Multifunctional rotor fault test bench based on RV speed reducer

Abstract

The invention discloses a multifunctional rotor fault test bench based on an RV reducer, and the test bench comprises a test bench unit. Comprising a test bench, a motor support assembly detachably arranged on the test bench, a reducer base detachably arranged on the test bench, a bearing base assembly detachably arranged on the test bench, a torque sensor base detachably arranged on the test bench, and a secondary gear reducer base detachably arranged on the test bench. And the transmission unit comprises a driving assembly detachably arranged on the test bed, a transmission assembly detachably arranged on the test bed, and a coupling assembly detachably arranged on the transmission assembly. According to the multifunctional rotor fault test bench based on the RV speed reducer, through modular design of the test bench units, multiple transmission schemes, multi-working condition adjustment and efficient fault signal acquisition, the fault mechanism and the fault evolution law of key components of a robot equipment transmission system can be systematically researched; and the reliability and the stability of an industrial robot mechanical system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of test platforms, and particularly to a multi-functional rotor fault test bench based on an RV reducer. Background Art

[0002] Modern robotic equipment is continuously developing towards high-precision and sophisticated directions. The mechanical system structure is more complex with numerous components, and its operating conditions are also increasingly complex. For example, the transmission device of the RV reducer in robotic equipment consists of two parts: the first-stage involute cylindrical gear planetary reduction mechanism and the second-stage cycloid pinwheel planetary reduction mechanism, forming a closed differential gear train with a very complex structure. As the equipment operates continuously, the fault state is in a progressive physical process of deterioration or transformation. It can be said that a fault is both a state (equipment performance and condition) and a process (fault initiation and expansion). The lifespan of robotic equipment mainly depends on the lifespan of the reducer bearings. Generally speaking, the bearings are the first to be damaged, especially the harmonic reducer. For the RV reducer, its planetary gear structure part is also prone to damage. There are also many types of thin-walled bearings used in robots, such as thin-walled deep groove ball bearings, thin-walled angular contact ball bearings, thin-walled four-point contact ball bearings, and thin-walled crossed roller bearings. Due to the characteristics of strong combined load-bearing capacity, high precision, small friction torque, light weight, and stable operation of thin-walled four-point contact ball bearings and thin-walled crossed roller bearings, they are mostly applied to parts such as the waist, elbow, and wrist of industrial robots. Compared with ordinary bearings, the inner and outer diameters of thin-walled bearings are thinner and the heat dissipation conditions are worse, making them extremely prone to fatigue failure. Therefore, in view of the lack of analysis of the fault evolution law of key components in the mechanical system of robotic equipment, it is necessary to systematically study the main fault mechanisms and fault evolution laws of key components (such as RV gearboxes and thin-walled bearings) in the transmission system of robotic equipment, and conduct modeling analysis and research on their fault evolution laws, and propose new fault characteristics and new extraction methods for corresponding key components of robotic equipment. However, it is difficult to obtain the operating signals of transmission components under actual working conditions, and it is impossible to judge whether there are faults or defects in the equipment at the initial stage of the fault. In actual working conditions, relying on manual experience for diagnosis, the fault is often already in the late stage, resulting in significant economic losses and time losses. Therefore, it is necessary to conduct early fault warning and diagnosis by testing the transmission rotor components through an experimental bench in the laboratory.

[0003] The present invention aims to design a multi-functional rotor fault experimental platform based on an RV reducer. By simulating the experimental conditions of the mechanical systems of various industrial robots, it systematically studies the main fault mechanisms and fault evolution laws of key components (such as RV gearboxes and thin-walled bearings) in the transmission system of robotic equipment. The experimental platform can collect fault signals of various rotors, adjust the driving method, transmission method, and load type, so as to obtain experimental data under multiple working conditions, providing a basis for studying the fault mechanisms and fault evolution laws of key components in the transmission system of robotic equipment. Summary of the Invention

[0004] In view of the problem that the existing multi-functional rotor fault test bench based on RV reducers cannot determine whether there are faults or defects in the equipment at the initial stage of the fault, resulting in economic losses, the present invention is proposed.

[0005] Therefore, the present invention provides a multi-functional rotor fault test bench based on RV reducers, and its purpose is to solve the technical problem that it is impossible to determine whether there are faults or defects in the equipment at the initial stage of the fault, resulting in economic losses.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: including a test bench unit and a transmission unit.

[0007] Among them, the test bench unit includes a test bench, a motor support assembly detachably arranged on the test bench, a reducer base detachably arranged on the test bench, a bearing base assembly detachably arranged on the test bench, a torque sensor base detachably arranged on the test bench, and a secondary gear reducer base detachably arranged on the test bench.

[0008] The transmission unit includes a drive assembly detachably arranged on the test bench, a transmission assembly detachably arranged on the test bench, and a coupling assembly detachably arranged on the transmission assembly.

[0009] As a preferred solution of the multi-functional rotor fault test bench based on RV reducers of the present invention, among them: the motor support assembly includes a motor base detachably arranged on the test bench and a motor support detachably arranged on the test bench.

[0010] As a preferred solution of the multi-functional rotor fault test bench based on RV reducers of the present invention, among them: the bearing base assembly includes a first bearing base detachably arranged on the test bench and a second bearing base detachably arranged on the test bench.

[0011] As a preferred solution of the multi-functional rotor fault test bench based on RV reducers of the present invention, among them: the test bench unit is made of high-strength materials.

[0012] As a preferred solution of the multi-functional rotor fault test bench based on RV reducers of the present invention, among them: the test bench is provided with a "T"-shaped groove for installing the motor support assembly.

[0013] As a preferred solution of the multi-functional rotor fault test bench based on RV reducers of the present invention, among them: the center distance of the "T"-shaped groove is 130 mm.

[0014] As a preferred embodiment of the multi-functional rotor fault test bench based on RV reducer of the present invention, the driving assembly includes a servo motor, an RV reducer disposed on the reducer base and connected to the servo motor, and an output flange disposed on the RV reducer.

[0015] As a preferred embodiment of the multi-functional rotor fault test bench based on RV reducer of the present invention, the driving assembly includes a stepping motor detachably disposed on the motor bracket.

[0016] As a preferred embodiment of the multi-functional rotor fault test bench based on RV reducer of the present invention, the transmission assembly includes an output stepped shaft detachably disposed on the bearing base assembly, a torque sensor detachably disposed on the torque sensor base, a two-stage gear reducer detachably disposed on the two-stage gear reducer base, and a magnetic powder brake disposed on the test bench.

[0017] As a preferred embodiment of the multi-functional rotor fault test bench based on RV reducer of the present invention, the coupling assembly includes a first plum blossom coupling connected to the output stepped shaft, a second plum blossom coupling connected to the torque sensor, and a third plum blossom coupling connected to the output shaft of the two-stage gear reducer.

[0018] The beneficial effects of the present invention are as follows: The test bench unit and the transmission unit are provided. Through the modular design of the test bench unit, multiple transmission schemes, adjustment of multiple working conditions, and efficient acquisition of fault signals, the fault mechanism and fault evolution law of the key components of the transmission system of the robot equipment can be systematically studied, providing important technical support for improving the reliability and stability of the mechanical system of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is the overall structure schematic diagram of Embodiment 1 of the present invention.

[0021] Figure 2 It is the structure schematic diagram of Embodiment 1 of the present invention.

[0022] Figure 3 It is the structure schematic diagram of Embodiment 2 of the present invention.

[0023] Figure 4This is a schematic structural diagram of Embodiment 3 of the present invention. Detailed implementation manners

[0024] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings of the specification.

[0025] In the following description, many specific details are set forth to facilitate a thorough understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0026] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is separately or selectively mutually exclusive with other embodiments.

[0027] Thirdly, the present invention is described in detail with reference to schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0028] Embodiment 1, referring to Figure 1-2 , which is the first embodiment of the present invention, provides a multifunctional rotor fault test bench based on an RV reducer. This device includes a test bench unit 100 and a transmission unit 200.

[0029] Among them, the test bench unit 100 includes a test bench 101, a motor support assembly 102 detachably arranged on the test bench 101, a reducer base 103 detachably arranged on the test bench 101, a bearing base assembly 104 detachably arranged on the test bench 101, a torque sensor base 105 detachably arranged on the test bench 101, and a secondary gear reducer base 106 detachably arranged on the test bench 101. The test bench unit 100 adopts a modular design, which can conveniently replace and adjust the positions and types of the components included in the transmission unit 200 to meet different experimental requirements. This design enables the transmission unit 200 to have high flexibility and scalability.

[0030] The transmission unit 200 includes a drive assembly 201 detachably arranged on the test bench 101, a transmission assembly 202 detachably arranged on the test bench 101, and a coupling assembly 203 detachably arranged on the transmission assembly 202. The experimental platform integrates rotor systems such as RV reducers, multi-size bearings, and two-stage gear reducers, and designs a control system to control the servo motor and the stepper motor to drive the test bench. The test bench can collect fault signals of various rotors, and adjust the load by presetting the fault type and using a magnetic powder brake to achieve multi-load condition adjustment, so as to obtain experimental data under multiple working conditions.

[0031] Preferably, the motor support assembly 102 includes a motor base 102a detachably arranged on the test bench 101 and a motor support 102b detachably arranged on the test bench 101. The flexible installation of the drive assembly 201 can be achieved through the detachably arranged motor support assembly 102, which is convenient for changing and fixing the position of the drive assembly 201.

[0032] Furthermore, the bearing base assembly 104 includes a first bearing base 104a detachably arranged on the test bench 101 and a second bearing base 104b detachably arranged on the test bench 101. The size of the first bearing base 104a is 100, and the size of the second bearing base 104b is 80. By setting bearing bases of different sizes, different sizes of bearings can be adapted for installation, which is convenient for installing and testing different sizes of bearings.

[0033] Even further, the test bench unit 100 is made of high-strength materials. The design of the test bench unit 100 aims to provide stable structural support, ensure the precise alignment and stable operation of each component during the experiment. The test bench unit 100 is made of high-strength materials and can withstand various stresses and vibrations generated during the experiment. The test bench unit 100 is designed with a modular feature, and the position and type of each component can be conveniently replaced and adjusted to meet different experimental requirements.

[0034] In particular, a "T"-shaped groove 101a for installing the motor support assembly 102 is provided on the test bench 101. There are multiple "T"-shaped grooves 101a, and the multiple "T"-shaped grooves 101a are arranged vertically and horizontally perpendicular to each other. Through the multiple "T"-shaped grooves 101a provided, the detachable installation of the motor support assembly 102, the reducer base 103, the bearing base assembly 104, the torque sensor base 105, and the two-stage gear reducer base 106 can be realized, and the installation structure is simple and the operation is convenient.

[0035] Further, the center distance of the "T"-shaped groove 101a is 130 mm. To maintain the coaxiality of the entire transmission mechanism, the center height of the axis is unified to 180 mm in this study. All bases are designed according to this standard to keep them coaxial on the horizontal plane. The center distance between the input shaft and the output shaft of the two-stage gear reducer is 195 mm. Therefore, the center distance of the "T"-shaped groove of the test bench base is set to 130 mm, which is convenient for installing equipment with non-coaxial input and output ends of the two-stage gear reducer. The horizontal spacing of the base mounting holes at the front end of the two-stage gear reducer is 130 mm, and sliding "T"-shaped nuts are used to connect with the test bench 101 in the "T"-shaped groove 101a. To facilitate the installation of the acceleration sensor, threaded holes for sensor installation are reserved on the reducer base 103.

[0036] Preferably, the transmission assembly 202 includes an output stepped shaft 202a detachably arranged on the bearing base assembly 104, a torque sensor 202b detachably arranged on the torque sensor base 105, a secondary gear reducer 202c detachably arranged on the secondary gear reducer base 106, and a magnetic powder brake 202d arranged on the test bench 101. By using the magnetic powder brake 202d, the multi-load condition adjustment is realized through current control, and the operating states under different load conditions can be simulated; the test bench unit 100 integrates various sensors such as a torque sensor 202b and a vibration sensor, which can efficiently collect various fault signals and provide rich experimental data. An efficient signal acquisition and processing system is designed, which can monitor and record the operating states and fault signals of each component in real time during the experiment; the transmission assembly 202 is connected through a coupling assembly 203; for the fault signal acquisition of the RV reducer 201b and the bearing gears in the low-speed state, the transmission path starting from the servo motor 201a end is: servo motor 201a, RV reducer 201b, output flange 201c, output stepped shaft 202a (various test bearings can be replaced on the stepped shaft), plum blossom coupling one 203a, torque sensor 202b, plum blossom coupling two 203b, input of the secondary gear reducer 202c, output of the secondary gear reducer 202c, plum blossom coupling three 203c, magnetic powder brake 202d. This solution is mainly used to test the operating data of the RV reducer in different health states and load conditions, and experimental tests such as planetary gear damage, transmission gear damage, and damage of thin-walled bearings in the reducer can be carried out for the RV reducer 201b; this solution can also test the low-speed environment experiment at the output end of the RV reducer 201b under low-speed conditions, including the fault experiment tests of the low-speed bearings and the transmission gears and bearings inside the secondary gear reducer 202c under low-speed conditions to obtain vibration data and torque data. The test bench unit 100 uses the servo motor 201a and the stepping motor 201d as the driving sources, and realizes various driving conditions through the control system, and realizes the test experiments under different accelerations, different operating speeds, different output torques and load conditions. The magnetic powder brake 202d is used to adjust the load, and the multi-load condition adjustment can be realized through current control. The control system designs various driving methods, and the motors can be replaced to adapt to different experimental requirements. The test bench unit 100 can simulate the experimental conditions of various industrial robot mechanical systems, and realize the diversified rotor type tests by replacing the driving motor, the motor support assembly 102, the transmission shaft and bearings of the RV reducer 201b. The preset fault types include but are not limited to planetary gear faults, deep groove ball bearing faults, cylindrical roller bearing faults, tapered roller bearing faults, input gear faults, transmission gear faults, output gear faults, and reducer transmission bearing faults. Through the above design, the diversification of the test environment and the versatility of the test bench unit 100 can be realized.

[0037] Further, the coupling assembly 203 includes a first rigid jaw coupling 203a connected to the output stepped shaft 202a, a second rigid jaw coupling 203b connected to the torque sensor 202b, and a third rigid jaw coupling 203c connected to the output shaft of the secondary gear reducer 202c. The first rigid jaw coupling 203a is provided to connect the output stepped shaft 202a and the torque sensor 202b, the second rigid jaw coupling 203b is provided to connect the torque sensor 202b and the secondary gear reducer 202c, and the third rigid jaw coupling 203c is provided to connect the secondary gear reducer 202c and the magnetic particle brake 202d. The model of the first rigid jaw coupling 203a is 24 - 50 rigid jaw coupling, the model of the second rigid jaw coupling 203b is 40 - 50 rigid jaw coupling, and the model of the third rigid jaw coupling 203c is 20 - 35 rigid jaw coupling.

[0038] During the use process, the test bench unit 100 can collect the fault signals of various rotors, adapt to various working conditions and experimental requirements, and has high versatility and flexibility. Through modular design, the convenient replacement and adjustment of components are realized, and the scalability of the test bench unit 100 is improved. By using the magnetic particle brake 202d and the drive assembly 201, the simulation of multi - load and multi - drive working conditions is realized, and various working conditions in actual operation can be comprehensively covered. Integrating a variety of sensors and an efficient signal acquisition and processing system can provide detailed experimental data to support in - depth research on fault mechanisms and fault evolution laws.

[0039] Embodiment 2, referring to Figure 3 , is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the drive assembly 201 selects a servo motor 201a, an RV reducer 201b, and an output flange 201c, and can collect the fault signals of the RV reducer 201b and the bearing gears in the low - speed state.

[0040] Compared with Embodiment 1, further, the drive assembly 201 includes a servo motor 201a, an RV reducer 201b disposed on the reducer base 103 and connected to the servo motor 201a, and an output flange 201c disposed on the RV reducer 201b. The model of the servo motor 201a is 130ST - 15025, and the model of the RV reducer 201b is 220BX81EAB type RV reducer. For the fault signal acquisition of the RV reducer 201b and the bearing gears in the low - speed state, the transmission path starting from the servo motor 201a end is: servo motor 201a, RV reducer 201b, transmission assembly 202, coupling assembly 203.

[0041] The remaining structures are the same as those in Embodiment 1.

[0042] Embodiment 3, referring toFigure 4 , which is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is that the driving component 201 selects a stepper motor 201d, and signal acquisition is performed on the bearings of different models in the high-speed state and the bearings and gears in the secondary gear reducer 202c.

[0043] Compared with Embodiment 2, further, the driving component 201 includes a stepper motor 201d detachably arranged on the motor bracket 102b. The model of the stepper motor 201d is 130BYG2500. The stepper motor 201d is used to replace the servo motor 201a and the RV reducer 201b in the first solution, and the motor bracket 102b is used to fix the stepper motor 201d on the motor base 102a. This solution is applicable to the fault signal acquisition of bearings of different models in the high-speed state and the bearings and gears in the secondary gear reducer 202c.

[0044] The remaining structures are the same as those in Embodiment 2.

[0045] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, color, orientation changes, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structures that perform the functions described herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0046] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present invention, or those features that are not relevant to implementing the present invention).

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A multifunctional rotor fault test bench based on RV reducer, characterized by: include, A test bench unit (100) comprises a test bench (101), a motor support assembly (102) disassembled from the test bench (101), a reducer base (103) disassembled from the test bench (101), a bearing base assembly (104) disassembled from the test bench (101), a torque sensor base (105) disassembled from the test bench (101), and a secondary gear reducer base (106) disassembled from the test bench (101); The transmission unit (200) comprises a drive assembly (201) disassembled on the test bench (101), a transmission assembly (202) disassembled on the test bench (101), and a coupling assembly (203) disassembled on the transmission assembly (202).

2. The multifunctional rotor fault test bench based on RV reducer according to claim 1 is characterized in that: The motor support assembly (102) comprises a motor base (102a) that is detachably arranged on the test bench (101), and a motor support (102b) that is detachably arranged on the test bench (101).

3. The multifunctional rotor fault test bench based on RV reducer according to claim 2 is characterized in that: The bearing base assembly (104) comprises a bearing base 1 (104a) which is disassembled and arranged on the test bench (101), and a bearing base 2 (104b) which is disassembled and arranged on the test bench (101).

4. The multifunctional rotor fault test bench based on RV reducer according to claim 3 is characterized in that: The test bench unit (100) is made of high-strength material.

5. The multifunctional rotor fault test bench based on RV reducer according to claim 1 is characterized in that: The test bench (101) is provided with a T-shaped slot (101a) for mounting the motor bracket assembly (102).

6. The multifunctional rotor fault test bench based on RV reducer according to claim 5 is characterized in that: The center distance of the "T"-shaped groove (101a) is 130 mm.

7. The multifunctional rotor fault test bench based on RV reducer according to claim 6 is characterized in that: The driving assembly (201) comprises a servo motor (201a), an RV reducer (201b) disposed on the reducer base (103) and connected to the servo motor (201a), and an output flange (201c) disposed on the RV reducer (201b).

8. The multifunctional rotor fault test bench based on RV reducer according to claim 7 is characterized in that: The driving assembly (201) comprises a stepping motor (201d) which is detachably mounted on the motor bracket (102b).

9. The multifunctional rotor fault test bench based on RV reducer according to claim 8 is characterized in that: The transmission assembly (202) comprises a disassembled output stepped shaft (202a) arranged on the bearing base assembly (104), a disassembled torque sensor (202b) arranged on the torque sensor base (105), a disassembled secondary gear reducer (202c) arranged on the secondary gear reducer base (106), and a magnetic powder brake (202d) arranged on the test bench (101).

10. The multifunctional rotor fault test bench based on RV reducer according to claim 9 is characterized in that: The coupling assembly (203) comprises a plum blossom coupling 1 (203a) connected to the output stepped shaft (202a), a plum blossom coupling 2 (203b) connected to the torque sensor (202b), and a plum blossom coupling 3 (203c) connected to the output shaft of the secondary gear reducer (202c).

Images