Durability evaluation apparatus and method for reducer

Abstract

The present invention relates to a durability evaluation apparatus and method for a reducer, the apparatus comprising: a test device unit which provides a load to a sample reducer to be evaluated and tests the sample reducer; a data collection unit which collects and stores data detected by the test device unit; and an evaluation unit which evaluates the durability of the sample reducer through trend analysis of the data stored in the data collection unit.

Description

Durability performance evaluation device and method for reduction gears

[0001] The present invention relates to a device and method for evaluating the durability performance of a reduction gear, and more specifically, to a device and method capable of automatically collecting data from a device for evaluating the durability performance of a reduction gear to evaluate the durability performance of the reduction gear.

[0002] Delta robots are relatively small robots that handle food for packaging, pharmaceuticals for containerization, and electronic products for assembly.

[0003] These delta robots are accurate and fast, making them highly suitable for various applications, and their parallel motion capabilities enable fast and precise movements.

[0004] The gearbox, one of the important components of such a delta robot, is a key part that determines the robot's motion performance by increasing the torque generated by the motor.

[0005] To ensure quality stabilization and reliability, robot reducers undergo durability performance evaluations.

[0006] The durability performance evaluation of such a reduction gear typically includes an input motor, an output motor, and a sensor for measuring the load applied to the input and output motors in order to verify the durability performance of the sample reduction gear being evaluated.

[0007] However, since the sensors used for evaluating the durability performance of conventional reducers are expensive, there is a problem of increasing the production cost of the durability performance evaluation device.

[0008] The present invention aims to solve the aforementioned problems, and the objective of the present invention is to provide a durability performance evaluation device and method for a reduction gear that automatically collects various data for durability evaluation and performs both durability evaluation and performance evaluation of the reduction gear using the collected data.

[0009] In addition, another objective of the present invention is to provide a durability performance evaluation device and method for a reduction gear that can perform both durability evaluation and performance evaluation of the reduction gear under evaluation, even if the motor generating the load is not connected to a separate sensor.

[0010] The problems of the present invention are not limited to those mentioned above, and other unmentioned problems will be clearly understood by a person skilled in the art to which the present invention pertains from the description below.

[0011] A durability performance evaluation device for a reduction gear according to one aspect of the present invention may include a test device unit that provides a load to and tests a sample reduction gear to be evaluated, a data collection unit that collects and stores data detected by the test device unit, and an evaluation unit that evaluates the durability performance of the sample reduction gear through trend analysis of the data stored in the data collection unit.

[0012] In an embodiment of the present invention, the test device unit comprises a mounting base and a sample reducer axially coupled to a first motor, an input unit coupled to one surface of the mounting base, an output unit comprising a second motor and a load reducer axially coupled to the sample reducer via a second coupler and the second motor via a first coupler, and an axial load generating unit connected to one side of the load reducer to apply an axial load to the sample reducer, wherein the output unit is slidably coupled to the mounting base so as to be able to move in a linear reciprocating motion, and each of the first motor and the second motor is configured as a sensor-integrated motor in which a sensor is integrally formed, and the data collection unit can collect and store rotational speed data and torque data of the first motor and the second motor, which are sensor-integrated motors.

[0013] In an embodiment of the present invention, the sensor-integrated motor may be an encoder-integrated motor.

[0014] In an embodiment of the present invention, the test device unit further includes a vibration data measuring sensor for detecting vibration of the sample reducer and a temperature sensor for detecting the temperature of the sample reducer, and the data collection unit can collect vibration data from the vibration data measuring sensor and temperature data from the temperature sensor.

[0015] In an embodiment of the present invention, the evaluation unit may generate an alarm when the change value or current data within a unit time in the trend analysis exceeds a threshold value.

[0016] A method for evaluating the durability performance of a reduction gear according to another aspect of the present invention may include: a) a step of collecting data from a test device unit that provides a load to a sample reduction gear to be evaluated and tests it in a data collection unit; b) a step of performing a trend analysis on the data collected in the data collection unit in an evaluation unit; and c) a step of evaluating the durability performance of the sample reduction gear by comparing the amount of data change within a unit time in the trend analysis with a reference.

[0017] In an embodiment of the present invention, step a) can collect data representing the rotational speed, torque, vibration, and temperature information of the sample reducer.

[0018] In an embodiment of the present invention, the rotational speed and the torque can be detected by a sensor-integrated motor that rotates the sample reducer.

[0019] In an embodiment of the present invention, the vibration and the temperature information can be detected by a vibration data measuring sensor that detects the vibration of the sample reducer and a temperature sensor that detects the temperature of the sample reducer, respectively.

[0020] In an embodiment of the present invention, in step c), the evaluation unit may generate an alarm if the amount of data change within a unit time or the current data exceeds a threshold value.

[0021] According to the above configuration, the durability performance evaluation device and method for a reduction gear according to the present invention has the effect of collecting data including rotational speed, torque, vibration, and temperature information of the reduction gear without using a separate sensor connected to the motor, and evaluating changes in the performance of the reduction gear using the collected data.

[0022] In addition, the durability performance evaluation device for a reduction gear according to the present invention can reduce production costs by performing both durability evaluation and performance evaluation of the reduction gear being evaluated, even if the motor generating the load is not connected to a separate sensor.

[0023] In addition, the durability performance evaluation device for a reduction gear according to the present invention can directly connect a motor that generates a load through sliding movement to the sample reduction gear, thereby allowing for easy switching between the durability evaluation mode and the performance evaluation mode. Through this, the durability performance evaluation device for a reduction gear according to the present invention can perform both the durability evaluation and the performance evaluation of the reduction gear through a single device.

[0024] In addition, the durability performance evaluation device for a reduction gear according to the present invention allows the motor to move linearly through sliding movement, thereby enabling the convenient addition of an additional device, such as a torque sensor, between the motor and the reduction gear.

[0025] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

[0026] FIG. 1 is a block diagram of a durability performance evaluation device for a reduction gear according to a preferred embodiment of the present invention.

[0027] Figure 2 is a drawing showing the test apparatus section in Figure 1.

[0028] Figure 3 is a schematic diagram showing the state in which the input, output, and load generating parts of the test device are separated from the mounting base.

[0029] Figure 4 is a drawing of Figure 3 viewed from below.

[0030] FIG. 5 is a drawing showing the input, output, and load generating sections that can be applied to FIG. 2 partially separated.

[0031] Figure 6 is a drawing of the load reduction gear coupling unit extracted from the test device section.

[0032] FIG. 7 is a drawing showing a stopper member that can be applied to a test device.

[0033] Figure 8 is a separated view of Figure 7.

[0034] FIG. 9 is a diagram schematically illustrating a sliding movement method using a guide rail, a first guide hole, and a second guide hole in a test device part according to the present invention.

[0035] FIG. 10 is a drawing showing the state in which the durability performance evaluation device for the reduction gear of FIG. 2 is switched to a performance evaluation mode, and shows the state in which the second motor is directly connected to the sample reduction gear.

[0036] FIG. 11 is a drawing showing a test apparatus part according to another embodiment of the present invention.

[0037] FIG. 12 is a drawing showing the input, output, and load generating sections that can be applied to FIG. 11, partially separated.

[0038] FIG. 13 is a drawing showing the state in which the test device unit of FIG. 11 is switched to a performance evaluation mode, and shows the state in which the second motor is directly connected to the sample reducer.

[0039] FIG. 14 is a drawing showing a durability performance evaluation device for a reduction gear according to another embodiment of the present invention.

[0040] FIG. 15 is a drawing showing the input, output, and load generating sections that can be applied to FIG. 14, partially separated.

[0041] FIG. 16 is a drawing showing the state in which the durability performance evaluation device for the reduction gear of FIG. 14 is switched to a performance evaluation mode, and shows the state in which the second motor is directly connected to the sample reduction gear.

[0042] FIG. 17 is a flowchart of a method for evaluating the durability performance of a reduction gear according to a preferred embodiment of the present invention.

[0043] To fully understand the structure and effects of the present invention, preferred embodiments of the present invention are described with reference to the attached drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms and various modifications can be made. The description of the embodiments is provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In the attached drawings, components are depicted enlarged from their actual size for convenience of explanation, and the proportions of each component may be exaggerated or reduced.

[0044] Terms such as 'first' and 'second' may be used to describe various components, but said components should not be limited by said terms. These terms may be used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, 'first component' may be named 'second component,' and similarly, 'second component' may be named 'first component.' Furthermore, singular expressions include plural expressions unless the context clearly indicates otherwise. Unless otherwise defined, terms used in the embodiments of the present invention may be interpreted in the sense commonly known to those skilled in the art.

[0045] Hereinafter, a test method for a semiconductor transformer according to one embodiment of the present invention will be described in detail with reference to the drawings.

[0046]

[0047] FIG. 1 is a block diagram of a durability performance evaluation device for a reduction gear according to one embodiment of the present invention.

[0048] Referring to FIG. 1, the present invention includes a test unit (100) that tests a sample reducer (122) subject to evaluation by providing load conditions of an actual usage environment, a data collection unit (400) that collects test data from the test unit (100) and stores it by classifying it according to the type and time of the data, and an evaluation unit (500) that performs a performance evaluation through trend analysis of the data collected from the data collection unit (400) and generates an alarm when a threshold value is exceeded.

[0049] The above data collection unit (400) collects and stores data including the rotational speed, torque, vibration, or temperature of the sample reducer (122).

[0050] The evaluation unit (500) communicates in real time with the data collection unit (400) and is a computing device that processes the collected data.

[0051] In the present invention, the test device part (100) can be configured in various forms, and different symbols 100, 200, or 300 are assigned to distinguish the embodiments.

[0052] The test device (100) can receive load conditions that the sample reducer (122) being evaluated can receive in an actual usage environment, thereby enabling both durability evaluation and performance evaluation of the sample reducer in an environment similar to the actual usage environment.

[0053] For example, the test device unit (100) applied to one embodiment of the present invention can perform durability evaluation and performance evaluation of a robot reduction gear, which is one of the core components of the robot.

[0054] At this time, the test device unit (100) according to one embodiment of the present invention may be configured to perform both performance evaluation and durability evaluation of the sample reducer (122) to be evaluated through a single device.

[0055] In addition, the test device unit (100) according to one embodiment of the present invention may be configured to perform a durability evaluation of the sample reducer (122) to be evaluated by implementing a dual load torque.

[0056] To this end, the test device unit (100) applied to the present invention may include a mounting base (110), an input unit (120), an output unit (130), and an axial load generating unit (140) as shown in FIGS. 2 to 5.

[0057] The above mounting bracket (110) can support the input unit (120) and the output unit (130), and can arrange the axial load generating unit (140) so that the axial load can be smoothly applied to the sample reducer (122) side of the input unit (120).

[0058] To this end, the mounting base (110) may be provided as a plate-shaped member having a predetermined area, and the mounting base (110) may be coupled to the upper side of a support frame (101) having a predetermined height.

[0059] That is, the mounting base (110) can be coupled to the upper side of a support frame (101) formed as a frame structure having a predetermined height, and the input part (120) and output part (130) can be coupled to the upper surface of the mounting base (110) and supported through the mounting base (110).

[0060] Here, the support frame (101) may include an upper frame (102), a lower frame (103), and a connecting frame (104) connecting the lower frame (103) and the lower frame (103), and the mounting base (110) may be fixed to the upper side of the upper frame (102).

[0061] Accordingly, the mounting base (110) can be maintained at a certain height above the ground, and the pneumatic cylinder (142) constituting the axial load generating unit (140) can be positioned on the lower side of the mounting base (110).

[0062] However, the shape of the support frame (101) is not limited to this, and the overall shape of the support frame (101) can be appropriately changed as long as the mounting base (110) can be maintained at a certain height above the ground.

[0063] The input unit (120) may include a first motor (121) and a sample reducer (122), and the first motor (121) and the sample reducer (122) may be axially coupled via a third coupler (163). In this case, the first motor (121) and the sample reducer (122) may be placed on the upper surface of the mounting base (110).

[0064] Here, the sample reducer (122) may be a reducer to be evaluated, and the sample reducer (122) may be fixed to the upper surface of the mounting base (110) via the sample reducer coupling member (124), and the first motor (121) may be coupled to the upper surface of the mounting base (110) via the first motor coupling member (123).

[0065] At this time, the first motor (121) may be fixed to the upper surface of the mounting base (110) via the first motor coupling member (123), but may also be coupled to the upper surface of the mounting base (110) via the first motor coupling member (123) so as to be slidably moved.

[0066] Additionally, when the first motor (121) performs an endurance evaluation of the sample reducer (122), it can generate a load on the sample reducer (122) based on the input speed profile.

[0067] In contrast, the first motor (121) may not generate a load when performing a performance evaluation of the sample reducer (122).

[0068] At this time, the first motor (121) may be a sensor-integrated motor in which a sensor is integrally formed. For example, the first motor (121) may be an encoder-integrated motor.

[0069] Additionally, the first motor (121) may be a motor including a servo drive and a servo motor, and the servo drive may include a current sensor.

[0070] In this case, the encoder included in the first motor (121) can detect the RPM or rotation angle of the first motor (121) in real time and transmit it to the data collection unit (400), and the current sensor of the servo drive included in the first motor (121) can convert the current value measured from the servo motor of the first motor (121) to calculate a torque value and transmit it to the data collection unit (400).

[0071] Accordingly, in the test device unit (100) applied to the present invention, even if an expensive encoder sensor is not separately installed between the first motor (121) and the sample reducer (122), information such as torque, RPM, and rotation angle of the first motor (121) driven according to the input speed profile can be smoothly measured through the encoder and current sensor included in the first motor (121).

[0072] Additionally, the present invention may further include a temperature sensor for detecting the temperature of the sample reducer (122). The detection result of the temperature sensor may also be provided to the data collection unit (400). The temperature sensor is indicated by reference numeral 128 in FIG. 16.

[0073] Through this, the test device unit (100) applied to the present invention can smoothly measure the load generated from the first motor (121) and transmitted to the sample reducer (122) through the encoder and current sensor included in the first motor (121) even without a separate sensor being installed between the first motor (121) and the sample reducer (122) which are axially coupled to measure the load generated from the first motor (121), thereby simplifying the overall configuration and lowering the production cost.

[0074] In addition, there is a feature that allows for the detection of temperature changes in the sample reducer (122) during testing of the sample reducer (122).

[0075] The output unit (130) may include a second motor (131) and a load reduction gear (132), and the second motor (131) and the load reduction gear (132) may be axially coupled via a first coupler (161).

[0076] Additionally, the load reduction gear (132) may be axially coupled to the sample reduction gear (122) via the second coupler (162). Here, the load reduction gear (132) may serve to reduce the output value of the second motor (131).

[0077] At this time, the load reduction gear (132) may be a reduction gear with better performance than the sample reduction gear (122).

[0078] For example, the load reduction gear (132) may be equipped with a reduction gear having a relatively larger maximum allowable torque and rated allowable torque than the sample reduction gear (122).

[0079] Accordingly, the load reduction gear (132) can be prevented from deteriorating in performance before the sample reduction gear (122) during the process of evaluating the durability of the sample reduction gear (122).

[0080] As a result, the test device unit (100) applied to the present invention can smoothly perform the durability evaluation of the sample reducer (122) to be evaluated.

[0081] Here, the load reduction gear (132) can be coupled to the upper surface of the mounting base (110) via the load reduction gear coupling member (134), and the second motor (131) can be coupled to the upper surface of the mounting base (110) via the second motor coupling member (133).

[0082] At this time, the second motor (131) may be fixedly coupled to the upper surface of the mounting base (110), but may also be slidably coupled to the mounting base (110) so as to be able to move in a straight reciprocating motion.

[0083] To this end, as illustrated in FIGS. 3 and 4, the mounting base (110) may include a pair of guide rails (111a, 111b) fixed at a distance from each other on one surface, and a plurality of first sliders (112) slidably coupled to the pair of guide rails (111a, 111b).

[0084] In this case, the second motor coupling member (133) can fix the second motor (131), and the plurality of first sliders (112) can be fixed to one side of the second motor coupling member (133).

[0085] Accordingly, the second motor coupling member (133) can be moved in a linear reciprocating motion along the pair of guide rails (111a, 111b) through the plurality of first sliders (112), and the second motor (131) can be moved slidingly along the pair of guide rails (111a, 111b) through the sliding motion of the second motor coupling member (133).

[0086] In this way, when the test device unit (100) applied to the present invention performs a performance evaluation of the sample reducer (122), as shown in FIG. 10, the second motor (131) can be slid along the pair of guide rails (111a, 111b) and directly connected to the sample reducer (122) via the first coupler (161) or the second coupler (162).

[0087] That is, after releasing the shaft coupling state of the load reduction gear (132) which is shaft-coupled to the second motor (131) and sample reduction gear (122) respectively through the first coupler (161) and the second coupler (162), if the load reduction gear coupling member (134) is separated from the mounting member (110), the load reduction gear (132) can be separated from the mounting member (110).

[0088] In this state, if the second motor (131) is slid along the pair of guide rails (111a, 111b) toward the sample reducer (122), the second motor (131) can be brought close to the sample reducer (122), and the second motor (131) can be directly axially coupled to the sample reducer (122) using the first coupler (161) or the second coupler (162).

[0089] Accordingly, the load generated from the second motor (131) can be transferred to the sample reducer (122), thereby allowing the performance evaluation of the sample reducer (122) to be performed.

[0090] At this time, the second motor (131) may be a sensor-integrated motor in which a sensor is integrally formed, similar to the first motor (121). For example, the second motor (131) may be an encoder-integrated motor.

[0091] Additionally, the second motor (131) may be a motor including a servo drive and a servo motor, and the servo drive may include a current sensor.

[0092] In such a case, the encoder included in the second motor (131) can detect the RPM or rotation angle of the second motor (131) in real time and transmit it to the outside, and the current sensor of the servo drive included in the second motor (131) can calculate a torque value by converting the current value measured from the servo motor of the second motor (131).

[0093] In other words, when no load is generated in the first motor (121), the load generated in the second motor (131) and transmitted to the sample reducer (122) can be measured through the encoder and current sensor included in the second motor (131).

[0094] Accordingly, in the test device unit (100) applied to the present invention, even if an expensive encoder sensor is not separately installed between the second motor (131) and the sample reducer (122), the load transmitted from the second motor (131) to the sample reducer (122) can be smoothly measured through the encoder and current sensor included in the second motor (131).

[0095] Through this, the test device unit (100) applied to the present invention can extract the hysteresis curve of the sample reducer (122) using the values ​​measured through the encoder and current sensor included in the second motor (131), thereby enabling smooth acquisition of data for performance evaluation of the sample reducer (122).

[0096] That is, the test device unit (100) applied to the present invention can detect the rotational speed and torque of the sample reducer (122) using an encoder and a current sensor included in the second motor (131), and can detect the vibration and temperature of the sample reducer (122) using a vibration data measurement sensor (129 in FIG. 16) and a temperature sensor (128). The data detected by the test device unit (100) in this way is automatically collected by the data collection unit (400), and the evaluation unit (500) can perform various evaluations using the rotational speed, torque, vibration, and temperature data of the sample reducer (122).

[0097] By applying sensor-integrated motors to the first motor (121) and the second motor (131), there is no need to install a separate sensor, so the design is simple and the number of parts is reduced, making installation easy.

[0098] Furthermore, the ability to directly detect motor rotational speed and torque data enhances data reliability and accuracy. Additionally, integrating the sensor and motor into a single device facilitates easier parts replacement and management during maintenance. Consequently, the cause of failure can be identified quickly, thereby increasing management efficiency.

[0099] In addition, since there is no need to purchase or install separate sensors, initial costs are reduced, and the reduction in the number of parts is expected to improve the overall cost efficiency of the equipment.

[0100] By using motors with integrated sensors, the reliability and stability of the system can be enhanced. This is because the built-in sensors are relatively less affected by the external environment. Additionally, since sensors such as encoders are directly embedded in the motor, data collection can be performed conveniently. This minimizes physical connections and shortens data transmission paths, providing significant advantages for real-time monitoring.

[0101] The above vibration data measurement sensor may use an acceleration sensor, a displacement sensor, or a velocity sensor.

[0102] The evaluation unit (500) can obtain a hysteresis curve and can perform performance evaluation of the sample reducer (122), such as backlash, torsional rigidity, and lost motion, through the hysteresis curve.

[0103] Additionally, the evaluation unit (500) can obtain a trend line through trend analysis of the data collected by the data collection unit (400) and evaluate the performance change of the sample reducer (122).

[0104] The rotational speed of the sample reducer (122) is a factor for evaluating the operating state and mechanical performance, such as wear, of the sample reducer (122). Changes in rotational speed can be used to check whether the performance of the sample reducer (122) has deteriorated.

[0105] Abnormal operation of the sample reducer (122) can be identified by comparing it with the normal rotational speed and an early warning can be given. That is, wear and deterioration of the reducer can be detected through analysis of the rotational speed trend.

[0106] Torque data is an indicator of the load that the sample reducer (122) can withstand, and the durability of the sample reducer (122) can be evaluated by simulating the load conditions during actual robot operation.

[0107] The maximum torque and average torque of the sample reducer (122) can be monitored to determine if they exceed the design specifications. If abnormal signs of torque are detected, the timing of maintenance can be optimized to prepare for the risk of failure of the reducer.

[0108] Acceleration serves as a measure for measuring vibration and shock of the sample reducer (122) and the test device (100). Acceleration can be detected by a vibration data measurement sensor. A 3-axis acceleration sensor can be used as the vibration data measurement sensor.

[0109] By detecting changes in acceleration, the mechanical stability of the sample reducer (122) can be verified. This can extend the lifespan of the reducer and increase the reliability of the system.

[0110] The above vibration data measurement sensor can also utilize displacement and velocity data.

[0111] In addition, temperature data can be used to check the performance and durability indicators of the sample reducer (122). A rise in temperature may indicate an excessive load or a lack of lubricant, and it is possible to identify the problem of overheating early and determine when deterioration begins.

[0112] In the test device unit (100) applied to the present invention, when the second motor (131) is directly connected to the sample reducer (122) via the first coupler (161) to perform a performance evaluation of the sample reducer (122), the load generated from the second motor (131) and transmitted to the sample reducer (122) can be smoothly measured through the encoder and current sensor included in the second motor (131), thereby simplifying the overall configuration and lowering the production cost.

[0113] In addition, the test device unit (100) applied to the present invention allows the second motor (131) to slide and be directly coupled to the sample reducer (122), thereby enabling easy switching between the durability evaluation mode and the performance evaluation mode of the sample reducer (122).

[0114] Through this, the test device unit (100) applied to the present invention can be switched between a durability evaluation mode and a performance evaluation mode through a simple detachable method, thereby enabling both performance evaluation and durability evaluation of the sample reducer (122) to be performed through a single device.

[0115] Here, if the first motor (121) is equipped as an encoder-integrated motor as described above, the encoder and current sensor included in the first motor (121) can measure the output value of the sample reducer (122). That is, the encoder and current sensor included in the first motor (121) can monitor the load transmitted from the second motor (131) to the sample reducer (122).

[0116] Accordingly, the test device unit (100) applied to the present invention can smoothly measure the load transmitted from the second motor (131) to the sample reducer (122) through the encoder and current sensor included in the second motor (131) without using a separately mounted expensive encoder sensor, and can also monitor the load transmitted from the second motor (131) to the sample reducer (122) through the encoder and current sensor included in the first motor (121).

[0117] Meanwhile, the output unit (130) may further include a stopper member (150) for allowing or restricting the movement of the second motor (131) which slides along the pair of guide rails (111a, 111b).

[0118] That is, the stopper member (150) can allow or restrict the linear movement of the first slider (112) through user operation.

[0119] To this end, the stopper member (150) may include a stopper body (151) fixed to one side of the second motor coupling member (133) as shown in FIGS. 7 and 8, a screw member (152) having a first screw portion (152a) and a second screw portion (152b) formed in opposite directions along the circumferential surface, a pair of moving members (153a, 153b) each screw-coupled to the first screw portion (152a) and the second screw portion (152b), and a lever member (154) coupled to the end of the screw member (152).

[0120] In this case, the stopper body (151) may include a receiving groove (151a) formed inwardly from one side to accommodate a screw member (152) comprising a pair of moving members (153a, 153b) respectively screw-coupled to the first screw portion (152a) and the second screw portion (152b), and the lever member (154) may be positioned on the outside of the stopper body (151).

[0121] Additionally, the stopper member (150) may be fixed to one side of the second motor coupling member (133) so that the pair of moving members (153a, 153b) are positioned on both sides of the guide rail (111a, 111b).

[0122] Through this, the pair of moving members (153a, 153b) can move away from each other or move closer to each other along the screw member (152) when the lever member (154) is operated.

[0123] As a result, when the pair of moving members (153a, 153b) move in a direction that brings them closer to each other through the operation of the lever member (154) and come into close contact with both sides of the guide rail (111a, 111b), the movement of the second motor coupling member (133) and the first slider (112) may be restricted.

[0124] Conversely, when the pair of moving members (153a, 153b) move away from each other through the operation of the lever member (154) and are spaced apart from both sides of the guide rail (111a, 111b) at a certain distance, the second motor coupling member (133) and the first slider (112) can freely slide along the guide rail (111a, 111b).

[0125] Accordingly, the second motor (131) can be slid along the guide rails (111a, 111b) through user operation of the stopper member (150) to change its position and maintain the moved position.

[0126] Meanwhile, the load reduction gear (132) can be slidably coupled to the mounting base (110) so as to be able to move in a linear reciprocating motion, just like the second motor (131).

[0127] In such a case, the load reduction gear (132) may be capable of sliding together with the second motor (131), or its sliding movement together with the second motor (131) may be restricted.

[0128] Accordingly, the test device part (100) applied to the present invention can have the entire output part (130) slidably coupled to the mounting base (110).

[0129] To this end, the mounting bracket (110) may include a first guide hole (113a) formed through a through hole parallel to the pair of guide rails (111a, 111b) as shown in FIG. 3, and the output unit (130) may further include a load reduction gear coupling member (134) that fixes the load reduction gear (132) and a second slider (135) that is detachably coupled to one side of the load reduction gear coupling member (134) (see FIG. 9).

[0130] In this case, the second slider (135) may be provided to protrude a certain length from one side of the load reduction gear coupling member (134) and to move along the first guide hole (113a).

[0131] In addition, the second slider (135) can prevent the load reduction gear coupling member (134) from being separated from the mounting member (110) while moving along the first guide hole (113a).

[0132] That is, the second slider (135) may include a first part (135a) having a width narrower than the first guide hole (113a) and a second part (135b) having a width wider than the first guide hole (113a), and the second slider (135) may be positioned such that the second part (135b) is positioned below the first guide hole (113a), and the end of the first part (135a) positioned in the first guide hole (113a) may be fixed to the load reduction gear coupling member (134).

[0133] Accordingly, the load reduction gear coupling member (134) can be moved in a straight reciprocating motion along the first guide hole (113a) through the second slider (135), and the load reduction gear (132) can be moved along the first guide hole (113a) through the movement of the second slider (135).

[0134] As a result, when the load reduction gear (132) is axially coupled with the second motor (131) through the first coupler (161), it may slide together with the second motor (131) or its movement together with the second motor (131) may be restricted.

[0135] That is, as described above, when the stopper member (150) allows the first slider (112) to move linearly through the operation of the user, the load reduction gear (132), which is axially coupled to the second motor (131) through the first coupler (161), can be slidably moved together with the second motor (131).

[0136] Additionally, if the stopper member (150) restricts the linear movement of the first slider (112) through user operation, the load reduction gear (132), which is axially coupled with the second motor (131) through the first coupler (161), may be restricted from sliding together with the second motor (131).

[0137] Through this, the test device unit (100) applied to the present invention can slide the second motor (131) and the load reduction gear (132) together, thereby allowing the sample reduction gear (122) to be evaluated to be easily replaced.

[0138] That is, if the sample reducer (122) is to be replaced with another sample reducer, the test device unit (100) applied to the present invention can move the load reducer (132) away from the sample reducer (122) together with the second motor (131) while the load reducer (132) and the sample reducer (122) are separated from each other.

[0139] In this state, if the sample reducer (122) and the first motor (121), which are axially coupled to each other using the third coupler (163), are separated from each other, the sample reducer (122) can be easily removed from the mounting base (110).

[0140] Through this, the test device unit (100) applied to the present invention can easily replace the sample reducer (122) to be evaluated with another sample reducer without the need to separate the output unit (130) from the mounting base (110).

[0141] Additionally, the test device unit (100) can slide the second motor (131) and the load reduction gear (132) together, thereby allowing other parts to be easily added between the load reduction gear (132) and the sample reduction gear (122).

[0142] For example, a separate sensor can be easily added between the load reducer (132) and the sample reducer (122).

[0143] Meanwhile, the mounting bracket (110) may further include a second guide hole (113b) of the elongated hole formed parallel to the first guide hole (113a) in addition to the first guide hole (113a) as shown in FIG. 3, and the output unit (130) may further include an additional slider (136) coupled to one side of the load reduction gear coupling bracket (134) (see FIG. 6).

[0144] In this case, the additional slider (136) can be coupled to one side of the load reduction gear coupling member (134), can move along the second guide hole (113b), and can be formed in a bar shape having a predetermined length.

[0145] Accordingly, when the load reduction gear coupling member (134) moves in a straight reciprocating motion along the first guide hole (113a) through the second slider (135), the additional slider (136) can guide the direction of movement of the load reduction gear coupling member (134) while moving along the second guide hole (113b).

[0146] The above-mentioned axial load generating unit (140) can be connected to one side of the load reduction unit (132) so as to apply an axial load to the sample reduction unit (122).

[0147] That is, the above-mentioned axial load generating unit (140) can apply an axial load to the output shaft of the above-mentioned sample reducer (122) during the durability evaluation of the above-mentioned sample reducer (122) to be evaluated.

[0148] At this time, the shaft load generating unit (140) can be configured to vary the shaft load value applied to the sample reducer (122).

[0149] To this end, the axial load generating unit (140) may include a mounting member (141) coupled to the rotating shaft to surround the rotating shaft of the sample reducer (122), and a pneumatic cylinder (142) connected to the mounting member (141) to apply an axial load to the sample reducer (122).

[0150] In this case, the pneumatic cylinder (142) can be fixed to one side of the support frame (101), and the load (142a) can be raised and lowered through the control of a control unit (not shown).

[0151] Accordingly, the axial load generating unit (140) can easily vary the axial load applied to the sample reducer (122) using the pneumatic cylinder (142).

[0152] Through this, the test device unit (100) can generate a dynamic load toward the sample reducer (122) through the shaft load generating unit (140), thereby enabling the durability evaluation of the sample reducer (122) to be performed in a state identical to the actual application environment.

[0153] Here, the shaft load generating unit (140) may further include a load sensor (143) for detecting a load applied from the pneumatic cylinder (142).

[0154] The detection value of the load sensor (143) is provided to the data collection unit (400), and the load value applied to the sample reducer (122) from the pneumatic cylinder (142) is stored in the data collection unit (400) and can be smoothly monitored in the evaluation unit (500).

[0155] Meanwhile, in the test device section (100), the first motor (121) can be coupled to the mounting base (110) so that it can move in a straight reciprocating motion along the pair of guide rails (111a, 111b).

[0156] To this end, the mounting base (110) may further include a plurality of third sliders (125) that are slidably coupled to the pair of guide rails (111a, 111b) as shown in FIG. 3, and the plurality of third sliders (125) may be fixed to one side of the first motor coupling base (123).

[0157] Accordingly, the first motor coupling member (123) can be moved in a linear reciprocating motion along the pair of guide rails (111a, 111b) through the plurality of third sliders (125), and the first motor (121) can be moved slidingly along the pair of guide rails (111a, 111b) through the sliding motion of the first motor coupling member (123).

[0158] Through this, the test device unit (100) can easily replace the sample reducer (122) to be evaluated by allowing the first motor (121) to slide along the pair of guide rails (111a, 111b).

[0159] That is, if the sample reducer (122) is to be replaced with another sample reducer, the test device unit (100) can use the third coupler (163) to release the shaft coupling state between the sample reducer (122) and the first motor (121), and then move the first motor (121) away from the sample reducer (122).

[0160] In this state, if the sample reducer (122) and the load reducer (132), which are axially coupled to each other using the second coupler (162), are separated from each other, the sample reducer (122) can be easily removed from the mounting base (110).

[0161] Through this, the test device unit (100) can easily replace the sample reducer (122) to be evaluated with another sample reducer without the need to separate the first motor (121) from the mounting base (110).

[0162] Additionally, the test device unit (100) can slide the first motor (121), thereby allowing other parts to be easily added between the first motor (121) and the sample reducer (122).

[0163] For example, a separate sensor can be easily added between the load reducer (132) and the sample reducer (122).

[0164] Meanwhile, the test device unit (100) can be configured to simultaneously evaluate the durability performance of two sample reducers (122) through a single device.

[0165] To this end, the test device unit (100) may have the input unit (120), output unit (130), and shaft load generating unit (140) forming a set, and two sets may be mounted on a single mounting base (110).

[0166] Here, the input unit (120), output unit (130), and shaft load generating unit (140) constituting each set are identical to those described above, so a detailed description is omitted.

[0167] Meanwhile, the test device unit (200) according to another embodiment of the present invention may further include a first torque sensor (137) positioned between the sample reducer (122) and the load reducer (132).

[0168] That is, the test device unit (200) according to the present embodiment may include a mounting base (110), an input unit (120), an output unit (230), and an axial load generating unit (140) as shown in FIGS. 11 and 12.

[0169] In this embodiment, the mounting bracket (110), input unit (120), and shaft load generating unit (140) may be applied in the same manner as the previously described embodiment, and the output unit (230) may further include a first torque sensor (137) positioned between the load reducer (132) and the sample reducer (122) in addition to the second motor (131) and the load reducer (132).

[0170] In other words, the test device unit (200) is identical to the test device unit (100) of the aforementioned embodiment except that the output unit (230) further includes a first torque sensor (137) when compared to the test device unit (100) of the aforementioned embodiment; therefore, the detailed description excluding the first torque sensor (137) is omitted.

[0171] In the test device section (200), as in the previously described embodiment, the second motor (131) and the load reduction gear (132) can slide together on the mounting base (110), so that the first torque sensor (137) can be easily mounted between the load reduction gear (132) and the sample reduction gear (122).

[0172] At this time, the first torque sensor (137) can measure the output torque value of the sample reducer (122) that is generated from the first motor (121), transmitted to the sample reducer (122), and then output.

[0173] That is, in this embodiment, the first torque sensor (137) can measure whether the output torque value is accurate compared to the input torque value input from the first motor (121) to the sample reducer (122) by measuring the output torque value of the sample reducer (122) during the durability evaluation of the sample reducer (122) being evaluated.

[0174] Accordingly, the test device unit (200) can accurately measure the output torque value of the sample reducer (122) through the first torque sensor (137), thereby enabling a more accurate durability evaluation of the sample reducer (122).

[0175] The torque detected by the first torque sensor (137) is provided to the data collection unit (400), and as previously described, the evaluation unit (500) can evaluate the durability of the sample reducer (122).

[0176] In addition, as shown in FIG. 13, the test device (200) can be directly coupled to the sample reducer (122) through sliding movement of the second motor (131) in the same manner as in the previously described embodiment when evaluating the performance of the sample reducer (122), and can extract the hysteresis curve of the sample reducer (122) using values ​​measured through the encoder and current sensor included in the second motor (131).

[0177] Meanwhile, a test device unit (300) according to another embodiment of the present invention may further include a first torque sensor (137) positioned between the sample reducer (122) and the load reducer (132), and a second torque sensor (126) positioned between the first motor (121) and the sample reducer (122).

[0178] That is, the test device unit (300) may include a mounting base (110), an input unit (220), an output unit (230), and an axial load generating unit (140) as shown in FIGS. 14 and 15.

[0179] In this embodiment, the mounting base (110), input unit (220), and shaft load generating unit (140) may be applied in the same manner as the previously described embodiment, and the input unit (220) may further include a second torque sensor (126) positioned between the first motor (121) and the sample reducer (122) in addition to the first motor (121) and the sample reducer (122).

[0180] In other words, the test device unit (300) is identical to the test device unit (200) of the aforementioned embodiment except that the input unit (220) further includes a second torque sensor (126) when compared to the test device unit (200) of the aforementioned embodiment; therefore, the detailed description excluding the second torque sensor (126) is omitted.

[0181] In this case, the test device unit (300) can slide together the second motor (131) and the load reduction gear (132) on the mounting base (110) as in the previously described embodiment, so that the first torque sensor (137) can be easily mounted between the load reduction gear (132) and the sample reduction gear (122).

[0182] In addition, the test device section (300), as in the above-described embodiment, allows the first motor (121) to slide on the mounting base (110), so that the second torque sensor (126) can be easily mounted between the first motor (121) and the sample reducer (122).

[0183] At this time, the first torque sensor (137) can measure the output torque value of the sample reducer (122) that is generated from the first motor (121) as described above, transmitted to the sample reducer (122), and then output.

[0184] In addition, the second torque sensor (126) can measure the input torque value of the sample reducer (122) that is generated from the first motor (121) and transmitted to the sample reducer (122).

[0185] That is, in this embodiment, the first torque sensor (137) can measure the output torque value of the sample reducer (122) during the durability evaluation of the sample reducer (122) being evaluated, and the second torque sensor (126) can measure the input torque value of the sample reducer (122) being evaluated during the durability evaluation of the sample reducer (122).

[0186] Data from the second torque sensor (126) that detects the input torque value of the sample reducer (122) is automatically collected by the data collection unit (400), and the evaluation unit (500) can evaluate the difference between the input torque and the output torque of the sample reducer (122) using the data collected by the data collection unit (400), and if the difference is greater than a set range, it can be evaluated as deterioration of the sample reducer (122).

[0187] Accordingly, the test device unit (300) can accurately measure both the input torque value and the output torque value of the sample reducer (122) through the first torque sensor (137) and the second torque sensor (126), thereby allowing the efficiency of the sample reducer (122) to be measured.

[0188] Through this, the test device unit (300) can accurately measure both the torque value and the efficiency value of the sample reducer (122) through the first torque sensor (137) and the second torque sensor (126), thereby enabling a more efficient durability evaluation of the sample reducer (122).

[0189] In addition, as shown in FIG. 16, the test device (300) can be directly coupled to the sample reducer (122) through sliding movement, just like in the previously described embodiment, when evaluating the performance of the sample reducer (122), and can extract the hysteresis curve of the sample reducer (122) using values ​​measured through the encoder and current sensor included in the second motor (131).

[0190] FIG. 17 is a flowchart of a method for evaluating the durability performance of a reduction gear according to a preferred embodiment of the present invention.

[0191] Referring to FIG. 17, the durability evaluation method for a reduction gear according to the present invention comprises the steps of: detecting data including one or more of rotational speed, torque, acceleration (vibration), or temperature information of a sample reduction gear (122) in a test device unit (100, 200, 300), and collecting and storing data in a data collection unit (400); analyzing the trend change of the collected data in an evaluation unit (500) (S20); evaluating and displaying the performance and durability of the sample reduction gear (122) using the trend change (S30); checking whether the trend change rate or the current data exceeds a threshold value in the trend change evaluation (S40); and stopping the test and generating an alarm if the threshold value is exceeded as a result of the check in step S40 (S50).

[0192] First, in step S10, one or more data representing the rotational speed, torque, acceleration (vibration), or temperature information of the test device unit (100, 200, 300) are collected by the data collection unit (400).

[0193] As explained above, the rotational speed can be determined using an encoder included in the first motor (121), and the torque can be detected by converting the current value detected using the current sensor of the servo drive.

[0194] In addition, the torque can be detected through the first torque sensor (127) and / or the second torque sensor (126).

[0195] Vibration information and temperature information detected by the vibration data measurement sensor (129) and the temperature sensor (128) are also collected.

[0196] The data collected in the data collection unit (400) in this manner is stored as data representing each factor according to the passage of time.

[0197] Next, in step S20, the evaluation unit (500) can check the changes in each factor over time through trend analysis of the data collected and stored in the data collection unit (400).

[0198] The trend analysis at this time can be displayed in the form of a graph on the screen of the evaluation unit (500).

[0199] Next, the evaluation unit (500) evaluates the performance and durability of the sample reducer (122) using the trend change as in step S30 and displays it on the screen.

[0200] Performance and durability can be evaluated by comparing the degree of change of each factor (rotational speed, torque, acceleration, temperature) within a set unit time with reference values ​​to assess the degree of deterioration, wear, etc. of the sample reducer (122).

[0201] Next, the evaluation unit (500) checks whether the trend change rate or the current data exceeds a threshold value in the trend change evaluation as in step S40.

[0202] If the threshold is not exceeded, return to step S10 to continue the test; if the threshold is exceeded, stop the test as in step S50 and generate an alarm.

[0203] In this way, the present invention can automatically collect and evaluate data detected in the test device unit (100, 200, 300).

[0204] The above S50 step is one example, and various embodiments can be considered.

[0205] For example, even if the threshold is exceeded, the test can continue while issuing a warning, and by resetting to a larger threshold to continue the test and collect additional data, it is possible to perform a more accurate analysis.

[0206] As such, the above thresholds can be set in multiple stages, and additional warning levels can be applied for each threshold. For example, a warning can be generated when the first threshold is exceeded, and the test can be stopped when the second threshold is exceeded.

[0207] Even if the threshold is exceeded, testing can be continued to evaluate the reliability of the reducer and its performance under actual operating conditions, which enables a more realistic assessment of the durability and safety of the entire system.

[0208]

[0209] Although embodiments according to the present invention have been described above, they are merely illustrative and those skilled in the art will understand that various modifications and equivalent embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the following claims.

[0210] In the above embodiments, an example in which a single evaluation device is applied on a mounting base has been illustrated and described, but the evaluation devices described in the above examples may be installed in multiple numbers.

[0211] By having multiple evaluation devices each measure different performance indicators of the reducer, comprehensive data can be collected more quickly, and by collecting multiple indicators simultaneously and analyzing data correlations, more precise evaluation becomes possible.

[0212] In addition, by having multiple evaluation devices detect and evaluate the same indicator, cross-verification of the collected data can be enabled, thereby improving reliability and accuracy.

[0213] It can also be predicted that there is an advantage in that accurate evaluation is possible even if there is a malfunction in one of the multiple evaluation devices.

Claims

1. A test device unit that provides a load to and tests the sample reducer under evaluation; A data collection unit that collects and stores data detected by the above test device unit; and A durability performance evaluation device for a reduction gear, comprising an evaluation unit that evaluates the durability performance of the sample reduction gear through trend analysis of data stored in the data collection unit.

2. In Paragraph 1, The above test device unit is, Mounting stand; An input part including a sample reducer coupled to a first motor and shaft, and coupled to one surface of the mounting base; An output unit comprising a second motor and a load reduction gear that is axially coupled via the second motor and the first coupler, and axially coupled via the sample reduction gear and the second coupler; and It includes an axial load generating unit connected to one side of the load reduction gear so as to apply an axial load to the sample reduction gear; The above output unit is slidably coupled to the mounting base so as to be able to move in a straight reciprocating motion, and Each of the above first motor and second motor is configured as a sensor-integrated motor in which a sensor is integrally formed. A durability performance evaluation device for a reduction gear, characterized in that the above data collection unit collects and stores rotational speed data and torque data of the first motor and the second motor, which are sensor-integrated motors.

3. In Paragraph 2, A durability performance evaluation device for a reduction gear, characterized in that the sensor-integrated motor above is an encoder-integrated motor.

4. In Paragraph 2, The above test device unit is, It further includes a vibration data measuring sensor for detecting vibration of the sample reducer and a temperature sensor for detecting the temperature of the sample reducer. A durability performance evaluation device for a reduction gear, characterized in that the above data collection unit collects vibration data from the vibration data measuring sensor and temperature data from the temperature sensor.

5. In Paragraph 1, The above evaluation department is, A durability performance evaluation device for a reduction gear, characterized by generating an alarm when a change value or current data within a unit time exceeds a threshold value in trend analysis. 6.a) A step of collecting data from a test device unit that supplies a load to the sample reducer being evaluated and performs the test in the data collection unit; b) a step of performing a trend analysis on the data collected by the data collection unit in the evaluation unit; and c) A method for evaluating the durability performance of a reduction gear, comprising the step of evaluating the durability performance of the sample reduction gear by comparing the amount of data change within a unit time in the above trend analysis with a standard.

7. In Paragraph 6, Step a) above is, A method for evaluating the durability performance of a reduction gear, characterized by collecting data representing the rotational speed, torque, vibration, or temperature information of the sample reduction gear.

8. In Paragraph 7, The above rotational speed and the above torque are, A method for evaluating the durability performance of a reduction gear, characterized by detection in a sensor-integrated motor that rotates the sample reduction gear.

9. In Paragraph 7, The above vibration and temperature information are, A method for evaluating the durability performance of a reduction gear, characterized by detecting vibration data from a vibration data measuring sensor that detects the vibration of the sample reduction gear and temperature from a temperature sensor that detects the temperature of the sample reduction gear, respectively.

10. In Paragraph 6, In step c) above, A method for evaluating the durability performance of a reduction gear, characterized in that the evaluation unit generates an alarm when the amount of data change within a unit time or the current data exceeds a threshold value.

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