CN103822783A - Precision transmission device dynamic precision measuring system, and detection method - Google Patents

Abstract

The invention discloses a precision transmission device dynamic precision measuring system, and a detection method. The system comprises a servo driving unit for providing power, a dynamic loading unit for loading, a data acquisition unit for acquiring transmission data and a control processing unit for obtaining precision data. By the system and method, input and output data and equipment operation state data can be comprehensively and accurately obtained, the control is accurate, the input and output relevance is high, quite high-precision detection of the transmission precision indicators of a precision transmission device can be realized, dynamic loading is realized, the loading process is corresponding to a driving process, and the performance, reliability and service life of the precision transmission device at various states are comprehensively tested and evaluated; and the quality of the precision transmission device can be effectively detected before use so that quite high qualification rate is ensured when a product is used, and at the same time, an examination standard is provided for researching and developing a precision transmission device new product and ensuring the reliability.

Description

Accurate transmission mechanism dynamic accuracy measuring system and detection method

Technical field

The present invention relates to a kind of detection system to precise rotation device and the method for utilizing this detection system to detect.

Background technology

Accurate transmission mechanism is (as RV speed reduction unit, novel little tooth difference speed reducer, harmonic speed reducer etc.) in Aero-Space, in the fields such as the control system of joint of robot and various precision instrument and equipments, wait until a large amount of application, and the test of the transmission accuracy of device is often processed dynamic problem with static theory, this drawback causes experimental results can not reflect the situation of actual condition.

In prior art, it is lower that loading procedure and driving process obtain parameter accuracy, and loading procedure with driving without positive connection, cause the data reference value obtained not high; But the application of accurate transmission mechanism, needs this device to carry out the detection that precision is higher, for comparatively authority's reference of arch is proposed in its follow-up use.

Therefore, need a kind of accurate transmission mechanism dynamic accuracy measuring system, the transmission accuracy index of detection accurate transmission mechanism that can degree of precision, and capable of dynamic loads and this loading procedure is corresponding with driving, guarantee that product has higher qualification rate while use, meanwhile, for research and development accurate transmission mechanism new product guarantees that its reliability provides the standard of check.

Summary of the invention

In view of this, the invention provides a kind of accurate transmission mechanism dynamic accuracy measuring system and detection method, the transmission accuracy index of detection accurate transmission mechanism that can degree of precision, and capable of dynamic loads and this loading procedure is corresponding with driving, guarantee that product has higher qualification rate while use, meanwhile, for research and development accurate transmission mechanism new product guarantees that its reliability provides the standard of check.

Accurate transmission mechanism dynamic accuracy measuring system of the present invention, comprising:

Servo drive unit, for the power intake to detected workpiece by power transmission;

Dynamic load unit, for the clutch end dynamic load to detected workpiece;

Data acquisition unit, comprise input data acquisition system (DAS) and output data acquisition system (DAS), obtain respectively the input torque and the input speed data that are inputed to detected workpiece by servo drive unit, and detected workpiece exports output torque and the output speed data of dynamic load unit to;

Controlled processing unit, for receiving the data-signal of data acquisition unit and calculating the transmission accuracy data of obtaining detected workpiece according to these data, and for controlling the running status of servo drive unit and dynamic load unit.

Further, described controlled processing unit comprises motion control card I and data acquisition processing system, and described motion control card I is for sending control command and to data acquisition processing system feedback servo driver element operational factor to servo drive unit; Data acquisition processing system sends control command according to servo drive unit operational factor to dynamic load unit; Described data acquisition processing system calculates for the data message that receives input data acquisition system (DAS) and output data acquisition system (DAS) the transmission accuracy data of obtaining detected workpiece;

Further, described servo drive unit is that described driving servo controller is electrically connected with motion control card I with the driving servomotor that drives servo controller; Dynamic load unit is the dynamometer machine with driver, and described driver is electrically connected with data acquisition processing system; 4. accurate transmission mechanism dynamic accuracy measuring system according to claim 2, is characterized in that:

Further, described servo drive unit is that described driving servo controller is electrically connected with motion control card I with the driving servomotor that drives servo controller; Described dynamic load unit is with the loading servomotor that loads servo controller, and described driving servo controller is electrically connected with data acquisition processing system by motion control card II.

Further, input data acquisition system (DAS) comprises input torque sensor and input grating scale; Loading end data acquisition system (DAS) comprises output torque sensor and output grating scale;

Further, servo drive unit and dynamic load unit are provided with the automatic protection of overvoltage, overcurrent and overload.

The invention also discloses a kind of detection method of utilizing accurate transmission mechanism dynamic accuracy measuring system, comprise the following steps:

A. start servo drive unit, drive detected workpiece to rotate in the mode of transmission, and obtain the operational factor of servo drive unit;

B. according to the operational factor of the servo drive unit of step a, the signal of giving an order to dynamic load unit, forms dynamic load to detected workpiece:

C. carry out in process at step a and b, obtain input torque and input speed signal by the detected workpiece of servo drive unit input, and obtain detected workpiece and export to output torque and the output speed signal of dynamic load unit;

D. utilize input torque, input speed, output torque and output speed in step c, calculate the transmission accuracy data of detected workpiece.

Further, in steps d, the transmission accuracy data of detected workpiece comprise transmission efficiency, driving error and repetitive positioning accuracy;

Further, in steps d, transmission efficiency is $\mathrm{\η}=\frac{P_o}{P_i}\×100\%=\frac{n_o\×T_o}{n_i\×T_i}=\frac{n_o\×T_o}{n_o\×i\×T_i}=\frac{T_o}{i\×T_i}\×100\%,$ P _oand P _ifor detected workpiece output power and power input, T _oand T _ifor detected workpiece output torque and input torque, i is detected workpiece ratio of gear, n _oand n _ifor output speed and the input speed of detected workpiece;

Driving error is

for input end actual rotational angle,

for output terminal actual rotational angle;

Repetitive positioning accuracy is ${\mathrm{\θ}}^{\′}=\frac{\max (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ\θn})-\min (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ}{\mathrm{\θ}}_n)}{2},$ Δ θ ₁, Δ θ ₂..., Δ θ n is theoretical output corner θ ₀₁, θ ₀₂..., θ _0nwith actual output corner θ ₁₁, θ ₁₂..., θ _1ndifference, n is the upper average mark of dividing of detected workpiece output one circle.

Beneficial effect of the present invention: accurate transmission mechanism dynamic accuracy measuring system of the present invention and detection method, measuring system adopts servo drive unit, dynamic load unit, controlled processing unit and inputoutput data detecting unit, also obtain accurately input comprehensively, output data and equipment running status data, control is accurate and input and output relevance is high, the transmission accuracy index of detection accurate transmission mechanism that can degree of precision, and capable of dynamic loads and this loading procedure is corresponding with driving, integration test is also evaluated the performance of accurate transmission mechanism under various states, reliability and life-span, can effectively detect before use the quality of accurate transmission mechanism, guarantee that product has higher qualification rate while use, meanwhile, for particularly RV speed reduction unit, novel little tooth difference speed reducer, harmonic speed reducer etc. of research and development accurate transmission mechanism new product, guarantee that its reliability provides the standard of check.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the invention will be further described.

Fig. 1 is principle of the invention block diagram;

Fig. 2 is the another kind of structural principle block diagram of the present invention.

Embodiment

Fig. 1 is principle of the invention block diagram, and solid arrow represents transmission direction, dotted arrow representative data and control, as shown in the figure: the accurate transmission mechanism dynamic accuracy measuring system of the present embodiment, comprising:

Servo drive unit, for the power intake to detected workpiece by power transmission, servo drive unit can be to drive servomotor so that permanent magnet AC drives servomotor, control accuracy is higher and simple and convenient;

Dynamic load unit, for the clutch end dynamic load to detected workpiece; Dynamic load unit can adopt existing controlled servomotor loading or dynamometer machine so that magnetic hysteresis dynamometer machine;

Data acquisition unit, comprise input data acquisition system (DAS) and output data acquisition system (DAS), obtain respectively the input torque and the input speed data that are inputed to detected workpiece by servo drive unit, and detected workpiece exports output torque and the output speed data of dynamic load unit to; Input data acquisition system (DAS) can realize by multiple sensors for detection of input torque and input speed data, such as input speed data can adopt angular transducer (grating scale) or common speed pickup, can angle and speed convert mutually, to reach different calculating objects;

Controlled processing unit, for receiving the data-signal of data acquisition unit and calculating the transmission accuracy data of obtaining detected workpiece according to these data, and for controlling the running status of servo drive unit and dynamic load unit; Controlled processing unit can adopt common industrial computer and in conjunction with common driving servomotor motion control card I, such as PMAC motion control card I.

In the present embodiment, described controlled processing unit comprises motion control card I and data acquisition processing system, and described motion control card I is for sending control command and to data acquisition processing system feedback servo driver element operational factor to servo drive unit; Data acquisition processing system sends control command according to servo drive unit operational factor to dynamic load unit; Described data acquisition processing system calculates for the data message that receives input data acquisition system (DAS) and output data acquisition system (DAS) the transmission accuracy data of obtaining detected workpiece; Data acquisition processing system can adopt existing industrial computer and data collecting card etc., has conversion and enlarging function, belongs to prior art, does not repeat them here;

In the present embodiment, described servo drive unit is with the driving servomotor that drives servo controller, the present embodiment adopts permanent magnet AC to drive servomotor, and described driving servo controller is electrically connected with motion control card I, and motion control card I is PMAC motion control card I; Dynamic load unit is the dynamometer machine with driver, and dynamometer machine adopts magnetic hysteresis dynamometer machine, and described driver is electrically connected with data acquisition processing system; In the present embodiment, motion control card I takes orders and driving servomotor is controlled, feedback signal is to data acquisition processing system simultaneously, data acquisition processing system sends command signal and adjusts its dynamic load parameter to driver according to this signal, certainly, this structure is also applicable to static loading; Magnetic hysteresis dynamometer machine is by being with tooth utmost point stator, hollow magnetic hysteresis cup rotor, magnetizing coil, support and base plate etc. to form, when magnetic hysteresis dynamometer machine Inside coil produces the magnetic line of force during by electric current, and form magnetic loop and produce torque, change exciting current and can change loading moment, exciting current is dynamically controlled by Dynamometer Control device, PMAC motion control card I also can be sent control signal by industrial computer (data acquisition processing system) to the driver of magnetic hysteresis dynamometer machine simultaneously, thereby realize, detected workpiece dynamic force moment is loaded.

In the present embodiment, input data acquisition system (DAS) comprises input torque sensor and input grating scale; Loading end data acquisition system (DAS) comprises output torque sensor and output grating scale; It is to adopt direct displacement-measurement procedure to the measurement of accurate transmission mechanism dynamic accuracy that this structure makes this measuring system, can realize the dynamic and static measurement of driving error and the real-time measurement of return difference, there is good adaptability, grating scale has higher Measurement Resolution, is applicable to the occasion higher to accuracy requirement; Grating scale can directly obtain angle position data, thereby obtain the angular displacement information of detected workpiece, and the signal of grating scale can be treated to velocity information by PMAC motion control card I, be used for input, output shaft corner and the rotating speed of precise engineering surveying speed reduction unit, and data are sent to data acquisition processing system by PMAC motion control card I, input the signal of grating scale as driving servomotor position control feedback signal simultaneously.

Fig. 2 is the another kind of structural principle block diagram of the present invention, as shown in the figure, the difference of the present embodiment and above-described embodiment is only: the dynamic load unit of the present embodiment is not dynamometer machine, load servomotor loading but adopt, certainly, need to be equipped with loading servo controller, described driving servo controller is electrically connected with data acquisition processing system by motion control card II; In the present embodiment, motion control card I takes orders and driving servomotor is controlled, feedback signal is to data acquisition processing system simultaneously, data acquisition processing system sends command signal and adjusts to motion control card II according to this signal and loads servomotor dynamic load parameter, certainly, this structure is also applicable to static loading; Load servomotor loading parameters by change and can change loading moment, PMAC motion control card I also can be sent control signal by industrial computer (data acquisition processing system) to motion control card II, driving servo controller and loading servomotor simultaneously, thereby realize, detected workpiece dynamic force moment is loaded.

In the present embodiment, servo drive unit and dynamic load unit are equipped with the automatic protection of overvoltage, overcurrent and overload.

In the present invention, the said equipment can be installed on an experiment table, has good globality, does not repeat them here; By PMAC motion control card I, to driving servomotor to carry out position or speed is controlled in real time, data acquisition adopts high-speed AD LINK data collecting card to carry out synchronous acquisition, and all data of collection are carried out real-time synchronization and processed and automatically carry out data storage; Certainly, the present invention also can have the automatic protection functions of overvoltage, overcurrent, overload, is mainly used in servo drive unit, avoids damage equipment, does not repeat them here.

The invention also discloses a kind of detection method of utilizing accurate transmission mechanism dynamic accuracy measuring system, comprise the following steps:

A. start servo drive unit, drive detected workpiece to rotate in the mode of transmission, and obtain the operational factor of servo drive unit; This operational factor, as the loading reference of dynamic load unit, has the proportionate relationship of determining or setting;

B. according to the operational factor of the servo drive unit of step a, the signal of giving an order to dynamic load unit, forms dynamic load to detected workpiece:

C. carry out in process at step a and b, obtain input torque and input speed signal by the detected workpiece of servo drive unit input, and obtain detected workpiece and export to output torque and the output speed signal of dynamic load unit;

D. utilize input torque, input speed, output torque and output speed in step c, calculate the transmission accuracy data of detected workpiece.

In the present embodiment, in steps d, the transmission accuracy data of detected workpiece comprise transmission efficiency, driving error and repetitive positioning accuracy; This three parameter can be reacted the transmission accuracy of detected workpiece comprehensively.

In the present embodiment, transmission efficiency is a mechanically operated important technology performance, is one of important indicator of evaluating accurate transmission mechanism performance quality, is also the focus that this area is paid close attention to; The present invention can measure the transmission efficiency of reductor under different rotating speeds and different loads; In steps d, transmission efficiency is $\mathrm{\η}=\frac{P_o}{P_i}\×100\%=\frac{n_o\×T_o}{n_i\×T_i}=\frac{n_o\×T_o}{n_o\×i\×T_i}=\frac{T_o}{i\×T_i}\×100\%,$ P _oand P _ifor detected workpiece output power and power input, T _oand T _ifor detected workpiece output torque and input torque, i is detected workpiece ratio of gear, n _oand n _ifor output speed and the input speed of detected workpiece; In fact, can under different rotating speeds, test respectively input, output torque value under 25%, 50%, 75%, 100% rated load (the magnetic hysteresis dynamometer machine by output terminal lasts dynamic load), and run a curve; For a certain specific rotation speeds, getting ordinate is efficiency value, and horizontal ordinate is the time, so both can draw out the transmission efficiency of this accurate transmission mechanism;

Driving error is the most important technical indicator of the degree of accuracy of precision mechanical transmission, is one of index of weighing transmission accuracy.Driving error is larger, and the ratio of gear of gearing changes also just greatly, and transmission accuracy is just lower, otherwise transmission accuracy is just higher; In the time that rotating speed is not high, only affect kinematic accuracy; When rotating speed is very high, not only affect kinematic accuracy, also by the stationarity of destruction work.It is to adopt direct displacement-measurement procedure that this measuring system is measured driving error, can realize the dynamic and static measurement of driving error and the real-time measurement of return difference, has good adaptability, and the round grating that its Measurement Resolution is adopted by testing table guarantees; Driving error is

for input end actual rotational angle, for output terminal actual rotational angle; In the present embodiment, establish

if by the actual rotational angle of output

theoretical corner with output

difference in the difference of maximal and minmal value as the driving error of testpieces, the driving error that native system is tested; If namely get 60 test points (be output shaft often turn 6 ° get a value) in one of accurate transmission mechanism output shaft turns, have respectively 60 theoretical corners for output shaft

and actual rotational angle can obtain the difference between 60 actual rotational angles and theoretical corner

output shaft kinematic error can be expressed as:

Repetitive positioning accuracy is with respect to the test that drives servomotor output terminal; Repetitive positioning accuracy is ${\mathrm{\θ}}^{\′}=\frac{\max (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ\θn})-\min (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ}{\mathrm{\θ}}_n)}{2},$ Δ θ ₁, Δ θ ₂..., Δ θ n is theoretical output corner θ ₀₁, θ ₀₂..., θ _0nwith actual output corner θ ₁₁, θ ₁₂..., θ _1ndifference, n is the upper average mark of dividing of detected workpiece output one circle, the present embodiment adopts 60;

In motor output end one turns, get 60 test points (be output shaft often turn 6 ° get a value), have respectively 60 theoretical rotational angle theta for output shaft ₀₁, θ ₀₂..., θ ₀₆₀with actual rotational angle θ ₁₁, θ ₁₂..., θ ₁₆₀, can obtain the difference DELTA θ between 60 actual rotational angles and theoretical corner by corner deviation computing formula ₁, Δ θ ₂..., Δ θ ₆₀therefore repetitive positioning accuracy is

${\mathrm{\θ}}^{\′}=\frac{\max (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ}{\mathrm{\θ}}_{60})-\min (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ}{\mathrm{\θ}}_{60})}{2}.$

For said system and method, adopt servo driving and realize dynamic load under the control of this driving, in conjunction with the characteristic of servo driving, there is comparatively accurate transmission accuracy reaction, be suitable for the high accurate transmission mechanisms of transmission accuracy such as RV speed reduction unit, novel little tooth difference speed reducer, harmonic speed reducer.

Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.

Claims (8)

1. an accurate transmission mechanism dynamic accuracy measuring system, is characterized in that: comprising:

Servo drive unit, for the power intake to detected workpiece by power transmission;

Dynamic load unit, for the clutch end dynamic load to detected workpiece;

Data acquisition unit, comprise input data acquisition system (DAS) and output data acquisition system (DAS), obtain respectively the input torque and the input speed data that are inputed to detected workpiece by servo drive unit, and detected workpiece exports output torque and the output speed data of dynamic load unit to;

Controlled processing unit, for receiving the data-signal of data acquisition unit and calculating the transmission accuracy data of obtaining detected workpiece according to these data, and for controlling the running status of servo drive unit and dynamic load unit.

2. accurate transmission mechanism dynamic accuracy measuring system according to claim 1, it is characterized in that: described controlled processing unit comprises motion control card I and data acquisition processing system, described motion control card I is for sending control command and to data acquisition processing system feedback servo driver element operational factor to servo drive unit; Data acquisition processing system sends control command according to servo drive unit operational factor to dynamic load unit; Described data acquisition processing system calculates for the data message that receives input data acquisition system (DAS) and output data acquisition system (DAS) the transmission accuracy data of obtaining detected workpiece.

3. accurate transmission mechanism dynamic accuracy measuring system according to claim 2, is characterized in that: described servo drive unit is that described driving servo controller is electrically connected with motion control card I with the driving servomotor that drives servo controller; Dynamic load unit is the dynamometer machine with driver, and described driver is electrically connected with data acquisition processing system.

4. accurate transmission mechanism dynamic accuracy measuring system according to claim 2, is characterized in that: described servo drive unit is that described driving servo controller is electrically connected with motion control card I with the driving servomotor that drives servo controller; Described dynamic load unit is with the loading servomotor that loads servo controller, and described driving servo controller is electrically connected with data acquisition processing system by motion control card II.

5. according to the accurate transmission mechanism dynamic accuracy measuring system described in claim 3 or 4, it is characterized in that: input data acquisition system (DAS) comprises input torque sensor and input grating scale; Loading end data acquisition system (DAS) comprises output torque sensor and output grating scale.

6. accurate transmission mechanism dynamic accuracy measuring system according to claim 4, is characterized in that: servo drive unit and dynamic load unit are provided with the automatic protection of overvoltage, overcurrent and overload.

7. a detection method of utilizing accurate transmission mechanism dynamic accuracy measuring system, is characterized in that: comprise the following steps:

A. start servo drive unit, drive detected workpiece to rotate in the mode of transmission, and obtain the operational factor of servo drive unit;

B. according to the operational factor of the servo drive unit of step a, the signal of giving an order to dynamic load unit, forms dynamic load to detected workpiece:

C. carry out in process at step a and b, obtain input torque and input speed signal by the detected workpiece of servo drive unit input, and obtain detected workpiece and export to output torque and the output speed signal of dynamic load unit;

D. utilize input torque, input speed, output torque and output speed in step c, calculate the transmission accuracy data of detected workpiece.

8. detection method according to claim 7, is characterized in that: in steps d, the transmission accuracy data of detected workpiece comprise transmission efficiency, driving error and repetitive positioning accuracy.

8. detection method according to claim 7, is characterized in that: in steps d, transmission efficiency is $\mathrm{\η}=\frac{P_o}{P_i}\×100\%=\frac{n_o\×T_o}{n_i\×T_i}=\frac{n_o\×T_o}{n_o\×i\×T_i}=\frac{T_o}{i\×T_i}\×100\%,$ P _oand P _ifor detected workpiece output power and power input, T _oand T _ifor detected workpiece output torque and input torque, i is detected workpiece ratio of gear, n _oand n _ifor output speed and the input speed of detected workpiece;

Driving error is

for input end actual rotational angle,

for output terminal actual rotational angle;

Repetitive positioning accuracy is ${\mathrm{\θ}}^{\′}=\frac{\max (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ\θn})-\min (\mathrm{\Δ}{\mathrm{\θ}}_1,\mathrm{\Δ}{\mathrm{\θ}}_2,...,\mathrm{\Δ}{\mathrm{\θ}}_n)}{2},$

Δ θ ₁, Δ θ ₂..., Δ θ n is input rotational angle theta ₀₁, θ ₀₂..., θ _0nwith output corner θ ₁₁, θ ₁₂..., θ _1ndifference.

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