CN102997841A - Rotary vector (RV) reducer back clearance measuring system - Google Patents
Rotary vector (RV) reducer back clearance measuring system Download PDFInfo
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- CN102997841A CN102997841A CN2012104890658A CN201210489065A CN102997841A CN 102997841 A CN102997841 A CN 102997841A CN 2012104890658 A CN2012104890658 A CN 2012104890658A CN 201210489065 A CN201210489065 A CN 201210489065A CN 102997841 A CN102997841 A CN 102997841A
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- speed reduction
- reduction unit
- back clearance
- measuring
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Abstract
The invention discloses a rotary vector (RV) reducer back clearance measuring system. A measuring plane is arranged on a horizontal measuring bar and passes through a rotating center of the output end of an RV reducer, and an inductance micrometer pressing the measuring plane along the vertical direction is installed on the measuring plane. After the RV reducer is installed well, when a torque wrench performs +/-2% of rated input torque of the RV reducer in a clockwise or anti-clockwise direction, the output end of the RV reducer drives the horizontal measuring bar to rotate slightly, and the variable quantity h of the output end of the RV reducer. By measuring the interval L between a contact point of the inductance micrometer and the measuring plane and the rotating center of the output end, the variable quantity h and the interval L are input into a data processing system, and the back clearance value is calculated through a back clearance value calculation formula X=arctan (h/L) in the data processing system. The RV reducer back clearance measuring system is low in cost, convenient to clamp, high in measurement precision and suitable for measurement of the back clearance value of the RV reducer.
Description
Technical field
The invention belongs to the gear-driven accuracy detection field, relate to a kind of measuring system for the measurement of RV speed reduction unit back clearance.
Background technology
Joint of robot is back clearance with an important technology index of High Precision RV Reducer, also recalls the journey gap.RV speed reduction unit transmission essence is Gear Planet Transmission, and output revolving shaft has counterclockwise and clockwise two kinds of duties, and it requires the angle return difference of two kinds of duty conversions very little, claims again little back clearance or zero back clearance transmission.Back clearance is defined as: input end is fixed, output terminal clockwise and counterclockwise rotation, when making output terminal produce nominal torque ± 2% moment of torsion, the reductor output terminal has a small angular displacement, this angular displacement is exactly the backhaul gap, unit is that arc divides.It is once sixtieth that arc divides.
Joint of robot relies on Japanese import substantially with the RV speed reduction unit at present, still there is not the home products that can replace, but domestic present research RV speed reduction unit is more, its model machine all needs the technical indicator that checks that it is important: the back clearance parameter, and need to survey the back clearance value of Japanese RV reducer, and the back clearance value of model machine and the back clearance value of Japanese RV reducer are compared.Wherein, the back clearance parameter indexing of Japanese RV speed reduction unit is that 1.5 arcs divide.Have not yet to see the system of accurate measurement RV speed reduction unit back clearance, now needed a kind of measuring system for the measurement of RV speed reduction unit back clearance.
Summary of the invention
Purpose of the present invention is to provide a kind of RV speed reduction unit back clearance measuring system.
The solution that the present invention solves its technical matters is: a kind of RV speed reduction unit back clearance measuring system, it comprises fixed support, the RV speed reduction unit is installed on the described fixed support, the output terminal of described RV speed reduction unit is equipped with torque spanner and torque sensor, the input end of RV speed reduction unit is equipped with detent, the outside surface of input end is equipped with the horizontal measuring staff that can rotate together along with output terminal, the free end of described horizontal measuring staff is provided with a test plane, described test plane is through the rotation center of output terminal, one side of described output terminal 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 that touches the test plane, and described inductance amesdial all connects with data handling system with torque sensor.
As further improvement in the technical proposal, described fixation measuring device comprises a fixation measuring frame, one end of described fixation measuring frame is fixed on the shell of RV speed reduction unit, on the side of the other end cross slide seat is installed, and on the described cross slide seat inductance amesdial is installed.
As further improvement in the technical proposal, also be provided with the locking rack that inductance amesdial is clamped on the described cross slide seat.
As further improvement in the technical proposal, the outside surface of described input end is provided with a disk, and described disk and output terminal are fixedly connected, and can rotate synchronously along with output terminal, and the outside surface of disk and the installation end of horizontal measuring staff are fixedly connected.
As further improvement in the technical proposal, also be provided with the scale mark that indicates from the rotation center distance of output terminal on the described test plane.
As further improvement in the technical proposal, described support bracket fastened below also is equipped with pedestal, the both sides of described pedestal also be equipped with adjustable stationary barrier and brake spacing from the adjusting attachment rail.
As further improvement in the technical proposal, described inductance amesdial is the micron order displacement measurement sensor.
As further improvement in the technical proposal, the gauge head on the described inductance amesdial is the spring gauge head.
The invention has the beneficial effects as follows: the present invention is by arranging the test plane at horizontal measuring staff, this test plane is through the rotation center of the output terminal of RV speed reduction unit, and be equipped with and vertically press the inductance amesdial that touches this test plane, so, after the RV speed reduction unit installed, when torque spanner apply along clockwise direction or counterclockwise ± during the specified input torque of 2% RV speed reduction unit, the output terminal of RV speed reduction unit drives horizontal measuring staff fine rotation, and measure the variable quantity h of its vertical direction by inductance amesdial, and by inductance measuring dial gauge and the spacing L of the interplanar contact point of test from the rotation center of output terminal, with variable quantity h and spacing L logging data disposal system, calculate the back clearance value by back clearance value computing formula X=arctan (h/L) in the data handling system.Cost of the present invention is low, convenient mounting and clamping, measuring accuracy high, is applicable to the measurement of the back clearance value of RV speed reduction unit.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing and example.
Fig. 1 is structural representation of the present invention;
Fig. 2 be among Fig. 1 A to structural representation;
Fig. 3 be among Fig. 1 B to structural representation.
Embodiment
Below in conjunction with accompanying drawing, describe the present invention in detail in the application of measuring the back clearance value.
With reference to Fig. 1～Fig. 3, a kind of RV speed reduction unit back clearance measuring system, it comprises fixed support 6, on the described fixed support 6 RV speed reduction unit 4 is installed, the output terminal 5 of described RV speed reduction unit 4 is equipped with torque spanner 1 and torque sensor 2, torque spanner 1, torque sensor 2 is installed on the output terminal 5 by tie-plate 3, the input end 9 of RV speed reduction unit 4 is connected with detent 8 by shaft coupling 10, 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.
By test plane 14 is set at horizontal measuring staff 13, this test plane 14 is through the rotation center of the output terminal 5 of RV speed reduction unit 4, and be equipped with and vertically press the inductance amesdial 16 that touches this test plane 14, so, after RV speed reduction unit 4 installed, when torque spanner 1 apply along clockwise direction or counterclockwise ± during the specified input torque of 2% RV speed reduction unit 4, the output terminal 5 of RV speed reduction unit 4 drives fine rotation, and measure the variable quantity h of its vertical direction by inductance amesdial 16, and pass through inductance measuring dial gauge 16 and test the contact point on 14 on plane from the spacing L of the rotation center of output terminal 5, with variable quantity h and spacing L logging data disposal system, calculate the back clearance value by back clearance value computing formula X=arctan (h/L) in the data handling system.
Be further used as preferred embodiment, 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, and 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.Fixation measuring frame 11 is arc surface 20 and finger setting with connecting of speed reduction unit 4, and screw is fixed, and pin-and-hole 21 and screw hole 22 overlap with hole site on the shell 12; The exterior design of horizontal measuring staff 13 guarantees rigidity and gauge head 19 and the flatness of testing plane 14.
Be further used as preferred embodiment, also be provided with the locking rack 17 that inductance amesdial 16 is clamped on the cross slide seat 18.Locking rack 17 is fixed on the cross slid platform 18, can carry out the up and down adjusting of position, and minimum scale is 0.01mm, and cross slid platform 18 is installed on the fixation measuring frame 11, and guarantees that at mounting structure the direction of motion of inductance amesdial 16 is vertical all the time.
Be further used as preferred embodiment, the outside surface of described input end 9 is provided with a disk 15, disk 15 is fixedly connected by screw and 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, horizontal measuring staff 13 adopts arc surfaces 24 and pin 25 location with disk 15, and screw 26 is fixing, and Kong Weijun overlaps with position, hole on the disk 15; Guarantee that test plane 14 levels of horizontal side lever front end are by the rotation center of output terminal 5.
Be further used as preferred embodiment, test also is provided with the scale mark that indicates from the rotation center distance of output terminal 5 on the plane 14, is convenient to record inductance measuring dial gauge 16 and tests the contact point on 14 on plane from the spacing L of the rotation center of output terminal 5.
Be further used as preferred embodiment, the below of 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 adjustable stationary barrier 6 and 8 distances of detent.
Be further used as preferred embodiment, inductance amesdial 16 is the micron order displacement measurement sensor.Among the present invention, torque sensor 2 ranges are ± 200N.M that precision is 0.1N.M; Inductance amesdial range ± 2mm, resolution 0.001mm, horizontal measuring staff L generally gets 500mm, and fine-tuning, so the measurement range of back clearance is: ± 13 arcs divide, and precision is that 0.007 arc divides.
Be further used as preferred embodiment, gauge head 19 on the inductance amesdial is the spring gauge head, during measurement, adjust inductance amesdial 16, it is contacted with test plane 14, be in the pressured state of certain stroke, like this when horizontal measuring staff 13 when rotating clockwise or counterclockwise, gauge head 19 is unlikely to separate with horizontal measuring staff 13, remains contact condition, reads accurately change in displacement value.
More than be that preferred embodiments of the present invention is specified, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent modifications or replacement under the prerequisite of spirit of the present invention, the modification that these are equal to or replacement all are included in the application's claim limited range.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489065.8A CN102997841B (en) | 2012-11-26 | 2012-11-26 | Rotary vector (RV) reducer back clearance measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489065.8A CN102997841B (en) | 2012-11-26 | 2012-11-26 | Rotary vector (RV) reducer back clearance measuring system |
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| Publication Number | Publication Date |
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| CN102997841A true CN102997841A (en) | 2013-03-27 |
| CN102997841B CN102997841B (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210489065.8A Expired - Fee Related CN102997841B (en) | 2012-11-26 | 2012-11-26 | Rotary vector (RV) reducer back clearance measuring system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897400A (en) * | 2015-06-29 | 2015-09-09 | 合肥工业大学 | Robot joint reducer test bed |
| CN106123835A (en) * | 2016-08-31 | 2016-11-16 | 宁波中大力德智能传动股份有限公司 | A kind of accurate planetary reducer backhaul gap detection device |
| CN106441865A (en) * | 2016-09-12 | 2017-02-22 | 北京新能源汽车股份有限公司 | Idle running angle testing device for speed reducer |
| CN107966928A (en) * | 2017-11-21 | 2018-04-27 | 上海联影医疗科技有限公司 | Back clearance error compensating method, device, system, computer equipment and radiotherapy equipment |
| CN109443764A (en) * | 2018-10-18 | 2019-03-08 | 东莞市国森科精密工业有限公司 | A kind of harmonic speed reducer back clearance test device |
| CN111089530A (en) * | 2019-12-28 | 2020-05-01 | 深圳市越疆科技有限公司 | Measuring device and measuring method for return clearance of planetary gear motor |
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| CN201311267Y (en) * | 2008-09-05 | 2009-09-16 | 江西江铃底盘股份有限公司 | Detector for detecting comprehensive gap of driving rear axle |
| KR20100000548A (en) * | 2008-06-25 | 2010-01-06 | 정영현 | Experiment device of rv speed reducer |
| CN102305285A (en) * | 2011-08-30 | 2012-01-04 | 南通振康焊接机电有限公司 | Axle center positioning device for RV reducer |
| CN202947682U (en) * | 2012-11-26 | 2013-05-22 | 广州中国科学院先进技术研究所 | System for measuring back clearance of rotate vector (RV) reducer |
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2012
- 2012-11-26 CN CN201210489065.8A patent/CN102997841B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100000548A (en) * | 2008-06-25 | 2010-01-06 | 정영현 | Experiment device of rv speed reducer |
| CN201311267Y (en) * | 2008-09-05 | 2009-09-16 | 江西江铃底盘股份有限公司 | Detector for detecting comprehensive gap of driving rear axle |
| CN102305285A (en) * | 2011-08-30 | 2012-01-04 | 南通振康焊接机电有限公司 | Axle center positioning device for RV reducer |
| CN202947682U (en) * | 2012-11-26 | 2013-05-22 | 广州中国科学院先进技术研究所 | System for measuring back clearance of rotate vector (RV) reducer |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897400A (en) * | 2015-06-29 | 2015-09-09 | 合肥工业大学 | Robot joint reducer test bed |
| CN104897400B (en) * | 2015-06-29 | 2017-01-25 | 合肥工业大学 | Robot joint reducer test bed |
| CN106123835A (en) * | 2016-08-31 | 2016-11-16 | 宁波中大力德智能传动股份有限公司 | A kind of accurate planetary reducer backhaul gap detection device |
| CN106123835B (en) * | 2016-08-31 | 2018-08-28 | 宁波中大力德智能传动股份有限公司 | A kind of precision planetary reducer backhaul gap detection device |
| CN106441865A (en) * | 2016-09-12 | 2017-02-22 | 北京新能源汽车股份有限公司 | Idle running angle testing device for speed reducer |
| CN107966928A (en) * | 2017-11-21 | 2018-04-27 | 上海联影医疗科技有限公司 | Back clearance error compensating method, device, system, computer equipment and radiotherapy equipment |
| US10814145B2 (en) | 2017-11-21 | 2020-10-27 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for correcting a position error of a motion terminal |
| US10960227B2 (en) | 2017-11-21 | 2021-03-30 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for correcting a position error of a motion terminal |
| CN109443764A (en) * | 2018-10-18 | 2019-03-08 | 东莞市国森科精密工业有限公司 | A kind of harmonic speed reducer back clearance test device |
| CN111089530A (en) * | 2019-12-28 | 2020-05-01 | 深圳市越疆科技有限公司 | Measuring device and measuring method for return clearance of planetary gear motor |
| CN111089530B (en) * | 2019-12-28 | 2022-08-12 | 深圳市越疆科技有限公司 | Measuring device and measuring method for return clearance of planetary gear motor |
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| CN102997841B (en) | 2015-04-29 |
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Granted publication date: 20150429 Termination date: 20211126 |