Harmonic reducer oil immersion accelerated wear simulation and test device

Abstract

The invention discloses a harmonic reducer oil immersion accelerated wear simulation and test device. The device comprises a base; the driving motor is fixedly connected to the base, and the driving motor is provided with an output shaft; the input end of the harmonic reducer is connected with the output shaft; the oil groove is movably installed on the base in the transverse direction, oil liquid is contained in the oil groove, and at least part of the harmonic reducer is immersed in the oil liquid in the oil groove; the two limiting assemblies are arranged on the two sides of the harmonic reducer in the longitudinal direction correspondingly, and the limiting assemblies are configured to be used for clamping a shell of the harmonic reducer so as to limit the freedom degree of the harmonic reducer in the longitudinal direction; the universal loading assembly is arranged on one side of the harmonic reducer in the transverse direction and is configured to be used for loading universal force to the harmonic reducer; the acoustic transmitter is arranged opposite to the harmonic reducer and is configured to be used for acquiring wear information of the harmonic reducer by transmitting acoustic signals; wherein the longitudinal direction is perpendicular to the transverse direction.

Description

Technical Field

[0001] The invention relates to the field of fault diagnosis of harmonic reducers, and in particular to a harmonic reducer oil-immersed accelerated wear simulation and testing device. Background Art

[0002] The harmonic reducer is one of the core components of industrial robots. The flexible thin-walled bearing is a key component of the harmonic reducer. The performance and stability of the bearing directly affect the performance of the reducer. In addition to the flexible thin-walled bearing, the characteristic signals of multiple components such as the rigid wheel and the flexible wheel in the harmonic reducer are coupled and correlated, making it extremely difficult to extract the characteristics of a single component of the harmonic reducer. By understanding the operating status of the harmonic reducer during the oil-immersion pressurization process and further understanding the failure principle of the harmonic reducer, the performance of the harmonic reducer can be improved and its service life can be extended. In the prior art, research on the performance index testing of harmonic reducers shows obvious deficiencies. The research on performance testing is more on the theoretical level. There is a lack of a test bench specifically for harmonic reducer testing, and progress in automated testing is even slower. Summary of the invention

[0003] In response to the problems and needs raised above, this solution proposes a harmonic reducer oil-immersed accelerated wear simulation and testing device, which can achieve the above technical objectives and bring about many other technical effects by adopting the following technical features.

[0004] The object of the present invention is to provide a harmonic reducer oil-immersed accelerated wear simulation and testing device, comprising:

[0005] Base;

[0006] A driving motor, which is fixedly connected to the base and has an output shaft;

[0007] A harmonic reducer, the input end of which is connected to the output shaft;

[0008] An oil tank is movably mounted on the base in a transverse direction, and contains oil, and at least a part of the harmonic reducer is immersed in the oil in the oil tank;

[0009] The limiting assembly comprises two, and is respectively arranged on both sides of the harmonic reducer in the longitudinal direction, and the limiting assembly is configured to clamp the housing of the harmonic reducer to limit the degree of freedom of the harmonic reducer in the longitudinal direction, and can apply a radial load to the harmonic reducer in the longitudinal direction;

[0010] A universal loading assembly, disposed on one side of the harmonic reducer in the transverse direction, configured to load a universal load to the harmonic reducer;

[0011] an acoustic transmitter, arranged opposite to the harmonic reducer, and configured to obtain the wear state of the harmonic reducer by emitting an acoustic wave signal;

[0012] Wherein, the longitudinal direction is perpendicular to the transverse direction.

[0013] In this technical solution, when the test device is testing, two limit assemblies are used to fix the harmonic reducer in the longitudinal direction, and a radial load can be applied in the longitudinal direction of the harmonic reducer. The drive motor drives its output shaft to rotate and drives the harmonic reducer to rotate in the oil in the oil tank, and the universal loading assembly loads the universal load in the axial direction of the harmonic reducer or deflected from the axial direction, and then the acoustic transmitter obtains the wear information of the harmonic reducer by emitting an acoustic wave signal; the test device can realize precise positioning and oil immersion of the harmonic reducer, and simulate different working environments of the harmonic reducer by loading in different directions, accelerate the wear of the harmonic reducer, improve the overall stability of the test device, accelerate the experimental process, facilitate observation, and use the acoustic emission detection module to realize visual analysis of wear, improve the operability of the experimental bench and the accuracy of experimental data, and has a good application prospect.

[0014] In addition, the harmonic reducer oil-immersed accelerated wear simulation and testing device according to the present invention may also have the following technical features:

[0015] In one example of the present invention, the limiting component includes:

[0016] A fixture having a slot, wherein the slot is adapted to fit the housing of the harmonic reducer;

[0017] The driving mechanism is connected to the clamp and is configured to drive the clamp to switch between a clamping position for clamping the harmonic reducer and a releasing position for releasing the harmonic reducer.

[0018] In one example of the present invention, the clamp comprises:

[0019] A clamping portion, wherein the clamping slot is formed inside, and a spring plate is arranged inside the clamping slot, and the clamping width of the clamping slot can be adjusted by adjusting the position of the spring plate;

[0020] A connecting portion, one end of which is connected to the clamping portion, and the other end of which is connected to the driving mechanism.

[0021] In one example of the present invention, the fixture further comprises:

[0022] The elastic part has one end connected to the clamping part and the other end connected to the spring plate, and is configured such that when the harmonic reducer is adapted in the clamping slot, the spring plate adaptively contacts the harmonic reducer under the action of the elastic part.

[0023] In one example of the present invention, the fixture further comprises:

[0024] At least one positioning hole is provided along the circumferential direction of the housing of the harmonic reducer;

[0025] The fixture also includes:

[0026] At least one limiting column is arranged on a side of the spring plate away from the elastic portion, which is adapted to at least one positioning hole of the harmonic reducer and is configured to limit the degree of freedom of the harmonic reducer in the circumferential direction.

[0027] In one example of the present invention, the universal loading assembly comprises:

[0028] Pedestal;

[0029] a steering gear pivotably connected to the base;

[0030] A loading mechanism connected to the steering gear via a universal joint;

[0031] A first bevel gear, which is fixedly connected to the loading mechanism;

[0032] Two second bevel gears are connected to the steering gear, symmetrically arranged on both sides of the first bevel gear, and respectively meshed with the first bevel gear.

[0033] In one example of the present invention, the universal loading assembly further comprises:

[0034] a sphere fixedly connected to the loading mechanism;

[0035] A pressure sensor is connected between the sphere and the loading mechanism and is configured to detect universal force information of the universal loading assembly loading the harmonic speed reducer.

[0036] In one example of the present invention, one of the oil tank and the base is provided with a slide rail arranged along the lateral direction, and the other is formed with a pulley matched with the slide rail.

[0037] In one example of the present invention, the invention further comprises: a brake assembly comprising:

[0038] A rotating body and a brake body connected to the rotating body, wherein the rotating body is pivotally connected to the oil groove and can drive the brake body to switch between a braking position against the pulley and a release position separated from the pulley.

[0039] In one example of the present invention, it further includes: a mounting frame,

[0040] It is slidably connected to the oil tank along the transverse direction, and the sound emitter is fixedly mounted on the mounting frame.

[0041] The best embodiment for carrying out the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention, wherein the drawings are only used to illustrate some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0043] Figure 1 A three-dimensional diagram of a harmonic reducer oil-immersed accelerated wear simulation and testing device according to an embodiment of the present invention;

[0044] Figure 2 It is a front view of a harmonic reducer oil-immersed accelerated wear simulation and testing device according to an embodiment of the present invention (experimental box is hidden);

[0045] Figure 3 It is a left view of the oil-immersed accelerated wear simulation and testing device for a harmonic reducer according to an embodiment of the present invention (the experimental box is hidden);

[0046] Figure 4 A top view of a harmonic reducer oil-immersed accelerated wear simulation and testing device (experimental box is hidden) according to an embodiment of the present invention;

[0047] Figure 5 A three-dimensional diagram of one direction of the oil-immersed accelerated wear simulation and testing device for a harmonic reducer according to an embodiment of the present invention (with the experimental box hidden);

[0048] Figure 6 A three-dimensional diagram of another direction of the oil-immersed accelerated wear simulation and testing device for a harmonic reducer according to an embodiment of the present invention (with the experimental box hidden);

[0049] Figure 7 is a schematic structural diagram of a clamp according to an embodiment of the present invention;

[0050] Figure 8 Schematic diagram of the structure of a universal loading assembly according to an embodiment of the present invention.

[0051] List of reference numerals:

[0052] Testing device 100;

[0053] Base 110;

[0054] Slide rail 111;

[0055] Adjustable support legs 112;

[0056] A driving motor 120;

[0057] Output shaft 121;

[0058] Harmonic reducer 130;

[0059] Spindle 131;

[0060] Oil tank 140;

[0061] Pulley 141;

[0062] Limiting assembly 150;

[0063] Clamp 151;

[0064] A clamping portion 1511;

[0065] Connecting part 1512;

[0066] Card slot 1513;

[0067] Spring plate 1514;

[0068] Elastic part 1515;

[0069] Limiting column 1516;

[0070] Driving mechanism 152;

[0071] Clamp track 153;

[0072] Universal loading assembly 160;

[0073] Base 161;

[0074] Servo 162;

[0075] Loading mechanism 163;

[0076] First bevel gear 164;

[0077] Second bevel gear 165;

[0078] Universal joint 166;

[0079] Sphere 167;

[0080] Pressure sensor 168;

[0081] Acoustic emitter 170;

[0082] Mounting frame 171;

[0083] Brake assembly 180;

[0084] Rotating body 181;

[0085] Brake body 182;

[0086] Experimental box 190;

[0087] Observation window 191;

[0088] Coupling 200;

[0089] Motor speed controller 210;

[0090] Longitudinal direction X;

[0091] Transverse direction Y;

[0092] Vertical direction Z. DETAILED DESCRIPTION

[0093] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0094] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity limitation. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0095] According to the present invention, a harmonic reducer oil-immersed accelerated wear simulation and testing device 100 is as follows: Figures 1 to 6 As shown, including:

[0096] Base 110;

[0097] A driving motor 120, which is fixedly connected to the base 110, and the driving motor 120 has an output shaft 121; preferably, it also includes a motor speed controller 210, which is fixedly installed on the base 110 and is used to control the speed of the driving motor 120, so as to simulate the working state of the harmonic reducer 130 under different working environments;

[0098] A harmonic reducer 130, an input end of which is connected to the output shaft 121;

[0099] The oil tank 140 is movably mounted on the base 110 along the transverse direction Y, and contains oil therein, and the harmonic reducer 130 is at least partially immersed in the oil in the oil tank 140; generally, the movable oil tank 140 is filled with oil, which is used to immerse one end of the flexible wheel of the harmonic reducer 130 in the oil, so that the meshing part between the flexible wheel and the steel wheel is filled with oil;

[0100] The limiting assembly 150 includes two limiting assemblies 150, which are respectively arranged on both sides of the harmonic reducer 130 in the longitudinal direction X. The limiting assembly 150 is configured to clamp the housing of the harmonic reducer 130 to limit the degree of freedom of the harmonic reducer 130 in the longitudinal direction X, and can apply a radial load to the harmonic reducer 130 in the longitudinal direction X;

[0101] A universal loading assembly 160, disposed on one side of the harmonic reducer 130 in the transverse direction Y, configured to load a universal load to the harmonic reducer 130;

[0102] An acoustic transmitter 170 is disposed opposite to the harmonic reducer 130 and is configured to obtain the wear state of the harmonic reducer 130 by transmitting an acoustic wave signal;

[0103] The longitudinal direction X is perpendicular to the transverse direction Y.

[0104] When the test device 100 is tested, the two limit assemblies 150 fix the harmonic reducer 130 in the longitudinal direction X, and a radial load can be applied in the longitudinal direction of the harmonic reducer. The drive motor 120 drives the output shaft 121 to rotate, and drives the harmonic reducer 130 to rotate in the oil of the oil tank 140, and the universal load assembly 160 loads the universal load in the axial direction of the harmonic reducer 130 or deflected from the axial direction (with an angle with the axial direction), and then the acoustic emitter 170 obtains the wear information of the harmonic reducer 130 by emitting an acoustic wave signal; the test device 100 can realize the precise positioning and oil immersion of the harmonic reducer 130, and simulate different working environments of the harmonic reducer 130 by loading in different directions, accelerate the wear of the harmonic reducer 130, improve the overall stability of the test device 100, and accelerate the experimental process, facilitate observation, and use the acoustic emission detection module to realize the visual analysis of wear, improve the operability of the experimental bench and the accuracy of experimental data, and has a good application prospect.

[0105] Preferably, a plurality of (for example, four) adjustable supporting legs 112 are installed at the lower end of the base 110 , which are connected to the base 110 by threaded connection, so as to facilitate the adjustment of the height of the base 110 .

[0106] In one example of the present invention, the limiting assembly 150 includes:

[0107] The fixture 151 has a slot 1513, and the slot 1513 is adapted to the housing of the harmonic reducer 130;

[0108] The driving mechanism 152 is connected to the clamp 151 and is configured to drive the clamp 151 to switch between a clamping position for clamping the harmonic reducer 130 and a release position for releasing the harmonic reducer 130; for example, the loading mechanism 163 is one of a hydraulic cylinder, a pneumatic cylinder and an electric push rod.

[0109] That is, the driving mechanism 152 of each limiting assembly 150 extends to push the clamp 151 toward the harmonic reducer 130, so that the limiting assemblies 150 on both sides of the longitudinal direction X move toward each other, thereby fixing and clamping the harmonic reducer 130 in the longitudinal direction X.

[0110] Preferably, the slot 1513 of the clamp 151 is an arc-shaped structure, which is consistent with the outer contour structure of the shell of the harmonic reducer 130, so that it can be more closely matched and engaged with the harmonic reducer 130.

[0111] In one example of the present invention, Figure 7 As shown, the fixture 151 includes:

[0112] The clamping portion 1511 has a clamping slot 1513 formed therein, and a spring plate 1514 is disposed inside the clamping slot 1513. The clamping width of the clamping slot 1513 can be adjusted by adjusting the position of the spring plate 1514.

[0113] A connecting portion 1512, one end of which is connected to the clamping portion 1511, and the other end of which is connected to the driving mechanism 152;

[0114] In short, the slot 1513 on the clamping portion 1511 is used to clamp the harmonic reducer 130, and the connecting portion 1512 is used to connect the driving mechanism 152 with the clamping portion 1511, and a spring plate 1514 is arranged in the slot 1513 to adjust the clamping width of the slot 1513, so that it can adapt to different models of harmonic reducers 130, thereby improving the flexibility and adaptability of the clamp 151.

[0115] When the clamp 151 is used, the driving mechanism 152 extends to drive the connecting portion 1512 to move along the longitudinal direction X, and drives the clamping portion 1511 to approach the harmonic reducer 130 and stop against the outer contour, thereby achieving the purpose of the clamp 151 clamping the harmonic reducer 130 in the longitudinal direction X.

[0116] In one example of the present invention, the fixture 151 further includes:

[0117] The elastic part 1515 has one end connected to the clamping part 1511 and the other end connected to the spring plate 1514, and is configured such that when the harmonic reducer 130 is fitted into the clamping slot 1513, the spring plate 1514 is adaptively in contact with the harmonic reducer 130 under the action of the elastic part 1515;

[0118] For example, the elastic part 1515 is a compression spring, one end pin of which is fixedly connected to the inner wall of the slot 1513, and the other end pin of which is fixedly connected to the spring plate 1514. In this way, the spring plate 1514 can have a tendency to approach the outer shell of the harmonic reducer 130 under the action of the compression spring, thereby improving the adaptive fit between the spring plate 1514 and the harmonic reducer 130 and facilitating the fitting connection between the slot 1513 and the harmonic reducer 130.

[0119] Of course, the present invention is not limited to this. A plurality of connection grooves are arranged at intervals in the clamping width direction of the clamping slot 1513, and each connection groove is detachably connected to the spring plate 1514 (for example, connected by a fastener), so that the position of the spring plate 1514 can be adjusted according to different models of harmonic reducers 130.

[0120] In one example of the present invention, the fixture 151 further includes:

[0121] At least one positioning hole is provided along the circumferential direction of the shell of the harmonic reducer 130;

[0122] The fixture 151 also includes:

[0123] At least one limiting post 1516 is disposed on a side of the spring plate 1514 away from the elastic portion 1515 , and is matched with at least one positioning hole of the harmonic reducer 130 , and is configured to limit the degree of freedom of the harmonic reducer 130 in the circumferential direction.

[0124] In other words, an elastic portion 1515 is provided on one side of the spring plate 1514, and a limiting column 1516 is provided on the other side thereof; when the harmonic reducer 130 is clamped with the fixture 151, the limiting column 1516 cooperates with the positioning hole on the shell of the harmonic reducer 130 under the action of the elastic portion 1515, thereby limiting the degree of freedom of the harmonic reducer 130 in the circumferential direction; by providing the limiting column 1516, the degree of freedom of the harmonic reducer 130 in the circumferential direction can be limited, so that the harmonic reducer 130 is fixed more reliably, thereby improving the accuracy of the test device 100.

[0125] Preferably, the limiting posts 1516 include three. When the housing of the harmonic reducer 130 is matched with the fixture 151 , the three limiting posts 1516 respectively cooperate with the three positioning holes on the harmonic reducer 130 .

[0126] In one example of the present invention, the limiting assembly 150 further includes:

[0127] A clamp track 153, which is fixedly connected to the oil tank 140 along the longitudinal direction X, and the driving mechanism 152 is fixedly connected to the clamp track 153, so that the driving mechanism 152 drives the clamp 151 to move along the extension direction of the clamp track 153;

[0128] That is to say, the clamp rail 153 is a groove-shaped structure with an open end, which is fixedly connected to the oil groove 140 and is located on both sides of the harmonic reducer 130 in the longitudinal direction X, and the connecting part 1512 between the driving mechanism 152 and the clamp 151 is connected in the guide groove of the clamp rail 153. By setting the clamp rail 153, the movement of the clamp 151 can be guided to avoid the position deflection of the clamp 151, thereby improving the clamping accuracy of the clamp 151.

[0129] In one example of the present invention, Figure 8 As shown, the universal loading assembly 160 includes:

[0130] Base 161;

[0131] a steering gear 162, which is pivotally connected to the base 161;

[0132] The loading mechanism 163 is connected to the steering gear 162 via a universal joint 166; for example, the loading mechanism 163 is one of a hydraulic cylinder, a pneumatic cylinder and an electric push rod.

[0133] A first bevel gear 164, which is fixedly connected to the loading mechanism 163;

[0134] Two second bevel gears 165 are connected to the steering gear 162 , symmetrically arranged on both sides of the first bevel gear 164 , and meshed with the first bevel gear 164 respectively;

[0135] Specifically, the servo 162 drives itself to rotate around the base 161 in the vertical direction (z-axis direction), and the servo 162 drives the two second bevel gears 165 to rotate in the same direction, thereby driving the first bevel gear 164 meshing therewith to rotate around the longitudinal direction X (x-axis direction), and then the servo 162 drives the two second bevel gears 165 to rotate in the opposite direction, thereby driving the first bevel gear 164 meshing therewith to rotate around the transverse direction Y (y-axis direction). Through the above structure, the loading mechanism 163 fixedly connected to the first bevel gear 164 can realize the rotational movement of three degrees of freedom in the x, y and z directions, and then the irregular loading of the harmonic reducer 130 can be simulated, the pressure conditions under various working environments can be simulated, and the irregular loading can be simulated.

[0136] The universal loading assembly 160 realizes the three-degree-of-freedom motion of the loading device through the synchronous motion of the bevel gear and the universal joint 166, and realizes the rotation of the loading device in three directions of x, y, and z axes (i.e., the longitudinal direction X, the transverse direction Y, and the vertical direction perpendicular to each other). Through the three-degree-of-freedom motion of the universal device, the loading mechanism 163 can be moved to a specified position to realize irregular loading of the harmonic reducer 130, simulate the pressure conditions under various working environments, and simulate irregular loading;

[0137] The universal loading assembly 160 is composed of three bevel gears and a universal joint 166, wherein two bevel gears and one end of the universal joint 166 are connected to three steering gears 162, wherein the first bevel gear 164 and one end of the universal joint 166 are connected to the loading device, and the rotation of the z-axis is realized by driving the universal joint 166 to rotate, and the first bevel gear 164 on the loading mechanism 163 is driven by two second bevel gears 165 to realize the rotation of x and y, thereby realizing universal loading;

[0138] Furthermore, two universal loading assemblies 160 are symmetrically installed on both sides of the harmonic reducer 130 in the longitudinal direction X. The loading mechanism 163 is hydraulically loaded, and the pressure is fed back by the pressure sensor 168, so that the loading force can be accurately controlled to make the experimental results more accurate.

[0139] It should be noted that the servo 162 is a prior art, which is an electric servo. In the universal loading assembly 160, it is mainly driven by three motors. One way is to drive the relative rotation between the motor and the base 161, and the other way is to drive the two second bevel gears 165 to rotate respectively by two motors.

[0140] In one example of the present invention, the universal loading assembly 160 further includes:

[0141] A sphere 167, which is fixedly connected to the loading mechanism 163;

[0142] A pressure sensor 168 connected between the sphere 167 and the loading mechanism 163 and configured to detect universal force information of the universal loading assembly 160 loading the harmonic speed reducer;

[0143] For example, the sphere 167 is a round steel ball, so that the front end of the loading mechanism 163 and the harmonic reducer 130 are loaded as one point, so as to achieve more precise control of the loading position, thereby achieving universal loading and precise loading of the harmonic reducer 130;

[0144] That is, when the loading mechanism 163 performs telescopic movement to realize universal loading of the harmonic reducer 130, the sphere 167 can effectively contact the surface of the harmonic reducer 130, and the pressure sensor can effectively measure the magnitude of the universal force of the universal loading assembly 160 loading the harmonic reducer.

[0145] For example, the real-time loading force is transmitted back to the main control board through the pressure sensor 168, which increases controllability and accelerates the wear and pressure of the harmonic reducer 130 in different working environments. The universal loading assembly 160 and the radial loading loading mechanism 163 mentioned above can be used to accurately measure the loading force through the pressure sensor 168, making the loading force more accurate and controllable. After that, the worn harmonic reducer 130 can be accurately measured through the acoustic transmitter 170, and the damage after wear can be observed through relevant data, realizing data visualization and precision.

[0146] In one example of the present invention, one of the oil tank 140 and the base 110 is provided with a slide rail 111 arranged along the transverse direction Y, and the other is formed with a pulley 141 adapted to the slide rail 111;

[0147] For example, a slide rail 111 is arranged along the transverse direction Y of the base 110 , a pulley 141 is installed along the transverse direction Y of the oil tank 140 , and the pulley 141 is adapted to the slide rail 111 ;

[0148] For another example, a pulley 141 is installed along the transverse direction Y of the base 110 , a slide rail 111 is arranged along the transverse direction Y of the oil tank 140 , and the slide rail 111 is matched with the pulley 141 .

[0149] The pulley 141 is fixed on the oil tank 140 , and the pulley 141 of the oil tank 140 can slide freely on the slide rail 111 . There are blocks at both ends of the slide rail 111 to prevent the movable oil tank 140 from derailing and falling off.

[0150] Preferably, the slide rails 111 include two and are symmetrically arranged on both sides of the base 110 in the longitudinal direction X. The pulleys 141 include four, which are arranged in groups of two and are arranged at intervals along the transverse direction Y. The two groups of pulleys 141 are arranged at intervals on both sides of the longitudinal direction X of the oil tank 140.

[0151] In one example of the present invention, the brake assembly 180 is also included, which includes:

[0152] A rotating body 181 and a brake body 182 connected to the rotating body 181, wherein the rotating body 181 is pivotally connected to the oil groove 140, and can drive the brake body 182 to switch between a braking position against the pulley 141 and a release position separated from the pulley 141;

[0153] For example, the slide rail 111 is a protruding structure, and correspondingly, the brake body 182 is provided with a groove structure identical to the protruding structure, so that the brake body 182 can avoid the slide rail 111 and stop with the pulley 141 during the rotation of the rotating body 181; preferably, the brake body 182 is a rubber part.

[0154] The oil groove 140 is moved along the transverse direction Y. When the oil groove 140 is moved to a suitable position, the driving rotor 181 is rotated to a braking position, so that the brake body 182 is abutted against the pulley 141, thereby limiting the position of the pulley 141; when the position of the oil groove 140 needs to be moved, the driving rotor 181 is rotated to a releasing position, so that the brake body 182 is separated from the pulley 141; the above-mentioned brake assembly 180 can locate the position of the oil groove 140, which helps to improve the accuracy of the test.

[0155] In one example of the present invention, it further includes: a mounting frame 171,

[0156] It is slidably connected to the oil tank 140 along the transverse direction Y, and the sound emitter 170 is fixedly mounted on the mounting frame 171 .

[0157] Specifically, movable grooves are opened on both sides of the longitudinal direction X of the oil groove 140, and the movable grooves can extend along the transverse direction Y. The mounting frame 171 is adapted to the movable grooves and can be moved and adjusted along the transverse direction Y extended by the movable grooves, so that the position of the acoustic emitter 170 in the transverse direction Y can be adjusted, so as to facilitate the wear monitoring of the harmonic reducer 130 and realize the accurate measurement of the experimental data.

[0158] Preferably, an experimental box 190 is further included, the cover of which is arranged outside the mounting frame 171 to protect the sound emitter 170 , and an observation window 191 is opened at the upper end of the experimental box 190 to facilitate observation and adjustment of the position of the sound emitter 170 .

[0159] The experimental box 190 is placed in the movable oil tank 140 to prevent oil splashing during the experiment to avoid contaminating other experimental equipment; an observation window 191 is left on the top of the experimental box 190, and transparent glass is set at the observation window 191 to facilitate observation of the interior of the movable oil tank 140.

[0160] In one example of the present invention, it further includes: a coupling 200,

[0161] It is connected between the input end of the harmonic reducer 130 and the output shaft 121 of the drive motor 120, so that the harmonic reducer 130 is driven by the drive motor 120 to rotate together and transmit torque;

[0162] The design of the coupling 200 ensures that the accuracy of the input end of the harmonic reducer 130 is maintained when the harmonic reducer 130 is disassembled and assembled multiple times during actual use, thereby reducing the difficulty of debugging the test bench; for example, a main shaft 131 is set at the input end of the harmonic reducer 130, and a key is provided on the main shaft 131 to facilitate better connection with the inner ring of the rigid bearing of the harmonic reducer 130, thereby driving the harmonic reducer 130 to rotate; the main shaft 131 can be changed in size according to different models of harmonic reducers 130, thereby realizing experiments on different harmonic reducers 130.

[0163] For example, the output shaft 121 of the driving motor 120 is connected to the main shaft 131 through a plum blossom elastic coupling 200 , the coupling 200 positioning piece is fixedly mounted on the bottom plate, and the front end of the main shaft 131 is inserted into the rigid inner ring of the harmonic reducer 130 .

[0164] The exemplary implementation of the oil-immersed accelerated wear simulation and testing device 100 for the harmonic reducer 130 proposed in the present invention is described in detail above with reference to the preferred embodiments. However, those skilled in the art will appreciate that, without departing from the concept of the present invention, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present invention can be combined in various ways without exceeding the protection scope of the present invention, which is determined by the attached claims.

Claims

1. A harmonic reducer oil-immersed accelerated wear simulation and testing device, characterized in that: include: Base (110); A driving motor (120) is fixedly connected to the base (110), and the driving motor (120) has an output shaft (121); A harmonic reducer (130), an input end of which is connected to the output shaft (121); An oil tank (140) is movably mounted on the base (110) along a transverse direction (Y), and contains oil, and at least a portion of the harmonic reducer (130) is immersed in the oil in the oil tank (140); The limiting components (150) include two limiting components, which are respectively arranged on both sides of the harmonic reducer (130) in the longitudinal direction (X), and the limiting components (150) are configured to clamp the housing of the harmonic reducer (130) to limit the degree of freedom of the harmonic reducer (130) in the longitudinal direction (X), and can apply a radial load to the harmonic reducer (130) in the longitudinal direction (X); A universal loading assembly (160), disposed on one side of the harmonic reducer (130) in the transverse direction (Y), and configured to load a universal load onto the harmonic reducer (130); an acoustic transmitter (170), arranged opposite to the harmonic reducer (130), and configured to obtain the wear state of the harmonic reducer (130) by transmitting an acoustic wave signal; Wherein, the longitudinal direction (X) is perpendicular to the transverse direction (Y).

2. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 1 is characterized in that: The limiting component (150) comprises: A clamp (151) having a slot (1513), wherein the slot (1513) is adapted to fit the housing of the harmonic reducer (130); A driving mechanism (152) is connected to the clamp (151) and is configured to be able to drive the clamp (151) to switch between a clamping position for clamping the harmonic reducer (130) and a releasing position for releasing the harmonic reducer (130).

3. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 2, characterized in that: The clamp (151) comprises: The clamping portion (1511) has a clamping slot (1513) formed therein, and a spring plate (1514) is arranged inside the clamping slot (1513). The clamping width of the clamping slot (1513) can be adjusted by adjusting the position of the spring plate (1514); The connecting portion (1512) has one end connected to the clamping portion (1511) and the other end connected to the driving mechanism (152).

4. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 3 is characterized in that: The clamp (151) further comprises: An elastic portion (1515), one end of which is connected to the clamping portion (1511), and the other end of which is connected to the spring plate (1514), is configured such that when the harmonic reducer (130) is fitted into the clamping slot (1513), the spring plate (1514) adaptively contacts the harmonic reducer (130) under the action of the elastic portion (1515).

5. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 4, characterized in that: At least one positioning hole is provided along the circumferential direction of the shell of the harmonic reducer (130); The clamp (151) further comprises: At least one limiting column (1516), the limiting column (1516) is arranged on a side of the spring plate (1514) away from the elastic portion (1515), and is adapted to be matched with at least one positioning hole of the harmonic reducer (130), and is configured to limit the degree of freedom of the harmonic reducer (130) in a circumferential direction.

6. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 1, characterized in that: The universal loading assembly (160) comprises: Base (161); A steering gear (162) pivotably connected to the base (161); A loading mechanism (163) connected to the steering engine (162) via a universal joint (166); A first bevel gear (164) fixedly connected to the loading mechanism (163); Two second bevel gears (165) are connected to the steering gear (162), symmetrically arranged on both sides of the first bevel gear (164), and respectively mesh with the first bevel gear (164).

7. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 5, characterized in that: The universal loading assembly (160) further comprises: A spherical body (167) fixedly connected to the loading mechanism (163); A pressure sensor (168) is connected between the sphere (167) and the loading mechanism (163) and is configured to detect universal force information of the universal loading assembly (160) loading the harmonic deceleration.

8. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 1, characterized in that: One of the oil tank (140) and the base (110) is provided with a slide rail (111) arranged along a transverse direction (Y), and the other is formed with a pulley (141) adapted to the slide rail (111).

9. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 8, characterized in that: Also included is a brake assembly (180), comprising: A rotating body (181) and a brake body (182) connected to the rotating body (181), wherein the rotating body (181) is pivotally connected to the oil groove (140) and can drive the brake body (182) to switch between a braking position that is against the pulley (141) and a release position that is separated from the pulley (141).

10. The oil-immersed accelerated wear simulation and testing device for harmonic reducer according to claim 1, characterized in that: Also includes: a mounting frame (171), It is slidably connected to the oil tank (140) along the transverse direction (Y), and the sound emitter (170) is fixedly mounted on the mounting frame (171).

Images