CN102997841B - Rotary vector (RV) reducer back clearance measuring system - Google Patents
Rotary vector (RV) reducer back clearance measuring system Download PDFInfo
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- CN102997841B CN102997841B CN201210489065.8A CN201210489065A CN102997841B CN 102997841 B CN102997841 B CN 102997841B CN 201210489065 A CN201210489065 A CN 201210489065A CN 102997841 B CN102997841 B CN 102997841B
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- speed reduction
- reduction unit
- back clearance
- measuring
- output terminal
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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 gear-driven accuracy detection field, relate to a kind of measuring system measured for RV speed reduction unit back clearance.
Background technology
An important technology index of joint of robot High Precision RV Reducer is back clearance, also recalls 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 that the angle return difference of two kinds of duty conversions is very little, also known as little back clearance or zero back clearance transmission.Back clearance is defined as: fixed by input end, and output terminal rotates clockwise and counterclockwise, and when making output terminal produce nominal torque ± 2% moment of torsion, output end of reducer has a small angular displacement, and this angular displacement is exactly backhaul gap, and unit is that arc divides.It is sixtieth once that arc divides.
Current joint of robot RV speed reduction unit relies on Japanese import substantially, still there is no the home products that can replace, but domestic current research RV speed reduction unit is more, its model machine all needs the technical indicator checking that it is important: back clearance parameter, and need the back clearance value of surveying Japanese RV reducer, and the back clearance value of the back clearance value of model machine and Japanese RV reducer is contrasted.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 accurately measuring RV speed reduction unit back clearance, now need a kind of measuring system measured for RV speed reduction unit back clearance.
Summary of the invention
Object 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, described fixed support is provided with RV speed reduction unit, the output terminal of described RV speed reduction unit is provided with torque spanner and torque sensor, the input end of RV speed reduction unit is provided with detent, the outside surface of input end is provided 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, the side of described output terminal is provided with fixation measuring device, the measuring junction of described fixation measuring device is provided with one and vertically can presses the inductance amesdial touching test plane, described inductance amesdial all connects with data handling system with torque sensor.
As the further improvement of technique scheme, 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, the side of the other end is provided with cross slide seat, described cross slide seat is provided with inductance amesdial.
As the further improvement of technique scheme, described cross slide seat is also provided with the locking rack clamped by inductance amesdial.
As the further improvement of technique scheme, the outside surface of described input end is provided with a disk, and described disk and output terminal are fixedly connected, and can along with output terminal synchronous axial system, and the outside surface of disk and the installation end of horizontal measuring staff are fixedly connected.
As the further improvement of technique scheme, described test plane is also provided with the scale mark indicated from the rotation center distance of output terminal.
As the further improvement of technique scheme, described support bracket fastened below is also provided with pedestal, the both sides of described pedestal be also provided with adjustable stationary barrier and brake spacing from adjustment attachment rail.
As the further improvement of technique scheme, described inductance amesdial is micron order displacement measurement sensor.
As the further improvement of technique scheme, the gauge head on described inductance amesdial is spring gauge head.
The invention has the beneficial effects as follows: the present invention by arranging test plane on horizontal measuring staff, this test plane is through the rotation center of the output terminal of RV speed reduction unit, and vertically pressure is installed and touches the inductance amesdial of this test plane, so, after RV speed reduction unit is installed, when torque spanner applies the specified input torque of RV speed reduction unit of ± 2% along clockwise direction or counterclockwise, the output terminal of RV speed reduction unit drives horizontal measuring staff fine rotation, and the variable quantity h of its vertical direction is measured 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, by variable quantity h and spacing L logging data disposal system, back clearance value is calculated by back clearance value computing formula X=arctan (h/L) in data handling system.Cost of the present invention is low, convenient mounting and clamping, measuring accuracy are high, is applicable to the measurement of the back clearance value of RV speed reduction unit.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and example, the present invention is further illustrated.
Fig. 1 is structural representation of the present invention;
Fig. 2 be in Fig. 1 A to structural representation;
Fig. 3 be in Fig. 1 B to structural representation.
Embodiment
Below in conjunction with accompanying drawing, describe the present invention in detail in the application of measuring 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, described fixed support 6 is provided with RV speed reduction unit 4, the output terminal 5 of described RV speed reduction unit 4 is provided with torque spanner 1 and torque sensor 2, torque spanner 1, torque sensor 2 is arranged on 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 provided 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, the side of described output terminal 5 is provided with fixation measuring device, the measuring junction of described fixation measuring device is provided with one and vertically can presses the inductance amesdial 16 touching test plane 14, described inductance amesdial 16 all connects with data handling system with torque sensor 2.
By arranging test plane 14 on 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 vertically pressure is installed and touches the inductance amesdial 16 of this test plane 14, so, after RV speed reduction unit 4 is installed, when torque spanner 1 applies the specified input torque of RV speed reduction unit 4 of ± 2% along clockwise direction or counterclockwise, the output terminal 5 of RV speed reduction unit 4 drives fine rotation, and the variable quantity h of its vertical direction is measured by inductance amesdial 16, and by the spacing L of the contact point between inductance measuring dial gauge 16 and test plane 14 from the rotation center of output terminal 5, by variable quantity h and spacing L logging data disposal system, back clearance value is calculated by back clearance value computing formula X=arctan (h/L) in 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, the side of the other end is provided with cross slide seat 18, 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 the hole site on shell 12; The exterior design of horizontal measuring staff 13 ensures the flatness of rigidity and gauge head 19 and test plane 14.
Be further used as preferred embodiment, cross slide seat 18 be also provided with the locking rack 17 clamped by inductance amesdial 16.Locking rack 17 is fixed on cross slid platform 18, can carry out the adjustment of position up and down, and minimum scale is 0.01mm, and cross slid platform 18 is arranged on fixation measuring frame 11, and on mounting structure, ensure that 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 along with output terminal 5 synchronous axial system, the outside surface of disk 15 and the installation end of horizontal measuring staff 13 are fixedly connected, horizontal measuring staff 13 adopts arc surface 24 and pin 25 to locate with disk 15, and screw 26 is fixed, and Kong Weijun overlaps with the position, hole on disk 15; Ensure the rotation center of test plane 14 horizontally through output terminal 5 of horizontal side lever front end.
Be further used as preferred embodiment, test plane 14 is also provided with the scale mark indicated from the rotation center distance of output terminal 5, be convenient to record the spacing L of the contact point between inductance measuring dial gauge 16 and test plane 14 from the rotation center of output terminal 5.
Be further used as preferred embodiment, the below of fixed support 6 is also provided with pedestal 7, and the both sides of described pedestal 7 are also provided with the adjustment attachment rail of adjustable stationary barrier 6 and detent 8 spacing.
Be further used as preferred embodiment, inductance amesdial 16 is micron order displacement measurement sensor.In the present invention, torque sensor 2 range is ± 200N.M, and precision is 0.1N.M; Inductance amesdial range ± 2mm, resolution 0.001mm, horizontal measuring staff L generally gets 500mm, and fine-tuning, and therefore 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 inductance amesdial is spring gauge head, during measurement, adjustment inductance amesdial 16, makes it contact with test plane 14, is in the pressured state of certain stroke, like this when horizontal measuring staff 13 is when rotating clockwise or counterclockwise, gauge head 19 is unlikely to separate with horizontal measuring staff 13, remains contact condition, reads change in displacement value accurately.
More than that better embodiment of the present invention is illustrated, 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 without prejudice to spirit of the present invention, and these equivalent modification or replacement are all included in the application's claim limited range.
Claims (6)
1. a RV speed reduction unit back clearance measuring system, it is characterized in that: it comprises fixed support (6), described fixed support (6) is provided with RV speed reduction unit (4), the output terminal (5) of described RV speed reduction unit (4) is provided with torque spanner (1) and torque sensor (2), the input end (9) of RV speed reduction unit (4) is provided with detent (8), the outside surface of input end (9) is provided 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), the rotation center of described test plane (14) through output terminal (5), the side of described output terminal (5) is provided with fixation measuring device, the measuring junction of described fixation measuring device is provided with one and vertically can presses the inductance amesdial (16) touching test plane (14), described inductance amesdial (16) all connects with data handling system with torque sensor (2), 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), the side of the other end is provided with cross slide seat (18), described cross slide seat (18) is provided with inductance amesdial (16), described test plane (14) is also provided with the scale mark indicated from the rotation center distance of output terminal (5).
2. RV speed reduction unit back clearance measuring system according to claim 1, is characterized in that: described cross slide seat (18) is also provided with the locking rack (17) clamped by inductance amesdial (16).
3. 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) and output terminal (5) are fixedly connected, and can along with output terminal (5) synchronous axial system, the outside surface of disk (15) and the installation end of horizontal measuring staff (13) are fixedly connected.
4. the RV speed reduction unit back clearance measuring system according to claim 1 or 3, it is characterized in that: the below of described fixed support (6) is also provided with pedestal (7), the both sides of described pedestal (7) are also provided with the adjustment attachment rail of adjustable stationary barrier (6) and detent (8) spacing.
5. the RV speed reduction unit back clearance measuring system according to claim 1 or 3, is characterized in that: described inductance amesdial (16) is micron order displacement measurement sensor.
6. the RV speed reduction unit back clearance measuring system according to claim 1 or 3, is characterized in that: the gauge head (19) on described inductance amesdial is 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 CN102997841A (en) | 2013-03-27 |
| CN102997841B true 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897400B (en) * | 2015-06-29 | 2017-01-25 | 合肥工业大学 | Robot joint reducer test bed |
| 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 | Tester for idle running angle of decelerator |
| CN107966928B (en) | 2017-11-21 | 2022-03-25 | 上海联影医疗科技股份有限公司 | Back clearance error compensation method, device and system, computer equipment and radiotherapy equipment |
| CN109443764B (en) * | 2018-10-18 | 2021-06-04 | 东莞市国森科精密工业有限公司 | Harmonic reducer ware back clearance testing arrangement |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
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 |
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| CN102997841A (en) | 2013-03-27 |
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Granted publication date: 20150429 Termination date: 20211126 |