A quick offline testing system and testing method for RV reducer

Abstract

The application discloses a kind of RV reduction machine quick offline test system and test method, the system includes host computer, RV reduction machine offline test bench and feeding robot, and the host computer is operated feeding robot to complete the butt joint of RV reduction machine offline test bench of to-be-tested reduction machine, and the test of to-be-tested reduction machine is completed by RV reduction machine offline test bench.The application does not need manual clamping and disassembly, and can achieve the purpose of testing a variety of models of RV reduction machine quickly.

Description

Technical Field

[0001] This invention belongs to the field of robot reducer testing technology, and particularly relates to a rapid off-line testing system and method for RV reducers. Background Technology

[0002] RV reducers, as high-precision reducers, are widely used in robots, robot arms, and robot joints, serving as a core component of their power joints. The performance indicators of RV reducers directly affect the robot's positioning accuracy, gripping torque, and lifespan. With the widespread application of robots, the demand for RV reducers is increasing. To meet the principle of mandatory inspection for every unit before shipment, the need for rapid, automated testing of RV robot reducers before they leave the production line is urgent.

[0003] Before an RV robot reducer rolls off the production line, it must complete tests for no-load net friction, transmission error, and hysteresis curve, and each unit must be inspected.

[0004] Currently, traditional RV reducer test benches require manual clamping of the reducers onto the test bench, which is time-consuming and requires high precision. The clamping process occupies test bench positions, increasing the overall testing time. In addition, the manual disassembly of the reducer after testing also takes a considerable amount of time, resulting in a long overall testing time, low testing efficiency, and thus affecting the overall output of RV reducers. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by providing a rapid off-line testing system and method for RV reducers. Through high-precision automatic docking and testing fixtures, the off-line testing process of RV reducers is accelerated while ensuring testing accuracy and effectiveness, so as to achieve the goal of rapid production off-line testing.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A rapid off-line testing system for RV reducers, the system comprising:

[0008] The host computer is equipped with a test bench control system and test software. The test bench control system is used to control the RV reducer to go off the test bench. The test software is used to receive data acquired by the test equipment set on the test bench and to complete the performance test of the reducer under test.

[0009] An RV reducer off-line test bench includes a pre-assembly station, a test station, and test equipment. The pre-assembly station includes a first clamping mechanism. The pre-assembly station and the test station are connected by an automatic rotary positioning mechanism, which is used to drive a tooling plate placed in the pre-assembly station to the test station.

[0010] The loading robot, after completing the manual pre-assembly, grabs the speed reducer to be tested and the tooling plate and communicates with the host computer to exchange the current position information and target position information of the speed reducer to be tested. The loading robot places the speed reducer to be tested into the first clamping mechanism of the pre-assembly station according to a predetermined motion trajectory. The target position information is preset in the test bench control system according to the product type.

[0011] Furthermore, the test station also includes a second clamping mechanism identical to the first clamping mechanism. The second clamping mechanism and the first clamping mechanism are symmetrically distributed about the axis of rotation of the automatic rotation positioning mechanism. When the first clamping mechanism rotates to the test station, the second clamping mechanism rotates to the initial position of the first clamping mechanism in the pre-installation station.

[0012] Furthermore, the testing equipment includes an input acquisition device and an output acquisition device. The input acquisition device includes a drive motor, an input angle encoder, an input shaft, and a drive torque and speed sensor. The output acquisition device includes a load motor, an output angle encoder, and a load torque and speed sensor.

[0013] Furthermore, the test station also includes a fixing mechanism that fixes the test fixture in a preset position.

[0014] Furthermore, the test station also includes an automatic docking and disengagement device for the output encoder, which includes a friction disc.

[0015] On the other hand, the present invention also provides a method for rapid off-line testing of RV reducers, the method being implemented based on the aforementioned rapid off-line testing system for RV reducers, the method comprising:

[0016] The robot picks up the speed reducer and tooling tray to be tested and transports them to the pre-assembly station;

[0017] After the RV reducer is moved to the pre-assembly station, the reducer to be tested and the tooling plate are sent to the test station by the automatic rotary positioning mechanism.

[0018] The input shaft is connected to the reducer under test by driving the motor, and a no-load net friction test of the RV reducer is performed. The insertion depth of the input shaft and the reducer is preset according to the model of the product under test.

[0019] Furthermore, the method also includes:

[0020] After the RV reducer completes the no-load net friction test, the automatic docking and disengagement device of the output encoder contacts the output end of the reducer under test through the friction disc and performs the RV reduction transmission error test.

[0021] Furthermore, the method also includes:

[0022] After the test is completed, the tested RV reducer and tooling plate are sent to the pre-assembly station by an automatic rotary positioning mechanism, and the robot picks up the RV reducer and tooling plate and leaves the test area.

[0023] The beneficial effects of this invention are as follows:

[0024] (1) This invention uses high-precision automatic docking and testing fixtures to accelerate the off-line testing process of RV reducers while ensuring testing accuracy and test effect, so as to achieve the purpose of rapid production off-line.

[0025] (2) This invention can complete the "no-load net friction" and "transmission error" offline test items in the offline test of RV robot reducer.

[0026] (3) This invention only requires setting different test parameters for different models of RV reducers to complete the rapid offline test of multiple models of RV reducers. Attached Figure Description

[0027] Figure 1 This is a structural block diagram of the RV reducer rapid off-line testing system according to an embodiment of the present invention;

[0028] Figure 2 This is a main body diagram of the RV reducer offline test bench according to an embodiment of the present invention;

[0029] Figure 3 This is a side view of the test bench for the RV reducer in an embodiment of the present invention.

[0030] Figure descriptions: 1-Drive motor, 2-Input end overall bracket, 3-Input end automatic lifting mechanism, 4-Input end angle encoder, 5-Input shaft, 6-Pre-installation station flipping mechanism, 7-Automatic clamping mechanism, 8-Output end overall bracket, 9-Load motor, 10-Test station, 11-Pre-installation station, 12-Encoder automatic docking structure, 13-Output end angle encoder, 14-Load end torque and speed sensor. Detailed Implementation

[0031] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0032] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0033] Currently, traditional RV reducer test benches require manual clamping of the reducers onto the test bench, which is time-consuming and requires high precision. The clamping process occupies test bench positions, increasing the overall testing time. In addition, the manual disassembly of the reducer after testing also takes a considerable amount of time, resulting in a long overall testing time, low testing efficiency, and thus affecting the overall output of RV reducers.

[0034] To address the aforementioned technical problems, the following embodiments of an RV reducer rapid off-line testing system and testing method of the present invention are proposed.

[0035] Example 1

[0036] Reference Figure 1 ,like Figure 1 The diagram shown is a structural block diagram of the RV reducer rapid offline testing system provided in this embodiment. The device includes a host computer, an RV reducer offline testing bench, and a loading robot.

[0037] In this embodiment, the host computer includes a test bench control system and test software. The test bench control system is used to control the RV reducer to be taken off the test bench, and the test software is used to receive data acquired by the test equipment set on the test bench and complete the performance test of the reducer under test.

[0038] Reference Figure 2 and Figure 3 ,like Figure 2 The image shown is a main diagram of the RV reducer offline test bench frame in this embodiment. Figure 3 The image shows a side view of the RV reducer off-line test bench frame. In this embodiment, the RV reducer off-line test bench frame includes a drive motor 1, an input end integral support 2, an input end automatic lifting mechanism 3, an input end angle encoder 4, an input shaft 5, a pre-installation station flipping mechanism 6, an automatic clamping mechanism 7, an output end integral support 8, a load motor 9, a test station 10, a pre-installation station 11, an encoder automatic docking structure 12, an output end angle encoder 13, and a load end torque and speed sensor 14.

[0039] In one implementation method, the spline shaft at the input end is used as the input shaft in this embodiment.

[0040] In this embodiment, the test equipment of the test bench includes an input acquisition device and an output acquisition device. The input acquisition device includes a drive motor 1, an input angle encoder 4, an input shaft 5, and a drive torque and speed sensor. The output acquisition device includes a load motor 9, an output angle encoder 13, and a load torque and speed sensor 14.

[0041] As one implementation method, the specific functions of the test bench control system in this embodiment are as follows:

[0042] (1) Control the drive motor 1 to run in speed mode for drive end shaft, no-load net friction test, transmission error test, etc.

[0043] (2) Control the load motor to run in ultra-low speed mode for load end shaft and hysteresis curve testing, etc.

[0044] (3) Control the pre-installation station to flip and clamp, used for loading and unloading RV reducers, etc.

[0045] (4) Control the clamping, releasing and lifting of the test station for no-load net friction test, transmission error test and hysteresis test.

[0046] In this embodiment, the specific functions of the testing software are as follows:

[0047] Manage RV reducer models and serial numbers;

[0048] Store all parameters and data during the testing process;

[0049] Analyze the relationship between input torque and input angle in the no-load net friction test, generate a test report, and automatically determine whether the product is qualified by setting a preset threshold.

[0050] Analyze the relationship between the input and output angles during transmission error testing, generate test curves and reports, and automatically determine whether the product is qualified based on preset thresholds;

[0051] The system analyzes the relationship between the output torque and angle during hysteresis curve testing, generates test curves and reports, automatically generates test data such as stiffness and backlash, and automatically determines whether the product is qualified based on preset thresholds.

[0052] Before and after testing, the host computer testing software and the test bench control system exchange data and logic to realize the automatic online and offline logic actions of the RV reducer, thereby achieving the purpose of automatic testing.

[0053] In this embodiment, a six-axis robot is used for loading. The robot is manually pre-assembled, and after this pre-assembly, it starts with a single button press, grabs the reducer under test and the tooling tray, and communicates with the host computer to exchange the current and target position information of the reducer under test. The robot then places the reducer under test onto the automatic clamping mechanism of the pre-assembly station according to a predetermined motion trajectory. The target position information is pre-set in the test bench control system according to the product type.

[0054] As one implementation method, the robot communicates with the main control system via EtherCAT to exchange current location information and location information.

[0055] In one implementation, the test station also includes a clamping mechanism identical to the automatic clamping mechanism of the pre-installation station. The clamping mechanism of the test station and the clamping mechanism of the pre-installation station are symmetrically distributed with the rotation axis of the automatic rotation positioning mechanism as the axis of symmetry. When the clamping mechanism of the pre-installation station rotates to the test station, the clamping mechanism originally located at the test station rotates to the initial position of the clamping mechanism of the original pre-installation station.

[0056] After the robot finishes loading the material, and the testing station is either finished or idle, the automatic rotating station uses a servo motor for precise positioning (error 0.01mm) to rotate the pre-installed testing fixture tray to the testing station. This dual-station rotation switching between the "pre-installed station" and the "testing station" reduces equipment idle time. The rotation of the tested reducer and fixture tray at the testing station into position reduces unnecessary operating space compared to manual hoisting, making the equipment more compact.

[0057] After the reducer under test and the tooling plate enter the test station, the tooling plate is fixed to the test station by a zero-point clamping device, maintaining a coaxiality accuracy of 0.01mm. The input spline shaft is rotated left and right by a servo motor. The servo motor controls the insertion depth of the input spline shaft and the reducer according to different models (error controlled within 0.02mm) to complete precise docking. The insertion depth corresponding to different models is preset. This method eliminates the randomness of the insertion depth of the input spline shaft during manual assembly, shortens the invalid time in addition to the test time itself, and eliminates problems such as misoperation due to different insertion depths of different models, thereby improving the overall first-pass yield and repeatability of reducer testing.

[0058] The testing station also includes an automatic encoder docking and disengagement device for the output encoder. This device, consisting of a friction disc reducer output encoder docking and disengagement mechanism, comprises a stress spring and a cylinder. It enables automatic docking and disengagement of the reducer output angle encoder between different test items. The spring is fixed to the automatic docking device by a sleeve to prevent misalignment during the docking process. The docking device contacts the reducer output end via a friction disc, achieving rapid docking while ensuring the coaxiality of the input encoder, reducer, and output encoder, thereby guaranteeing test accuracy. This step reduces the time spent on multiple coaxiality adjustments during manual clamping, thus improving testing efficiency.

[0059] After testing, the reducer and tooling plate are selected to the pre-installation station. The robot automatically and precisely positions and clamps the tooling plate and reducer to the pre-installation station, where they are then manually disassembled. This prevents personnel from directly moving the components into the testing area, ensuring both testing safety and efficiency.

[0060] The RV reducer rapid production line testing system provided in this embodiment optimizes the testing cycle and process through robotic loading and unloading and various automated links in the testing process, automating the testing; it covers almost all tests and experiments while accelerating the production cycle, shortening the total testing time of the product, and improving the production efficiency of the product.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for rapid off-line testing of RV reducers, implemented based on a rapid off-line testing system for RV reducers, characterized in that... The system includes: The host computer is equipped with a test bench control system and test software. The test bench control system is used to control the RV reducer rapid offline test system. The test software is used to receive data acquired by the test equipment in the test system and complete the performance test of the reducer under test. An RV reducer off-line test bench includes a pre-assembly station, a test station, and test equipment. The pre-assembly station includes a first clamping mechanism. The pre-assembly station and the test station are connected by an automatic rotation positioning mechanism. The automatic rotation positioning mechanism is used to drive the tooling plate placed in the pre-assembly station to rotate to the test station. The loading robot, after completing manual pre-assembly, grabs the speed reducer to be tested and the tooling plate and communicates with the host computer to exchange the current position information and target position information of the speed reducer to be tested. The loading robot places the speed reducer to be tested into the first clamping mechanism of the pre-assembly station according to a predetermined motion trajectory. The target position information is preset in the test bench control system according to the product type. The testing equipment includes an input acquisition device and an output acquisition device. The input acquisition device includes a drive motor, an input angle encoder, an input shaft, and a drive torque and speed sensor. The output acquisition device includes a load motor, an output angle encoder, and a load torque and speed sensor. The input shaft is a splined shaft. The drive motor controls the insertion depth of the splined shaft and the reducer at the input end according to different models. The insertion depth corresponding to different models is preset. The test station also includes an automatic docking and disengagement device for the output encoder. The automatic docking and disengagement device for the output encoder consists of a friction disc, a stress spring, and a cylinder. The stress spring is fixed on the automatic docking and disengagement device by a sleeve to prevent the stress spring from shifting during the docking process. The automatic docking and disengagement device contacts the output end of the reducer through the friction disc. The rapid off-line testing method for the RV reducer includes: The loading robot picks up the reducer and tooling tray to be tested and transports them to the pre-assembly station; After the RV reducer is moved to the pre-assembly station, the reducer to be tested and the tooling plate are sent to the test station by the automatic rotary positioning mechanism. The input shaft is connected to the reducer under test by driving the motor, and the RV reducer is subjected to a net friction test without load. The insertion depth of the input shaft and the reducer is preset according to the model of the product under test. After the RV reducer completes the no-load net friction test, the automatic docking and disengagement device of the output encoder is driven by a cylinder, and the spring is limited by the sleeve to prevent deviation. The docking is completed by contacting the output end of the reducer under test through the friction disc, and the RV reducer transmission error test is performed.

2. The rapid off-line testing method for RV reducers as described in claim 1, characterized in that, The test station also includes a second clamping mechanism identical to the first clamping mechanism. The second clamping mechanism and the first clamping mechanism are symmetrically distributed about the axis of rotation of the automatic rotation positioning mechanism. When the first clamping mechanism rotates to the test station, the second clamping mechanism rotates to the initial position of the first clamping mechanism in the pre-installation station.

3. The rapid off-line testing method for RV reducers as described in claim 1, characterized in that, The test station also includes a fixing mechanism that fixes the test fixture in a preset position.

4. The rapid off-line testing method for RV reducers as described in claim 1, characterized in that, The method further includes: After the test is completed, the tested RV reducer and tooling plate are sent to the pre-assembly station by an automatic rotary positioning mechanism, and the robot picks up the RV reducer and tooling plate and leaves the test area.

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