A test device for testing the bending moment of an electric servo motor harmonic reducer

Abstract

This invention relates to a bending moment testing device for an electric servo motor harmonic reducer, belonging to the field of product inspection and testing. The invention includes: a process motor 1, a harmonic reducer 2, a handwheel 3, a torque motor assembly 4, a pressure sensor 5, a slide table 6, a spring 7, a base plate 8, a push rod 10, a bending moment shaft 11, and a slide table support 12. The device is designed with two testing modes: manual testing and automatic testing. A positive pressure is applied to the push rod by the spring, thus applying a bending moment to the harmonic reducer shaft. Simultaneously, the pressure sensor readings are read in real time, achieving accurate bending moment testing. This invention improves the detection efficiency and reliability of the bending moment of the harmonic reducer, while reducing the number of testing personnel and their workload, and avoiding human error.

Description

Technical Field

[0001] This invention belongs to the field of product inspection and testing, and specifically relates to a device for testing the bending moment of an electric servo motor harmonic reducer. Background Technology

[0002] Harmonic reducers possess advantages such as simple structure, small size, light weight, high transmission accuracy, a large number of teeth simultaneously engaged, and high load-bearing capacity, making them widely used in robotics, aerospace, and machine tool instrumentation. The flex wheel, rigid wheel, and wave generator are the core components of a harmonic reducer. The flex wheel undergoes periodic, controllable elastic deformation under the action of the wave generator, thereby meshing with the rigid wheel to achieve transmission. The flex wheel bears the periodic deformation and load, and its performance significantly affects the characteristics of the harmonic drive. Radial deformation is one of the important parameters affecting the flex wheel's operating characteristics.

[0003] During the assembly of a harmonic reducer, the deformation of the flexure caused by the wave generator generates prestress. The magnitude of the prestress is directly related to the radial deformation of the flexure. Since the tolerances and installation errors of each batch of parts are different, the radial load (hereinafter referred to as "bending moment") that the harmonic reducer can withstand should be tested. The bending moment test is a destructive test and is used to test the performance of products with harmonic reducers installed under extreme conditions. It is a key factor in evaluating the reliability of the product.

[0004] Currently, most manufacturers use a simple lever and weight operation to simulate the force application method of bearing bending moment. The harmonic reducer is installed with the process motor, and a load is applied to the output end of the harmonic reducer. If a bending moment of 200 N·m is required, the lever arm is extended by 500 mm on the adapter shaft, a 40 kg weight is hung, and the harmonic reducer is energized instantaneously. If the harmonic reducer can operate normally without any abnormalities, the weight is removed, and the transmission accuracy (transmission accuracy and backlash error) is tested. If it meets the technical requirements, the test item is completed.

[0005] The current testing methods and equipment are rudimentary, with poor accuracy and precision, a high degree of human error, no numerical records, and only meet the range requirements. They are not rigorous in testing the bending moment under load, and there is no mature equipment or device. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] The technical problem to be solved by the present invention is how to provide a bending moment testing device for electric servo motor harmonic reducers, so as to solve the problems of existing testing methods and equipment being simple, inaccurate, low precision, having a large proportion of human factors, and lacking numerical recording.

[0008] (II) Technical Solution

[0009] To solve the above-mentioned technical problems, the present invention proposes an electric servo motor harmonic reducer load bending moment testing device, comprising: process motor 1, harmonic reducer 2, handwheel 3, torque motor assembly 4, pressure sensor 5, slide table 6, spring 7, base plate 8, top rod 10, bending moment shaft 11, and slide table support 12.

[0010] A slide bracket 12 is symmetrically arranged on the left and right sides above the base plate 8. A slide 6 is arranged on each slide bracket 12. A slider is provided on each slide 6. A spring 7 is connected above each slider. A pressure sensor 5 is connected to one side of the two sliders 7 facing each other. A push rod 10 is connected to one end of the two pressure sensors 5 facing each other. A bending moment shaft 11 is provided between the two push rods. The bending moment shaft 11 is perpendicular to the two push rods. The axial end of the bending moment shaft 11 is connected to a harmonic reducer 2 and is set as the test input end of the harmonic reducer 2. A process motor 1 is provided above the harmonic reducer 2.

[0011] A handwheel 3 is provided on the left side of the slide table 6 located on the left side of the base plate 8 as a manual test input terminal;

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

[0013] During manual testing, the slider and its upper spring 7 are moved to the right on the slide table 6 by rotating the handwheel 3. The spring 7 applies a positive pressure to the push rod 10, which is then transmitted to the bending moment shaft 11. The pressure value is read by the pressure sensor 5.

[0014] During automatic testing, the torque motor assembly 4 drives the slider and the spring 7 above it to move to the left on the slide table 6. The spring 7 applies a positive pressure to the push rod 10, which is then transmitted to the moment shaft 11. The pressure value is read by the pressure sensor 5.

[0015] During automatic / manual testing, the pressure from the top rod 10 is input to the harmonic reducer 2 via the bending moment shaft 11. The output shaft of the harmonic reducer 2 is connected to the process motor 1. When the running speed of the process motor 1 is detected to be the same as the speed of the control command, the bending moment borne by the harmonic reducer 2 meets the requirements, and the test is completed.

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

[0017] When the manual test is completed, turn the handwheel counterclockwise, the slide table 6 moves to the left, and the normal pressure of the top rod roller on the bending moment shaft 11 gradually decreases to zero, thus completing the unloading.

[0018] Each slide 6 is equipped with a lead screw and a slider is mounted on the lead screw. The rotation of the lead screw is converted into the translation of the slider by the rotation of the lead screw.

[0019] The torque motor assembly 4 includes: a torque motor driver and a torque motor;

[0020] During automatic testing, the external computer outputs control commands to the torque motor driver, which drives the torque motor to rotate the lead screw. The movement of the slider is transmitted to the top rod 10 through the spring 7. When the slider moves to the left, the spring 7 applies a positive pressure to the top rod 10. At the same time, the value of the pressure sensor 5 is read in real time. If the value reaches the set load bending moment value, the torque motor stops moving, and the bending moment loading is completed.

[0021] Once the automatic test is complete, the computer outputs control commands to the torque motor driver, which then controls the torque motor to stop rotating, thus completing the unloading process.

[0022] The base plate 8 is provided with a motor bracket 9, and the process motor 1 and the harmonic reducer 2 are fixed on the motor bracket.

[0023] When testing harmonic reducers 2 in batches, the automatic test function is selected; when testing harmonic reducers 2 individually, the manual test function is selected.

[0024] (III) Beneficial Effects

[0025] This invention proposes a bending moment testing device for electric servo motor harmonic reducers, which improves the testing efficiency and reliability of bending moment of harmonic reducers, while reducing the number of testing personnel and their labor intensity, and avoiding human error. Attached Figure Description

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

[0027] Figure 2 This 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 section 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 illustrating the principle of the bending moment test for this invention. Detailed Implementation

[0031] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0032] This embodiment provides a bending moment testing device for an electric servo motor harmonic reducer, including: a process motor 1, a harmonic reducer 2, a handwheel 3, a torque motor assembly 4, a pressure sensor 5, a slide table 6, a spring 7, a base plate 8, a push rod 10, a bending moment shaft 11, and a slide table support 12.

[0033] A slide bracket 12 is symmetrically arranged on the left and right sides above the base plate 8. A slide 6 is arranged on each slide bracket 12. A slider is provided on each slide 6. A spring 7 is connected above each slider. A pressure sensor 5 is connected to one side of the two sliders 7 facing each other. A push rod 10 is connected to one end of the two pressure sensors 5 facing each other. A bending moment shaft 11 is provided between the two push rods. The bending moment shaft 11 is perpendicular to the two push rods. The axial end of the bending moment shaft 11 is connected to a harmonic reducer 2 and is set as the test input end of the harmonic reducer 2. A process motor 1 is provided above the harmonic reducer 2.

[0034] A handwheel 3 is provided on the left side of the slide table 6 located on the left side of the base plate 8 as a manual test input terminal;

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

[0036] During manual testing, the slider and its upper spring 7 are moved to the right on the slide table 6 by rotating the handwheel 3. The spring 7 applies a positive pressure to the push rod 10, which is then transmitted to the bending moment shaft 11. The pressure value is read by the pressure sensor 5.

[0037] During automatic testing, the torque motor assembly 4 drives the slider and the spring 7 above it to move to the left on the slide table 6. The spring 7 applies a positive pressure to the push rod 10, which is then transmitted to the moment shaft 11. The pressure value is read by the pressure sensor 5.

[0038] During automatic / manual testing, the pressure from the top rod 10 is input to the harmonic reducer 2 via the bending moment shaft 11. The output shaft of the harmonic reducer 2 is connected to the process motor 1. When the running speed of the process motor 1 is detected to be the same as the speed of the control command, the bending moment borne by the harmonic reducer 2 meets the requirements, and the test is completed.

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

[0040] When the manual test is completed, turn the handwheel counterclockwise, the slide table 6 moves to the left, and the normal pressure of the top rod roller on the bending moment shaft 11 gradually decreases to zero, thus completing the unloading.

[0041] Each slide 6 is equipped with a lead screw and a slider is mounted on the lead screw. The rotation of the lead screw is converted into the translation of the slider by the rotation of the lead screw.

[0042] The torque motor assembly 4 includes: a torque motor driver and a torque motor;

[0043] During automatic testing, the external computer outputs control commands to the torque motor driver, which drives the torque motor to rotate the lead screw. The movement of the slider is transmitted to the top rod 10 through the spring 7. When the slider moves to the left, the spring 7 applies a positive pressure to the top rod 10. At the same time, the value of the pressure sensor 5 is read in real time. If the value reaches the set load bending moment value, the torque motor stops moving, and the bending moment loading is completed.

[0044] Once the automatic test is complete, the computer outputs control commands to the torque motor driver, which then controls the torque motor to stop rotating, thus completing the unloading process.

[0045] The base plate 8 is provided with a motor bracket 9, and the process motor 1 and the harmonic reducer 2 are fixed on the motor bracket.

[0046] When testing harmonic reducers 2 in batches, the automatic test function is selected; when testing harmonic reducers 2 individually, the manual test function is selected.

[0047] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A device for testing the bending moment of an electric servo motor harmonic reducer, characterized in that, include: Process motor (1), harmonic reducer (2), handwheel (3), torque motor assembly (4), pressure sensor (5), slide table (6), spring (7), base plate (8), top rod (10), moment shaft (11), slide table support (12); A slide bracket (12) is symmetrically arranged on the left and right sides above the base plate (8). A slide (6) is arranged on each slide bracket (12). A slider is provided on each slide (6). A spring (7) is connected above each slider. A pressure sensor (5) is connected to one side of the two sliders (7). A top rod (10) is connected to one end of the two pressure sensors (5). A moment shaft (11) is provided between the two top rods. The moment shaft (11) is arranged perpendicular to the two top rods. A harmonic reducer (2) is connected to the axial end of the moment shaft (11) and is set as the test input end of the harmonic reducer (2). The output shaft of the harmonic reducer (2) is connected to the process motor (1). A handwheel (3) is provided on the left side of the slide (6) located on the left side of the base plate (8) as a manual test input terminal; A torque motor assembly (4) is provided on the right side of the slide (6) located on the right side of the base plate (8) as an automatic test input terminal; During manual testing, the slider and its upper spring (7) are driven to move to the right on the slide table (6) by rotating the handwheel (3). A positive pressure is applied to the push rod (10) through the spring (7), and the pressure is transmitted to the moment shaft (11) through the push rod (10). The pressure value is read by the pressure sensor (5). During automatic testing, the torque motor assembly (4) drives the slider and the spring (7) above it to move to the left on the slide (6). The spring (7) applies a positive pressure to the push rod (10), and the push rod (10) transmits the pressure to the moment shaft (11). The pressure value is read by the pressure sensor (5). During automatic / manual testing, the pressure of the top rod (10) is input to the harmonic reducer (2) through the bending moment shaft (11). When the running speed of the process motor (1) is detected to be the same as its own running speed, and no overcurrent alarm occurs, the bending moment of the harmonic reducer (2) meets the requirements, and the test is completed.

2. The electric servo motor harmonic reducer load bending moment testing device as described in claim 1, characterized in that, The top rod (10) has a roller at its end. When the roller is subjected to pressure from the spring (7), the roller rotates around its own axis, so that the pressure transmitted from the top rod (10) to the bending moment axis (11) is always positive.

3. The electric servo motor harmonic reducer load bending moment testing device as described in claim 2, characterized in that, After the manual test is completed, turn the handwheel counterclockwise, the slide (6) moves to the left, and the positive pressure of the top rod roller on the moment shaft (11) gradually decreases to zero, thus completing the unloading.

4. The electric servo motor harmonic reducer load bending moment testing device as described in claim 3, characterized in that, Each slide (6) is equipped 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 by rotating the screw.

5. The electric servo motor harmonic reducer load bending moment testing device as described in claim 3, characterized in that, The torque motor assembly (4) includes: a torque motor driver and a torque motor; During automatic testing, the external computer outputs control commands to the torque motor driver, which drives the torque motor to rotate the lead screw. The movement of the slider is transmitted to the top rod (10) through the spring (7). When the slider moves to the left, the spring (7) applies a positive pressure to the top rod (10). At the same time, the pressure sensor (5) reads the value in real time. If the value reaches the set load bending moment value, the torque motor stops moving and the bending moment loading is completed.

6. The electric servo motor harmonic reducer load bending moment testing device as described in claim 5, characterized in that, Once the automatic test is complete, the computer outputs control commands to the torque motor driver, which then controls the torque motor to stop rotating, thus completing the unloading process.

7. The electric servo motor harmonic reducer load bending moment testing device as described in 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 servo motor harmonic reducer load bending moment testing device as described in claim 1, characterized in that, When testing harmonic reducers (2) in batches, use the automatic test function; when testing harmonic reducers (2) individually, use the manual test function.

9. The electric servo motor harmonic reducer load bending moment testing device as described in claim 1, characterized in that, The process motor (1) is connected to the process motor driver, and the process motor (1) is connected to an external computer through the process motor driver. The external computer detects the running speed of the process motor (1) in real time.

10. The electric servo motor harmonic reducer load bending moment testing device as described in claim 1, characterized in that, After the manual test is completed, turn the handwheel counterclockwise, and the slide (6) moves to the left. The normal pressure of the roller on the moment shaft (11) gradually decreases to zero, and the unloading is completed.

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