High-precision reverse-drive jitter testing device for harmonic speed reducer

Abstract

The invention discloses a high-precision reverse-drive jitter testing device for a harmonic speed reducer, which belongs to the technical field of performance testing of harmonic speed reducers and comprises a harmonic speed reducer, a rack, a mounting plate, a supporting seat, a supporting shaft, a connecting plate, a cantilever, a vibration sensor, a coupler and a speed measuring encoder. The harmonic speed reducer comprises a wave generator, a rigid wheel, a cross bearing and a flexible wheel, the mounting plate is arranged above the rack, the supporting seat is arranged above the mounting plate, an outer ring of the cross bearing is mounted at the upper part of the supporting seat, a first end of the cantilever is connected with the rigid wheel through a connecting plate, and the vibration sensor is mounted at a second end of the cantilever side; the supporting shaft is installed in the supporting seat through the supporting bearing, the supporting seat is connected with the wave generator, and the supporting shaft is connected with a code disc of the speed measuring encoder. According to the method, the accuracy and the result recognition degree of the reverse drive jitter test of the harmonic speed reducer are remarkably improved, objective data support is provided, and the method is favorable for adapting to the high-precision development requirement of the modern industrial technology.

Description

Technical Field

[0001] This invention belongs to the field of performance testing technology for harmonic reducers, and specifically relates to a high-precision reverse-drive jitter testing device for harmonic reducers. Background Technology

[0002] Harmonic reducers are widely used in industrial robots, collaborative robots, humanoid robots, aerospace, machine tools and other fields due to their high transmission accuracy, large single-stage transmission ratio and small size. The basic structure of a small harmonic reducer includes a wave generator, a rigid wheel, a cross bearing and a flexible wheel. One end of the flexible wheel is connected to the outer ring of the cross bearing, which also serves as the reducer housing. The wave generator is connected to the other end of the flexible wheel and the rigid wheel through the flexible bearing. The rigid wheel is mounted on the inner ring of the cross bearing and serves as the output flange.

[0003] Previously, the application scenarios of harmonic reducers were mostly limited to traditional deceleration conditions, and the industry's focus was on the quantitative performance under deceleration conditions. Now, the application scenarios of harmonic reducers have gradually extended to speed-up conditions, such as the drag teaching process of collaborative robots, industrial robots (such as welding robots and grinding robots), SCARA robots, and some special application scenarios in the field of automation.

[0004] In end-user applications, the traditional method for determining whether a harmonic reducer exhibits abnormal vibration or noise during acceleration is as follows: The outer ring of the cross bearing of the harmonic reducer is mounted on the base, the rigid wheel of the harmonic reducer is connected to the cantilever, and the cantilever is manually dragged to rotate, putting the reducer in a reverse-drive state. The judgment is then made by observing whether abnormal vibration or noise occurs during the dragging process, combined with the subjective experience of the on-site personnel. This traditional method has the following drawbacks: it lacks dedicated quantitative measurement methods, lacks real test data support, and can only rely on subjective experience to determine whether there is an abnormality. The judgment is highly subjective and has low accuracy, making it difficult to meet the high-precision development needs of modern industrial technology. Summary of the Invention

[0005] The purpose of this invention is to provide a high-precision reverse-drive vibration testing device for harmonic reducers that can provide objective test data to facilitate high-accuracy judgment in order to solve the above-mentioned problems.

[0006] The present invention achieves the above objectives through the following technical solutions: A high-precision reverse-drive vibration testing device for harmonic reducers includes a harmonic reducer, comprising a wave generator, a rigid wheel, a cross bearing, and a flexible wheel. One end of the flex wheel, which is axially vertical, is connected to the outer ring of the cross bearing. The wave generator is connected to the other end of the flex wheel and the rigid wheel via the flexible bearing. The rigid wheel is mounted on the inner ring of the cross bearing. The device also includes a frame, a mounting plate, a support base, a support shaft, a connecting plate, a cantilever, a vibration sensor, a coupling, and a speed encoder. The horizontally oriented mounting plate is positioned above the frame, and the support base is positioned above the mounting plate. Each end of the support has a vertical central through hole. The outer ring of the cross bearing is mounted on the upper part of the support base near the edge. The first end of the horizontal cantilever is located above the rigid wheel. The connecting plate is located between the first end of the cantilever and the rigid wheel and is connected to each other. The vibration sensor is mounted on the second end of the cantilever. The lower middle section of the vertical support shaft is mounted in the central through hole of the support base through a support bearing. The upper end of the support base is connected to the wave generator. The lower end of the support shaft is connected to the code disk of the speed encoder through a coupling. The upper end of the speed encoder is mounted below the mounting plate. The coupling is located in the central through hole of the mounting plate.

[0007] Preferably, in order to reliably connect the support shaft and the support base, and to adaptively compensate for the vertical clearance of the related structures connected to the wave generator to eliminate the interference of assembly errors on the test results, there are two support bearings arranged vertically. The lower part of the central through hole wall of the support base extends inward to form a support step, and a wave spring is installed between the lower end of the lower support bearing and the support step.

[0008] Preferably, to facilitate the connection between the coupling and the support shaft, the lower end of the coupling and the support shaft are connected by a vertically oriented connecting sleeve.

[0009] Preferably, in order to better realize the human-computer interaction function, the signal output terminal of the vibration sensor and the signal output terminal of the speed encoder are respectively connected to the signal input terminal of the terminal for human-computer interaction. The terminal can be a computer, control cabinet, touch screen or other conventional terminal equipment.

[0010] Preferably, for ease of assembly and testing, the frame includes a base plate, vertical support plates, and horizontal support plates. The lower ends of the two vertical support plates are respectively mounted on the base plate near both ends. The horizontal support plate is connected to the upper ends of the two vertical support plates. The mounting plate is mounted on the horizontal support plate. The horizontal support plate has a vertical central through hole in the middle, and the speed encoder is placed in the central through hole.

[0011] Preferably, in order to achieve better positioning function, the upper part of the central through hole wall of the supporting horizontal plate and the upper part of the central through hole wall of the mounting plate are respectively provided with circular grooves, the mounting plate is placed in the circular groove of the supporting horizontal plate, and the support base is placed in the circular groove of the mounting plate.

[0012] The beneficial effects of this invention are as follows: This invention designs a frame, mounting plate, support base, support shaft, connecting plate, cantilever, vibration sensor, coupling, and speed encoder that work together. The outer ring of the cross bearing of the harmonic reducer (equivalent to the reducer housing) is mounted on the support base, and the rigid wheel of the harmonic reducer is connected to the cantilever via the connecting plate. During testing, simply rotating the cantilever drives the wave generator in a reverse-drive manner. The speed encoder detects the rotational speed in real time, and the vibration sensor detects the vibration signal. This achieves the goal of accurately collecting key parameters (such as vibration amplitude and abnormal noise characteristic frequency) during the reverse-drive process, enabling the establishment of parameter data and user "test experience". The correlation mapping transforms the vague subjective feelings of traditional manual subjective experience judgment into quantifiable and traceable digital results, significantly improving the accuracy and result acceptance of harmonic reducer reverse drive vibration test. It provides objective data support for the evaluation of harmonic reducer reverse drive performance and is conducive to adapting to the high-precision development needs of modern industrial technology. By installing wave springs between the lower end of the support bearing and the support step of the support seat, the vertical clearance of related structures connected to the wave generator is adaptively compensated, ensuring the coaxiality of the wave generator and subsequent transmission components, eliminating the interference of assembly errors on the test results, and further improving the test accuracy. Attached Figure Description

[0013] Figure 1 This is a front view of the high-precision reverse-drive jitter testing device for harmonic reducers described in this invention; Figure 2 This is a top view of the high-precision reverse-drive jitter testing device for harmonic reducers described in this invention; Figure 3 This is an enlarged AA section view of the top view of the high-precision reverse-drive jitter testing device for harmonic reducers described in this invention; Figure 4 yes Figure 3 A magnified view of the letter "B". Detailed Implementation

[0014] The present invention will be further described below with reference to the accompanying drawings: like Figures 1-4As shown, the high-precision reverse-drive vibration testing device for harmonic reducers of the present invention includes a harmonic reducer 7, a frame (refer to the base plate 3, supporting vertical plate 4, and supporting horizontal plate 5 below), a mounting plate 9, a support base 8, a support shaft 11, a connecting plate 6, a cantilever 2, a vibration sensor 1, a coupling 15, and a speed encoder 10. The harmonic reducer 7 includes a wave generator 73, a rigid wheel 71, a cross bearing 75, and a flexible wheel 74. One end of the axially vertical flexible wheel 74 is connected to the outer ring of the cross bearing 75. The wave generator 73 is connected to the other end of the flexible wheel 74 and the rigid wheel 71 through a flexible bearing 72. The rigid wheel 71 is mounted on the inner ring of the cross bearing 75 by screws. The horizontal mounting plate 9 is placed above the frame, and the support base 8 is placed above the mounting plate 9 by screws. The support base 8 and the mounting plate 9 are respectively provided with vertical centers. The outer ring of the cross bearing 75 is mounted on the upper part of the support base 8 near the edge with screws. The first end of the transverse cantilever 2 is located above the rigid wheel 71. The connecting plate 6 is located between the first end of the cantilever 2 and the rigid wheel 71 and is connected to each other with screws (i.e., the connecting plate 6 is connected to the first end of the cantilever 2 and the rigid wheel 71 with screws). The vibration sensor 1 is mounted on the second end of the cantilever 2 with screws. The middle and lower section of the vertical support shaft 11 is mounted in the central through hole of the support base 8 through the support bearing 12. The upper end of the support base 8 is connected to the wave generator 73 with screws. The lower end of the support shaft 11 is connected to the code disk of the speed encoder 10 through the coupling 15. The upper end of the speed encoder 10 is mounted on the lower part of the mounting plate 9 with screws. The coupling 15 is located in the central through hole of the mounting plate 9.

[0015] like Figures 1-4 As shown, the present invention also discloses the following more optimized specific structures: In order to reliably connect the support shaft 11 and the support base 8, and in order to adaptively compensate for the vertical clearance of the related structure connected to the wave generator 73 to eliminate the interference of assembly error on the test results, there are two support bearings 11 arranged vertically. The lower part of the central through hole wall of the support base 8 extends inward to support the step, and a wave spring 14 is installed between the lower end of the lower support bearing 11 and the support step.

[0016] To facilitate the connection between the coupling 15 and the support shaft 11, the lower ends of the coupling 15 and the support shaft 11 are connected by a vertically oriented connecting sleeve 13.

[0017] To better realize the human-computer interaction function, the signal output terminal of vibration sensor 1 and the signal output terminal of speed encoder 10 are respectively connected to the signal input terminal of terminal (not shown in the figure) used for human-computer interaction. The terminal can be a computer, control cabinet, touch screen or other conventional terminal equipment.

[0018] To facilitate assembly and testing, the frame includes a base plate 3, support vertical plates 4, and support horizontal plates 5. The lower ends of the two support vertical plates 4 are respectively installed on the base plate 3 near both ends. The support horizontal plate 5 is connected to the upper ends of the two support vertical plates 4. The mounting plate 9 is installed on the support horizontal plate 5. The support horizontal plate 5 has a vertical central through hole in the middle and the speed encoder 10 is placed in the central through hole.

[0019] To achieve better positioning, the upper part of the central through hole wall of the support plate 5 and the upper part of the central through hole wall of the mounting plate 9 are respectively provided with circular grooves. The mounting plate 9 is placed in the circular groove of the support plate 5 and connected by screws. The support base 8 is placed in the circular groove of the mounting plate 9 and connected by screws.

[0020] like Figures 1-4 As shown, during the test, the operator drags the cantilever 2 to rotate, which in turn drives the wave generator 73 to rotate. The wave generator 73 then drives the support shaft 11, connecting sleeve 13, coupling 15, and the code disk of the speed encoder 10 to rotate synchronously. The speed encoder 10 detects the rotational speed of the wave generator 73 in real time and sends the speed signal to the terminal. The operator preferably uses a "low, medium, and high speed test mode" for drive control to comprehensively cover different operating scenarios under acceleration conditions, ensuring a more comprehensive evaluation of the vibration characteristics of the harmonic reducer 7. The cantilever 2 adopts a "vibration amplification structure" with optimized length and stiffness through simulation, amplifying the minute vibration displacement of the harmonic reducer 7 during reverse drive. This facilitates the vibration sensor 1 in accurately capturing weak vibration signals. The vibration sensor 1 transmits the detected vibration signals to the terminal, achieving the goal of accurately collecting key parameters (including vibration amplitude, vibration frequency, vibration acceleration, etc.) during reverse drive. The operator uses this to establish a correlation between parameter data and user "test experience" (i.e., subjective experience, such as whether abnormal stuttering or abnormal noise is perceived). For example, if the measured vibration amplitude exceeds a preset threshold at a certain gear, or if the vibration signal exhibits abnormal high-frequency characteristics, it is determined that the harmonic reducer 7 has a vibration or abnormal noise correlation under the corresponding acceleration condition, ultimately outputting "quantitative data + subjective experience correlation". The comprehensive evaluation results are presented. Through the above testing methods, this invention transforms the vague subjective feelings that rely solely on human subjective experience into quantifiable and traceable digital results, significantly improving the accuracy and acceptance of reverse drive tests. This provides objective data support for the evaluation of harmonic reducer reverse drive performance and is conducive to meeting the high-precision development needs of modern industrial technology.

[0021] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the technical solutions of the present invention. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of the patent of the present invention.

Claims

1. A high-precision reverse-drive jitter testing device for a harmonic reducer, comprising a harmonic reducer, the harmonic reducer including a wave generator, a rigid wheel, a cross bearing, and a flexible wheel, one end of the flex wheel (axially vertical) being connected to the outer ring of the cross bearing, the wave generator being connected to the other end of the flex wheel and the rigid wheel via the flexible bearing, the rigid wheel being mounted on the inner ring of the cross bearing, characterized in that: The high-precision reverse-drive vibration testing device for harmonic reducers further includes a frame, mounting plate, support base, support shaft, connecting plate, cantilever, vibration sensor, coupling, and speed encoder. The horizontal mounting plate is positioned above the frame, and the support base is positioned above the mounting plate. The support base and the mounting plate are each provided with a vertical central through hole. The outer ring of the cross bearing is mounted on the upper part of the support base near the edge. The first end of the horizontal cantilever is located above the rigid wheel. The connecting plate is located between the first end of the cantilever and the rigid wheel and is connected to each other. The vibration sensor is mounted on the second end of the cantilever. The lower middle section of the vertical support shaft is mounted in the central through hole of the support base through a support bearing. The upper end of the support base is connected to the wave generator. The lower end of the support shaft is connected to the code disk of the speed encoder through the coupling. The upper end of the speed encoder is mounted below the mounting plate, and the coupling is located in the central through hole of the mounting plate.

2. The high-precision reverse-drive jitter testing device for harmonic reducers according to claim 1, characterized in that: The support bearings are two in number and arranged vertically. The lower part of the central through hole wall of the support base extends inward to form a support step, and a wave spring is installed between the lower end of the lower support bearing and the support step.

3. The high-precision reverse-drive jitter testing device for harmonic reducers according to claim 1, characterized in that: The coupling is connected to the lower end of the support shaft via a vertically oriented connecting sleeve.

4. The high-precision reverse-drive jitter testing device for harmonic reducers according to any one of claims 1-3, characterized in that: The signal output terminals of the vibration sensor and the speed encoder are respectively connected to the signal input terminals of the terminal for human-computer interaction.

5. The high-precision reverse-drive jitter testing device for harmonic reducers according to any one of claims 1-3, characterized in that: The frame includes a base plate, supporting vertical plates and supporting horizontal plates. The lower ends of the two supporting vertical plates are respectively installed on the base plate near both ends. The supporting horizontal plate is connected to the upper ends of the two supporting vertical plates. The mounting plate is installed on the supporting horizontal plate. The supporting horizontal plate has a vertical central through hole in the middle and the speed encoder is placed in the central through hole.

6. The high-precision reverse-drive jitter testing device for harmonic reducers according to claim 5, characterized in that: The upper part of the central through hole wall of the supporting horizontal plate and the upper part of the central through hole wall of the mounting plate are respectively provided with circular grooves. The mounting plate is placed in the circular groove of the supporting horizontal plate, and the support base is placed in the circular groove of the mounting plate.

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