Speed reducer service life testing device

Abstract

The utility model discloses a speed reducer service life testing device. The speed reducer service life testing device comprises a test bench, a motor flange plate used for installing a servo motor, a speed reducer installing plate used for installing a speed reducer to be tested, and a torque sensor, wherein the motor flange plate, the speed reducer installing plate and the torque sensor are arranged on the test bench from front to back. The servo motor is connected with the speed reducer through an input shaft, and the speed reducer is connected with the torque sensor through an output shaft. The experiment table is provided with a plurality of key bars, a connecting plate and a mounting plate, the supporting assembly is connected with the key bars in a matched mode through mounting grooves, and the servo motor, the speed reducer, the torque sensor and the flange shaft are coaxially mounted. A positioning key strip is arranged on the test bench, and if the specification of the detected speed reducer needs to be replaced, the coaxiality in the horizontal direction is ensured while the length distance of a transmission chain is adjusted.

Description

Technical Field

[0001] The utility model relates to a device for performing life test on a reducer. Background Art

[0002] The most widely used reducers for industrial robots include harmonic reducers and RV reducers. In order to find an algorithm that can predict the life status of harmonic and RV reducers for industrial robots, it is necessary to test and collect real-time operating data of the reducer from brand new to the life limit. The existing technology uses a load swing arm to simulate the working condition, and uses the torque sensor to test the real-time data to determine the life of the reducer. The transmission mechanism is designed to integrate a set of harmonic reducer life test equipment, and the servo motor is fixed with a mounting flange. The servo motor, torque sensor and harmonic reducer are connected with a coupling. The machined flange shaft is connected to the harmonic reducer and the load block with adjustable counterweight. The harmonic reducer, load counterweight, and torque sensors of different ranges are selected to simulate the life limit of the reducer under different working conditions.

[0003] Prior art CN202220501512.6 discloses a harmonic reducer life test device, comprising a harmonic reducer, wherein the input shaft of the harmonic reducer is connected to a torque sensor, the input shaft of the torque sensor is connected to a motor, the output shaft of the harmonic reducer is connected to a swing arm, a plurality of counterweights are installed on the swing arm, and the swing arm and the counterweights provide the torque borne by the harmonic reducer.

[0004] Due to the different specifications of reducers, when replacing a larger reducer and a large-range torque sensor, the horizontal length of the transmission chain needs to be increased. In the above-mentioned prior art, the structure of the test device cannot be adjusted significantly while ensuring economy, and when adjusting the components, the coaxiality of the transmission chain in the horizontal direction is difficult to ensure; the counterweight selection is to add a load block at the same horizontal height, the mass increases but the position of the center of mass does not change much. According to the description of the load characteristic curve, it is impossible to test the life under the limit state. Utility Model Content

[0005] In view of this, the utility model provides a reducer life test device, which can ensure the coaxiality of the entire transmission chain when switching test products.

[0006] In order to solve the above technical problems, the technical solution of the utility model is to adopt a reducer life test device, including a test bench and a motor flange plate for installing a servo motor, a reducer mounting plate for installing a reducer to be tested, and a torque sensor arranged from front to back on the test bench; the servo motor is connected to the reducer by an input shaft, and the reducer is connected to the torque sensor by an output shaft; the output end of the torque sensor is connected to a flange shaft, and a radially arranged swing arm is fixed to the end of the flange shaft; a number of counterweights are detachably mounted on the swing arm; a mounting plate is provided at the bottom of the torque sensor for connecting to the test bench, and the flange shaft is supported by a support assembly fixed to the test bench; the motor flange plate and the reducer mounting plate are fixed to the test bench by a connecting plate; a number of key strips are provided on the test bench, and the connecting plate, the mounting plate, and the support assembly are connected with the key strips by mounting grooves, and the servo motor, the reducer, the torque sensor, and the flange shaft are coaxially mounted.

[0007] As an improvement, a plurality of key strips are arranged on the same straight line.

[0008] As a further improvement, the reducer mounting plate is provided with a mounting hole and also includes an adapter flange; the adapter flange is detachably mounted in the mounting hole, and a mounting seat for mounting the reducer to be tested is provided on the adapter flange.

[0009] As another further improvement, a skeleton oil seal is arranged on the inner ring surface of the conversion flange; an O-ring is arranged between the adapter flange and the reducer mounting plate; an O-ring is arranged on the joint surface between the adapter flange and the RV reducer; and an O-ring is arranged between the output shaft and the RV reducer.

[0010] As an improvement, a connecting hole is formed on the counterweight block, and the counterweight block is sleeved on the swing arm through the connecting hole; the swing arm is provided with adjustment clamps located in front and behind the counterweight block for fixing the axial position of the counterweight block on the swing arm.

[0011] As an improvement, an axial long hole is opened on the swing arm; the adjusting splint is sleeved on the swing arm and is limited by a limiting bolt passing through the long hole; a through groove is opened on the side wall of the adjusting splint and is locked by a locking bolt.

[0012] As an improvement, a square stop is provided on the swing arm for connection with the flange shaft and fixed with bolts.

[0013] As an improvement, the two ends of the torque sensor are connected to the output shaft and the flange shaft respectively by means of diaphragm couplings; and the servo motor is connected to the input shaft by means of a diaphragm coupling.

[0014] As an improvement, the support assembly includes a support seat and two bearing seats arranged on the support seat in the front-to-back direction, and the bearing seats are connected to the flange shaft through bearings.

[0015] The utility model is beneficial in that:

[0016] 1. The test device is a high-speed and high-precision precision device. It is necessary to ensure the coaxiality of the rotating parts of the entire transmission chain. A positioning key strip is set on the test bench. If the reducer specifications to be tested are to be replaced, the coaxiality in the horizontal direction must be ensured while adjusting the length of the transmission chain. The vertical direction depends on the processing accuracy of the support plate.

[0017] 2. The installation structure of the reducer is composed of an adapter flange, a reducer mounting plate, and a reducer. By switching the specifications of the adapter flange and the reducer mounting plate structure, it is more convenient to switch the harmonic reducer. The device can also perform life tests on RV reducers.

[0018] 3. The entire device is connected by the diaphragm coupling of the metal elastic element coupling. Its remarkable features are: easy balance, high rigidity, no lubrication, strong environmental adaptability, simple structure, convenient assembly and disassembly, reliable and noiseless operation, certain compensation performance and buffering performance, and is mainly used for medium and high-speed transmission with relatively stable loads. The device not only has the function of predicting life, but also has the function of repeated positioning accuracy detection.

[0019] 4. The counterweight design structure is simple. You only need to lock the bolts and adjust the clamping plate. The mass and center of mass position of the counterweight can be adjusted conveniently and quickly. You can also increase the load to accelerate the aging test and accurately predict the life of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the utility model.

[0021] Figure 2 It is a structural schematic diagram of the swing arm and counterweight.

[0022] Figure 3 A cross-sectional view of the swing arm.

[0023] Figure 4 A cross-sectional view of the adjustment splint.

[0024] Figure 5 This is a cross-sectional view of the conversion flange.

[0025] Markings in the figure: 1-servo motor, 2-motor flange plate, 3-first diaphragm coupling, 4-input shaft, 5-adapter flange, 6-reducer mounting plate, 7-harmonic reducer, 8-output shaft, 9-second diaphragm coupling, 10-torque sensor, 11-flange shaft support assembly, 12-flange shaft, 13-swing arm, 14-counterweight, 15-adjustment clamping plate, 16-key bar, 17-test bench, 18-support seat, 19 bearing seat, 20 mounting plate, 21 connecting plate. 51 mounting seat, 131 long hole, 132 stopper, 151 limit bolt, 152 locking bolt. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0027] Example 1

[0028] This embodiment is suitable for life testing of harmonic reducers.

[0029] like Figure 1 As shown, the utility model provides a reducer life test device, including a test bench 17 and a motor flange plate 2 for mounting a servo motor 1, a reducer mounting plate 6 for mounting a reducer to be tested, and a torque sensor 10 arranged from front to back on the test bench 17; the servo motor 1 is connected to the reducer by an input shaft 4, which is a harmonic reducer 7 in this embodiment. The reducer is connected to the torque sensor 10 by means of an output shaft 8; the output end of the torque sensor 10 is connected to a flange shaft 12, and a radially arranged swing arm 13 is fixed to the end of the flange shaft 12; a plurality of counterweights 14 are detachably mounted on the swing arm 13; a mounting plate 20 is provided at the bottom of the torque sensor 10 for connecting to a test bench 17, and the flange shaft is supported by a support assembly 11 fixed on the test bench; the motor flange plate 2 and the reducer mounting plate 6 are fixed to the test bench 17 by means of a connecting plate 21; a plurality of key strips 16 are provided on the test bench 17, and the connecting plate 21, the mounting plate 20, and the support assembly 11 are connected to the key strip 16 by means of mounting grooves, so that the servo motor 1, the reducer, the torque sensor 10, and the flange shaft 12 are coaxially mounted.

[0030] The test device is a high-speed and high-precision precision device. It is necessary to ensure the coaxiality of the rotating parts of the entire transmission chain. Several key bars 16 are set on the test bench 17. If you want to replace the specifications of the reducer to be tested, just select the key bar 16 with the appropriate position. While adjusting the length of the transmission chain, ensure the coaxiality in the horizontal direction. In the vertical direction, it depends on the processing accuracy of the supports under each component (motor flange plate 2, reducer mounting plate 6, mounting plate 20, support assembly 11, etc.).

[0031] It is foreseeable that a plurality of key strips 16 are arranged on the same straight line to ensure the coaxiality of the components.

[0032] In addition, the torque sensor 10 is connected to the output end of the reducer, and the actual rotation angle of the counterweight 14 is closest to the rotation angle measured at the output end. The data measured by the torque sensor 10 is more accurate and reliable; and the transmission structure also has the function of re-reading positioning accuracy detection.

[0033] like Figure 5 As shown, in the present invention, the reducer mounting plate 6 is provided with a mounting hole and also includes an adapter flange 5; the adapter flange 5 is detachably mounted in the mounting hole, and a mounting seat 51 for mounting the reducer to be tested is provided on the adapter flange 5. When replacing a reducer of a different model, only the corresponding adapter flange 5 needs to be replaced, and there is no need to replace the reducer mounting plate 6, which greatly improves the efficiency of the test.

[0034] In the harmonic reducer life test device disclosed in the prior art CN202220501512.6, although the mass can be changed by increasing or decreasing the number of counterweight blocks, its center of mass cannot be changed. Figure 2 , Figure 4 As shown, the counterweight 14 is provided with a connection hole, and is sleeved on the swing arm 13 through the connection hole; the swing arm 13 is provided with adjustment clamps 15 for fixing the axial position of the counterweight on the swing arm 13, both in front and behind the counterweight 14. By adjusting the number of counterweights 14 and their positions on the swing arm 13, the working conditions under the extreme center of mass positions of different masses can be simulated, and the predicted extreme life span is more accurate and more convincing. The counterweight 14 can slide along the axial direction of the swing arm, so that the center of mass position can still be adjusted when the load is the same mass, which can accelerate the aging test, and the reducer life test data is more accurate in the most extreme posture test.

[0035] Specifically, the swing arm 13 is provided with an axial long hole 131; the adjusting clamp 15 is sleeved on the swing arm and is limited by a limiting bolt 151 that penetrates the long hole 131; the side wall of the adjusting clamp 15 is provided with a through slot (about 1 mm wide) and is locked by a locking bolt 152. The limiting bolt 151 has two functions: first, as a limiter, it plays a role of safety protection; second, when the locking bolt 152 is locked, the axis of the locking bolt 152 and the limiting bolt 151 is deviated, which has a certain anti-loosening effect.

[0036] The long hole in the middle of the swing arm 13 is used to limit the counterweight 14 and the adjustment clamp 15 to prevent them from slipping out during the rotation process; the two side surfaces of the swing arm 13 are processed with parallelism and roughness requirements to play a guiding role, ensuring that the center of mass position of the load component, the center of mass position of the swing arm 13 and the rotation axis are connected and are in the same straight line, so that when the load component rotates back and forth, the force of the counterweight 14 borne by the swing arm 13 is symmetrical cyclic shear stress, which has little effect on the fatigue life of the material.

[0037] In addition, if Figure 3 As shown, the swing arm 13 is provided with a square stopper 132 for connecting with the flange shaft 12 and fixing with bolts. The stopper 132 bears the centrifugal force generated by the rotation of the counterweight assembly, and the bolts are subjected to tensile stress for tightening. If the stopper 132 is not provided, the centrifugal force will act on the six bolts, and the bolts are subjected to long-term shear stress during the reciprocating rotation motion in the aging test, and are very likely to be sheared, posing a safety hazard.

[0038] In this embodiment, the weight of the counterweight block 14 is strictly controlled, and the center position is designed with a long hole. The center of mass position can be adjusted by sliding on the swing arm 13. The mass size can be adjusted by increasing the number of counterweight blocks 14. The operation is simple and quick.

[0039] In addition, in this embodiment, the two ends of the torque sensor 10 are connected to the output shaft and the flange shaft respectively by the second diaphragm coupling 9. The servo motor 1 is connected to the input shaft 4 by the first diaphragm coupling 3. The diaphragm coupling has a large load-bearing capacity, strong rigidity, good shock absorption performance, good durability, and convenient maintenance.

[0040] In order to better support the flange shaft 12 , the support assembly 11 includes a support seat 18 and two bearing seats 19 arranged on the support seat 18 in the front-to-back direction. The bearing seats 19 are connected to the flange shaft 12 through bearings.

[0041] When working, according to the model of the reducer to be tested, the connecting plate 21, the mounting plate 20, and the support seat 18 are set in appropriate positions, and connected with the mounting groove through the key bar 16. The harmonic reducer 7 to be tested is connected to the conversion flange 5, and then the conversion flange 5 is installed on the reducer mounting plate 6. The servo motor 1 is installed on the motor flange plate 2, and is connected to the input end of the harmonic reducer 7 by the input shaft 4. The output end of the harmonic reducer 7 is connected to the output shaft 8, and is connected to the input end of the torque sensor 10 with a diaphragm coupling through the output shaft 8. The output end of the torque sensor 10 is connected to the flange shaft 12 by a diaphragm coupling. An appropriate number of counterweights 14 are installed on the swing arm 13, and its position on the swing arm 13 is adjusted and locked by the adjustment clamp 15 to start the test.

[0042] Example 2

[0043] This embodiment is applicable to the life test of RV reducer (circular arc gear planetary reducer).

[0044] Since the RV reducer test requires a closed environment for injecting and draining grease, unlike Example 1, in this embodiment, a skeleton oil seal is provided on the inner ring surface of the conversion flange 5; an O-ring is provided between the adapter flange 5 and the reducer mounting plate 6; an O-ring is provided on the mating surface between the adapter flange 5 and the RV reducer; and an O-ring is provided between the output shaft 4 and the RV reducer.

[0045] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A reducer life test device, characterized in that: It includes a test bench and a motor flange plate for installing a servo motor, a reducer mounting plate for installing a reducer to be tested, and a torque sensor, which are arranged from front to back on the test bench; the servo motor is connected to the reducer by an input shaft, and the reducer is connected to the torque sensor by an output shaft; the output end of the torque sensor is connected to a flange shaft, and a radially arranged swing arm is fixed to the end of the flange shaft; a number of counterweights are detachably mounted on the swing arm; a mounting plate is arranged at the bottom of the torque sensor for connecting to the test bench, and the flange shaft is supported by a supporting assembly fixed to the test bench; the motor flange plate and the reducer mounting plate are fixed to the test bench by a connecting plate; a number of key strips are arranged on the test bench, and the connecting plate, the mounting plate, and the supporting assembly are connected with the key strips by mounting grooves, so that the servo motor, the reducer, the torque sensor, and the flange shaft are coaxially mounted.

2. A reducer life test device according to claim 1, characterized in that: A plurality of key strips are arranged on the same straight line.

3. A reducer life test device according to claim 1, characterized in that: The reducer mounting plate is provided with a mounting hole and also includes an adapter flange; the adapter flange is detachably mounted in the mounting hole, and a mounting seat for mounting the reducer to be tested is provided on the adapter flange.

4. A reducer life test device according to claim 3, characterized in that: A skeleton oil seal is arranged on the inner ring surface of the adapter flange; an O-ring is arranged between the adapter flange and the reducer mounting plate; an O-ring is arranged on the joint surface between the adapter flange and the RV reducer; and an O-ring is arranged between the output shaft and the RV reducer.

5. A reducer life test device according to claim 1, characterized in that: The counterweight block is provided with a connecting hole and is sleeved on the swing arm through the connecting hole; the swing arm is provided with adjusting clamping plates located in front and behind the counterweight block for fixing the axial position of the counterweight block on the swing arm.

6. A reducer life test device according to claim 5, characterized in that: The swing arm is provided with an axial long hole; the adjusting clamp is sleeved on the swing arm and is limited by a limiting bolt passing through the long hole; the side wall of the adjusting clamp is provided with a through slot and is locked by a locking bolt.

7. A reducer life test device according to claim 1, characterized in that: The swing arm is provided with a square stopper for connecting with the flange shaft and fixed with bolts.

8. A reducer life test device according to claim 1, characterized in that: The two ends of the torque sensor are connected to the output shaft and the flange shaft respectively by means of a diaphragm coupling; the servo motor is connected to the input shaft by means of a diaphragm coupling.

9. A reducer life test device according to claim 1, characterized in that: The support assembly includes a support seat and two bearing seats arranged on the support seat in the front-to-back direction, and the bearing seats are connected to the flange shaft through bearings.

Images