lug hydraulic cylinder 35 is suspended on the hydraulic support 36. The output end of the lifting lug hydraulic cylinder 35 is rotatably mounted on the pressure plate 37. The pressure plate 37 is fixedly connected to the slider 39. The end of the lead screw of the lead screw gear shaft 10 away from the rotation damper 24 is rotatably connected to the slider 39.

[0030] The hydraulic loading device also includes a friction pad 38, which is disposed on the upper end of the slide rail 34 and is located between the slide rail 34 and the slider 39.

[0031] The proximity sensor 9, drive motor 13, input torque sensor 15, input angle grating sensor 17, output angle grating sensor 20, output torque sensor 22, rotation damper 24, motor push rod 30, ball joint and lifting lug hydraulic cylinder 35 are all existing technologies and will not be described in detail here. The electric drive devices of proximity sensor 9, motor push rod 30 and lifting lug hydraulic cylinder 35 are all electrically connected to an external controller.

[0032] When testing the RV reducer 18 under test, the drive motor 13 rotates, which drives the wide gear 25 to rotate. The wide gear 25 meshes with the gear of the lead screw gear shaft 10, which in turn drives the lead screw gear shaft 10 to rotate. Since the lead screw of the lead screw gear shaft 10 is threadedly connected to the nut 31, and the nut 31 and the large gear 32 do not rotate due to the frictional resistance between the fixed seat 33 and the nut 31, the wide gear 25 always meshes with the gear of the lead screw gear shaft 10 during the rotation of the lead screw gear shaft 10.

[0033] When the gear of the lead screw gear shaft 10 approaches the proximity sensor 9, the output end of the motor push rod 30 pushes the gear shift baffle 29 through the ball joint, causing the gear shift baffle 29 to rotate around the output shaft of the rotary damper 24, thereby causing the third pinion 28 to mesh with the large gear 32. The large gear 32 drives the nut 31 to rotate, causing the lead screw gear shaft 10 to move away from the proximity sensor 9. Because the rotational speed of the large gear 32 is faster than the rotational speed of the gear on the lead screw gear shaft 10, the lead screw gear shaft 10 is reversed.

[0034] By utilizing the rapid response capability of the hydraulic system, the pressure applied to the slider 39 can be changed periodically and quickly to alter the friction force, causing the wide gear 25 to mesh and engage with the lead screw gear shaft 10. This simulates and controls the impact load. The meshing between each tooth of the wide gear 25 and the lead screw gear shaft 10 generates a continuous impact load, thereby applying an impact load to the RV reducer 18 under test. This helps the system evaluate the fatigue life and reliability of the RV reducer 18 under test.

[0035] As the lead screw gear shaft 10 moves, it drives the slider 39 to slide along the slide rail 34. The lifting lug hydraulic cylinder 35 applies hydraulic pressure to the slider 39 through the pressure plate 37 to change the friction between the slider 39 and the slide rail 34, thereby changing the resistance when the lead screw gear shaft 10 moves left and right, and realizing the control of the load during the test.

[0036] Transmission efficiency test under impact load:

[0037] The drive motor 13 provides power, and the rotary damper 24 controls the output torque of the RV reducer 18 under test. By changing the friction between the slider 39 and the slide rail 34 (specifically, by increasing the normal force of the slider 39 on the slide rail 34 through the lifting lug hydraulic cylinder 35, with an estimated increase of 10% of the rated torque, increasing by 10% at each level, and performing multiple engagements at each level setting; if jamming occurs, it is necessary to drop to the next level with less force, and test below this level according to actual needs), the impact load generated when the wide gear 25 meshes with the lead screw gear shaft 10 is controlled. The power value is collected by the torque sensor 15 at the input end. and the power value of the torque sensor 22 at the acquisition output end. The transmission efficiency under impact load can be obtained. .

[0038] Dynamic hysteresis accuracy test under impact load:

[0039] The drive motor 13 is set to a stable torque, and the lifting lug hydraulic cylinder 35 applies periodically and rapidly changing pressure to the slider 39. After the impact load generated when the wide gear 25 meshes with the lead screw gear shaft 10 reaches a periodic repetition state, the drive motor 13 is reversed with the same torque. The input angle grating sensor 17 and the output angle grating sensor 20 continuously collect and record the input shaft angle within a certain period of time (100ms) before and after the reversal command is issued. and output shaft angle Calculate the ideal output angle ( (for the reduction ratio), calculate the instantaneous transmission error. The dynamic hysteresis is .

[0040] Testing torsional stiffness under impact load:

[0041] The drive motor 13 applies a constant input torque. To eliminate the effects of backlash and initial assembly position, the gear teeth of the wide gear 25 and the gear on the lead screw gear shaft 10 are tightly engaged. The input and output angle grating sensor readings are recorded at this time. As the reference zero point, the load is gradually increased from 10% of the rated load to 120% of the rated load, increasing by 10% in each step, and then gradually decreased back to 10% of the load (reducing by 10% in each step). The holding time should be greater than 60 seconds. After each step stabilizes, the input and output shaft angles are collected using the input angle grating sensor 17 and the output angle grating sensor 20, and the input and output shaft torques are collected using the input torque sensor 15 and the output torque sensor 22. The collected output shaft torque is plotted as the x-axis, and the relative torsion angle obtained by subtracting the collected output shaft angle from the collected input shaft angle and the transmission ratio is plotted as the y-axis. The curve was fitted using the least squares method to a straight line over the main operating range (40% to 100% rated load), and the torsional stiffness was calculated as follows: .

[0042] Fatigue durability test of RV reducer under impact load:

[0043] The drive motor 13 provides power, and the rotary damper 24 controls the internal torque to be 2.5 times the rated torque of the RV reducer 18 under test, so that the wide gear 25 meshes with the gear on the lead screw gear shaft 10 to simulate the impact load and drive the slider 39 to slide left and right. During the experiment, the slider 39 can be loaded in real time through the lifting lug hydraulic cylinder 35 as needed to control the magnitude of the impact load.

[0044] It should be noted that, in order to ensure that the amplitude and frequency of the subsequent impact load match the actual working conditions of the RV reducer, the load system is dynamically calibrated before the test begins. The load on the RV reducer 18 under test includes torque load and impact load. At a certain moment, the input torque of the wide gear 25 is calculated as follows:

[0045] The tension on the lead screw gear shaft 10 ;in This represents the coefficient of kinetic friction between slider 39 and slide rail 34. This indicates the weight of slider 39. This indicates the magnitude of the pressure applied by the hydraulic cylinder 35 of the lifting lug to the slider 39 via the pressure plate 37. This indicates the angle between the direction of force applied by the hydraulic cylinder 35 of the lifting lug and the horizontal plane of the slider 39;

[0046] Circumferential force of the gear on the lead screw gear shaft 10 ,in This indicates the lead of the lead screw in the lead screw gear shaft 10. This indicates the pitch circle radius of the gear in the lead screw gear shaft 10;

[0047] Torque of the gear on lead screw shaft 10 ,in This indicates the pitch circle radius of the gear on the lead screw gear shaft 10;

[0048] Input torque of wide gear 25 ;in This indicates the number of teeth on a 25-tooth wide gear. This indicates the number of teeth on the gear on the lead screw gear shaft 10. This represents the total transmission efficiency (estimated based on experience, ranging from 0.96 to 0.99).

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A test bench for simulating impact loads and applying them in real time to test the performance of an RV reducer, comprising a base, characterized in that, The drive motor, input torque sensor, input angle grating sensor, RV reducer under test, output angle grating sensor, output torque sensor and rotary damper are connected in sequence on the base. The output shaft of the rotary damper is equipped with a gear loading device. The gear loading device includes a wide gear and a first gear fixed on the output shaft of the rotary damper, a proximity sensor, a fixed base bracket, and a motor push rod fixed on the base, a gear shift baffle rotatably mounted on the output shaft of the rotary damper, a second gear and a third gear rotatably mounted on the gear shift baffle, a fixed base fixed on the fixed base bracket, a nut rotatably mounted on the fixed base, a lead screw gear shaft threaded onto the nut, and a large gear fixed on the outside of the nut; the gear shift baffle is movably connected to the output end of the motor push rod via a ball joint, the lead screw gear shaft includes a lead screw and a gear fixed together, the second gear meshes with the wide gear, the third gear meshes with the first gear and the third gear, and a hydraulic loading device is provided at the end of the lead screw away from the rotary damper; The hydraulic loading device includes a base, a slide rail, a lifting lug hydraulic cylinder, a bracket, a pressure plate, and a slider. The base is fixed on the base, and the slide rail and bracket are both fixed on the base. The slider is slidably mounted on the slide rail. The lifting lug hydraulic cylinder is suspended on the bracket, and the output end of the lifting lug hydraulic cylinder is rotatably mounted on the pressure plate. The pressure plate is fixedly connected to the slider, and the end of the lead screw gear shaft away from the rotation damper is rotatably connected to the slider.

2. The RV reducer performance testing bench for simulating impact loads and real-time loading as described in claim 1, characterized in that, The hydraulic loading device also includes friction pads, which are disposed on the upper end of the slide rail and located between the slide rail and the slider.

3. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 2, characterized in that, The output shaft of the drive motor is connected to the input shaft of the input torque sensor via a first coupling. The output shaft of the input torque sensor is connected to the input shaft of the input angle grating sensor via a second coupling. The input shaft of the RV reducer under test is coaxially connected to the output shaft of the input angle grating sensor. The output shaft of the RV reducer under test is connected to the input shaft of the output angle grating sensor via a third coupling. The output shaft of the output angle grating sensor is connected to the input shaft of the output torque sensor via a fourth coupling. The output shaft of the output torque sensor is connected to the input shaft of the rotary damper via a fifth coupling.

4. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 3, characterized in that, The drive motor is fixed to the base by a motor bracket.

5. The RV reducer performance testing bench for simulating impact loads and real-time loading as described in claim 3, characterized in that, The input torque sensor is fixed to the base via the input torque sensor base.

6. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 3, characterized in that, The input angle grating sensor is fixed to the base via the input angle grating sensor bracket.

7. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 3, characterized in that, The output angle grating sensor is fixed to the base via the output angle grating sensor bracket.

8. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 3, characterized in that, The output torque sensor is fixed to the base via the output torque sensor base.

9. The RV reducer performance test bench for simulating impact loads and real-time loading according to claim 3, characterized in that, The rotary damper is fixed to the base via a rotary damper base.

Images