Axial Force Testing Device

Abstract

This application belongs to the technical field of harmonic reducer performance testing and detection, and specifically relates to an axial force testing device. The solution of this application provides an axial force testing device, which includes a platform and a support plate mounted on the platform; a motor mounting base, including a guide rail and a mounting plate, the guide rail is mounted on the platform, the mounting plate is connected to the guide rail, and the mounting plate can move in the extending direction of the guide rail towards or away from the support plate; a motor, mounted on the mounting plate, and the output shaft of the motor is configured to be connected to the input end of the harmonic reducer; a torque loading component, configured to be connected to the output end of the harmonic reducer to apply torque to the harmonic reducer; a force sensor, one end of the force sensor is connected to the mounting plate, and the other end is connected to the support plate to detect the acting force between the mounting plate and the support plate; it can accurately detect the axial tension generated by the harmonic reducer and provide more real data.

Description

Technical Field

[0001] This application belongs to the technical field of harmonic reducer performance testing and detection, and specifically relates to an axial force testing device. Background Art

[0002] With the rapid development of the industrial automation field, the application of reducers is becoming more and more extensive, and its position in this industry is becoming increasingly important and essential. The harmonic reducer plays an extremely top position in the reducer field due to its advantages such as compact structure, large reduction ratio, and high precision. For example, in the robot industry, almost every robot uses a harmonic reducer.

[0003] When the harmonic reducer bears a load and rotates at a high speed, an axial pulling force will be generated on the wave generator, forcing the wave generator to move towards the inside of the reducer cavity, resulting in broken shafts, damage to the harmonic reducer, etc. At present, for the detection of the magnitude of the axial pulling force, only the Hamamatsu (empirical formula) is used for marking, and it is almost impossible to accurately detect the magnitude of the axial pulling force. Summary of the Invention

[0004] The purpose of this application is to provide an axial force testing device, thereby at least to a certain extent overcoming one or more problems caused by the limitations and defects of the related art.

[0005] This application provides an axial force testing device, which includes:

[0006] A platform;

[0007] A support plate, installed on the platform;

[0008] A motor mounting seat, including a guide rail and a mounting plate. The guide rail is installed on the platform, the mounting plate is connected to the guide rail, and the mounting plate can move in the extending direction of the guide rail towards or away from the support plate;

[0009] A motor, installed on the mounting plate, and the output shaft of the motor is configured to be connected to the input end of the harmonic reducer;

[0010] A torque loading component, configured to be connected to the output end of the harmonic reducer to apply torque to the harmonic reducer;

[0011] A force sensor, one end of the force sensor is connected to the mounting plate, and the other end is connected to the support plate to detect the acting force between the mounting plate and the support plate.

[0012] In an exemplary embodiment of this application, the extending direction of the guide rail is parallel to the output shaft of the motor.

[0013] In an exemplary embodiment of the present application, the mounting plate includes a base portion and a mounting portion. The lower surface of the base portion is connected to the guide rail, and the mounting portion is located on the upper surface of the base portion and is connected to the force sensor;

[0014] Wherein, a motor bracket is provided on the upper surface of the base portion. The motor bracket is spaced from the mounting portion and is connected to the motor.

[0015] In an exemplary embodiment of the present application,

[0016] The mounting portion has a mounting hole. The depth direction of the mounting hole is parallel to the output shaft of the motor, and at least a part of the force sensor is fitted in the mounting hole;

[0017] The support plate has a through hole. The depth direction of the through hole is parallel to the output shaft of the motor, and at least a part of the force sensor is fitted in the through hole.

[0018] In an exemplary embodiment of the present application, the force sensor includes a main body portion and a first connecting portion and a second connecting portion provided on opposite sides of the main body portion. The first connecting portion is connected to the mounting hole by an axial hole fitting method, and the second connecting portion is connected to the through hole by an axial hole fitting method.

[0019] In an exemplary embodiment of the present application, the first connecting portion includes a first external thread section. A first internal thread section corresponding to the first external thread section is provided in the mounting hole, and the first internal thread section is threadedly connected to the first external thread section;

[0020] The second connecting portion includes a second external thread section. A second internal thread section corresponding to the second external thread section is provided in the through hole, and the second internal thread section is threadedly connected to the second external thread section.

[0021] In an exemplary embodiment of the present application, the first connecting portion includes a first external thread section and at least one first fixing nut. One end of the first external thread section passes through the mounting hole, and at least one of the first fixing nuts is located outside the mounting portion and is threadedly connected to the first external thread section;

[0022] The second connecting portion includes a second external thread section and at least one second fixing nut. One end of the second external thread section passes through the through hole, and at least one of the second fixing nuts is located outside the support plate and is threadedly connected to the second external thread section.

[0023] In an exemplary embodiment of the present application, the first connecting portion is provided with two first fixing nuts, and the two first fixing nuts are respectively located inside and outside the mounting portion; and / or

[0024] The second connecting part is provided with two second fixing nuts, and the two second fixing nuts are respectively located on the inner and outer sides of the support plate.

[0025] In an exemplary embodiment of the present application, the axial force testing device further includes:

[0026] A slide rail, fixedly arranged on the platform and extending along the output shaft direction of the motor;

[0027] At least one set of moving components, the moving components include a moving plate and a sliding part, the sliding part is arranged at the bottom of the moving plate and is slidably connected with the slide rail;

[0028] Wherein, at least one of the support plate and the torque loading component is arranged on the moving plate.

[0029] In an exemplary embodiment of the present application, the moving component further includes an adjusting component, the adjusting component includes an adjusting screw rod and an adjusting block, the adjusting block is fixed at the bottom of the moving plate, and the adjusting block is sleeved on the adjusting screw rod by means of threaded connection;

[0030] Wherein, the adjusting screw rod can perform a rotational movement so that the adjusting block drives the moving component to move in the extending direction of the slide rail.

[0031] In an exemplary embodiment of the present application, the sliding part includes a main body part and a locking part, the main body part is connected with the slide rail, and the locking part is installed on the main body part;

[0032] The locking part has a release position and a locking position. When the locking part is in the release position, the main body part can slide in the extending direction of the slide rail; when the locking part is in the locking position, the main body part can be locked on the slide rail.

[0033] In an exemplary embodiment of the present application, the at least one set of moving components includes a first moving component and a second moving component which are arranged at intervals in the extending direction of the slide rail;

[0034] Wherein, the support plate is arranged on the moving plate of the first moving component, and the torque loading component is arranged on the moving plate of the second moving component.

[0035] In an exemplary embodiment of the present application, the guide rail includes a fixed rail and a sliding rail;

[0036] The fixed rail is fixed on the platform;

[0037] The sliding track is located at the bottom of the base and fixedly connected to the base. The sliding track is sleeved on the fixed track and is slidably connected to the fixed track.

[0038] In an exemplary embodiment of the present application, a support frame is further provided on the platform, and the support frame is used to support the harmonic reducer.

[0039] The solution of the present application has the following beneficial effects:

[0040] When the harmonic reducer bears a load and rotates at a high speed, the load will generate an axial tension on the wave generator in the harmonic reducer, forcing the mounting plate to move in the extending direction of the guide rail towards or away from the support plate, generating a force on the support plate. And since the force sensor is disposed between the mounting plate and the support plate, therefore, during the movement of the mounting plate on the guide rail, an extrusion or tensile force will be formed between the mounting plate and the support plate, and the force sensor is used to detect the force between the mounting plate and the support plate, so as to obtain the magnitude value of the axial tension generated by the wave generator when the harmonic reducer rotates at a high speed; avoiding the problems that the front bearing of the input motor directly connected to the wave generator fails due to improper selection and the motor shaft breaks due to the alternating axial tension on the motor bearing.

[0041] Other features and advantages of the present application will become apparent from the following detailed description, or will be learned in part through the practice of the present application.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0044] Figure 1 Shows a three-dimensional structural schematic diagram of the axial force testing device according to an embodiment of the present application from a perspective;

[0045] Figure 2 Shows Figure 1 The assembly schematic diagram of the mounting part A, the force sensor and the support plate shown in;

[0046] Figure 3 Shows a three-dimensional structural schematic diagram of the axial force testing device according to an embodiment of the present application from another perspective;

[0047] Figure 4 The front view structural schematic diagram of the axial force testing device according to an embodiment of the present application is shown.

[0048] Explanation of reference numerals:

[0049] 100, platform; 101, first support member; 102, second support member; 200, harmonic reducer; 201, harmonic reducer wave generator; 202, harmonic reducer fixed part; 203, harmonic reducer rotating output part; 204, harmonic reducer input shaft; 205, harmonic reducer output shaft; 206, support frame; 300, torque loading assembly; 301, torque sensor; 302, torque loading member; 400, support plate; 500, motor mounting base; 501, mounting plate; 5011, base part; 5012, mounting part; 502, guide rail; 5021, fixed rail; 5022, sliding rail; 600, motor; 601, motor bracket; 700, force sensor; 701, main body part; 702, first connection part; 7021, first fixing nut; 703, second connection part; 7031, second fixing nut; 800, slide rail; 900, moving assembly; 901, moving plate; 902, sliding part; 9021, sliding main body part; 9022, locking part; 903, adjusting assembly; 9031, adjusting screw rod; 9032, adjusting block; 9033, handle. Detailed implementation manners

[0050] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0051] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0052] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted here that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0053] An embodiment of the present application provides an axial force testing device for detecting the magnitude of the axial tension generated by a harmonic reducer when the harmonic reducer is subjected to a load and rotates at a high speed; specifically, the harmonic reducer includes a harmonic reducer fixing part, a harmonic reducer wave generator and a harmonic reducer rotating output part, wherein the harmonic reducer fixing part fixes the harmonic reducer wave generator and the harmonic reducer rotating output part into one.

[0054] Further, when testing the axial force of the harmonic reducer, refer to Figure 1 or Figure 3 As shown, on the one hand, the motor 600 is required to rotate the harmonic reducer wave generator 201 at a preset speed, and at the same time, a torque load is required to be applied to the harmonic reducer rotating output part 203 through the torque loading component 300 to complete the measurement of the axial tension.

[0055] Specifically, in the embodiments of this application, see Figure 1 , Figure 3 or Figure 4 As shown, the axial force testing device includes a platform 100, a support plate 400, a motor mounting seat 500, a motor 600, a torque loading assembly 300 and a force sensor 700; wherein, the output shaft of the motor 600 is connected to the input end of the harmonic reducer 200 through the harmonic reducer input shaft 204, that is, connected to the harmonic reducer wave generator 201, and the output shaft of the motor 600 is connected to the harmonic reducer input shaft 204 through a flexible coupling. The use of a flexible coupling can not only transmit torque and motion, but also compensate for the effects of various misalignment errors between the output shaft of the motor 600 and the harmonic reducer input shaft 204, and can also reduce measurement errors.

[0056] It should be noted that the connection method between the output shaft of the motor 600 and the harmonic reducer input shaft 204 can also adopt a connection method for transmitting torque such as a rigid coupling or a spline, but is not limited to the above connection method, that is, the torque of the output shaft of the motor 600 can be transmitted to the harmonic reducer input shaft 204; in addition, the harmonic reducer wave generator 201 is fixedly connected to the harmonic reducer input shaft 204 through holes and screws provided thereon.

[0057] Further, see Figure 1 and Figure 3 As shown, the harmonic reducer fixing part 202 fixes the harmonic reducer wave generator 201 on one side of the support frame 206, and the harmonic reducer fixing part 202 uses the same method to fix the harmonic reducer rotating output part 203 on the other side of the support frame 206. At this point, the harmonic reducer wave generator 201 and the harmonic reducer rotating output part 203 are respectively located on both sides of the support frame 206.

[0058] It should be noted that the fixed part 202 of the harmonic reducer is fixedly installed on the support frame 206 through the positioning stop and flange holes thereon; in addition, the support frame 206 is directly fixedly installed on the platform 100.

[0059] Furthermore, referring to Figure 4 as shown, the rotating output part 203 of the harmonic reducer, i.e., the output end of the harmonic reducer 200, is connected to the torque loading assembly 300 through the harmonic reducer output shaft 205. Among them, the torque loading assembly 300 may include a torque loading member 302 and a torque sensor 301. The harmonic reducer output shaft 205, the torque sensor 301, and the torque loading member 302 are sequentially connected by shafts. The torque loading member 302 provides a torque load for the output end of the harmonic reducer 200, and at the same time, the applied load torque is measured in real time through the torque sensor 301 to adjust the actual output torque of the torque loading member 302. Through the torque sensor 301, precise control of the torque at the load end of the harmonic reducer 200 can be achieved.

[0060] Exemplarily, the output end can be connected to the torque sensor 301 through a flexible coupling, and the torque sensor 301 can also be connected to the torque loading member 302 through a flexible coupling. As mentioned before, using a flexible coupling can reduce various misalignment situations, thereby reducing measurement errors; in addition, the rotating output part 203 of the harmonic reducer is fixedly connected to the harmonic reducer output shaft 205 through the stop and threaded holes provided thereon.

[0061] It should be noted that the output end and the torque sensor 301, as well as between the torque sensor 301 and the torque loading member 302, can also be connected by other torque transmission methods; in addition, the torque loading member 302 can use a loading motor 600 or a loading motor 600 and a speed increaser, or a magnetic powder brake can be used to apply a load torque to the output end of the harmonic accelerator.

[0062] Furthermore, referring to Figure 1 and Figure 3 as shown, one end of the motor 600 connected to the wave generator 201 of the harmonic reducer is fixedly installed on the platform 100 through the motor mounting seat 500. Among them, the motor mounting seat 500 includes a guide rail 502 and a mounting plate 501. The motor 600 is fixedly provided with an "L"-shaped motor bracket 601 at the output shaft end. The motor 600 is installed above the mounting plate 501 through the motor bracket 601 so that the output shaft of the motor 600 can correspond to the wave generator 201 of the harmonic reducer and be at the same horizontal height, making the measurement and assembly simpler and more precise.

[0063] Exemplarily, one end of the motor bracket 601 is perpendicular to the output shaft, and the other end is also perpendicular to the upper plane of the mounting plate 501. A non-perpendicular structure can also be adopted, that is, the motor 600 can be fixed on the mounting plate 501 and can be located at the same horizontal position as the harmonic reducer wave generator 201.

[0064] Further, referring to Figure 1 or Figure 3 As shown, the mounting plate 501 is slidably arranged on the guide rail 502. During the test, the harmonic reducer wave generator 201 will generate an axial force moving towards the inside or outside of the harmonic reducer 200, thereby driving the motor 600 and the mounting plate 501 to have a tendency to move to the right along the guide rail 502.

[0065] It should be noted that referring to Figure 1 As shown, the guide rail 502 can extend along the axial direction of the output shaft of the motor 600 and is parallel to the output shaft of the motor 600. When they are parallel, the friction generated during the sliding process can be reduced, thereby increasing the accuracy of the test and making the test data more accurate. However, it is not limited to the guide rail 502 being parallel to the output shaft of the motor 600, as long as the sliding condition and the test effect can be achieved.

[0066] Among them, referring to Figure 1 or Figure 3 As shown, the mounting plate 501 includes a base portion 5011 and a mounting portion 5012, and the guide rail 502 includes a fixed track 5021 and a sliding track 5022. The upper plane of the base portion 5011 is connected to the motor bracket 601 and the mounting portion 5012, while the lower plane of the base portion 5011 can be fixedly connected to the sliding track 5022 of the guide rail 502 by fixing connection methods such as bolts, welding or riveting. The sliding track 5022 is slidably sleeved on the fixed track 5021 to achieve the sliding of the mounting plate 501 on the guide rail 502, and the fixed track 5021 is fixed on the platform 100 by bolts, riveting or welding, etc.

[0067] It should be noted that referring to Figure 1 As shown, the guide rail 502 of the present application adopts an air-floating guide rail. By adopting this structure, it has the characteristics of high precision and extremely small friction, thereby eliminating the error of the axial force and making the measurement more accurate.

[0068] Further, referring to Figure 1 As shown, one side of the mounting plate 501 is fixedly installed with the motor bracket 601, and the other end is fixedly provided with the above-mentioned mounting portion 5012. One end of the force sensor 700 is fixedly arranged on the mounting portion 5012, and the other end is fixedly connected to the support plate 400, that is, the force sensor 700 is arranged between the mounting portion 5012 and the support plate 400.

[0069] It should be noted that when the harmonic reducer 200 generates an axial tensile force, it will generate a tensile or thrust force on the motor 600 towards the harmonic reducer 200, thereby driving the mounting plate 501 to move towards or away from the harmonic reducer 200 on the air bearing guide rail. A corresponding acting force will be generated between the mounting portion 5012 and the support plate 400. Since the force sensor 700 is provided between the mounting portion 5012 and the support plate 400, the acting force measured by the force sensor 700 at this time is the axial tensile force generated by the wave generator 201 of the harmonic reducer, and the magnitude of the axial tensile force is obtained.

[0070] Exemplarily, the mounting portion 5012 and the base portion 5011 are of an integral structure, and the mounting portion 5012 is perpendicular to the upper plane of the base portion 5011. For more accurate measurement, the force sensor 700 adopts a high-precision force sensor 700.

[0071] Specifically, referring to Figure 1 、 Figure 2 and Figure 4 As shown, the force sensor 700 includes a main body portion 701, a first connecting portion 702, and a second connecting portion 703. Among them, the main body portion 701 is located between the first connecting portion 702 and the second connecting portion 703. The first connecting portion 702 is provided with a first external thread section (not marked in the figure), and the second connecting portion 703 is provided with a second external thread section (not marked in the figure); the mounting portion 5012 is provided with a mounting hole (not marked in the figure), and the depth direction of the mounting hole is parallel to the output shaft of the motor 600. A part of the first external thread end in the first connecting portion 702 of the force sensor 700 penetrates through the mounting hole, and at the same time, a first fixing nut 7021 is provided on one side of the outer wall of the mounting hole, which is threadedly connected to the first external thread section. When fixing the force sensor 700, the first fixing nut 7021 is fixed and abuts against the side of the mounting portion 5012 facing the motor 600, that is, the force sensor 700 is fixed on the outside of the mounting portion 5012.

[0072] Adopting this method, the fixing and dismounting are simpler, and the measurement is more intuitive and controllable.

[0073] Optionally, a detachable structure (not marked in the figure) can also be adopted between the mounting portion 5012 and the base portion 5011, and the mounting portion 5012 and the base portion 5011 are on the same horizontal plane. A mounting hole is provided on one side of the mounting portion 5012, and a first internal thread (not marked in the figure) is provided in the mounting hole, which is threadedly connected to the first external thread section on the first connecting portion 702 to fix the force sensor 700 on the mounting plate 501. Adopting this method, the structure is simpler.

[0074] Of course, the installation part 5012 can also be perpendicular to the base part 5011, and the inner wall of the installation part 5012 is provided with a first internal thread, which can also be threadedly connected to the first external thread section, instead of using the connection method of the first fixing nut 7021. In this way, the connection is simpler and the cost is reduced. It is also possible to adopt the combination of the first internal thread provided on the installation part 5012 and the first fixing nut 7021. In this way, the force sensor 700 is more stably connected, avoiding relative sliding during the test and causing inaccurate measurement errors.

[0075] In addition, the force sensor 700 is of high precision and will not be deformed at all when bearing axial force. Two or more first fixing nuts 7021 can also be used on the outside of the installation part 5012. In this way, the force sensor 700 is more stably connected, avoiding relative sliding and thus affecting the measurement result.

[0076] Furthermore, referring to Figure 1 as shown, the other end of the force sensor 700 is fixedly connected to the support plate 400. The support plate 400 is parallel to the installation part 5012. In this way, the installation is more convenient and the operation is simpler. Specifically, in order to facilitate the connection between the second connection part 703 of the force sensor 700 and the support plate 400, a through hole (not marked in the figure) is provided on the support plate 400, and the depth direction of the through hole is parallel to the output shaft direction of the motor 600.

[0077] Exemplarily, referring to Figure 4 as shown, the through hole of the support plate 400 and the installation hole on the installation part 5012 are at the same vertical height, so that the force sensor 700 can measure more accurately without error. The second connection part 703 is provided with a second external thread section, and a part of the second external thread section penetrates through the through hole. And on the side of the support plate 400 away from the motor 600, that is, on the outside of the support plate 400, there is a second fixing nut 7031, which is threadedly connected to the second external thread section, so as to fix the force sensor 700 between the support plate 400 and the installation part 5012, avoiding relative sliding of the force sensor 700 and also used to detect the acting force generated between the support plate 400 and the installation part 5012.

[0078] Optionally, the inner wall of the through hole can also adopt a second internal thread structure (not marked in the figure) instead of the second fixing nut 7031 structure, that is, it is threadedly connected to the second external thread section through the second internal thread structure to fix the force sensor 700; in addition, a combination of the second internal thread and the second fixing nut 7031 can also be used to fix the force sensor 700. In this way, the fixing effect can be more effective and prevent relative sliding between the force sensor 700 and the support plate 400; further, two or more second fixing nuts 7031 can also be threadedly connected to the second connecting portion 703 on the outside of the support plate 400 to prevent relative sliding of the force sensor 700 and affect the measurement accuracy.

[0079] It should be noted that, as shown in Figure 4 , one or more first fixing nuts 7021 can also be adopted inside the installation part 5012 and threadedly connected to the first external thread on the first connecting portion 702 so that the force sensor 700 can be stably installed on the installation part 5012; in addition, one or more second fixing nuts 7031 can also be adopted inside the support plate 400 and threadedly connected to the second external thread on the second connecting portion 703 so that the force sensor 700 can be stably installed on the support plate 400.

[0080] It should be understood that the first external thread section of the first connecting portion 702 passing through the threaded part of the installation hole can satisfy threaded connection with a plurality of first fixing nuts 7021; the second external thread section of the second connecting portion 703 passing through the threaded part of the through hole can satisfy threaded connection with a plurality of second fixing nuts 7031.

[0081] Among them, as shown in Figure 1 , Figure 3 and Figure 4 , in order to test measured objects of different specifications, the axial force testing device further includes a slide rail 800 and at least one set of moving components 900. The slide rail 800 is fixed to the platform 100 by means of fixed connection such as bolts, riveting or welding, and the extending direction of the slide rail 800 is parallel to the output shaft direction of the motor 600, and the adjustment is simpler. At least one set of moving components 900 is arranged on the slide rail 800, and at least one of the support plate 400, the torque loading member 302 and the torque sensor 301 is arranged on the moving components 900.

[0082] Exemplarily, as shown in Figure 1As shown, at least one set of moving components 900 includes a first moving component 900 and a second moving component 900. Among them, the support plate 400 is detachably fixed on the first moving component 900 by means of bolts, riveting, snap-fastening or the like. The torque sensor 301 and the torque loading member 302 are fixed on the second moving component 900 by means of bolts, riveting or the like, so as to measure harmonic speed reducers 200 of various different specifications.

[0083] It should be noted that the torque sensor 301 can also be separately arranged on another moving component 900, that is, there can be a third moving component 900, and the torque sensor 301 is fixedly arranged on the third moving component 900; however, for a simpler structure and more convenient operation, in the embodiment of the present application, the torque loading member 302 and the torque sensor 301 are installed on the same moving component 900, that is, on the second moving component 900; in addition, the support plate 400 can also be installed on the platform 100 as long as the test of the force sensor 700 can be realized.

[0084] Exemplarily, refer to Figure 1 or Figure 3 As shown, the moving component 900 includes a moving plate 901 and a sliding part 902. The sliding part 902 is fixedly arranged at the bottom of the moving plate 901 by means of bolts, riveting, snap-fastening or other detachable connection means; among them, the sliding part 902 can adopt a sliding structure such as a slider or a roller, but is not limited thereto, as long as it can drive the moving plate 901 to slide on the slide rail 800; and it is connected to the moving plate 901 by a detachable connection means to facilitate the replacement of the slider or the roller; specifically, the first moving component 900 includes two sliding blocks, which are respectively located at both ends of the first moving component 900 and are slidably connected to the slide rail 800; the second moving component 900 includes four sliders and is slidably connected to the slide rail 800.

[0085] An embodiment, refer to Figure 1 or Figure 3 As shown, in order to be able to push the sliding part 902 more easily and conveniently, an adjusting component 903 is used to control the sliding of the sliding part 902 on the slide rail 800. Specifically, the adjusting component 903 includes an adjusting screw rod 9031 fixedly arranged at the bottom of the moving plate 901, and an adjusting block 9032 threadedly connected to the adjusting screw rod 9031, wherein one end of the adjusting block 9032 is connected to the bottom of the moving plate 901 by means of clamping or welding or other fixing means.

[0086] It should be noted that the adjusting screw rod mentioned in the present application can also adopt a ball screw or the like, that is, it can be threadedly connected to the adjusting block and can rotate to drive the adjusting block to move thereon, but is not limited to this structure.

[0087] Exemplarily, refer to Figure 1 、 Figure 3And Figure 4 As shown, the front end of the adjusting screw rod 9031 is fixed to the platform 100 through the first support member 101 and bolts, and the rear end of the adjusting screw rod 9031 is fixed to the platform 100 through the second support member 102 and bolts, so that there is a certain height between the adjusting screw rod 9031 and the upper surface of the platform 100 for easy adjustment; the adjusting block 9032 can adopt a plate structure with internal threads, but is not limited to this structure, and a structure that can be threadedly connected to the adjusting screw rod 9031 and can be fixed to the bottom of the moving plate 901 and drive the moving plate 901 to move is sufficient.

[0088] In addition, referring to Figure 1 As shown, a handle 9033 is provided at one end of the adjusting screw rod 9031 away from the working platform 100, and it is fixedly connected to the rear end of the adjusting screw rod 9031, so that driving the handle 9033 can drive the moving plate 901 to slide on the slide rail 800. That is, the first moving assembly 900 can adjust the distance between the support plate 400 and the installation part 5012, and the second moving assembly 900 can adjust the distance between the torque sensor 301 and the torque loading member 302 and the harmonic reducer 200, so as to test samples of different specifications and improve the measurement of the axial tensile force between different samples.

[0089] It should be noted that when the handle 9033 is rotated, the adjusting screw rod 9031 rotates clockwise or counterclockwise. Since the adjusting block 9032 and the adjusting screw rod 9031 are threadedly connected, the adjusting block 9032 will be driven to move forward or backward, and the adjusting block 9032 and the moving plate 901 are fixedly connected, that is, the moving plate 901 slides on the slide rail 800, so as to adjust the distance between the support plate 400 and the installation part 5012 or adjust the distance between the torque sensor 301 and the torque loading member 302 and the harmonic reducer 200.

[0090] In addition, when adjusted to a suitable position, stop rotating the handle 9033. At this time, during the test, the harmonic reducer wave generator 201 generates an axial tensile force, that is, drives the mounting plate 501 to slide relatively on the air-floating guide rail. Due to the threaded connection between the adjusting block 9032 and the adjusting screw rod 9031, the adjusting block 9032 and the adjusting screw rod 9031 will not slide relatively, that is, the moving plate 901 will not slide relatively on the slide rail 800, ensuring the accuracy and efficiency of the test.

[0091] Another embodiment, referring to Figure 1 Or Figure 3As shown, to ensure the safety and reliability during the measurement process, the sliding part 902 includes a sliding main body part 9021 and a locking part 9022. The sliding main body part 9021 is slidably connected to the slide rail 800. The locking part 9022 is installed on the sliding main body part 9021, and a locking knob is provided on the side surface of the sliding main body part 9021 parallel to the extending direction of the slide rail 800. When the locking knob is toggled, the locking part 9022 can be placed in the locking position or the release position. When the locking part 9022 is in the locking position, the sliding part 902 is fixedly connected to the slide rail 800, that is, the moving plate 901 will not move relative to the platform 100, ensuring the accuracy and precision of the measurement result; as Figure 1 , Figure 3 and Figure 4 shown, when the locking part 9022 is in the release position, due to the threaded connection between the adjusting screw rod 9031 and the adjusting block 9032, the sliding part 902 and the slide rail 800 will not slide either.

[0092] It should be noted that when using the threaded connection method of the adjusting screw rod 9031 and the adjusting block 9032 and the locking knob, the stability is better; in addition, when the adjusting screw rod 9031 and the adjusting block 9032 are stripped or damaged, the locking knob can control the sliding part 902 not to slide with the slide rail 800. When the locking knob is damaged, the adjusting screw rod 9031 and the adjusting block 9032 can also ensure the stability of the moving plate 901; the use of multiple structures ensures the reliability and precision of the test.

[0093] Exemplarily, the platform 100 is the basic platform 100 for installing all test pieces and the harmonic reducer 200, and it can be a marble platform 100 or a cast iron platform 100, etc.

[0094] Working process:

[0095] First, install the fixed part 202 of the harmonic reducer to be measured on the support frame 206, and then install the output shaft 205 of the harmonic reducer at the output end of the harmonic reducer 200 and fixedly connect it thereto. Thus, the fixation of the harmonic reducer 200 is completed; then, by rotating the handle 9033, drive the moving plate 901 to move on the slide rail 800. When the torque sensor 301 moves to a set position where the output shaft 205 of the harmonic reducer reaches, lock the coupling between the torque sensor 301 and the output shaft 205 of the harmonic reducer, and then lock the sliding part 902 below the torque sensor 301 to prevent relative sliding. Thus, the assembly of the output end of the harmonic reducer 200 is completed.

[0096] Then, the harmonic drive wave generator 201 of the sample to be measured is installed on the input shaft 204 of the harmonic drive through the holes and screws thereon, and locked to the output shaft of the motor 600 through a high-precision coupling. Then, manually move the sliding track 5022 of the air-bearing guide to install the harmonic drive wave generator 201 inside the harmonic drive. Thus, the overall assembly of the harmonic drive is completed.

[0097] Finally, rotate the handle 9033 to drive the support plate 400 to move to the set spacing position of the installation part 5012, and fix the force sensor 700 between the support plate 400 and the installation part 5012 through the first fixing nut 7021 and the second fixing nut 7031. Subsequently, lock the sliding part 902 located below the support plate 400. Thus, all the assembly work is completed.

[0098] After the above process is completed, one end of the force sensor 700 is fixedly connected to the support plate 400, and the other end is fixedly connected to the installation part 5012. Then, the motor 600 can be controlled to rotate at a set speed, and the torque can be accurately loaded by controlling the torque loading member 302 and the torque control sensor. The force sensor 700 reads the magnitude of the acting force formed between the installation part 5012 and the support plate 400, which is the axial tension generated by the harmonic drive wave generator 201 in the current state. That is, the accurate measurement of the axial tension is completed, and the axial tension generated by the harmonic drive 200 can be actually measured, providing more real data, avoiding the situation of the motor 600 bearing shaft breakage caused by improper selection; similarly, it also avoids the damage of the harmonic drive 200 caused by the crosstalk due to insufficient strength at the connection part between the input shaft 204 of the harmonic drive and the wave generator, etc.

[0099] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0100] In the present application, unless otherwise clearly specified and limited, the terms such as "assembly" and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0101] In the description of this specification, the descriptions referring to the terms "some embodiments", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0102] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and the description of the present application shall fall within the scope covered by the patent of the present application.

Claims

1. An axial force testing device, characterized in that, Comprising: A platform; A support plate, mounted on the platform; A motor mount, including a guide rail and a mounting plate, the guide rail being mounted on the platform, the mounting plate being connected to the guide rail, and the mounting plate being capable of moving in a direction approaching or away from the support plate in the extending direction of the guide rail; A motor, mounted on the mounting plate, and an output shaft of the motor being configured to be connected to an input end of a harmonic reducer; A torque loading assembly, configured to be connected to an output end of the harmonic reducer for applying torque to the harmonic reducer; A force sensor, one end of the force sensor being connected to the mounting plate and the other end being connected to the support plate for detecting a force between the mounting plate and the support plate.

2. The axial force testing device according to claim 1, characterized in that, The extending direction of the guide rail is parallel to the output shaft of the motor.

3. The axial force testing device according to claim 2, characterized in that, The mounting plate includes a base portion and a mounting portion, a lower surface of the base portion being connected to the guide rail, and the mounting portion being located on an upper surface of the base portion and connected to the force sensor; Wherein, a motor bracket is provided on the upper surface of the base portion, the motor bracket is spaced apart from the mounting portion and is connected to the motor.

4. The axial force testing device according to claim 3, characterized in that, The mounting portion has a mounting hole, a depth direction of the mounting hole is parallel to the output shaft of the motor, and at least a part of the force sensor is fitted in the mounting hole; and / or The support plate has a through hole, a depth direction of the through hole is parallel to the output shaft of the motor, and at least a part of the force sensor is fitted in the through hole.

5. The axial force testing device according to claim 4, characterized in that, The force sensor includes a main body portion and a first connection portion and a second connection portion provided on opposite sides of the main body portion, the first connection portion being connected to the mounting hole in a shaft-hole mating manner, and the second connection portion being connected to the through hole in a shaft-hole mating manner.

6. The axial force testing device according to claim 5, characterized in that, The first connection portion includes a first external thread section, and a first internal thread section corresponding to the first external thread section is provided in the mounting hole, and the first internal thread section is threadedly connected to the first external thread section; The second connection portion includes a second external thread section, and a second internal thread section corresponding to the second external thread section is provided in the through hole, and the second internal thread section is threadedly connected to the second external thread section.

7. The axial force testing device according to claim 5, characterized in that, The first connection portion includes a first external thread section and at least one first fixing nut, one end of the first external thread section passes through the mounting hole, and at least one of the first fixing nuts is located outside the mounting portion and is threadedly connected to the first external thread section; The second connection portion includes a second external thread section and at least one second fixing nut, one end of the second external thread section passes through the through hole, and at least one of the second fixing nuts is located outside the support plate and is threadedly connected to the second external thread section.

8. The axial force testing device according to claim 7, characterized in that, Two first fixing nuts are provided on the first connection portion, and the two first fixing nuts are respectively located inside and outside the mounting portion; and / or Two second fixing nuts are provided on the second connection portion, and the two second fixing nuts are respectively located inside and outside the support plate.

9. The axial force testing device according to claim 3, characterized in that, The axial force testing device further includes: A slide rail, fixedly provided on the platform and extending along the direction of the output shaft of the motor; At least one set of moving components, the moving components including a moving plate and a sliding part, the sliding part being provided at the bottom of the moving plate and slidably connected to the slide rail; Wherein, at least one of the support plate and the torque loading component is provided on the moving plate.

10. The axial force testing device according to claim 9, characterized in that, The moving component further includes an adjusting component, the adjusting component including an adjusting lead screw and an adjusting block, the adjusting block being fixed to the bottom of the moving plate, and the adjusting block being sleeved on the adjusting lead screw by means of a threaded connection; Wherein, the adjusting lead screw can perform a rotational movement so that the adjusting block drives the moving component to move in the extending direction of the slide rail.

11. The axial force testing device according to any one of claims 9 or 10, characterized in that, The sliding part includes a main body part and a locking part, the main body part being connected to the slide rail, and the locking part being installed on the main body part; The locking part has a release position and a locking position. When the locking part is in the release position, the main body part can slide in the extending direction of the slide rail; when the locking part is in the locking position, the main body part can be locked on the slide rail.

12. The axial force testing device according to claim 9, wherein, The at least one set of moving components includes a first moving component and a second moving component that are spaced apart in the extending direction of the slide rail; Wherein, the support plate is provided on the moving plate of the first moving component, and the torque loading component is provided on the moving plate of the second moving component.

13. The axial force testing device according to claim 3, wherein, The guide rail includes a fixed rail and a sliding rail; The fixed rail is fixed on the platform; The sliding rail is located at the bottom of the base part and fixedly connected to the base part, the sliding rail being sleeved on the fixed rail and slidably connected to the fixed rail.

14. The axial force testing device according to claim 1, wherein, A support frame is further provided on the platform, and the support frame is used to support the harmonic reducer.

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