Bearing bending moment testing device for harmonic reducer of electric steering engine

Abstract

The invention relates to an electric steering engine harmonic reducer bearing bending moment testing device, and belongs to the field of product inspection and testing. The device comprises a process motor 1, a harmonic reducer 2, a hand wheel 3, a torque motor assembly 4, a pressure sensor 5, a sliding table 6, a spring 7, a bottom plate 8, an ejector rod 10, a bending moment shaft 11 and a sliding table support 12. The device is provided with two testing modes, namely a manual testing mode and an automatic testing mode. Positive pressure is applied to the ejector rod through the spring, namely, bending moment is applied to the harmonic reducer shaft, meanwhile, the numerical value of the pressure sensor is read in real time, accurate bearing bending moment testing is achieved, the detection efficiency and reliability of the bearing bending moment of the harmonic reducer are improved, meanwhile, the number and labor intensity of testing personnel are reduced, and personal errors are avoided.

Description

Technical Field

[0001] The invention belongs to the field of product inspection and testing, and in particular relates to a load-bearing bending moment testing device for a harmonic reducer of an electric steering gear. Background Art

[0002] Harmonic reducers have the advantages of simple structure, small size, light weight, high transmission accuracy, large number of meshing teeth and large load-bearing capacity. They are widely used in the fields of robotics, aerospace, machine tool instruments, etc. Flexspline, rigid wheel and wave generator are the core parts of harmonic reducers. The flexspline undergoes periodic controllable elastic deformation under the action of the wave generator, thereby meshing with the steel wheel to achieve transmission. The flexspline is subjected to periodic deformation and load, and its performance has a significant impact on the characteristics of harmonic transmission. The radial deformation is one of the important parameters affecting the working characteristics of the flexspline.

[0003] When assembling the harmonic reducer, the wave generator will cause the flexible wheel to deform and generate prestress. The size of the prestress is directly related to the radial deformation of the flexible wheel. Since the tolerances and installation errors of each batch of parts are different, the harmonic reducer's ability to withstand radial loads (hereinafter referred to as "bearing moment") should be tested. The bearing bending moment test item is a destructive test. It is used to test the performance of products equipped with harmonic reducers under extreme conditions and is a key factor in evaluating the reliability of product use.

[0004] At present, various manufacturers mainly use the simple operation of lever plus weight to simulate the force-giving method of bearing bending moment. The harmonic reducer is installed with the process motor and loaded at the output end of the harmonic reducer: if a bending moment of 200N·m needs to be loaded, the lever arm is extended by 500mm on the adapter shaft, and a 40kg weight is hung. The harmonic reducer is energized instantaneously. The harmonic reducer can operate normally without abnormality. The weight is removed and the transmission accuracy (transmission accuracy and backlash error) is detected. If it meets the technical requirements, the test item is completed.

[0005] The testing methods currently used have simple equipment, poor accuracy, low precision, a large proportion of human factors, no numerical records, only meet range requirements, are not rigorous in bearing bending moment testing, and have no mature equipment and devices. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] The technical problem to be solved by the present invention is how to provide a load-bearing bending moment test device for an electric servo harmonic reducer to solve the problems that the existing testing methods and equipment are simple, have poor accuracy, low precision, a large proportion of human factors, and no numerical records.

[0008] (II) Technical solution

[0009] In order to solve the above technical problems, the present invention proposes a load-bearing bending moment test device for a harmonic reducer of an electric servo, comprising: a process motor 1, a harmonic reducer 2, a hand wheel 3, a torque motor assembly 4, a pressure sensor 5, a slide 6, a spring 7, a bottom plate 8, a push rod 10, a bending moment shaft 11, and a slide bracket 12;

[0010] A slide bracket 12 is symmetrically arranged on the left and right sides above the bottom plate 8, a slide 6 is arranged on each slide bracket 12, a slider is arranged on each slide 6, a spring 7 is connected above each slider, two sliders 7 are connected to a pressure sensor 5 on the opposite side, two pressure sensors 5 are connected to a push rod 10 on the opposite ends, a bending moment axis 11 is arranged between the left and right push rods, the bending moment axis 11 is arranged vertically to the left and right push rods, the axial end of the bending moment axis 11 is connected to the harmonic reducer 2, set as the test input end of the harmonic reducer 2, and a process motor 1 is arranged above the harmonic reducer 2;

[0011] A hand wheel 3 is provided on the left side of the slide 6 disposed on the left side of the bottom plate 8 as a manual test input terminal;

[0012] A torque motor assembly 4 is provided on the right side of the slide 6 disposed on the right side of the bottom plate 8 as an automatic test input terminal;

[0013] During manual testing, the slider and the spring 7 above it are driven to move rightward on the slide 6 by turning the hand wheel 3, and a positive pressure is applied to the push rod 10 through the spring 7. The pressure is transmitted to the bending moment axis 11 through the push rod 10, and the pressure value is read through the pressure sensor 5;

[0014] During the automatic test, the slider and the spring 7 above it are driven by the torque motor assembly 4 to move leftward on the slide 6, and a positive pressure is applied to the push rod 10 through the spring 7. The pressure is transmitted to the bending moment shaft 11 through the push rod 10, and the pressure value is read through the pressure sensor 5;

[0015] During automatic / manual testing, the pressure of the push rod 10 is input to the harmonic reducer 2 through the bending moment shaft 11. The output shaft of the harmonic reducer 2 is connected to the process motor 1. When it is detected that the running speed of the process motor 1 is the same as the control instruction speed, the bending moment of the harmonic reducer 2 meets the requirements and the test is completed.

[0016] The end of the push rod 10 is provided with a roller member. When the roller member is subjected to pressure from the spring 7, the roller member rotates around its own rotation axis, so that the pressure transmitted from the push rod 10 to the bending moment axis 11 is always positive pressure.

[0017] When the manual test is completed, the hand wheel is turned counterclockwise, the slide 6 moves to the left, and the positive pressure of the push rod roller member on the bending moment axis 11 is gradually reduced to zero, completing the unloading.

[0018] Each slide 6 is provided with a roller screw, and a slider is sleeved on the screw. The rotation of the screw is converted into the translation of the slider by the rotation of the screw.

[0019] Wherein, the torque motor assembly 4 comprises: a torque motor driver, a torque motor;

[0020] During automatic testing, the control instructions are output to the torque motor driver through the external computer. The driver drives the torque motor, which drives the lead screw to rotate, and transmits the movement of the slider to the push rod 10 through the spring 7. When the slider moves to the left, the spring 7 applies a positive pressure to the push rod 10, and at the same time reads the value of the pressure sensor 5 in real time. If the value reaches the set load-bearing bending moment value, the torque motor stops moving and the bending moment loading is completed.

[0021] When the automatic test is completed, the computer outputs a control instruction to the torque motor driver, and the driver controls the torque motor to stop rotating to complete the unloading.

[0022] Wherein, a motor bracket 9 is provided above the bottom plate 8, and the process motor 1 and the harmonic reducer 2 are fixed on the motor bracket.

[0023] Among them, when batch testing the harmonic reducer 2 is performed, the automatic testing function is selected, and when testing the harmonic reducer 2 individually, the manual testing function is selected.

[0024] (III) Beneficial effects

[0025] The present invention provides a device for testing the load-bearing bending moment of a harmonic reducer of an electric steering gear, which improves the detection efficiency and reliability of the load-bearing bending moment of the harmonic reducer, while reducing the number of testers and the labor intensity, and avoiding human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the load-bearing bending moment testing device of the present invention;

[0027] Figure 2 It is a top view of the load-bearing bending moment testing device of the present invention;

[0028] Figure 3 This is a schematic diagram of the manual testing part of the present invention;

[0029] Figure 4 This is a schematic diagram of the automatic testing part of the present invention;

[0030] Figure 5 This is a schematic diagram of the load-bearing bending moment test of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0032] The present embodiment provides a load-bearing bending moment test device for a harmonic reducer of an electric servo, comprising: a process motor 1, a harmonic reducer 2, a hand wheel 3, a torque motor assembly 4, a pressure sensor 5, a slide 6, a spring 7, a bottom plate 8, a push rod 10, a bending moment shaft 11, and a slide bracket 12;

[0033] A slide bracket 12 is symmetrically arranged on the left and right sides above the bottom plate 8, a slide 6 is arranged on each slide bracket 12, a slider is arranged on each slide 6, a spring 7 is connected above each slider, two sliders 7 are connected to a pressure sensor 5 on the opposite side, two pressure sensors 5 are connected to a push rod 10 on the opposite ends, a bending moment axis 11 is arranged between the left and right push rods, the bending moment axis 11 is arranged vertically to the left and right push rods, the axial end of the bending moment axis 11 is connected to the harmonic reducer 2, set as the test input end of the harmonic reducer 2, and a process motor 1 is arranged above the harmonic reducer 2;

[0034] A hand wheel 3 is provided on the left side of the slide 6 disposed on the left side of the bottom plate 8 as a manual test input terminal;

[0035] A torque motor assembly 4 is provided on the right side of the slide 6 disposed on the right side of the bottom plate 8 as an automatic test input terminal;

[0036] During manual testing, the slider and the spring 7 above it are driven to move rightward on the slide 6 by turning the hand wheel 3, and a positive pressure is applied to the push rod 10 through the spring 7. The pressure is transmitted to the bending moment axis 11 through the push rod 10, and the pressure value is read through the pressure sensor 5;

[0037] During the automatic test, the slider and the spring 7 above it are driven by the torque motor assembly 4 to move leftward on the slide 6, and a positive pressure is applied to the push rod 10 through the spring 7. The pressure is transmitted to the bending moment shaft 11 through the push rod 10, and the pressure value is read through the pressure sensor 5;

[0038] During automatic / manual testing, the pressure of the push rod 10 is input to the harmonic reducer 2 through the bending moment shaft 11. The output shaft of the harmonic reducer 2 is connected to the process motor 1. When it is detected that the running speed of the process motor 1 is the same as the control instruction speed, the bending moment of the harmonic reducer 2 meets the requirements and the test is completed.

[0039] The end of the push rod 10 is provided with a roller member. When the roller member is subjected to pressure from the spring 7, the roller member rotates around its own rotation axis, so that the pressure transmitted from the push rod 10 to the bending moment axis 11 is always positive pressure.

[0040] When the manual test is completed, the hand wheel is turned counterclockwise, the slide 6 moves to the left, and the positive pressure of the push rod roller member on the bending moment axis 11 is gradually reduced to zero, completing the unloading.

[0041] Each slide 6 is provided with a roller screw, and a slider is sleeved on the screw. The rotation of the screw is converted into the translation of the slider by the rotation of the screw.

[0042] Wherein, the torque motor assembly 4 comprises: a torque motor driver, a torque motor;

[0043] During automatic testing, the control instructions are output to the torque motor driver through the external computer. The driver drives the torque motor, which drives the lead screw to rotate, and transmits the movement of the slider to the push rod 10 through the spring 7. When the slider moves to the left, the spring 7 applies a positive pressure to the push rod 10, and at the same time reads the value of the pressure sensor 5 in real time. If the value reaches the set load-bearing bending moment value, the torque motor stops moving and the bending moment loading is completed.

[0044] When the automatic test is completed, the computer outputs a control instruction to the torque motor driver, and the driver controls the torque motor to stop rotating to complete the unloading.

[0045] Wherein, a motor bracket 9 is provided above the bottom plate 8, and the process motor 1 and the harmonic reducer 2 are fixed on the motor bracket.

[0046] Among them, when batch testing the harmonic reducer 2 is performed, the automatic testing function is selected, and when testing the harmonic reducer 2 individually, the manual testing function is selected.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electric steering gear harmonic reducer load bending moment test device, characterized in that: include: Process motor (1), harmonic reducer (2), hand wheel (3), torque motor assembly (4), pressure sensor (5), slide (6), spring (7), base plate (8), push rod (10), bending moment axis (11), slide bracket (12); A slide bracket (12) is symmetrically arranged on the left and right sides above the bottom plate (8), a slide (6) is arranged on each slide bracket (12), a slider is arranged on each slide (6), a spring (7) is connected above each slider, two sliders (7) are connected to pressure sensors (5) on the opposite sides, two pressure sensors (5) are connected to push rods (10) on the opposite ends, a bending moment axis (11) is arranged between the left and right push rods, the bending moment axis (11) is arranged perpendicular to the left and right push rods, an axial end of the bending moment axis (11) is connected to a harmonic reducer (2) and is set as a test input end of the harmonic reducer (2), and an output shaft of the harmonic reducer (2) is connected to a process motor (1); A hand wheel (3) is provided on the left side of the slide table (6) disposed on the left side of the bottom plate (8) as a manual test input terminal; A torque motor assembly (4) is provided on the right side of the slide (6) disposed on the right side of the bottom plate (8) as an automatic test input terminal; During manual testing, the hand wheel (3) is turned to drive the slider and the spring (7) above it to move rightward on the slide table (6), and a positive pressure is applied to the push rod (10) through the spring (7). The pressure is transmitted to the bending moment axis (11) through the push rod (10), and the pressure value is read through the pressure sensor (5); During the automatic test, the moment motor assembly (4) drives the slider and the spring (7) above it to move leftward on the slide table (6), and the spring (7) applies a positive pressure to the push rod (10), which is transmitted to the bending moment shaft (11) through the push rod (10), and the pressure value is read through the pressure sensor (5); During the automatic or manual test, the pressure of the supporting rod (10) is input into the harmonic reducer (2) through the bending moment shaft (11). When it is detected that the running speed of the process motor (1) is the same as its own running speed and no overcurrent alarm occurs, the bearing moment of the harmonic reducer (2) meets the requirements and the test is completed.

2. The electric steering gear harmonic reducer load bending moment test device according to claim 1, characterized in that: The end of the push rod (10) is provided with a roller member. When the roller member is subjected to pressure from the spring (7), the roller member rotates around its own rotation axis, so that the pressure transmitted from the push rod (10) to the bending moment axis (11) is always positive pressure.

3. The electric steering gear harmonic reducer load bending moment test device according to claim 2, characterized in that: When the manual test is completed, the hand wheel is turned counterclockwise, the slide (6) moves to the left, and the positive pressure of the push rod roller member on the bending moment axis (11) is gradually reduced to zero, completing the unloading.

4. The electric steering gear harmonic reducer load bending moment test device according to claim 3, characterized in that: Each slide (6) is provided with a roller screw, and the slider is sleeved on the screw. The rotation of the screw is converted into the translation of the slider through the rotation of the screw.

5. The electric steering gear harmonic reducer load bending moment test device according to claim 3, characterized in that: The torque motor assembly (4) comprises: a torque motor driver, a torque motor; During the automatic test, the external computer outputs a control command to the torque motor driver, and the driver drives the torque motor to drive the lead screw to rotate, and transmits the movement of the slider to the push rod (10) through the spring (7). When the slider moves to the left, the spring (7) gives a positive pressure to the push rod (10), and at the same time reads the value of the pressure sensor (5) in real time. If the value reaches the set load moment value, the torque motor stops moving and the moment loading is completed.

6. The electric steering gear harmonic reducer load bending moment test device according to claim 5, characterized in that: When the automatic test is completed, the computer outputs a control instruction to the torque motor driver, and the driver controls the torque motor to stop rotating and complete the unloading.

7. The electric steering gear harmonic reducer load bending moment testing device according to claim 5, characterized in that: A motor bracket (9) is provided above the base plate (8), and the process motor (1) and the harmonic reducer (2) are fixed on the motor bracket.

8. The electric steering gear harmonic reducer load bending moment testing device according to claim 1, characterized in that: When batch testing of the harmonic reducer (2) is performed, the automatic testing function is selected, and when testing the harmonic reducer (2) individually, the manual testing function is selected.

9. The electric steering gear harmonic reducer load bending moment testing device according to claim 1, characterized in that: The process motor (1) is connected to a process motor driver, and the process motor (1) is connected to an external computer via the process motor driver. The external computer detects the running speed of the process motor (1) in real time.

10. The electric steering gear harmonic reducer load bending moment testing device according to claim 1, characterized in that: After the manual test is completed, the hand wheel is turned counterclockwise, the slide (6) moves to the left, and the positive pressure of the roller member on the bending moment axis (11) is gradually reduced to zero, completing the unloading.

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