CN113804435B - Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer - Google Patents
Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer Download PDFInfo
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- CN113804435B CN113804435B CN202110981105.XA CN202110981105A CN113804435B CN 113804435 B CN113804435 B CN 113804435B CN 202110981105 A CN202110981105 A CN 202110981105A CN 113804435 B CN113804435 B CN 113804435B
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Abstract
The invention relates to the technical field of harmonic reducer detection, in particular to a device and a method for detecting the repetitive motion precision and the fatigue life of a harmonic reducer, wherein the device for detecting the repetitive motion precision and the fatigue life of the harmonic reducer comprises the following components: a machine base; at least one set of detection components; at least one set of detection components includes: installing a shaft; a drive member; the rotating arm comprises a first position and a second position, and the first position is used for being coaxially fixed with a rigid wheel of the harmonic reducer; the sensing assembly is used for monitoring a preset area, the preset area is on a motion track of a second position, and when the second position enters the preset area, the sensing assembly sends a sensing signal to the control module; the control module is used for generating a motion precision loss value of the harmonic reducer according to a preset rotating speed, the transmission ratio of the harmonic reducer and the received induction signal. The application has the effect of conveniently testing the repetitive motion precision and the fatigue life of the harmonic reducer.
Description
Technical Field
The invention relates to the technical field of harmonic reducer detection, in particular to a device and a method for detecting the repetitive motion precision and the fatigue life of a harmonic reducer.
Background
The harmonic reducer is mainly composed of three basic components, namely a wave generator, a flexible gear and a rigid gear, wherein the flexible gear and the rigid gear are key components of the harmonic reducer, the tooth form precision of the flexible gear and the rigid gear has important influence on the harmonic reducer, and the repeated positioning detection is a precision index for measuring the harmonic reducer; therefore, how to conveniently and rapidly carry out repeated motion precision and fatigue life on the harmonic reducer is a problem to be solved urgently at present.
Disclosure of Invention
In order to conveniently test the repetitive motion precision and the fatigue life of the harmonic reducer, the application provides the detection equipment and the detection method for the repetitive motion precision and the fatigue life of the harmonic reducer.
The above object of the present invention is achieved by the following technical solutions:
a repetitive motion accuracy and fatigue life detection apparatus of a harmonic reducer, comprising:
a machine base;
the at least one group of detection components are arranged on the base;
wherein the at least one set of detection components comprises:
the mounting shaft is used for being coaxially fixed with a flexible gear of the harmonic reducer;
the driving piece is arranged on the base and used for driving the mounting shaft to rotate according to a preset rotating speed;
the rotating arm comprises a first position and a second position, and the first position is used for being coaxially fixed with a rigid gear of the harmonic reducer;
the sensing assembly is in communication connection with the control module and is used for monitoring a preset area, the preset area is located on a motion track of the second position, and when the second position enters the preset area, the sensing assembly sends a sensing signal to the control module;
the detection equipment for the repeated motion precision and the fatigue life of the harmonic reducer further comprises a control module, the control module is arranged on the base, and the control module is used for generating the motion precision loss value of the harmonic reducer according to a preset rotating speed, the transmission ratio of the harmonic reducer and a received induction signal.
Through adopting above-mentioned technical scheme, during the test, with harmonic reducer's flexbile gear and installation axle coaxial fixation, it is fixed with rotor arm and harmonic reducer's steel wheel, and make the first position on the rotor arm coaxial with harmonic reducer's rigid wheel, first position is located harmonic reducer's steel wheel axis promptly, then driving piece drive installation axle rotates according to predetermineeing the rotational speed, when response subassembly senses the second position and gets into predetermined area, response subassembly sends the inductive signal control module, control module is according to predetermineeing the rotational speed, harmonic reducer's drive ratio and received inductive signal generate harmonic reducer's motion accuracy loss value, thereby can test harmonic reducer's repetitive motion precision and fatigue life conveniently.
The present application may be further configured in a preferred example to: the control module includes:
the interval duration calculation module is used for calculating the current interval duration when the previous induction signal is received when the induction signal is received;
the rotating speed base value calculating module is used for calculating to obtain a rotating speed base value of the rigid wheel according to a preset rotating speed and a transmission ratio;
the duration threshold calculation module is used for calculating a duration threshold of one circle of rotation of the rigid wheel according to the rotation speed base value;
and the precision loss calculation module is used for generating a motion precision loss value according to the current interval duration and the duration threshold when the current interval duration exceeds the duration threshold.
By adopting the technical scheme, the rotating speeds of the flexible gear and the mounting shaft are synchronous, and the rotating speed base value of the rigid gear can be calculated according to the preset rotating speed and the transmission ratio, wherein the transmission ratio is the transmission ratio of the flexible gear and the rigid gear; and calculating to obtain a duration threshold value of the rigid wheel rotating for one circle through the rotation speed basic value of the rigid wheel, wherein when the current interval duration exceeds the duration threshold value, the current interval duration of two adjacent induction signals is represented to exceed the duration threshold value, namely the duration of the rigid wheel rotating for one circle exceeds the duration threshold value, and at the moment, a motion precision loss value is generated according to the current interval duration and the duration threshold value.
The application may be further configured in a preferred example to: the control module includes:
the interval duration calculation module is used for calculating the current interval duration when the previous induction signal is received when the induction signal is received;
the current rotating speed calculating module is used for calculating the current rotating speed of the rigid wheel according to the current interval duration;
the rotating speed base value calculating module is used for calculating to obtain a rotating speed base value of the rigid wheel according to a preset rotating speed and a transmission ratio;
and the precision loss calculation module is used for generating a motion precision loss value according to the current rotating speed and the rotating speed base value when the current rotating speed is lower than the rotating speed base value.
By adopting the technical scheme, the control module is different from the previous control module in that the control module firstly calculates the current rotating speed of the rigid wheel according to the interval duration of two adjacent current sensing signals, then compares the current rotating speed with the rotating speed basic value of the rigid wheel, and generates a motion precision loss value according to the current rotating speed and the rotating speed basic value when the current rotating speed is lower than the rotating speed basic value.
The present application may be further configured in a preferred example to: the sensing assembly includes:
the first device is in communication connection with the sensing assembly and is used for monitoring a preset area, and when the second device enters the preset area, the first device sends a sensing signal to the control module;
second means for mounting at said second location of said swivel arm.
By adopting the technical scheme, the first device realizes the sending of the sensing signal through sensing the second device arranged at the second position, so that the sensors such as laser, infrared and the like can be applied.
The present application may be further configured in a preferred example to: the driving piece is set as a servo motor, the servo motor is in communication connection with the control module, and an output shaft of the servo motor is coaxially fixed with the mounting shaft.
Through adopting above-mentioned technical scheme, servo motor can control the rotational speed to the rotational speed is predetermine in the regulation.
The present application may be further configured in a preferred example to: the frame includes:
the detection assembly is arranged on the first base;
the control module is arranged on the second base;
the first engine base and the second engine base are arranged separately.
The present application may be further configured in a preferred example to: the control module further comprises:
and the parameter setting module is used for setting a preset rotating speed according to the input information.
The second objective of the present invention is achieved by the following technical solutions:
a method for detecting the repeated motion precision and the fatigue life of a harmonic reducer comprises the following steps:
acquiring the transmission ratio of the harmonic reducer;
acquiring the rotating speed of a first position, wherein the first position and the flexible gear are coaxially fixed;
acquiring the rotating speed of a second position, wherein the second position is fixedly connected with the rigid wheel, and the second position and the first position rotate coaxially;
receiving an induction signal from an induction component, wherein the induction component is used for monitoring a preset area, the preset area is on a motion track of the second position, and when the second position enters the preset area, the induction component sends out the induction signal;
and generating a motion precision loss value of the harmonic reducer according to a preset rotating speed, the transmission ratio of the harmonic reducer and the received induction signal.
The present application may be further configured in a preferred example to: the generating of the motion precision loss value of the harmonic reducer according to the preset rotating speed, the transmission ratio of the harmonic reducer and the received induction signal comprises:
when an induction signal is received, calculating the current interval duration when the previous induction signal is received;
calculating to obtain a rotation speed base value of the rigid wheel according to a preset rotation speed and a transmission ratio;
calculating to obtain a duration threshold value of one circle of rotation of the rigid wheel according to the rotation speed base value;
and when the current interval duration exceeds a duration threshold, generating a motion precision loss value according to the current interval duration and the duration threshold.
The application may be further configured in a preferred example to: the generating of the motion precision loss value of the harmonic reducer according to the preset rotating speed, the transmission ratio of the harmonic reducer and the received induction signal comprises:
when an induction signal is received, calculating the current interval duration when the previous induction signal is received;
calculating the current rotating speed of the rigid wheel according to the current interval duration;
calculating to obtain a rotation speed base value of the rigid wheel according to a preset rotation speed and a transmission ratio;
and when the current rotating speed is lower than the rotating speed base value, generating a motion precision loss value according to the current rotating speed and the rotating speed base value.
In summary, the present application includes at least one of the following beneficial technical effects:
1. during testing, a flexible wheel and an installation shaft of the harmonic reducer are coaxially fixed, a rotating arm and a steel wheel of the harmonic reducer are fixed, a first position on the rotating arm is coaxial with a rigid wheel of the harmonic reducer, namely the first position is located on the axis of the steel wheel of the harmonic reducer, then a driving piece drives the installation shaft to rotate according to a preset rotating speed, when the sensing assembly senses that a second position enters a preset area, the sensing assembly sends a sensing signal to control a module, and the control module generates a motion precision loss value of the harmonic reducer according to the preset rotating speed, the transmission ratio of the harmonic reducer and a received sensing signal, so that the repeated motion precision and the fatigue life of the harmonic reducer can be tested;
2. if the rotating speeds of the flexible gear and the mounting shaft are synchronous, the rotating speed base value of the rigid gear can be calculated according to the preset rotating speed and the transmission ratio, wherein the transmission ratio is the transmission ratio of the flexible gear and the rigid gear; calculating to obtain a duration threshold value of the rigid wheel rotating for one circle through the rotation speed basic value of the rigid wheel, wherein when the current interval duration exceeds the duration threshold value, the duration of the interval between two adjacent current sensing signals is represented to exceed the duration threshold value, namely the duration of the rigid wheel rotating for one circle exceeds the duration threshold value, and at the moment, a motion precision loss value is generated according to the current interval duration and the duration threshold value;
3. the first device realizes the transmission of sensing signals through sensing the second device arranged at the second position, so that the sensors such as laser, infrared and the like can be applied.
Drawings
FIG. 1 is a schematic structural diagram of a device for detecting the repetitive motion accuracy and fatigue life of a harmonic reducer according to an embodiment of the present disclosure;
FIG. 2 is a partial structural assembly schematic diagram of a device for detecting the repetitive motion accuracy and the fatigue life of a harmonic reducer according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for detecting the repetitive motion accuracy and fatigue life of a harmonic reducer according to an embodiment of the present disclosure.
Description of reference numerals: 11. a first base; 12. a second frame; 2. installing a shaft; 3. a drive member; 4. a rotating arm; 41. a first position; 42. a second position; 5. a first device; 6. a second device; 7. harmonic speed reducer ware.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The application discloses harmonic reducer ware's repetitive motion precision and fatigue life's check out test set refers to fig. 1 and fig. 2, including the frame, is equipped with at least a set of determine module on the frame, and determine module includes:
the mounting shaft 2 is used for coaxially fixing with a flexible gear of the harmonic reducer 7;
the driving part 3 is arranged on the base, and the driving part 3 is used for driving the mounting shaft 2 to rotate according to a preset rotating speed;
the rotating arm 4, the rotating arm 4 includes a first position 41 and a second position 42, the first position 41 is used for fixing with the rigid wheel of the harmonic reducer 7 coaxially;
the sensing assembly is used for monitoring a preset area, the preset area is located on the motion track of the second position 42, and when the second position 42 enters the preset area, the sensing assembly sends a sensing signal to the control module;
the detection equipment for the repeated motion precision and the fatigue life of the harmonic reducer further comprises a control module, the control module is arranged on the base and is in communication connection with the induction assembly, and the control module is used for generating a motion precision loss value of the harmonic reducer 7 according to a preset rotating speed, the transmission ratio of the harmonic reducer 7 and a received induction signal.
The detection assemblies can be a plurality of groups so as to detect a plurality of harmonic reducers 7 simultaneously, and when the detection assemblies are used for detecting, the flexible gears of the harmonic reducers 7 are coaxially fixed with the mounting shaft 2 in a connecting mode such as key connection and bolt connection; fixing the rigid wheel of the harmonic reducer 7 and the rotating arm 4 by bolts, wherein after the rotating arm 4 and the rigid wheel are fixed, the first position 41 of the rotating arm 4 is coaxial with the rigid wheel of the harmonic reducer 7, namely the first position 41 is positioned on the rotating axis of the rigid wheel; in a preferred embodiment, the first position 41 is located in the middle of the rotating arm 4, so that the rotating arm 4 is divided by the first position 41, and the forces applied to the two ends in the length direction are relatively balanced. The second position 42 is located at one end of the rotating arm 4, the sensing component is used for monitoring a preset area, the preset area is located on a motion track of the second position 42, and when the second position 42 enters the preset area, the sensing component sends a sensing signal to the control module.
In a preferred embodiment, the sensing assembly comprises:
the first device 5 is in communication connection with the sensing assembly, the first device 5 is used for monitoring a preset area, and when the second device 6 enters the preset area, the first device 5 sends a sensing signal to the control module;
and a second device 6, wherein the second device 6 is used for being installed at the second position 42 of the rotating arm 4, and the connection between the second device 6 and the rotating arm 4 can be fixed through a bolt connection or the like.
The first device 5 is installed on the base, the sensing component can be in a sensor mode, namely the first device 5 is used as a receiver, the second device 6 is used as a transmitter, the signal sensing mode can be infrared rays, laser and the like, the receiver sends out sensing signals when sensing signals transmitted by the transmitter, and the first device 5 and the second device 6 can be interchanged, namely the receiver and the transmitter can be interchanged; or, the receiver may send the sensing signal when not receiving the transmission signal of the transmitter, that is, the receiver and the transmitter are respectively disposed at two sides of the rotation track of the second position 42, and when the second position 42 passes through the preset area, the signal between the receiver and the transmitter is interrupted, and the receiver sends the sensing signal at this time.
In one embodiment, the control module includes: the device comprises an interval duration calculation module, a rotation speed basic value calculation module, a duration threshold calculation module and a precision loss calculation module.
The interval duration calculation module is used for calculating the current interval duration when the previous induction signal is received when the induction signal is received; the rotating speed base value calculating module is used for calculating to obtain a rotating speed base value of the rigid wheel according to a preset rotating speed and a transmission ratio; the duration threshold calculation module is used for calculating to obtain a duration threshold of one circle of rotation of the rigid wheel according to the rotation speed basic value; and the precision loss calculation module is used for generating a motion precision loss value according to the current interval duration and the duration threshold when the current interval duration exceeds the duration threshold.
The rotating speeds of the flexible gear and the mounting shaft 2 are synchronous, and then the rotating speed base value of the rigid gear can be calculated according to the preset rotating speed and the transmission ratio, wherein the transmission ratio is the transmission ratio of the flexible gear and the rigid gear; the duration threshold of one circle of rotation of the rigid wheel can be calculated through the rotation speed basic value of the rigid wheel, and the duration threshold can be the reciprocal of the rotation speed basic value or can be a duration threshold obtained by adding allowance on the basis of the reciprocal of the rotation speed basic value;
when the current interval duration exceeds the duration threshold, that is, the interval duration of two adjacent current sensing signals exceeds the duration threshold, that is, the duration of one turn of the rigid wheel exceeds the duration threshold, at this time, a motion precision loss value is generated according to the current interval duration and the duration threshold, specifically, the motion precision loss value may be a difference value between the interval duration and the duration threshold, or a product of the difference value and the rotation speed base value.
Alternatively, in another embodiment, the control module comprises: the device comprises an interval duration calculation module, a current rotating speed calculation module, a rotating speed basic value calculation module and a precision loss calculation module, wherein the interval duration calculation module is used for calculating the current interval duration when a previous sensing signal is received when the sensing signal is received; the current rotating speed calculating module is used for calculating the current rotating speed of the rigid wheel according to the current interval duration; the rotation speed base value calculation module is used for calculating the rotation speed base value of the rigid wheel according to the preset rotation speed and the transmission ratio; and the precision loss calculation module is used for generating a motion precision loss value according to the current rotating speed and the rotating speed base value when the current rotating speed is lower than the rotating speed base value.
The method comprises the steps of calculating the current rotating speed of a rigid wheel according to the interval duration of two adjacent current sensing signals, comparing the current rotating speed with a rotating speed basic value of the rigid wheel, and generating a motion precision loss value according to the current rotating speed and the rotating speed basic value when the current rotating speed is lower than the rotating speed basic value. The preset time period may be a time period taken for the rotation speed basic value to rotate one turn.
In one embodiment, the driving member 3 is configured as a servo motor, the servo motor is in communication with the control module, and an output shaft of the servo motor is coaxially fixed to the mounting shaft 2. The control module further comprises: and the parameter setting module is used for setting a preset rotating speed according to the input information. Servo motor can control the rotational speed, and operating personnel accessible control module adjusts servo motor's rotational speed to the setting of rotational speed is predetermine in the realization.
Further, the machine base comprises a first machine base 11 and a second machine base 12 which are separately arranged, and the detection assembly is arranged on the first machine base 11; the control module is arranged on the second base 12; therefore, the separation between the control module and the detection assemblies is realized, when the detection assemblies are multiple, the first base 11 can be formed by a plurality of mutually independent third bases, and the plurality of detection assemblies are arranged on the plurality of third bases in a one-to-one correspondence mode.
The application also discloses a method for detecting the repetitive motion precision and the fatigue life of the harmonic reducer, and referring to fig. 3, the method for detecting the repetitive motion precision and the fatigue life of the harmonic reducer comprises the following steps:
s1, acquiring the transmission ratio of the harmonic reducer 7;
s2, acquiring the rotating speed of the first position 41, wherein the first position 41 and the flexible gear are coaxially fixed;
s3, acquiring the rotating speed of the second position 42, wherein the second position 42 is fixedly connected with the rigid wheel, and the rotation of the second position 42 is coaxial with that of the first position 41;
s4, receiving a sensing signal from a sensing assembly, wherein the sensing assembly is used for monitoring a preset area, the preset area is on the motion track of the second position 42, and when the second position 42 enters the preset area, the sensing assembly sends out the sensing signal;
and S5, generating a motion precision loss value of the harmonic reducer 7 according to the preset rotating speed, the transmission ratio of the harmonic reducer 7 and the received induction signal.
Wherein, generating the motion precision loss value of the harmonic reducer 7 according to the preset rotating speed, the transmission ratio of the harmonic reducer 7 and the received induction signal comprises:
s51, when the induction signal is received, calculating the current interval duration when the previous induction signal is received;
s52, calculating to obtain a rotation speed base value of the rigid wheel according to the preset rotation speed and the transmission ratio;
s53, calculating to obtain a duration threshold value of the rigid wheel rotating for one circle according to the base value of the rotating speed;
and S54, when the current interval duration exceeds the duration threshold, generating a motion precision loss value according to the current interval duration and the duration threshold.
Or:
s51, when the sensing signal is received, calculating the current interval duration when the previous sensing signal is received;
s52, calculating the current rotating speed of the rigid wheel according to the current interval duration;
s53, calculating according to the preset rotating speed and the transmission ratio to obtain a rotating speed base value of the rigid wheel;
and S54, when the current rotating speed is lower than the rotating speed base value, generating a motion precision loss value according to the current rotating speed and the rotating speed base value.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A repetitive motion accuracy and fatigue life detection apparatus for a harmonic reducer, comprising:
a machine base;
the at least one group of detection components are arranged on the base;
wherein the at least one set of detection components comprises:
the mounting shaft (2) is used for being coaxially fixed with a flexible gear of the harmonic reducer (7);
the driving piece (3) is arranged on the base, and the driving piece (3) is used for driving the mounting shaft (2) to rotate according to a preset rotating speed;
a swivel arm (4), the swivel arm (4) comprising a first position (41) and a second position (42), the first position (41) being for coaxial fixation with a rigid wheel of the harmonic reducer (7);
the sensing assembly is in communication connection with the control module and is used for monitoring a preset area, the preset area is located on the motion track of the second position (42), and when the second position (42) enters the preset area, the sensing assembly sends a sensing signal to the control module;
the equipment for detecting the repeated motion precision and the fatigue life of the harmonic reducer further comprises a control module, wherein the control module is arranged on the base and used for generating a motion precision loss value of the harmonic reducer (7) according to a preset rotating speed, the transmission ratio of the harmonic reducer (7) and a received induction signal.
2. The detection apparatus of repetitive motion accuracy and fatigue life of a harmonic reducer according to claim 1, wherein said control module comprises:
the interval duration calculation module is used for calculating the current interval duration when the previous induction signal is received when the induction signal is received;
the rotating speed base value calculating module is used for calculating to obtain a rotating speed base value of the rigid wheel according to a preset rotating speed and a transmission ratio;
the duration threshold calculation module is used for calculating a duration threshold of one circle of rotation of the rigid wheel according to the rotation speed base value;
and the precision loss calculation module is used for generating a motion precision loss value according to the current interval duration and the duration threshold when the current interval duration exceeds the duration threshold.
3. The detection apparatus of repetitive motion accuracy and fatigue life of a harmonic reducer according to claim 1, wherein said control module comprises:
the interval duration calculation module is used for calculating the current interval duration when the previous induction signal is received when the induction signal is received;
the current rotating speed calculating module is used for calculating the current rotating speed of the rigid wheel according to the current interval duration;
the rotation speed base value calculation module is used for calculating the rotation speed base value of the rigid wheel according to a preset rotation speed and a transmission ratio;
and the precision loss calculation module is used for generating a motion precision loss value according to the current rotating speed and the rotating speed base value when the current rotating speed is lower than the rotating speed base value.
4. The detection apparatus of repetitive motion accuracy and fatigue life of a harmonic reducer according to claim 1, wherein said induction assembly comprises:
the first device (5) is in communication connection with the sensing assembly, the first device (5) is used for monitoring a preset area, and when the second device (6) enters the preset area, the first device (5) sends a sensing signal to the control module;
-second means (6), said second means (6) being intended to be mounted in said second position (42) of said rotating arm (4).
5. The apparatus for detecting the repetitive motion accuracy and fatigue life of a harmonic reducer according to claim 1, wherein the driving member (3) is configured as a servo motor, the servo motor is in communication with the control module, and an output shaft of the servo motor is coaxially fixed with the mounting shaft (2).
6. The apparatus for detecting repetitive motion accuracy and fatigue life of a harmonic reducer according to any one of claims 1 to 5, wherein said housing comprises:
the first base (11), the said detection assembly is set up on the said first base (11);
the second base (12), the said control module is set up on the said second base (12);
wherein the first base (11) and the second base (12) are separately arranged.
7. The detection apparatus of repetitive motion accuracy and fatigue life of a harmonic reducer according to claim 1, wherein said control module further comprises:
and the parameter setting module is used for setting a preset rotating speed according to the input information.
8. The detection method of a repetitive motion accuracy and fatigue life detection device of a harmonic reducer according to any one of claims 1 to 7, comprising:
acquiring the transmission ratio of the harmonic reducer (7);
acquiring the rotating speed of a first position (41), wherein the first position (41) and the flexible gear are coaxially fixed;
acquiring the rotating speed of a second position (42), wherein the second position (42) is fixedly connected with the rigid wheel, and the rotation of the second position (42) is coaxial with that of the first position (41);
receiving a sensing signal from a sensing assembly, wherein the sensing assembly is used for monitoring a preset area, the preset area is on a motion track of the second position (42), and when the second position (42) enters the preset area, the sensing assembly sends out the sensing signal;
and generating a motion precision loss value of the harmonic reducer (7) according to a preset rotating speed, the transmission ratio of the harmonic reducer (7) and the received induction signal.
9. The detection method according to claim 8, wherein said generating a value of loss of motion accuracy of the harmonic reducer (7) as a function of a preset rotation speed, a transmission ratio of the harmonic reducer (7) and the received induction signal comprises:
when an induction signal is received, calculating the current interval duration when the previous induction signal is received;
calculating to obtain a rotation speed base value of the rigid wheel according to a preset rotation speed and a transmission ratio;
calculating to obtain a duration threshold value of one circle of rotation of the rigid wheel according to the rotation speed base value;
and when the current interval duration exceeds a duration threshold, generating a motion precision loss value according to the current interval duration and the duration threshold.
10. The detection method according to claim 8, wherein said generating a value of loss of motion accuracy of the harmonic reducer (7) as a function of a preset rotation speed, a transmission ratio of the harmonic reducer (7) and the received induction signal comprises:
when an induction signal is received, calculating the current interval duration when the previous induction signal is received;
calculating the current rotating speed of the rigid wheel according to the current interval duration;
calculating to obtain a rotation speed base value of the rigid wheel according to a preset rotation speed and a transmission ratio;
and when the current rotating speed is lower than the rotating speed base value, generating a motion precision loss value according to the current rotating speed and the rotating speed base value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110981105.XA CN113804435B (en) | 2021-08-25 | 2021-08-25 | Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer |
Applications Claiming Priority (1)
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