CN102997841A - Rotary vector (RV) reducer back clearance measuring system - Google Patents

Abstract

The invention discloses a backlash measurement system for an RV reducer. By setting a test plane on a horizontal measuring rod, the test plane passes through the rotation center of the output end of the RV reducer, and a device for pressing the test plane along the vertical direction is installed. Inductance micrometer, then, after the RV reducer is installed, when the torque wrench applies ±2% of the rated input torque of the RV reducer in the clockwise or counterclockwise direction, the output end of the RV reducer drives the horizontal measuring rod Rotate slightly, and measure the variation h in the vertical direction through the inductance micrometer, and measure the distance L between the contact point between the inductance micrometer and the test plane and the rotation center of the output end, and calculate the variation h and the distance L Enter the data processing system, and calculate the backlash value through the backlash value calculation formula X=arctan(h/L) in the data processing system. The invention has the advantages of low cost, convenient clamping and high measurement precision, and is suitable for measuring the backlash value of the RV reducer.

Description

RV reducer backlash measurement system

technical field

The invention belongs to the field of gear transmission precision detection and relates to a measurement system for backlash measurement of an RV reducer.

Background technique

An important technical indicator of the high-precision RV reducer for robot joints is the backlash, also called the backlash. The transmission of the RV reducer is essentially a planetary transmission. The output shaft has two working states: counterclockwise and clockwise. It requires that the angular return difference between the two working states is very small, also known as small backlash or zero backlash transmission. The backlash is defined as: when the input end is fixed, the output end rotates clockwise and counterclockwise, and when the output end produces rated torque ±2% torque, there is a slight angular displacement at the output end of the reducer, which is the backlash. The units are arc minutes. An arc minute is one sixtieth of a degree.

At present, RV reducers for robot joints are basically imported from Japan, and there are no domestic products that can replace them. However, there are many researches on RV reducers in China, and the prototypes need to check their important technical indicators: backlash parameters, and need to be measured in Japan. The backlash value of the RV reducer product, and compare the backlash value of the prototype with the backlash value of the Japanese RV reducer product. Among them, the backlash parameter of the Japanese RV reducer is marked as 1.5 arc minutes. At present, there is no system for accurately measuring the backlash of the RV reducer, and a measurement system for measuring the backlash of the RV reducer is needed.

Contents of the invention

The purpose of the present invention is to provide an RV reducer backlash measurement system.

The solution of the present invention to solve its technical problems is: a RV reducer backlash measurement system, which includes a fixed bracket, an RV reducer is installed on the fixed bracket, and a torque wrench is installed on the output end of the RV reducer. The torque sensor, the input end of the RV reducer is equipped with a brake, and the outer surface of the input end is equipped with a horizontal measuring rod that can rotate together with the output end. A test plane is provided on the free end of the horizontal measuring rod, and the test plane passes through The center of rotation of the output end, a fixed measuring device is installed on one side of the output end, and the measuring end of the fixed measuring device is provided with an inductance micrometer that can press the test plane along the vertical direction, and the inductance micrometer and the torque The sensors are all connected to the data processing system.

As a further improvement of the above technical solution, the fixed measuring device includes a fixed measuring frame, one end of the fixed measuring frame is fixed on the casing of the RV reducer, and a cross slide is installed on the side of the other end, and the cross slide An inductance micrometer is installed on the seat.

As a further improvement of the above technical solution, a locking frame for clamping the inductive micrometer is also provided on the cross slide.

As a further improvement of the above technical solution, the outer surface of the input end is provided with a disc, which is fixedly connected to the output end and can rotate synchronously with the output end, and the outer surface of the disc is connected to the mounting end of the horizontal measuring rod. Fixed connection.

As a further improvement of the above technical solution, the test plane is further provided with a scale mark marking the distance from the rotation center of the output end.

As a further improvement of the above technical solution, a pedestal is installed under the fixed bracket, and an adjustable installation track that can adjust the distance between the fixed bracket and the brake is installed on both sides of the base.

As a further improvement of the above technical solution, the inductance micrometer is a micron-scale displacement measurement sensor.

As a further improvement of the above technical solution, the probe on the inductance micrometer is a spring probe.

The beneficial effect of the present invention is: the present invention is by setting test plane on horizontal measuring rod, and this test plane passes through the rotation center of the output end of RV speed reducer, and is installed with the inductance micrometer that presses and touches this test plane along the vertical direction, Then, after the RV reducer is installed, when the torque wrench applies ±2% of the rated input torque of the RV reducer in the clockwise or counterclockwise direction, the output end of the RV reducer drives the horizontal measuring rod to rotate slightly, and passes through The inductance micrometer measures the variation h in the vertical direction, and by measuring the distance L between the contact point between the inductance micrometer and the test plane and the rotation center of the output end, the variation h and the distance L are entered into the data processing system, The backlash value is calculated by the backlash value calculation formula X=arctan(h/L) in the data processing system. The invention has the advantages of low cost, convenient clamping and high measurement precision, and is suitable for measuring the backlash value of the RV reducer.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawings and examples.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural diagram of direction A in Fig. 1;

Fig. 3 is a schematic structural diagram of direction B in Fig. 1 .

Detailed ways

The application of the present invention in measuring the backlash value will be described in detail below in conjunction with the accompanying drawings.

Referring to Figures 1 to 3, a RV reducer backlash measurement system includes a fixed bracket 6, an RV reducer 4 is installed on the fixed bracket 6, and a torque wrench is installed on the output end 5 of the RV reducer 4 1 and the torque sensor 2, the torque wrench 1 and the torque sensor 2 are installed on the output end 5 through the coupling plate 3, the input end 9 of the RV reducer 4 is connected with the brake 8 through the coupling 10, and the outer surface of the input end 9 is installed There is a horizontal measuring rod 13 that can rotate together with the output end 5, a test plane 14 is provided on the free end of the horizontal measuring rod 13, and the test plane 14 passes through the rotation center of the output end 5, and the output end 5 A fixed measuring device is installed on one side, and the measuring end of the fixed measuring device is provided with an inductance micrometer 16 that can press the test plane 14 along the vertical direction, and the inductance micrometer 16 and the torque sensor 2 are all connected with the data processing system connection.

By setting the test plane 14 on the horizontal measuring rod 13, the test plane 14 passes through the rotation center of the output end 5 of the RV speed reducer 4, and the inductance micrometer 16 pressing the test plane 14 along the vertical direction is installed, then After the RV reducer 4 is installed, when the torque wrench 1 applies ±2% of the rated input torque of the RV reducer 4 clockwise or counterclockwise, the output end 5 of the RV reducer 4 will drive a slight rotation, and Measure the variation h in its vertical direction by the inductance micrometer 16, and measure the distance L between the contact point between the inductance micrometer 16 and the test plane 14 from the center of rotation of the output terminal 5, and the variation h and the spacing L is entered into the data processing system, and the backlash value is calculated through the backlash value calculation formula X=arctan(h/L) in the data processing system.

Further as a preferred embodiment, the fixed measuring device includes a fixed measuring frame 11, one end of the fixed measuring frame 11 is fixed on the housing 12 of the RV reducer 4, and a cross slide 18 is installed on the side of the other end, An inductance micrometer 16 is provided on the cross slide 18 . The connection between the fixed measuring frame 11 and the reducer 4 is the arc surface 20 and the pin positioning, and the screw is fixed, and the pin hole 21 and the screw hole 22 coincide with the hole position on the casing 12; the external design of the horizontal measuring rod 13 ensures rigidity and The flatness of the probe 19 and the test plane 14.

As a further preferred embodiment, the cross slide 18 is further provided with a locking frame 17 for clamping the inductance micrometer 16 . The locking frame 17 is fixed on the cross slide 18, which can be adjusted up, down, left, and right. The minimum scale is 0.01mm. The direction of motion is always vertical.

Further as a preferred embodiment, the outer surface of the input end 9 is provided with a disc 15, the disc 15 is fixedly connected with the output end 5 by screws, and can rotate synchronously with the output end 5, the outer surface of the disc 15 is in contact with the output end 5. The mounting end of the horizontal measuring rod 13 is fixedly connected, the horizontal measuring rod 13 and the disc 15 are positioned by the arc surface 24 and the pin 25, and the screws 26 are fixed, and the holes are all coincident with the holes on the disc 15; ensure that the horizontal side bar The test plane 14 at the front passes horizontally through the center of rotation of the output 5 .

Further as a preferred embodiment, the test plane 14 is also provided with a scale mark indicating the distance from the center of rotation of the output end 5, which is convenient for recording and measuring the contact point between the inductance micrometer 16 and the test plane 14 from the center of rotation of the output end 5. The spacing L.

Further as a preferred embodiment, a pedestal 7 is installed under the fixed bracket 6 , and an adjustable installation track that can adjust the distance between the fixed bracket 6 and the brake 8 is installed on both sides of the base 7 .

As a further preferred embodiment, the inductive micrometer 16 is a micron-scale displacement measurement sensor. In the present invention, the measuring range of the torque sensor 2 is ±200N.M, and the precision is 0.1N.M; the measuring range of the inductance micrometer is ±2mm, and the resolution is 0.001mm. For: ±13 arc minutes, the accuracy is 0.007 arc minutes.

Further as a preferred embodiment, the probe 19 on the inductance micrometer is a spring probe. During measurement, the inductance micrometer 16 is adjusted to make it contact with the test plane 14, and it is in a state of compression of a certain stroke, so that when the level When the measuring rod 13 rotates in the clockwise or counterclockwise direction, the measuring head 19 will not separate from the horizontal measuring rod 13 and always keep in contact state, and the accurate displacement change value can be read.

The above is a specific description of the preferred embodiments of the present invention, but the invention is not limited to the described embodiments, those skilled in the art can also make various equivalent modifications or replacements without violating the spirit of the present invention , these equivalent modifications or replacements are all included within the scope defined by the claims of the present application.

Claims (8)

1. RV speed reduction unit back clearance measuring system, it is characterized in that: it comprises fixed support (6), RV speed reduction unit (4) is installed on the described fixed support (6), the output terminal (5) of described RV speed reduction unit (4) is equipped with torque spanner (1) and torque sensor (2), the input end (9) of RV speed reduction unit (4) is equipped with detent (8), the outside surface of input end (9) is equipped with the horizontal measuring staff (13) that can rotate together along with output terminal (5), the free end of described horizontal measuring staff (13) is provided with a test plane (14), described test plane (14) is through the rotation center of output terminal (5), one side of described output terminal (5) is equipped with the fixation measuring device, the measuring junction of described fixation measuring device is provided with one vertically can press the inductance amesdial (16) that touches test plane (14), and described inductance amesdial (16) all connects with data handling system with torque sensor (2).

2. RV speed reduction unit back clearance measuring system according to claim 1, it is characterized in that: described fixation measuring device comprises a fixation measuring frame (11), one end of described fixation measuring frame (11) is fixed on the shell (12) of RV speed reduction unit (4), cross slide seat (18) is installed on the side of the other end, and described cross slide seat (18) is provided with inductance amesdial (16).

3. RV speed reduction unit back clearance measuring system according to claim 2 is characterized in that: also be provided with the locking rack (17) that inductance amesdial (16) is clamped on the described cross slide seat (18).

4. RV speed reduction unit back clearance measuring system according to claim 1, it is characterized in that: the outside surface of described input end (9) is provided with a disk (15), described disk (15) is fixedly connected with output terminal (5), and can rotate synchronously along with output terminal (5), the installation end of the outside surface of disk (15) and horizontal measuring staff (13) is fixedly connected.

5. it is characterized in that according to claim 2 or 4 described RV speed reduction unit back clearance measuring systems: also be provided with the scale mark that indicates from the rotation center distance of output terminal (5) on the described test plane (14).

6. according to claim 2 or 4 described RV speed reduction unit back clearance measuring systems, it is characterized in that: the below of described fixed support (6) also is equipped with pedestal (7), and the both sides of described pedestal (7) also are equipped with the adjusting attachment rail of distance between adjustable stationary barrier (6) and detent (8).

7. according to claim 2 or 4 described RV speed reduction unit back clearance measuring systems, it is characterized in that: described inductance amesdial (16) is the micron order displacement measurement sensor.

8. according to claim 2 or 4 described RV speed reduction unit back clearance measuring systems, it is characterized in that: the gauge head on the described inductance amesdial (19) is the spring gauge head.

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