A flexspline performance testing device for harmonic reducers

Abstract

The invention discloses a flexwheel performance test device for a harmonic reducer, comprising a fixed base plate (1); three vertical plates, left, middle and right, are arranged on the fixed base plate; a flexwheel fixing plate (4) is installed on the side of the right vertical plate (3) close to the middle vertical plate (7), a flexwheel (2) is fixed on the flexwheel fixing plate, and a clamping mechanism (6) is arranged outside the flexwheel; a transmission main shaft (9) is installed between the middle vertical plate and the left vertical plate (8); the transmission main shaft is rotationally connected with the middle vertical plate and the left vertical plate via a bearing; a shifting pin (17) is arranged on the transmission main shaft, and the shifting pin is transmission-connected with a lever shaft (10); the transmission main shaft is driven to reciprocate at a set angle through the reciprocating motion of the lever shaft, and the cam (5) installed at one end of the transmission main shaft drives the flexwheel to twist at a corresponding angle, so as to perform a deformation test on the flexwheel. The invention can detect the real performance index of the flexwheel in an all-round way, and avoid the problem of reduced service life of the flexwheel caused by the loss of other components of the harmonic reducer.

Description

Technical Field

[0001] The invention relates to a flexible wheel performance testing device for a harmonic reducer, and belongs to the technical field of performance evaluation and testing of industrial robot harmonic reducers. Background Art

[0002] Harmonic reducers can be simply divided into ordinary harmonic reducers and industrial robot harmonic reducers. The service life of ordinary harmonic reducers is usually only tens of hours to hundreds of hours, while the working life of robot harmonic reducers is as long as tens of thousands of hours. The main failure modes of harmonic reducers are fatigue fracture and structural failure of the flexible wheel, which shows that the performance of the flexible wheel plays an extremely important role in the harmonic reducer. In the prior art, when testing the harmonic reducer, the harmonic reducer as a whole is used as the test system. Due to the influence of problems such as the coaxiality or durability of each part in the assembly process, the overall test not only has the problems of large workload, complicated process and expensive testing cost, but also cannot truly reflect the fatigue life and torsion angle limit of the flexible wheel, and cannot reflect the actual situation of the flexible wheel alone. Therefore, the prior art still has shortcomings and cannot meet the needs of use, and needs further improvement. Summary of the invention

[0003] The purpose of the present invention is to provide a flexspline performance testing device for a harmonic reducer, which can test the flexspline performance conveniently, quickly and at low cost, and can simultaneously perform flexspline fatigue life testing and structural performance testing, thereby overcoming the shortcomings of the prior art.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A flexwheel performance testing device for a harmonic reducer of the present invention comprises a fixed base plate; three vertical plates, namely, left, middle and right, are arranged on the fixed base plate; a flexwheel fixing plate is installed on the right vertical plate at the side of the neutral plate, a flexwheel is fixed on the flexwheel fixing plate, and a clamping mechanism is arranged outside the flexwheel; a transmission main shaft is installed between the neutral plate and the left vertical plate; the transmission main shaft is rotationally connected to the neutral plate and the left vertical plate via bearings; a shifting pin is arranged on the transmission main shaft, and the shifting pin is transmission-connected to a lever shaft; the transmission main shaft is driven to reciprocate at a set angle through the reciprocating motion of the lever shaft, and the cam mechanism installed at one end of the transmission main shaft drives the flexwheel to twist at a corresponding angle, so as to perform a deformation test on the flexwheel.

[0006] In the above-mentioned flexible wheel performance testing device for harmonic reducer, the push pin is movably connected to the push pin hole on the lever shaft; a transmission block is fixed to one end of the lever shaft, and the transmission block is connected to the eccentric wheel; the eccentric wheel is connected to the motor through the reducer.

[0007] In the above-mentioned flexible pulley performance testing device for harmonic reducer, a counter is provided on the neutral plate at the other end of the lever shaft.

[0008] Due to the adoption of the above technical scheme, compared with the prior art, the present invention can effectively solve the problems of large workload, complicated process, high testing cost and the like in the prior art in the performance test of the harmonic reducer flexible wheel, and perform the performance test of the flexible wheel in a more convenient, fast, low-cost and effective manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the structure of the present invention;

[0010] Figure 2 yes Figure 1 Schematic diagram of the top view structure.

[0011] The markings in the accompanying drawings are: 1-fixed base plate, 2-flexible wheel, 3-right vertical plate, 4-flexible wheel fixed plate, 5-cam, 6-clamping mechanism, 7-neutral plate, 8-left vertical plate, 9-transmission main shaft, 10-lever shaft, 11-counter, 12-motor, 13-reducer, 14-reducer fixed plate, 15-eccentric wheel, 16-transmission block, 17-pin. DETAILED DESCRIPTION

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0013] A flexspline performance testing device for a harmonic reducer according to the present invention is as follows: Figure 1 and Figure 2 As shown, it includes a fixed base plate 1; the fixed base plate 1 is provided with three vertical plates, namely, left, middle and right; the right vertical plate 3 is provided with a flexible wheel fixing plate 4 on the side of the neutral plate 7, the flexible wheel fixing plate 4 is fixed with a flexible wheel 2, and a clamping mechanism 6 is provided outside the flexible wheel 2; a transmission main shaft 9 is installed between the neutral plate 7 and the left vertical plate 8; the transmission main shaft 9 is rotatably connected with the neutral plate 7 and the left vertical plate 8 through bearings; a shifting pin 17 is provided on the transmission main shaft 9, and the shifting pin 17 is transmission-connected with the lever shaft 10; the reciprocating motion of the lever shaft 10 drives the transmission main shaft 9 to reciprocate at a set angle, and the cam mechanism 5 installed at one end of the transmission main shaft 9 drives the flexible wheel 2 to twist at a corresponding angle, so as to perform a deformation test on the flexible wheel 2. The shifting pin 17 is movably connected with the shifting pin hole on the lever shaft 10; a transmission block 16 is fixed at one end of the lever shaft 10, and the transmission block 16 is transmission-connected with the eccentric wheel 15; the eccentric wheel 15 is transmission-connected with the motor 12 through the reducer 13. A counter 11 is provided on the neutral plate 7 at the other end of the lever shaft 10 . Example

[0014] In the specific implementation, firstly, the flexible wheel fixing plate 4 is installed on the right vertical plate 3, and then the flexible wheel 2 is fixed on the flexible wheel fixing plate 4. Then the transmission main shaft 9 is installed on the middle vertical plate 7 and the left vertical plate 8 through the bearing, and the transmission main shaft 9 is connected with the middle vertical plate 7 and the left vertical plate 8 by rotation; after the transmission main shaft 9 is installed, the cam 5 is installed at the end of the transmission main shaft 9 close to the right vertical plate 3. Finally, the motor 12 is connected to the reducer 13, and then the reducer 13 is fixed on the reducer fixing plate 14. After the reducer 13 is fixed, the eccentric wheel 15 is connected to the output end of the reducer 13, and the eccentric wheel 15 is inserted into the slide groove of the transmission block 16, and the other end of the transmission block 16 is connected to the lever shaft 10.

[0015] During the final assembly, first fix the right vertical plate 3 with the flexible wheel fixing plate 4 installed on the fixed bottom plate 1. Then fix the middle vertical plate 7 and the left vertical plate 8 with the transmission main shaft 9 installed on the fixed bottom plate 1. Then put the pin groove on the lever shaft 10 on the pin groove 17 of the transmission main shaft 9, and fix the transmission block 16 at one end of the lever shaft 10. Then insert the eccentric wheel 15 into the sliding groove of the transmission block 16, and connect the eccentric wheel 15 with the output shaft of the reducer 13, and fix the reducer 13 on the reducer fixing plate 14. Finally, fix the counter 11 at the other end of the lever shaft 10, and the final assembly of the device is completed.

[0016] Before testing the flexible wheel 2, fix the flexible wheel 2 on the flexible wheel fixing plate 4 on the left side of the right vertical plate 3, then insert the cam 5 into the flexible wheel 2 and install the flexible wheel fixing plate 4 on the right vertical plate 3, and clamp the flexible wheel 2 and the outer circle of the cam 5 at the same time through the clamping mechanism 6 outside the flexible wheel 2, so that there will be no relative sliding between the clamping mechanism 6 and the flexible wheel 2 and the cam 5.

[0017] During the test, firstly, according to the twist angle of the flexible wheel to be selected, the specification of the eccentric wheel 15 to be used (the size of the required eccentricity) is calculated in a conventional manner, and the reducer 13 drives the eccentric wheel 15 to rotate. When the eccentric wheel 15 rotates in the slide groove of the transmission block 16, the transmission block 16 is driven as follows. Figure 1 The back-and-forth reciprocating motion indicated by the middle arrow drives the lever shaft 10 to reciprocate back and forth, and the pin slot on the lever shaft 10 drives the transmission main shaft 9 to reciprocate with the axis as the center of the circle, which eventually causes the cam 5 to reciprocate at a set angle. Since the outer circle of the cam 5 is consistent with the outer circle diameter of the tooth top of the flexible wheel 2, the flexible wheel 2 is also twisted at a corresponding angle when the cam 5 is twisted. During the test, it is necessary to determine the coaxiality of the transmission main shaft 9, the cam 5 and the flexible wheel 2. The flexible wheel 2 is deformed by the method of this example to keep the motor speed and output power stable until the flexible wheel 2 breaks. During this process, the counter 11 records the number of twists.

[0018] The testing device of the present invention can obtain the maximum stress cycle number of the flexible wheel and the maximum torsion angle that the flexible wheel can withstand. The purpose of rapid testing can be achieved by adjusting the eccentricity to change the torsion angle of the flexible wheel.

[0019] The invention is characterized in that it can detect the real performance index of the flexible wheel in all directions, avoiding the problem of reducing the service life of the flexible wheel due to the loss of other components of the harmonic reducer. The device has low manufacturing cost, is easy to use, and has various testing functions. It conforms to the real working condition of the flexible wheel in the harmonic reducer.

Claims

1. A flexspline performance testing device for a harmonic reducer, comprising a fixed base plate (1); characterized in that: A fixed base plate (1) is provided with three vertical plates, namely, a left plate, a middle plate and a right plate; a flexible wheel fixing plate (4) is installed on the side of the right vertical plate (3) close to the middle plate (7); a flexible wheel (2) is fixed on the flexible wheel fixing plate (4); a clamping mechanism (6) is provided outside the flexible wheel (2); a transmission main shaft (9) is installed between the middle plate (7) and the left vertical plate (8); the transmission main shaft (9) is rotationally connected to the middle plate (7) and the left vertical plate (8) via a bearing; a shifting pin (17) is provided on the transmission main shaft (9), and the shifting pin (17) is transmission-connected to the lever shaft (10); the transmission main shaft (9) is driven to reciprocate at a set angle by the reciprocating motion of the lever shaft (10), and the cam (5) installed at one end of the transmission main shaft (9) drives the flexible wheel (2) to twist at a corresponding angle, so as to perform a deformation test on the flexible wheel (2); The push pin (17) is movably connected to the push pin hole on the lever shaft (10); a transmission block (16) is fixed to one end of the lever shaft (10), and the transmission block (16) is transmission-connected to the eccentric wheel (15); the eccentric wheel (15) is transmission-connected to the motor (12) via a reducer (13); A counter (11) is provided on the neutral plate (7) at the other end of the lever shaft (10); Before testing the flexible wheel (2), fix the flexible wheel (2) on the flexible wheel fixing plate (4) on the left side of the right vertical plate (3), then insert the cam (5) into the flexible wheel (2) and install the flexible wheel fixing plate (4) on the right vertical plate (3), and clamp the flexible wheel (2) and the outer circle of the cam (5) at the same time on the outside of the flexible wheel (2) through the clamping mechanism (6), so that there will be no relative sliding between the clamping mechanism (6) and the flexible wheel (2) and the cam (5); The pin groove on the lever shaft (10) drives the transmission main shaft (9) to reciprocate with the shaft center as the circle center, and finally causes the cam (5) to reciprocate at a set angle. Since the outer circle of the cam (5) is clamped and the outer circle diameter of the tooth top of the flexible wheel (2) is consistent, when the cam (5) is twisted, the flexible wheel (2) is also twisted at a corresponding angle. The reducer (13) is fixed on the reducer fixing plate (14); The eccentric wheel (15) is inserted into the slide groove of the transmission block (16). When the eccentric wheel (15) rotates in the slide groove of the transmission block (16), it drives the transmission block (16) to reciprocate forward and backward.

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