CN105043758A - Precision servo mechanism gear driving error measurement apparatus - Google Patents
Precision servo mechanism gear driving error measurement apparatus Download PDFInfo
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- CN105043758A CN105043758A CN201510311016.9A CN201510311016A CN105043758A CN 105043758 A CN105043758 A CN 105043758A CN 201510311016 A CN201510311016 A CN 201510311016A CN 105043758 A CN105043758 A CN 105043758A
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- autocollimator
- input end
- output terminal
- polyhedral prism
- gear
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Abstract
The invention relates to a precision servo mechanism gear driving error measurement apparatus. Prism installation devices arranged on a driving gear shaft and a driven gear shaft, polyhedron prisms arranged on the prism installation devices, and autocollimators form the precision servo mechanism gear driving error measurement apparatus together. The driving gear shaft and the driven gear shaft of a gear transmission mechanism are connected with the polyhedron prisms through the prism installation devices, the centers of the polyhedron prisms are enabled to be coaxial with the driving gear shaft and the driven gear shaft of the gear transmission mechanism, and the autocollimators are aligned with the working reflection planes of the polyhedron prisms. A motor drives the gear transmission system, light beams emitted by the autocollimators are reflected back to the autocollimators through the polyhedron prisms, deflection angles are recorded, metering devices record the quantity of rotation working planes of the polyhedron prisms, and transmission errors of the gear transmission system can be solved through calculating results. The apparatus provided by the invention is simple to install and high in measurement precision, is effective and practical, and is applied to measurement of the transmission errors of a servo mechanism precision transmission system and other precision gear transmission systems.
Description
Technical field
The present invention relates to gear drive error fields of measurement, particularly relate to the measurement of elaborate servo organization gear driving error.
Background technology
Precision drive mechanism is the important component part of Servo System Based, one of principal element that the existence of driving error is vibration in mechanical drive train, noise produces, it has a strong impact on transmission accuracy and the functional reliability of servo control mechanism, therefore, driving error is accurately measured to research servo-drive system important in inhibiting.
At present, in measurement driving error field, mostly traditional method is to adopt manual or automanual mode entirely to carry out, and it is static measurement means that conventional driving error is measured also mostly, and what affect servo performance most is mechanism's dynamic perfromance index.But, in existing dynamic measurement method, conventional the seismograph method that mainly contains, magnetic indexing and Circular gratings method.Signal frequency step-down after its frequency division of magnetic indexing, has covered up some minutias of frequency division front signal, has reduced measuring accuracy, and the method is not suitable for measuring at a high speed, high-precision driving-chain; Seismograph method, by the restriction of instrument natural frequency, is immeasurable to the low frequency movement error of below 1Hz; Circular gratings method needs larger space to install disk, makes measuring process become complicated loaded down with trivial details.Above method is all unsuitable for the precision gear driving error in precise engineering surveying servo control mechanism.
To sum up, develop a kind of simple installation, effectively practical, that measuring accuracy is high elaborate servo organization gear driving error measurement mechanism becomes particularly important.
Summary of the invention
The technical problem to be solved in the present invention overcomes the deficiencies in the prior art, provides that a kind of noncontact, measurement result and measuring distance are irrelevant, Measurement Resolution and precision high, easy to use, reliable elaborate servo organization gear driving error measurement mechanism.
Technical scheme of the present invention is achieved in that
A kind of elaborate servo organization gear driving error measurement mechanism, comprises gear drive, input end outer corner measurement system and output terminal outer corner measurement system, input end counting assembly, output terminal counting assembly and collection display processing unit 9;
Described input end outer corner measurement system comprises input end polyhedral prism 1, input end angle measurement autocollimator 3, input end polyhedral prism 1 is fixedly connected on driving gear shaft 2, input end polyhedral prism mirror surface center aimed at by input end angle measurement autocollimator 3, be fixedly connected on input end supporting seat, in order to ensure precision, when using input end polyhedral prism, the centre of gyration of input end polyhedral prism should be made to overlap with the centre of gyration of gear, the optical axis of input end angle measurement autocollimator 3 should perpendicular to the axis of rotation of gear, simultaneously, scale direction in input end angle measurement autocollimator 3 visual field and sensitive direction should perpendicular to the axiss of rotation of gear, the light finally making input end angle measurement autocollimator collimating light pipe send returns to enter input end angle measurement autocollimator collimating light pipe through the offside reflection of input end polyhedral prism again.
Described output terminal outer corner measurement system comprises output terminal polyhedral prism 5, output terminal angle measurement autocollimator 4, output terminal polyhedral prism 5 is fixedly connected on driven gear shaft 6, output terminal polyhedral prism mirror surface center aimed at by output terminal angle measurement autocollimator 4, be fixedly connected on input end supporting seat, in order to ensure precision, when using polyhedral prism, the centre of gyration of output terminal polyhedral prism should be made to overlap with the centre of gyration of gear, the optical axis of output terminal angle measurement autocollimator should perpendicular to the axis of rotation of gear, simultaneously, scale direction in output terminal angle measurement autocollimator visual field and sensitive direction should perpendicular to the axiss of rotation of gear, the light finally making output terminal angle measurement autocollimator collimating light pipe send returns to enter output terminal angle measurement autocollimator collimating light pipe through the offside reflection of output terminal polyhedral prism again.
Described input end counting assembly comprises input end polyhedral prism 1, input end counting autocollimator 8, input end polyhedral prism is fixedly connected on driving gear shaft, input end polyhedral prism mirror surface center aimed at by input end counting autocollimator 8, be fixedly connected on input end supporting seat, in order to ensure precision, when using input end polyhedral prism, the centre of gyration of input end polyhedral prism should be made to overlap with the centre of gyration of gear, the optical axis of input end counting autocollimator should perpendicular to the axis of rotation of gear, simultaneously, scale direction in input end counting autocollimator visual field and sensitive direction should perpendicular to the axiss of rotation of gear, the light finally making input end counting autocollimator collimating light pipe send returns to enter input end counting autocollimator collimating light pipe through the offside reflection of input end polyhedral prism again.
Described output terminal counting assembly comprises output terminal polyhedral prism 5, output terminal counting autocollimator 7, output terminal polyhedral prism is fixedly connected on driving gear shaft, output terminal polyhedral prism mirror surface center aimed at by output terminal counting autocollimator 7, be fixedly connected on input end supporting seat, in order to ensure precision, when using output terminal polyhedral prism, the centre of gyration of output terminal polyhedral prism should be made to overlap with the centre of gyration of gear, the optical axis of output terminal counting autocollimator should perpendicular to the axis of rotation of gear, simultaneously, scale direction in output terminal counting autocollimator visual field and sensitive direction should perpendicular to the axiss of rotation of gear, the light finally making output terminal counting autocollimator collimating light pipe send returns to enter output terminal counting autocollimator collimating light pipe through the offside reflection of output terminal polyhedral prism again.
Described input end angle measurement autocollimator 3, output terminal angle measurement autocollimator 4, input end counting autocollimator 8 and output terminal counting autocollimator 7 are all connected with collection display processing unit 9.
Described input end angle measurement autocollimator 3 and output terminal angle measurement autocollimator 4, comprise graticule 16 and photoelectric sensor 12 is positioned on two conjugate focal planes of object lens 11, light source 14 is through condenser 15 uniform illumination graticule, via Amici prism 17, object lens 11, outgoing parallel beam, run into polyhedral prism working reflex face 10, parallel beam returns and is converged by object lens, images in photodetector surfaces.
Described graticule is a kind of widely used cross graticule, when tested mirror deflection, photoelectric sensor 12 detect cross-graduation plate as 13 displacement, signal processing system processes photoelectric sensor output signals, then calculates polyhedral prism working reflex face corner.
Described input end counting autocollimator and output terminal counting autocollimator, comprise graticule and photoelectric sensor is positioned on two conjugate focal planes of object lens, light source is through condenser uniform illumination graticule, via beam divider, object lens, outgoing parallel beam, run into polyhedral prism working reflex face, parallel beam returns and is converged by object lens, when deflection 360/n spends polyhedral prism completely, because light beam cannot reflex to photoelectric sensor through spectroscope, therefore graticule cannot imaging, gather display processing unit to process photoelectric sensor output signals, then rotating face number is calculated.
Described regular polygon prism is the standard of angle, and profile is regular polygon, and limit number is n, and its face number both even numbers, may also be odd number.The position in polyhedral prism working reflex face is as the criterion with the normal of workplace.In the ideal case, be the workplace of n for positive 12 polyhedral prism sequence numbers, its normal relative to the corner of prism start sequence number workplace normal is
.
Described input end polyhedral prism adopts driving gear shaft prism installation device to be fixedly connected with the connection of driving gear shaft.
Described output terminal polyhedral prism adopts driven gear shaft prism installation device to be fixedly connected with the connection of driven gear shaft.
Described input end angle measurement autocollimator, output terminal angle measurement autocollimator, input end counting autocollimator and output terminal counting autocollimator are connected to and gather on display processing unit.
Described input end polyhedral prism and output terminal polyhedral prism adopt prism clamping plate to fix.
Described input end polyhedral prism and output terminal polyhedral prism adopt 12.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is outer corner measurement system of the present invention and counting assembly structural representation;
Fig. 3 is polyhedral prism structural representation of the present invention.
In figure, each label represents:
1, input end polyhedral prism 2, driving gear shaft
3, input end angle measurement autocollimator 4, output terminal angle measurement autocollimator
5, output terminal polyhedral prism 6, driven gear shaft
7, output terminal counting autocollimator 8, input end counting autocollimator
9, display processing unit 10, polyhedral prism working reflex face is gathered
11, object lens 12, photoelectric sensor
13, cross-graduation plate as 14, light source
15, condenser 16, graticule
17, Amici prism 18, workplace
19, lightening hole 20, mounting hole.
Embodiment
As shown in Figure 1 to Figure 3, a kind of elaborate servo organization gear driving error measurement mechanism, comprises gear drive, input end outer corner measurement system and output terminal outer corner measurement system, input end counting assembly and output terminal counting assembly.
Described input end outer corner measurement system comprises input end polyhedral prism 1, input end angle measurement autocollimator 3.Input end polyhedral prism 1 has the regular prism shape gauge of accurate angle, as shown in Figure 3, comprise polyhedral prism working reflex face 10, lightening hole 19, mounting hole 20, mounting hole 20 is positioned at the center of input end polyhedral prism, and lightening hole 19 is uniformly distributed multiple around the peripheral circumferential of mounting hole 20.Polyhedral prism working reflex mask has good optical reflection performance, is usually used in examining and determine angle measurement tool, during measurement, utilizes autocollimator reading.
Autocollimator is usually used in measuring the linearity of guide rail, dull and stereotyped flatness, described input end angle measurement autocollimator 3 as shown in Figure 2, comprise described graticule 16 and described photoelectric sensor 12 is positioned on two conjugate focal planes of object lens, light source 14 is through condenser 15 uniform illumination graticule 16, via Amici prism 17, object lens 11 outgoing parallel beam, run into polyhedral prism working reflex face 10, parallel beam returns and is converged by object lens 11, images in photoelectric sensor 12.
Graticule 16 is a kind of widely used cross graticules, when tested polyhedral prism working reflex deflecting facet, photoelectric sensor 12 detect cross-graduation plate as 13 displacement, signal processing system processes photoelectric sensor 12 output signal, then calculates polyhedral prism working reflex face 10 corner.Input end polyhedral prism 1 and driving gear shaft realize the measurement of Zero-drive Chain.Input end polyhedral prism 1 is fixedly connected on driving gear shaft 2, and input end polyhedral prism 1 mirror surface center aimed at by input end angle measurement autocollimator 3, realizes non-contact detection, is fixedly connected on supporting seat.
Described output terminal outer corner measurement parts that system adopts are identical with input end outer corner measurement system, comprise output terminal polyhedral prism 5, output terminal angle measurement autocollimator 4, described output terminal polyhedral prism 5 is fixedly connected on driven gear shaft 6, output terminal polyhedral prism 5 mirror surface center aimed at by described output terminal angle measurement autocollimator 4, is fixedly connected on supporting seat.
Described input end counting assembly, comprise input end polyhedral prism 1, input end counting autocollimator 8, input end counting autocollimator 8 has comparatively small field of view, only have when autocollimator light path aims at input end polyhedral prism 1 workplace, the imaging of graticule 16 ability, therefore, input end polyhedral prism 1 deflects a workplace, input end counting autocollimator 8 just can lose a cross-graduation plate as 13, just can record input end polyhedral prism 1 surfaces of revolution workplace number when data are passed to collection display processing unit 9 by input end counting autocollimator 8.Input end polyhedral prism 1 is fixedly connected on driving gear shaft 2, and input end polyhedral prism 1 mirror surface center aimed at by input end counting autocollimator 8, is fixedly connected on supporting seat.
Described output terminal parts that counting assembly adopts are identical with input end counting assembly, comprise output terminal polyhedral prism 5, output terminal counting autocollimator 7, output terminal polyhedral prism 5 is fixedly connected on driven gear shaft 6, output terminal polyhedral prism 5 mirror surface center aimed at by output terminal counting autocollimator 7, is fixedly connected on supporting seat.
Described input end polyhedral prism 1 adopts driving gear shaft prism installation device to be fixedly connected with the connection of driving gear shaft 2, driving gear shaft prism installation device is a Step Shaft, one end providing holes, is inserted in installation by input end polyhedral prism and enters, and can realize accurately location.
Described output terminal polyhedral prism 5 adopts driven gear shaft prism installation device to be fixedly connected with the connection of driven gear shaft 6, and driven gear shaft prism installation device is identical with driving gear shaft prism installation device.
Described input end polyhedral prism 1 center and driving gear shaft 2 rotating shaft coaxially, coaxially can ensure the accuracy of experimental test data, reduce the data error that alignment error is brought, and improve the reliability of test figure.
Described output terminal polyhedral prism 5 center and driven gear shaft 6 rotating shaft coaxially, coaxially can ensure the accuracy of experimental test data, reduce the data error that alignment error is brought, and improve the reliability of test figure.
Described input end polyhedral prism 1 and output terminal polyhedral prism 5 adopt prism clamping plate to fix, prism clamping plate is cylindrical, end face is provided with pilot hole and screw hole, polyhedral prism accurately can be located and install fixing by pilot hole and screw, ensure the fixing of polyhedral prism, realize the accuracy of test figure, this is easy for installation, structure is simple, and location is reliable.
Described input end polyhedral prism 1 and output terminal polyhedral prism 5 adopt 12 prisms, and 12 prisms can meet test alignment requirements in cost and precision.
Described input end angle measurement autocollimator 3 and output terminal angle measurement autocollimator 4 are connected to and gather on display processing unit 9, polyhedral prism pivoting angle data can be gathered.
Described input end counting autocollimator 8 and output terminal counting autocollimator 7 are connected to and gather on display processing unit 9, polyhedral prism rotating face logarithmic data can be gathered.
After the assembling of this elaborate servo organization gear driving error measurement mechanism is errorless, start autocollimator, counting assembly starts to record input end polyhedral prism 1 and output terminal polyhedral prism 5 rotating face number, motor orders about gear train running, and display processing unit display input end polyhedral prism 1 to be collected rotates
face, output terminal polyhedral prism 5 rotates
face, record now gathers display processing unit display driving gear shaft 2 corner
, driven gear shaft 6 corner
, by calculating the driving error just accurately can trying to achieve elaborate servo mechanism.
Claims (9)
1. elaborate servo organization gear driving error measurement mechanism, comprise input end polyhedral prism (1), driving gear shaft (2), input end angle measurement autocollimator (3), output terminal angle measurement autocollimator (4), output terminal polyhedral prism (5), driven gear shaft (6), output terminal counting autocollimator (7), input end counting autocollimator (8), gather display processing unit (9), it is characterized in that
Described input end polyhedral prism (1) is fixedly connected on driving gear shaft (2), and input end polyhedral prism mirror surface center aimed at by input end angle measurement autocollimator (3), is fixedly connected on input end supporting seat,
Described output terminal polyhedral prism (5) is fixedly connected on driven gear shaft (6), and output terminal polyhedral prism mirror surface center aimed at by output terminal angle measurement autocollimator (4), is fixedly connected on input end supporting seat,
Described input end counting autocollimator (8) aims at input end polyhedral prism mirror surface center, is fixedly connected on input end supporting seat,
Described output terminal counting autocollimator (7) aims at output terminal polyhedral prism mirror surface center, is fixedly connected on input end supporting seat,
Described input end angle measurement autocollimator (3), output terminal angle measurement autocollimator (4), input end counting autocollimator (8) and output terminal counting autocollimator (7) are all connected with collection display processing unit (9).
2. elaborate servo organization gear driving error measurement mechanism according to claim 1, it is characterized in that: the described centre of gyration of input end polyhedral prism overlaps with the centre of gyration of gear, the optical axis of input end angle measurement autocollimator (3) is perpendicular to the axis of rotation of gear, simultaneously, scale direction in input end angle measurement autocollimator (3) visual field and sensitive direction are perpendicular to the axis of rotation of gear, and the light that input end angle measurement autocollimator collimating light pipe is sent returns to enter input end angle measurement autocollimator collimating light pipe through the offside reflection of input end polyhedral prism again.
3. elaborate servo organization gear driving error measurement mechanism according to claim 1, it is characterized in that: the described centre of gyration of output terminal polyhedral prism overlaps with the centre of gyration of gear, the optical axis of output terminal angle measurement autocollimator is perpendicular to the axis of rotation of gear, simultaneously, scale direction in output terminal angle measurement autocollimator visual field and sensitive direction are perpendicular to the axis of rotation of gear, and the light that output terminal angle measurement autocollimator collimating light pipe is sent returns to enter output terminal angle measurement autocollimator collimating light pipe through the offside reflection of output terminal polyhedral prism again.
4. elaborate servo organization gear driving error measurement mechanism according to claim 1 and 2, it is characterized in that: the described centre of gyration of input end polyhedral prism overlaps with the centre of gyration of gear, input end counts the axis of rotation of optical axis perpendicular to gear of autocollimator, simultaneously, scale direction in input end counting autocollimator visual field and sensitive direction are perpendicular to the axis of rotation of gear, and input end is counted, and light that autocollimator collimating light pipe sends returns to enter input end counting autocollimator collimating light pipe through the offside reflection of input end polyhedral prism again.
5. the elaborate servo organization gear driving error measurement mechanism according to claim 1 or 3, it is characterized in that: the described centre of gyration of output terminal polyhedral prism overlaps with the centre of gyration of gear, output terminal counts the axis of rotation of optical axis perpendicular to gear of autocollimator, simultaneously, scale direction in output terminal counting autocollimator visual field and sensitive direction are perpendicular to the axis of rotation of gear, and output terminal is counted, and light that autocollimator collimating light pipe sends returns to enter output terminal counting autocollimator collimating light pipe through the offside reflection of output terminal polyhedral prism again.
6. elaborate servo organization gear driving error measurement mechanism according to claim 1, it is characterized in that: described input end angle measurement autocollimator (3) and output terminal angle measurement autocollimator (4), comprise graticule (16) and photoelectric sensor (12) is positioned on two conjugate focal planes of object lens (11), light source (14) is through condenser (15) uniform illumination graticule, via Amici prism (17), object lens (11), outgoing parallel beam, run into polyhedral prism working reflex face (10), parallel beam returns and is converged by object lens, image in photodetector surfaces.
7. elaborate servo organization gear driving error measurement mechanism according to claim 6, it is characterized in that: described graticule is cross graticule, when tested mirror deflection, photoelectric sensor (12) detects the displacement of cross-graduation plate picture (13), signal processing system processes photoelectric sensor output signals, then calculates polyhedral prism working reflex face corner.
8. elaborate servo organization gear driving error measurement mechanism according to claim 6, it is characterized in that: described regular polygon prism is the standard of angle, and profile is regular polygon, limit number is n, and its face number both even numbers, may also be odd number.
9. the elaborate servo organization gear driving error measurement mechanism according to claim 1 and 6, it is characterized in that: described input end counting autocollimator and output terminal counting autocollimator, comprise graticule and photoelectric sensor is positioned on two conjugate focal planes of object lens, light source is through condenser uniform illumination graticule, via beam divider, object lens, outgoing parallel beam, run into polyhedral prism working reflex face, parallel beam returns and is converged by object lens, when deflection 360/n spends polyhedral prism completely, because light beam cannot reflex to photoelectric sensor through spectroscope, therefore graticule cannot imaging, gather display processing unit to process photoelectric sensor output signals, then rotating face number is calculated.
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Cited By (1)
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| CN111453390A (en) * | 2018-10-16 | 2020-07-28 | 东莞理工学院 | Gear rotation balance degree detection device |
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