CN103954447B - A kind of cutting error measurement method of harmonic speed reducer flexible gear - Google Patents
A kind of cutting error measurement method of harmonic speed reducer flexible gear Download PDFInfo
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- CN103954447B CN103954447B CN201410046137.0A CN201410046137A CN103954447B CN 103954447 B CN103954447 B CN 103954447B CN 201410046137 A CN201410046137 A CN 201410046137A CN 103954447 B CN103954447 B CN 103954447B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2416—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures of gears
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention relates to harmonic speed reducer flexible gear, a kind of cutting error measurement method of harmonic speed reducer flexible gear is refered in particular to.Laser probe sends twice apart from certain collimated laser beam, penetrates respectively on the different flank of tooth, then the distance each measured by probe output.If occurring cutting or owing to cut, transverse tooth thickness will necessarily change, so as to cause the change of probe output, error is cut as caused by the cutting depth and tool wear of gear-hobbing machine can just be calculated by the difference of output signal, swing pinion can also be passed through simultaneously, measure its full tooth to reduce due to position error caused by adjustment gear and relative probe position, reach the requirement of Manufacture quality control.
Description
Technical field
The present invention relates to harmonic speed reducer flexible gear, flank profil is cut by laser probe and wheel measuring platform system
Error is cut to measure；It is inconvenient and right for reduce that micrometer and model Kuven lines in traditional measurement method cause to measurement process
The error that measurement result is caused, patent of the present invention proposes a kind of cutting error measure side of harmonic speed reducer flexible gear
Method, belongs to Advanced Equipment Precision Manufacturing Technology.
Background technology
Harmonic speed reducer primary structure is respectively harmonic oscillator, flexible external tooth gear and the interior toothed ring gear of rigidity.Harmonic wave subtracts
Fast utensil has the higher rate of deceleration and there's almost no backlash, and it is turned with high position precision, preferably repeatability, height
The features such as square, high efficiency and low abrasion, is in terms of industrial robot, lathe, medicine equipment and spacecraft by extensive use.
Due to applying in sophisticated manufacturing, the size tolerance requirements of harmonic speed reducer parts are also increasingly stricter more, therefore to ensure
The accuracy of manufacture of its parts, it is necessary to the cutting errors of accurate measurement parts and simultaneously by control information feed back to lathe so as to
Control the accuracy of manufacture.However, for harmonic speed reducer, the accuracy of manufacture control of flexible gear is particularly difficult, and it cuts essence
General of degree can largely effect on the performance of harmonic speed reducer between several microns.The general cutting error to flexible gear
Measurement, is realized by measuring a system being made up of flexible gear, model Kuven lines and micrometer.Line is embedded in phase
Between adjacent two teeth, line and the tip diameter of measurement now are pushed down with micrometer, if occurring cutting in working angles, then phase
Spacing between adjacent two teeth can increase, and model Kuven lines can be moved to gear centre, the measurement data that profit is obtained in this way with
Reference data compares with regard to that can obtain the cutting error of flexible gear.But practical operation gets up extremely difficult, because gear size
It is very small, also with good elasticity, and cutting must be stopped in measurement, this make it that whole measurement process is unstable, imitate
Rate is low and data are it is difficult to ensure that accurate.It is difficult to measure based on gear size is too small, while to ensure that dimensional accuracy and measurement are imitated
The problem of rate, patent of the present invention proposes a kind of measuring system using two laser probes and wheel measuring platform to flexible gear
Cut error and carry out contactless, no elastic deformation measuring method, measurement accuracy and measurement efficiency can be effectively improved.
The content of the invention
The harmonic speed reducer that patent of the present invention is related to cuts the measuring system of error by two parallel lasers with flexible gear
Probe and wheel measuring platform are constituted, and laser probe sends twice apart from certain collimated laser beam, penetrated respectively in the different flank of tooth
On, then the distance each measured by probe output.If occurring cutting or owing to cut, transverse tooth thickness will necessarily change, so as to cause to visit
The change of head output signal, cutting error as caused by the cutting depth and tool wear of gear-hobbing machine just can be by output signal
Difference is calculated.It can also measure its full tooth to reduce due to adjustment gear and the relative position of probe by swing pinion simultaneously
Caused position error is put, the requirement of Manufacture quality control is reached.
Brief description of the drawings
Fig. 1 measuring system schematic diagrames；
1- laser probes；2- flexible gears；3- wheel measuring platforms.
Fig. 2 refers to gear calibration measurement schematic diagram；
m10The distance that-laser probe 1 is measured；m20The distance that-laser probe 2 is measured；θiThe angle of-gear rotation；
mAPop one's head in the distance of pitch circle；θA- two probes measure apart from it is equal when the angle that turns over；Distance between two laser probes of D-.
The instrumentation plan of Fig. 3 gear under test；
m1The distance that-laser probe 1 is measured；m2The distance that-laser probe 2 is measured；mBThe distance that-two probes are measured
Distance when equal；θBThe angle that the distance that-two probes are measured is turned over when equal；Δ α-cutting error.
Fig. 4 revolves the two gauge heads measurement difference schematic diagram that turns around.
The measurement average value Δ m of each gear after the measurement of Fig. 5 multi-turn rotationsaveSchematic diagram.
Embodiment
(1) such as Fig. 1 measuring system schematic diagrames, flexible gear is fixedly mounted on wheel measuring platform using static pressure cylinder fixture
On, test desk passes through driving stepper motor；Again by two laser probes it is parallel be fixed on at gear equal height, laser probe
Using LC-2420 type laser displacement sensors, resolution ratio is 10nm；Two displacement transducers pass through A/D module and computer phase
Even, data acquisition is carried out with calculating.
(2) before actually measurement, flexible external tooth gear in Fig. 2 is first selected to carry out calibration measurement as with reference to gear；Regulation
The distance between two parallel probes so that two measurement points of the laser on the flank of tooth are respectively positioned on pitch circle, so can be by
Small range measured zone around measurement point sees in alignment；As shown in Fig. 2 in two gear teeth of the measurement with reference to gear,
With rotating clockwise for gear, m10It is gradually reduced, m20Gradually increase, when turning over θAIt is that two probes are arrived when the latter two are equal
The distance of pitch circle, now two measurement points be respectively positioned on pitch circle.
Described reference gear refers to cutting error and meets flexible gear in error range, and regard the gear cutting error as
0；
Error range referring generally to the related GB of the accuracy of gear, specific error range regard the technical requirements of reality processing and
It is fixed.
(3) change after the gear for needing to measure, rotate gear is measured, the rotational angle and measurement distance now drawn
Between relation as shown in figure 3, mBThe equidistance measured for two probes, with reference gear ratio compared with mAWith mBBetween error delta α
As cut error；But the cutting error represented by Fig. 2 and Fig. 3 be do not consider gear eccentricity error, rotation error and
The theoretical value obtained in the case of other errors, to obtain actual Accuracy Error needs to take into account external influence factors.
The gear for needing to measure with reference to gear with should be gear of the same race.
(4) Data Collection and calculating：Test desk is by driving stepper motor, and every turn is once collected a data, therefore received
The data of collection occur in discrete form, and its error can be obtained with more accurate by calculating, and X-Y seats are set up in the horizontal plane
Mark system, Y-axis is parallel with laser, as shown in Figure 3 as distance (the i.e. m that laser probe 2 is measured2) it is equal to mAWhen, the survey of laser probe 1
Amount result can use mA+ 2 Δ α represent, then m1With m2It is represented by
m1=mA+2Δα+{eCcosθi+eX(θi)}tanφ1(θi)+eCsinθi+eY(θi) (1)
m2=mA+{eCcosθi+eX(θi)}tanφ2(θi)+eCsinθi+eY(θi), i=1,2 ..., N (2)
Wherein N is number of gear teeth；eCFor gear eccentricity error；eXAnd eYRespectively gear is missed in the rotation of X and Y direction
Difference；Φ1And Φ2The angle of the respectively two measurement flank of tooth and X-axis, obtains data, θ by measurementiFor pinion rotation angle,
Measured in real time by test desk built-in angular sensor.
Obtained after (1) (2) are subtracted each other
Understand that the error for subtracting each other rear Y-direction is completely eliminated by (3) formula, in order to reduce the error of X-direction, gear is rotated
The Δ m for obtaining measurement after one week, which averages, produces Δ mave
Wherein
M is obtained by measuring in real time1And m2Value can calculate measurement difference DELTA m average value Δ mave, Δ EXAlso may be used
With by measuring eC、eX、Φ1And Φ2And the anglec of rotation θ measured in real timeiCalculate, then final more accurate cutting is missed
Poor Δ α can be by trying to achieve；The error of Y-direction has been eliminated as can be seen from the results, Δ EXIt is mainly big by the error of X-direction
Small decision, it can significantly reduce as long as being averaged by multiple rotary measurement, the Δ α measured by the method, be
The cutting error of flexible gear.
For checking this method feasibility, choose three gear samples that cutting error is respectively -6 μm, 0 ,+6 μm and surveyed
Examination experiment, Fig. 4 is that three gear samples revolve the two gauge heads measurement difference DELTA m for turning around and measuring respectively, and its abscissa represents rotation
Gyration, ordinate represents the measurement difference of two gauge heads, and eccentric error is as can be seen from the figure contained in measurement result and is turned
The external influence factors such as dynamic error；Fig. 5 is being averaged for the measurement difference that three gear samples are obtained after multi-turn rotation is measured respectively
It is worth Δ mave, its abscissa represents different cutting errors, and ordinate represents Δ mave, σ represents its uncertainty of measurement i.e. Δ mave
Mean error, as can be seen from the figure Δ maveIt is linear with cutting error, meet (4) formula rule, represent the measurement side
Method is feasible, and the uncertainty of measurement of three gears is ± 1.83 μm, meets the actual requirement of production line.
Claims (5)
1. a kind of cutting error measurement method of harmonic speed reducer flexible gear, it is characterised in that the measuring method is included such as
Lower step：
(1) flexible gear is fixedly mounted on wheel measuring platform using static pressure cylinder fixture, test desk is driven by stepper motor
It is dynamic；Again by two laser probes it is parallel be fixed on at gear equal height；
(2) before actually measurement, first to carrying out calibration measurement with reference to gear；Adjust the distance between two parallel probes so that swash
Two measurement points of the light on the flank of tooth are respectively positioned on pitch circle, now laser probe 1 measure apart from m10Visited equal to laser
First 2 measure apart from m20Equal to probe to pitch circle apart from mA；
(3) change after the gear for needing to measure, rotate gear is measured, mBThe distance when distance measured of being popped one's head in for two is equal,
With reference gear ratio compared with mAWith mBBetween error delta α be cutting error, be theoretical value；
(4) Data Collection and calculating：Test desk by driving stepper motor, every turn once collect a data, therefore collect
Data occur in discrete form, and the exact value of cutting error is obtained by calculating, X-Y coordinate, Y-axis are set up in the horizontal plane
It is parallel with laser, when the measurement of laser probe 2 is apart from m2Equal to mAWhen, the measurement result m of laser probe 11M can be usedA+ 2 Δ α tables
Show, then m1With m2It is represented by
m1=mA+2Δα+{eCcosθi+eX(θi)}tanφ1(θi)+eCsinθi+eY(θi) (1)
m2=mA+{eCcosθi+eX(θi)}tanφ2(θi)+eCsinθi+eY(θi), i=1,2 ..., N (2)
Wherein N is number of gear teeth；eCFor gear eccentricity error；eXAnd eYRespectively gear is in X and the rotation error of Y direction；Φ1
And Φ2The angle of the respectively two measurement flank of tooth and X-axis, obtains data, θ by measurementiFor pinion rotation angle, pass through survey
Amount platform built-in angular sensor is measured in real time；
Obtained after (1) (2) are subtracted each other：
Understand that the error for subtracting each other rear Y-direction is completely eliminated by (3) formula, in order to reduce the error of X-direction, gear is rotated a circle
The Δ m that measurement is obtained afterwards, which averages, produces Δ mave
Wherein
M is obtained by measuring in real time1And m2Value can calculate measurement difference DELTA m average value Δ mave, Δ EXIt can also lead to
Cross measurement eC、eX、Φ1And Φ2And the anglec of rotation θ measured in real timeiCalculate, then final cutting error delta α exact value
2 Δ α=Δ m can be passed throughave-ΔEXTry to achieve；The error for finding out Y-direction from result has been eliminated, Δ EXMainly by X-direction
What error size was determined, can significantly it reduce as long as being averaged by multiple rotary measurement, the Δ measured by the method
α, as flexible gear cutting error.
2. a kind of cutting error measurement method of harmonic speed reducer flexible gear as claimed in claim 1, it is characterised in that：
The laser probe uses LC-2420 type laser displacement sensors, and resolution ratio is 10nm；Two displacement transducers pass through A/D module
It is connected with computer, carries out data acquisition with calculating.
3. a kind of cutting error measurement method of harmonic speed reducer flexible gear as claimed in claim 1, it is characterised in that
It is described make it that two measurement points of the laser on the flank of tooth are respectively positioned on finger on pitch circle：In two gear teeth of the measurement with reference to gear
When, rotated clockwise with reference to gear edge, m10It is gradually reduced, m20Gradually increase, when turning over θAIt is two spies when the latter two are equal
Head arrives the distance of pitch circle, and now two measurement points are respectively positioned on pitch circle.
4. a kind of cutting error measurement method of harmonic speed reducer flexible gear as claimed in claim 1, it is characterised in that：
Described reference gear refers to cutting error and meets flexible gear in error range, and regards the gear cutting error as 0.
5. a kind of cutting error measurement method of harmonic speed reducer flexible gear as claimed in claim 1, it is characterised in that：
The gear for needing to measure with reference to gear with should be gear of the same race.
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| CN201410046137.0A CN103954447B (en) | 2014-02-10 | 2014-02-10 | A kind of cutting error measurement method of harmonic speed reducer flexible gear |
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| CN201410046137.0A CN103954447B (en) | 2014-02-10 | 2014-02-10 | A kind of cutting error measurement method of harmonic speed reducer flexible gear |
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| CN103954447B true CN103954447B (en) | 2017-07-14 |
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| CN106289771B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of measuring device of harmonic gear reducer engagement torsion stiffness |
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| JPS6080733A (en) * | 1983-10-08 | 1985-05-08 | Agency Of Ind Science & Technol | Device for detecting damage of gear |
| RU2117241C1 (en) * | 1997-02-14 | 1998-08-10 | Закрытое акционерное общество "САХ и Кo" | Gear measuring deformations |
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