A single-side clamping measurement and control method for quickly realizing the detection of RV reducers

Abstract

The present invention discloses a one-sided clamping measurement and control method for quickly realizing the detection of an RV reducer. A one-sided clamping measurement and control device is set by using the input shaft hole of the RV reducer that can be assembled in both forward and reverse directions for the input shaft. The mechanism for detection is set on one side of the clamping position, and the other side of the clamping position is left vacant. When clamping, the tested RV reducer can quickly enter the clamping position from the vacant side and be docked with the mechanism for detection on the side where the output end is located in the clamping position. A reference axis is determined in the one-sided clamping measurement and control device, and the reference axis is set vertically so that the axis of the input shaft hole of the tested RV reducer fixed in the clamping position coincides with the reference axis during detection. The mechanism for detection is set below the clamping position, and the upper part of the clamping position is left vacant. Its advantages are that there are no mechanisms set above the platen, which can conveniently place the tested RV reducer on the assembly position. It reserves a setting space for future operation by a manipulator.

Description

Technical Field

[0001] The present invention relates to the detection of reducers, and particularly to a single-side clamping measurement and control method for quickly realizing the detection of RV reducers, belonging to the technical field of precision instrument detection. Background Art

[0002] The RV reducer is a high-precision reducer and one of the core components in the actuator of an automatic control system. Its transmission performance directly affects the positioning accuracy and working performance of the actuator. With the development of automatic control systems, the requirements for the performance of RV reducers are getting higher and higher. Its transmission accuracy, torsional stiffness, and operating efficiency are important detection indicators of RV reducers.

[0003] Traditional detection devices for RV reducers include both horizontal and vertical types. Their common feature is that they perform upper clamping detection by adopting a two-side clamping method. The input-end driving mechanism, input-end detection mechanism, output-end detection mechanism, output-end blocking mechanism, and output-end loading mechanism are respectively arranged on both sides of the tested RV reducer, and the acquisition of relevant data is also obtained through the detection mechanisms arranged on both sides of the RV reducer.

[0004] However, the biggest defect of this two-side clamping detection device with relevant mechanisms arranged on both sides is that the clamping and disassembly are extremely inconvenient. During clamping, manual and careful operation is required, resulting in high labor intensity and low detection efficiency, and it is difficult to cope with batch detection.

[0005] For example, in a traditional horizontal detection device, during clamping, it is necessary to hold the tested RV reducer and accurately place it into the clamping position between the detection mechanisms on the left and right sides, so that the input end and output end of the tested RV reducer are respectively aligned with the detection mechanisms on the left and right sides in the horizontal axis direction and clamped and fixed. Since the gravity direction of the RV reducer is inconsistent with the docking direction, and the RV reducer is a heavy metal body, it is difficult to smoothly and accurately place it into the clamping position during clamping, and the subsequent removal is also very difficult. The installation and removal processes are time-consuming and laborious.

[0006] Another example is a traditional vertical detection device. During clamping, it is necessary to hold the tested RV reducer horizontally and place it into the clamping position between the detection mechanisms on the upper and lower sides. The upper detection mechanism not only hinders the placement of the tested RV reducer but also blocks the operator's line of sight, making both placement and fastening difficult, and the subsequent removal is also very difficult, and it is also time-consuming and laborious.

[0007] Another defect of the two-side clamping detection device with relevant mechanisms arranged on both sides is that the detection mechanisms arranged by occupying positions on both sides take up the space for further installing automatic clamping and disassembling mechanisms in the future, and it is not suitable for batch detection required for large-scale production.

[0008] In addition, in a traditional horizontal detection device, the horizontally arranged transmission shaft system is affected by the unbalanced unidirectional gravity, which will amplify extremely tiny vibrations and affect the detection results, leading to inaccurate detection results. Summary of the Invention

[0009] The technical problem to be solved by the present invention is: on the premise of ensuring accurate detection, how to conveniently and quickly complete the clamping and disassembling of the tested RV reducer.

[0010] In view of the above problems, the technical solution proposed by the present invention is:

[0011] A single-side clamping measurement and control method for quickly realizing the detection of an RV reducer is to use the input shaft hole of the RV reducer that can be assembled in both forward and reverse directions for the input shaft to set a single-side clamping measurement and control device, set the mechanism for detection on one side of the clamping position, leave the other side of the clamping position empty, and when clamping, the tested RV reducer can quickly enter the clamping position from the empty side and be docked with the detection mechanism on the side where the output end is located in the clamping position.

[0012] Furthermore, determine a reference axis in the single-side clamping measurement and control device, set the reference axis vertically, so that the axis of the input shaft hole of the tested RV reducer fixed in the clamping position coincides with the reference axis during detection; set the mechanism for detection below the clamping position and leave the upper part of the clamping position empty.

[0013] Furthermore, set the input shaft of the input-end driving mechanism of the single-side clamping measurement and control device on the upper part of the input-end driving mechanism that can be docked with the planetary gear of the RV reducer, and make the axis of the input shaft coincide with the reference axis.

[0014] Furthermore, set a transmission component connecting the input shaft and the driving motor below the input shaft, and set the input-end detection component on the transmission component.

[0015] Furthermore, design the detection component in the output-end detection mechanism of the single-side clamping measurement and control device into a ring-shaped structure sleeved on the outer periphery of the input shaft, and make its axis coincide with the reference axis, and there is a gap between the input shaft and the detection component.

[0016] Furthermore, set a lower docking plate at the top of the detection component located in the upper part of the output-end detection mechanism, set an elastic expansion piece on the outer periphery of the lower docking plate, set an upper docking plate on the output component at the output end of the tested RV reducer, and set a swelling space on the upper docking plate that opens downward and can insert the lower docking plate and the expansion piece on its outer periphery; set assembly holes that can pass through the input shaft on the upper docking plate and the lower docking plate.

[0017] Further, a clamping mechanism for the tested RV reducer is provided, including setting the clamping position on the platen, and arranging clamping holes for placing the tested RV reducer on the platen where the clamping position is located, making the axis line of the clamping holes coincide with the reference axis, and equally spacing a plurality of clamping components for fixing the tested RV reducer on the platen around the outer circumference of the clamping holes.

[0018] Further, the clamping mechanism for the tested RV reducer further includes arranging a clamping disc, arranging a clamping hole for placing and fixing the RV reducer in the center of the clamping disc, and arranging a press-fit flange on the outer circumference of the clamping disc. After clamping, the press-fit flange is pressed on the platen around the clamping hole.

[0019] Further, the clamping components are set as follows: a vertically arranged rotary lifting shaft capable of lifting and rotating, a pressing arm horizontally arranged at the top of the rotary lifting shaft, a press-fit hole is opened on the platen, the lower section of the rotary lifting shaft is located in the press-fit hole, and when the rotary lifting shaft descends, the pressing arm can press the press-fit flange on the platen around the clamping hole.

[0020] Further, a circular temporary support platform is arranged on the rotary lifting shaft below the pressing arm, and the distance between the temporary support platform and the pressing arm is greater than the thickness of the press-fit flange; before clamping, the height of the temporary support platform is higher than that of the platen, and after clamping, the temporary support platform sinks into the press-fit hole and its height is lower than that of the platen.

[0021] Further, the clamping mechanism for the tested RV reducer further includes equally spacing a plurality of guiding components on the platen around the clamping hole, arranging a guiding surface inclined downward towards the reference axis on the guiding components, and there is a spacing between the bottom edge of the guiding surface and the platen; when the outer edge of the press-fit flange slides off from the bottom edge of each guiding surface, it can make the axis line of the RV reducer fixed on the clamping disc coincide with the reference axis.

[0022] Further, for the detection of the tested RV reducer with the planetary gear on the output side, a transmission tooth is arranged on the outer circumference of the top end of the input shaft, and when the outer edge of the press-fit flange slides off from the bottom edge of each guiding surface, the distance between the top end of the input shaft and the planetary gear of the tested RV reducer is equal to zero.

[0023] Further, when clamping, the tested RV reducer can quickly enter the clamping position from the empty side, and the steps for docking with the detection mechanism on the side where the output end is located in the clamping position are as follows:

[0024] Step 1: Fix the tested RV reducer in the fixing hole in the center of the clamping disc;

[0025] Step 2. Place the tested RV reducer on the temporary support platform: Rotate the rotary lifting shaft to turn the pressing arm aside, exposing the temporary support platform on the centripetal side. Place the pressing flange of the clamping disk for fixing the tested RV reducer on the temporary support platform, and then turn back the pressing arm so that the pressing arm is located above the tested RV reducer;

[0026] Step 3. Let the tested RV reducer fall downward guided by its own weight: Lower the rotary lifting shaft at a speed less than the free-fall speed, so that the pressing flange with the axis line deviating from the reference axis falls downward guided by the guiding surface of at least one guiding component by its own weight;

[0027] Step 4. Let the tested RV reducer align and position itself by its own weight: When the outer edge of the pressing flange slides off from the bottom edge of each guiding surface, the axis line of the RV reducer fixed at the center of the clamping disk coincides with the reference axis line, and the transmission teeth at the top of the input shaft contact the teeth of the planetary gear of the tested RV reducer. Rotate the input shaft in advance. When the teeth of the planetary gear turn to correspond to the tooth grooves of the transmission teeth, under the action of gravity, the teeth of the planetary gear slide into the tooth grooves of the transmission teeth; meanwhile, the swelling space where the upper end of the lower docking disk has been aligned;

[0028] Step 5. Apply pressure to make the tested RV reducer dock with the mechanism for detection in place: After the teeth of the planetary gear slide into the tooth grooves of the transmission teeth, the rotary lifting shaft continues to descend to make the pressing arm press the pressing flange, forcing the clamping disk to strongly descend against the resistance of inserting into the swelling space of the lower docking disk until the pressing flange falls onto the table board around the clamping hole and is tightly fixed. At this time, the temporary support platform sinks into the pressing hole.

[0029] Furthermore, the height of the upper docking disk after clamping is set by the clamping mechanism controlled by a switch, which is convenient for quickly clamping and blocking the upper docking disk.

[0030] Beneficial effects:

[0031] 1. It is convenient for clamping. There is no mechanism set above the table board, and the tested RV reducer can be conveniently placed at the assembly position.

[0032] 2. The shafting can be quickly centered and docked. After the RV reducer is placed, the docking direction is the same as the gravity direction. Compared with the traditional docking direction which is inconsistent with the gravity direction, the input end and output end of the RV reducer in this method can be successfully docked with the input-end detection mechanism and output-end detection mechanism respectively.

[0033] 3. It reserves a setting space for future operation by a manipulator.

[0034] 4. The operation of the vertical shafting is not affected by gravity, and the detection result can better reflect the transmission accuracy of the RV reducer. Description of the drawings

[0035] Figure 1Schematic three-dimensional view of the unilateral clamping measurement and control device described in the first embodiment;

[0036] Figure 2 Partial three-dimensional view of the unilateral clamping measurement and control device described in the first embodiment;

[0037] Figure 3 Schematic cross-sectional view (partial components) of the unilateral clamping measurement and control device described in the first embodiment;

[0038] Figure 4 Schematic three-dimensional view of the clamping disc described in the first embodiment;

[0039] Figure 5 Schematic disassembled view of some components at the output end of the tested RV reducer and the unilateral clamping measurement and control device in the first embodiment;

[0040] Figure 6 For Figure 1 Partial schematic view;

[0041] Figure 7 For Figure 3 Partial schematic view;

[0042] Figure 8 Schematic cross-sectional view (partial components) of the unilateral clamping measurement and control device described in the second embodiment.

[0043] In the figure: 1, RV reducer; 101, input shaft hole; 102, planetary gear; 103, output component; 2, unilateral clamping measurement and control device; 3, bench; 301, bench board; 3011, clamping hole; 3012, press-fitting hole; 4, input shaft; 401, transmission tooth; 5, clamping disc; 501, press-fitting flange; 502, fixing hole; 6, clamping component; 601, rotating and lifting shaft; 602, temporary support platform; 6021, preliminary limiting platform; 603, pressing arm; 604, telescopic cylinder; 7, guiding component; 701, guiding surface; 7011, bottom edge; 8, upper docking disc; 801, swelling space; 9, lower docking disc; 901, expansion piece; 10, reference axis; 11, input end angle sensor; 12, input end torque sensor; 13, output end angle sensor; 14, driving motor. Detailed implementation manners

[0044] The present invention will be further described below in conjunction with embodiments and the drawings:

[0045] As Figure 5As shown in the figure, the RV reducer 1 involved in the present invention has an input shaft hole 101 that penetrates up and down in the center. The power input gears of the RV reducer 1 are two or three planetary gears 102, and the planetary gears 102 can be arranged at the input end. The power output component 103 of the RV reducer 1 is an output disk that rotates around the input shaft hole, or can also be an output shaft with an axial through hole in the middle. The actuating mechanism of a robot or an automatic control device is connected to the output component 103. The side where the output component 103 is located is the output end of the RV reducer 1.

[0046] Embodiment 1

[0047] As Figure 3 shown, a single-sided clamping measurement and control method for quickly realizing the detection of an RV reducer is to design a single-sided clamping measurement and control device 2 by using the input shaft hole 101 of the RV reducer 1 that can be assembled with the input shaft 4 in both forward and reverse directions. The mechanism for detection is arranged on one side of the clamping position, and the other side of the clamping position is left empty. When clamping, the tested RV reducer 1 can quickly enter the clamping position from the empty side, and be docked with the detection mechanism on the side where the output end is located in the clamping position. Here, the mechanism for detection includes: an input end driving mechanism, an input end detection mechanism, an output end detection mechanism, a stall structure, and in addition, a clamping and loading mechanism, etc. The input end detection mechanism has an input end angle sensor 11 and an input end torque sensor 12, and the output end detection mechanism has an output end angle sensor 13. An output end torque sensor, etc., can also be added. In this way, since the other side of the clamping position is empty, the clamping is very convenient during clamping, which will not interfere with the operation of the operator. It can not only quickly complete the clamping, but also quickly complete the disassembly. And quickly completing the clamping and disassembly is the main means for quickly realizing the detection of the RV reducer.

[0048] Clamping position: The position where the single-sided clamping measurement and control device 2 fixes the tested RV reducer.

[0049] In this application, the input end driving device and the input end detection device involved refer to the input end driving device and the input end detection device of the single-sided clamping measurement and control device 2; the output end detection device involved refers to the output end detection device of the single-sided clamping measurement and control device 2.

[0050] According to the single-sided clamping measurement and control device 2 designed by the above method, no matter which direction the side where the output end of the RV reducer faces during detection, the effect of quickly realizing the detection of the RV reducer significantly superior to the traditional method can be obtained. As a preference, the side where the output end of the RV reducer is located faces directly downward. Specifically:

[0051] As Figure 1 、 2As shown in FIGS. 3, 5, a bench 3 is provided, and a table board 301 is provided above the bench 3. The installation position is provided on the table board 301. A reference axis 10 is determined on the bench 3 and is vertically arranged, so that the axis line of the input shaft hole 101 of the tested RV reducer fixed at the clamping position during detection coincides with the reference axis 10. The mechanism for detection is arranged in the bench 3 below the clamping position, leaving the space above the clamping position empty.

[0052] Further, the input shaft 4 of the input drive mechanism of the single-side clamping measurement and control device 2 is arranged at the upper part of the input drive mechanism capable of docking with the planetary gear 102 of the RV reducer, and the axis line of the input shaft 4 coincides with the reference axis 10. A transmission component connecting the input shaft 4 and the drive motor 14 is arranged below the input shaft 4, and there is a coupling component between the input shaft 4 and the transmission component, so that input shafts 4 of different specifications can be replaced as needed.

[0053] The input end detection components (input end angle sensor 11 and input end torque sensor 12) are arranged on the transmission component.

[0054] The detection component in the output end detection mechanism of the single-side clamping measurement and control device 2 is designed as a ring sleeved on the outer periphery of the input shaft 4, and its axis line coincides with the reference axis 10. There is a gap between the input shaft 4 and the detection component, so that the rotation of the input shaft 4 does not affect the setting and operation of the output end detection mechanism.

[0055] A lower docking plate 9 is arranged at the top of the output end detection component (such as output end angle sensor 13, etc.) located in the upper part of the output end detection mechanism. An elastic expansion piece 901 is arranged on the outer periphery of the lower docking plate 9. An upper docking plate 8 is arranged on the output component 103 at the output end of the tested RV reducer. An expansion space 801 which opens downward and can insert the lower docking plate 9 and the expansion piece 901 on its outer periphery is arranged on the upper docking plate 8. Assembly holes capable of passing through the input shaft 4 are arranged on the upper docking plate 8 and the lower docking plate 9. After the lower docking plate 9 and the expansion piece 901 on its outer periphery are inserted into the expansion space 801, the expansion piece 901 is tightened between the outer periphery of the lower docking plate 9 and the inner wall of the expansion space 801, so that the upper docking plate 8 and the lower docking plate 9 will not rotate relative to each other within a certain torque range, realizing the docking between the output component 103 at the output end and the output end detection mechanism.

[0056] The clamping mechanism of the tested RV reducer is provided, including setting the clamping position on the table board 301, and arranging clamping holes 3011 for placing the tested RV reducer on the table board 301 where the clamping position is located, making the axis line of the clamping holes 3011 coincide with the reference axis 10, and arranging a plurality of clamping components 6 for fixing the tested RV reducer at equal arc lengths on the table board 301 outside the clamping holes 3011.

[0057] As Figure 4As shown, a clamping mechanism for the test RV reducer is provided, which further includes a clamping plate 5. A fixing hole 502 for placing and fixing the RV reducer is provided at the center of the clamping plate 5, and a press-fitting flange 501 is provided on the outer periphery of the clamping plate 5. After clamping, the press-fitting flange 501 is pressed on the platen 301 around the clamping hole 3011. That is, the test RV reducer is installed in the fixing hole 502 through the clamping plate 5.

[0058] As Figure 2 , 3 , 6, and 7 show that the clamping member 6 is set as follows: it has a vertically arranged rotary lifting shaft 601 that can lift and rotate, a pressing arm 603 horizontally arranged at the top of the rotary lifting shaft 601. A press-fitting hole 3012 is opened on the platen 301, so that the lower section of the rotary lifting shaft 601 is located in the press-fitting hole 3012. When the rotary lifting shaft 601 descends, the pressing arm 603 can press the press-fitting flange 501 on the platen 301 around the clamping hole 3011. The rotary lifting shaft 601 is driven by a telescopic cylinder 604, and the telescopic cylinder 604 is installed under the platen.

[0059] A circular temporary support table 602 is provided on the rotary lifting shaft 601 below the pressing arm 603, so that the distance between the temporary support table 602 and the pressing arm 603 is greater than the thickness of the press-fitting flange 501; before clamping, the height of the temporary support table 602 is higher than that of the platen 301. After clamping, the temporary support table 602 sinks into the press-fitting hole 3012, and its height is lower than that of the platen 301.

[0060] A preliminarily limiting platform 6021 that protrudes upward is provided at the center of the temporary support table 602.

[0061] The clamping mechanism for the test RV reducer further includes a plurality of guiding members 7 arranged at equal arc lengths on the platen 301 around the clamping hole 3011. A guiding surface 701 that inclines downward toward the reference axis 10 is provided on the guiding member 7, and there is a distance between the bottom edge of the guiding surface 701 and the platen; when the outer edge of the press-fitting flange 501 slides off from the bottom edge 7011 of each guiding surface 701, it can make the axis line of the RV reducer fixed on the clamping plate 5 coincide with the reference axis 10.

[0062] For the detection of the test RV reducer with the planetary gear 102 on the output end side, a transmission tooth 401 is provided on the outer periphery of the top of the input shaft 4, and when the outer edge of the press-fitting flange 501 slides off from the bottom edge 7011 of each guiding surface 701, the distance between the top of the input shaft 4 and the planetary gear 102 of the test RV reducer is equal to zero. The quick clamping method that can quickly enter the test RV reducer 1 from the empty side into the clamping position during clamping as described above and dock with the detection mechanism on the side where the output end is located in the clamping position includes the following steps:

[0063] Step 1: Fix the tested RV reducer in the fixing hole 502 at the center of the clamping disc 5;

[0064] Step 2: Place the tested RV reducer on the temporary support platform 602: Rotate the rotary lifting shaft 601 to turn the pressing arm 603 to the side, exposing the temporary support platform 602 on the centripetal side. Place the pressing flange 501 of the clamping disc 5 that fixes the tested RV reducer on the temporary support platform 602, and then turn back the pressing arm 603 so that the pressing arm 603 is located above the tested RV reducer; When placing the pressing flange 501 of the clamping disc 5 that fixes the tested RV reducer on the temporary support platform 602, restricted by the side wall of the preliminary limit platform 6021, the axis line of the clamping disc 5 is closer to the reference axis line;

[0065] Step 3: Let the tested RV reducer fall downward by its own weight for guidance: Lower the rotary lifting shaft 601 together with the temporary support platform 602 and the pressing arm 603 at a speed less than the free fall speed, so that the pressing flange 501 with the axis line deviating from the reference axis line by 10 falls downward for guidance on at least one guiding surface 701 of the guiding component 7 by its own weight;

[0066] Step 4: Let the tested RV reducer align and position itself by its own weight: The rotary lifting shaft 601 continues to descend. When the outer edge of the pressing flange 501 slides off the bottom edge 7011 of each guiding surface 701, the axis line of the RV reducer fixed at the center of the clamping disc 5 coincides with the reference axis line, and the driving tooth 401 at the top of the input shaft 4 contacts the tooth of the planetary gear 102 of the tested RV reducer. Rotate the input shaft 4 in advance. When the tooth of the planetary gear 102 turns to correspond to the tooth slot of the driving tooth 401, under the action of gravity, the tooth of the planetary gear 102 slides into the tooth slot of the driving tooth 401; At the same time, the upper end of the lower docking disc 9 is completely aligned with the expansion space 801 of the upper docking disc 8;

[0067] Step 5: Apply pressure to make the tested RV reducer dock in place with the mechanism for detection: After the tooth of the planetary gear 102 slides into the tooth slot of the driving tooth 401, the continuously descending rotary lifting shaft 601 makes the pressing arm 603 press the pressing flange 501, forcing the clamping disc 5 to overcome the resistance of inserting into the expansion space 801 of the lower docking disc 9 and move downward strongly until the pressing flange 501 lands on the table board 301 around the clamping hole 3011 and is tightly fixed. At this time, the temporary support platform 602 sinks into the pressing hole 3012.

[0068] It can be seen from the above process that making the distance between the temporary support table 602 and the pressing arm 603 greater than the thickness of the press-fitting flange 501 and making the rotary lifting shaft 601 together with the temporary support table 602 and the pressing arm 603 descend at a speed less than the free-fall speed ensure that the pressing arm 603 cannot contact the press-fitting flange 501 to apply pressure before the teeth of the planetary gear 102 slide into the tooth groove of the transmission gear 401. Because before the teeth of the planetary gear 102 slide into the tooth groove of the transmission gear 401, it is highly probable that the teeth of the planetary gear 102 are in contact with the transmission gear 401 vertically. Applying excessive pressure by the pressing arm 603 will surely damage the device or the test specimen. However, the gravity borne by the teeth of the planetary gear 102 and the transmission gear 401 will not cause damage, and the gravity effect is necessary, which can be used to make the teeth of the planetary gear 102 slide into the tooth groove of the transmission gear 401 when the teeth of the planetary gear 102 rotate to correspond to the tooth groove of the transmission gear 401.

[0069] The above steps two to five can be easily completed within 8 seconds. Step one is fixed by bolts or screws and can be completed in 20 seconds at the fastest. And the disassembly is even faster. Just raise the rotary lifting shaft 601 and turn the pressing arm 603 to the side to move the clamping disk 5 away, and then remove the test RV reducer.

[0070] The setting of the height of the upper docking disk 8 after clamping is completed is determined by the height of the clamping mechanism driven by the propulsion cylinder controlled by the switch, which is convenient for quickly clamping and blocking the upper docking disk 8. This is much faster than the traditional manual pin insertion method for rigid blocking.

[0071] The driving path of the unilateral clamping measurement and control device 2 set according to the above method after clamping is as follows:

[0072] Driving motor 14 - transmission components of the input end driving mechanism - input shaft 4 of the input end driving mechanism, planetary gear 102 of the test RV reducer - output component 103 at the output end of the test RV reducer - upper docking disk 8 - lower docking disk 9 - output end detection component of the output end detection mechanism.

[0073] The following takes the detection of the backlash of the test RV reducer as an example to illustrate the detection application of this method:

[0074] 1. Install the test RV reducer to the clamping position according to the quick clamping method described in this method to realize the docking of the input end driving mechanism, input end detection mechanism and output end detection mechanism of the unilateral clamping measurement and control device 2 with the test RV reducer;

[0075] 2. Enable the clamping mechanism through the switch to make the clamping mechanism clamp the upper docking disk 8;

[0076] 3. Rotate the forward drive motor 14 and increase the output torque of the drive motor to the set value, and read the forward rotation angle data provided by the angle sensor 13 at the output end;

[0077] Rotate the reverse drive motor 14 and increase the output torque of the drive motor to the set value, and read the reverse rotation angle data provided by the angle sensor 13 at the output end;

[0078] 4. Calculate the backlash of the tested RV reducer according to the forward rotation angle data and the reverse rotation angle data.

[0079] Before reading the forward rotation angle data and the reverse rotation angle data, it is necessary to confirm that the rotation angle data provided by the angle sensor 13 at the output end is zero, so as to determine that the upper docking plate 8 is clamped to achieve stall, and the obtained forward rotation angle data and reverse rotation angle data are real, and the result of the backlash of the RV reducer calculated accordingly is valid.

[0080] Embodiment 2

[0081] As Figure 8 shown, for the RV reducer with the planetary gear 102 arranged on the input side (the upper end of the RV reducer in the view), it is necessary to replace the input shaft 4 that can be higher than the upper end face of the RV reducer in the view. When placing the clamping plate 5 fixed with the RV reducer on the temporary support 602, the input shaft 4 has already been inserted into the input shaft hole 101 of the RV reducer, and the guiding component 7 will not function during the clamping process.

[0082] The above embodiments are only used to describe the present invention more clearly, and should not be regarded as limiting the protection scope covered by the present invention. Any modification in an equivalent form should be regarded as falling within the protection scope covered by the present invention.

Claims

1. A single-side clamping measurement and control method for quickly realizing the detection of RV reducers, characterized in that: A single-side clamping measurement and control device (2) is provided by using the input shaft hole (101) of the RV reducer (1) that can be assembled in both forward and reverse directions for the input shaft (4). The mechanism for detection is arranged on one side of the clamping position, leaving the other side of the clamping position empty. When clamping, the tested RV reducer (1) can be quickly placed into the clamping position from the empty side for fixation, and the tested RV reducer is docked with the detection mechanism at the side where the output end of the tested RV reducer is located in the clamping position. The detection mechanism includes: an input end drive mechanism, an input end detection mechanism, and an output end detection mechanism; a reference axis (10) is determined in the single-side clamping measurement and control device (2), and the reference axis (10) is arranged vertically so that the axis of the input shaft hole (101) of the RV reducer fixed in the clamping position coincides with the reference axis (10) during detection; the detection mechanism is arranged below the clamping position, leaving the upper part of the clamping position empty; the input shaft (4) of the input end drive mechanism of the single-side clamping measurement and control device (2) is arranged at the upper part of the input end drive mechanism that can be docked with the planetary gear (102) of the RV reducer, and the axis of the input shaft (4) coincides with the reference axis (10); the detection component in the output end detection mechanism of the single-side clamping measurement and control device (2) is designed as an annular shape and sleeved on the outer periphery of the input shaft (4) and the lower transmission component below it, and its axis coincides with the reference axis (10). There is a gap between the input shaft (4) and the detection component in the output end detection mechanism; a lower docking plate (9) is arranged at the top of the detection component located in the upper part of the output end detection mechanism, and an elastic expansion piece (901) is arranged on the outer periphery of the lower docking plate (9). An upper docking plate (8) is arranged on the output component (103) at the output end of the RV reducer, and a swelling space (801) that can insert the lower docking plate (9) and the elastic expansion piece (901) on its outer periphery is arranged on the upper docking plate (8) with an opening downward; assembly holes that can pass through the input shaft (4) are arranged on the upper docking plate (8) and the lower docking plate (9).

2. The one-sided clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 1, characterized in that: A transmission component connecting the input shaft (4) and the drive motor (14) is arranged below the input shaft (4), and the input end detection component is arranged on the transmission component.

3. The single-side clamping measurement and control method for quickly realizing the detection of the RV reducer according to claim 1, characterized in that: A clamping mechanism for the RV reducer is provided, including arranging the clamping position on the table board (301), and arranging a clamping hole (3011) for placing the RV reducer on the table board (301) where the clamping position is located, making the axis of the clamping hole (3011) coincide with the reference axis (10), and arranging a plurality of clamping components (6) for fixing the RV reducer at equal arc lengths on the table board (301) outside the clamping hole (3011).

4. The single-side clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 3, wherein: The clamping mechanism for setting the RV reducer further includes a clamping disk (5). A fixing hole (502) for placing and fixing the tested RV reducer is provided in the center of the clamping disk (5). A press-fitting flange (501) is provided on the outer periphery of the clamping disk (5). After clamping, the press-fitting flange (501) is pressed on the platen (301) around the clamping hole (3011).

5. The single-side clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 4, characterized in that The clamping member (6) is set as follows: It has a vertically arranged rotary lifting shaft (601) that can lift and rotate, and a pressing arm (603) horizontally arranged at the top of the rotary lifting shaft (601). A press-fitting hole (3012) is opened on the platen (301), so that the lower section of the rotary lifting shaft (601) is located in the press-fitting hole (3012). When the rotary lifting shaft (601) descends, the press-fitting flange (501) can be pressed on the platen (301) around the clamping hole (3011) by the pressing arm (603).

6. The single-side clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 5, characterized in that: A circular temporary support table (602) is provided on the rotary lifting shaft (601) below the pressing arm (603), so that the distance between the temporary support table (602) and the pressing arm (603) is greater than the thickness of the press-fitting flange (501); before clamping, the height of the temporary support table (602) is higher than that of the platen (301). After clamping, the temporary support table (602) sinks into the press-fitting hole (3012), and its height is lower than that of the platen (301).

7. The single-side clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 6, characterized in that: The clamping mechanism for setting the RV reducer further includes a plurality of guiding members (7) arranged at equal arc lengths on the platen (301) around the clamping hole (3011). A guiding surface (701) inclined downward towards the reference axis (10) is provided on the guiding member (7). There is a spacing between the bottom edge of the guiding surface (701) and the platen; when the outer edge of the press-fitting flange (501) slides off from the bottom edge (7011) of each guiding surface (701), the axis line of the RV reducer fixed on the clamping disk (5) can be made to coincide with the reference axis (10).

8. The single-side clamping measurement and control method for quickly realizing the detection of the RV reducer according to claim 7, characterized in that: For the detection of the RV reducer with the planetary gear (102) on the output side, a transmission tooth (401) is provided on the outer periphery of the top end of the input shaft (4), and when the outer edge of the press-fitting flange (501) slides off from the bottom edge (7011) of each guiding surface (701), the distance between the top end of the input shaft (4) and the planetary gear (102) is made equal to zero.

9. The one-side clamping measurement and control method for quickly realizing the detection of RV reducers according to claim 8, characterized in that: When clamping, the RV reducer (1) can quickly enter the clamping position from the empty side, and the side where the output end is located is docked with the mechanism for detection at the clamping position, including the following steps: Step 1: Fix the RV reducer in the fixing hole (502) in the center of the clamping disk (5). Step 2: Place the RV reducer on the temporary support table (602): Rotate the rotary lifting shaft (601) to turn the pressing arm (603) to the side, exposing the centripetal temporary support table (602). Place the press-fitting flange (501) of the clamping disk (5) fixing the RV reducer on the temporary support table (602), and then turn back the pressing arm (603) so that the pressing arm (603) is located above the RV reducer. Step 3. Let the RV reducer fall downward guided by its own weight: lower the rotary lifting shaft (601) at a speed less than the free-fall speed, and let the pressing flange (501) with its axis line deviated from the reference axis line (10) fall downward guided by the guiding surface (701) of at least one guiding component (7) by its own weight; Step 4. Let the RV reducer be aligned and positioned by its own weight: when the outer edge of the pressing flange (501) slides off the bottom edge (7011) of each guiding surface (701), the axis line of the RV reducer fixed at the center of the clamping disc (5) coincides with the reference axis line, and the transmission teeth (401) at the top of the input shaft (4) are in contact with the teeth of the planetary gear (102). Rotate the input shaft (4) in advance. When the teeth of the planetary gear (102) rotate to correspond to the tooth grooves of the transmission teeth (401), under the action of gravity, the teeth of the planetary gear (102) slide into the tooth grooves of the transmission teeth (401); meanwhile, the expansion space (801) that has been aligned at the upper end of the lower docking disc (9); Step 5. Apply pressure to make the RV reducer dock in place with the mechanism for detection: after the teeth of the planetary gear (102) slide into the tooth grooves of the transmission teeth (401), the rotary lifting shaft (601) continues to descend to make the pressing arm (603) press the pressing flange (501), forcing the clamping disc (5) to move downward strongly against the resistance when the lower docking disc (9) is inserted into the expansion space (801), until the pressing flange (501) lands on the platen (301) around the clamping hole (3011) and is tightly pressed and fixed. At this time, the temporary support platform (602) sinks into the pressing hole (3012).

10. The one-side clamping measurement and control method for quickly realizing the detection of the RV reducer according to claim 1, characterized in that: The height at which the upper docking disc (8) is located after the clamping is completed is determined by the height of the clamping mechanism, which is convenient for quickly clamping and blocking the upper docking disc (8).

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