CN107255561A - Harmonic speed reducer static accuracy test fixture and its assembly method and application method - Google Patents

Harmonic speed reducer static accuracy test fixture and its assembly method and application method Download PDF

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Publication number
CN107255561A
CN107255561A CN201710388663.9A CN201710388663A CN107255561A CN 107255561 A CN107255561 A CN 107255561A CN 201710388663 A CN201710388663 A CN 201710388663A CN 107255561 A CN107255561 A CN 107255561A
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China
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driver plate
speed reducer
harmonic speed
interior axle
polygon
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CN201710388663.9A
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CN107255561B (en
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陈绪勇
孙克
李翠翠
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BEIJING XINLI MACHINERY CO LTD
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BEIJING XINLI MACHINERY CO LTD
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms

Abstract

The invention discloses a kind of harmonic speed reducer static accuracy test fixture, former optical dividing head is replaced with to the index dial for being prefabricated with index hole, index hole can be inserted by steady pin and lock index dial.Also disclose the assembly method and method of testing of the harmonic speed reducer static accuracy test fixture.The present invention is suitable for the harmonic speed reducer of different drive ratios, and test scope is big, strong adaptability, small volume, and beneficial to carrying and installing, indexing positioning is convenient, accurate during measurement, and long-time operation also cannot be easily caused indexing mistake, and economical, it is easy to promote.

Description

Harmonic speed reducer static accuracy test fixture and its assembly method and application method
Technical field
The present invention relates to mechanical detection technical field, and in particular to harmonic speed reducer static accuracy test fixture and its assembling Method and application method.
Background technology
The fifties start, and harmonic speed reducer is because gearratio is big, small volume, lightweight, high transmission accuracy, return difference are small etc. Feature is widely used in the precision positioning field such as mechanism and instrumentation of aerospace craft control system.
Transmission accuracy is the important technology index of harmonic speed reducer, is the important evidence of its type selecting and design, but accurately survey It is a difficult point, foundation to measure transmission accuracy《Harmonic wave drive speed reducer》6.2.6.2 driving error in GB/T 14118-1993 Test is available either statically or dynamically to measure two methods.Static measurement uses optical dividing head, collimating light pipe, angular optical polygon Deng this kind of method is workable, but test scope is narrow.Dynamic measurement input shaft connection high-frequency grating head, output shaft connection is low Frequency grating head, it inputs the signal difference with output, depicts error curve as by automatic recording instrument, take its maximum.In recent years Domestic such as state-run 702nd factory, such as University Of Chongqing of research institutions are successively proposed the survey that harmonic speed reducer is read based on Circular gratings Test system, such system can carry out the accuracy test of harmonic speed reducer optional position, but be due to that such test system is driven it Between instrument it is more, add the cumulative errors of test system, and such system cost is too high for be pilot.
Such as certain harmonic speed reducer right-angle drive type structure, it is desirable to its gap idle running error≤5 ', transmission accuracy error≤5 ', Because the decelerator is transmitted motion on flexbile gear by bevel gear, it is likely to cause test system to tire out with the test of above Circular gratings Error is counted excessive, so as to influence the accuracy of test result, it is of course possible to solved by buying high-performance shaft coupling, Circular gratings Above cumulative errors problem, but economy is not fine for development or be pilot, furthermore conventional static survey Amount uses optical dividing head, and this kind of optical dividing head profile is heavy, is unfavorable for carrying and installs, in addition for test sample harmonic wave The accuracy values of tens points of decelerator is, it is necessary to operator's very careful indexing, then reading, re-graduation, so prolonged behaviour Indexing mistake is easily caused, and because polygon mirror is different from the connecting shaft fit system of harmonic speed reducer output end Test result may also be caused inaccurate.
The content of the invention
The technical problem to be solved in the present invention is:
1st, the problem of existing static measurement frock and narrow measuring method test scope;
2nd, existing static measurement frock uses optical dividing head, and this kind of optical dividing head profile is heavy, be unfavorable for carrying and Installation position problem;
3rd, existing static measurement frock and measuring method are needed for the accuracy value of tens points of test sample harmonic speed reducer Operator's very careful indexing is wanted, then reading, re-graduation, so prolonged operation easily causes asking for indexing mistake Topic;
4th, the polygon mirror of existing static measurement frock and the connecting shaft fit system of harmonic speed reducer output end are different The problem of test result is inaccurate may be caused;
5th, it is likely to cause test system cumulative errors excessive by Circular gratings test, so as to influence the accurate of test result Property the problem of, and solve the problems, such as by buying high-performance shaft coupling, Circular gratings above cumulative errors, but for developing or Not the problem of economy is not fine for be pilot.
To achieve the above object of the invention, the technical solution adopted in the present invention is:
Originally practical beneficial effect is:
1st, by replacing different index dials, the harmonic speed reducer of different drive ratios is suitable for, test scope is big, adaptability By force, index dial is changed to be also convenient for;
2nd, using the index hole of the dividing head of mechanical structure, thereon prefabricated positioning, small volume, beneficial to carrying and installation;
Indexing positioning is convenient, accurate when the 3rd, measuring, and long-time operation also cannot be easily caused indexing mistake;
4th, in this frock, input and output shaft and the correlated parts of harmonic speed reducer use more accurate reliable attachment structure, Test result is more accurate;
5th, Circular gratings are not used, the problem of also just no cumulative errors are excessive, it is not required that using high-performance shaft coupling, circle Grating, it is relatively economical.
Brief description of the drawings
Fig. 1 (tests transmission accuracy state, counterweight screw 18 and counterweight is not installed for the main structure diagram of this frock 19);
Fig. 2 (tests transmission accuracy state, counterweight screw 18 and counterweight is not installed for the left view structural representation of this frock 19);
Fig. 3 (tests transmission accuracy state, counterweight screw 18 and counterweight is not installed for the overlooking the structure diagram of this frock 19);
Fig. 4 is the structural representation of driver plate 6, and wherein Fig. 4 (a) is front view, and Fig. 4 (b) is sectional view;
Fig. 5 (tests gap idle running state, installs counterweight screw 18, counterweight 19 for the overlooking the structure diagram of this frock It is not shown);
Fig. 6 (tests gap idle running state, installs counterweight screw 18 and counterweight for the left view structural representation of this frock 19, in figure, counterweight 19 is located at the right side of interior axle 3, accompanying drawing when omitting counterweight 19 positioned at left side);
Fig. 7 is the structural representation of interior axle 3;
Fig. 8 is the structural representation of steady pin 15;
Wherein, pinboard (1), the first reducer stent (2), interior axle (3), angular optical polygon (4), handle (5), driver plate (6), index hole (61), the second reducer stent (7), test bracket (8), nut (9), catch (10), axle sleeve (11), limiting plate (12), collimating light pipe (13), harmonic speed reducer (14), steady pin (15), nylon pin (16), holding screw (17), counterweight spiral shell Follow closely (18), counterweight (19).
Embodiment
As shown in Fig. 1 to Fig. 8 the harmonic speed reducer static accuracy test fixture, including reducer stent, interior axle 3, optics are more Face rib body 4, test bracket 8, angular optical polygon combination, collimating light pipe 13;Bearing is provided with test bracket 8, interior axle 3 is installed Within the bearing;The one end of interior axle 3 combines connection with angular optical polygon, and collimating light pipe 13 is arranged on angular optical polygon combination side, Reducer stent, test bracket 8 and collimating light pipe 13 are fixedly mounted on pinboard 1;Also include driver plate 6, limiting plate 12, fix Pin 15;The other end of interior axle 3 is provided with the nylon pin 16 for connecting the output shaft of harmonic speed reducer 14, and driver plate 6 is provided with for connecting Holding screw 17 is provided with the joint of the input shaft of harmonic speed reducer 14 connect, the joint;The limiting plate 12, which is arranged on, to be dialled By disk 6, steady pin 15 is mobilizable to be arranged on limiting plate 12, the indexing on the position correspondence periphery of driver plate 6 of steady pin 15 Hole 61.
Driver plate 6 is provided with number of prisms identical index hole 61 and " 0 " position in the combination of number of bits angular optical polygon Index hole 61.
The angular optical polygon combination includes axle sleeve 11, catch 10, nut 9, angular optical polygon 4, catch 10, optics Polygon 4, catch 10 and nut 9 are sleeved on axle sleeve 11 successively.
Use, if wanting measurement gap idle running, distinguish in the left and right sides of interior axle 3 when above structure is measurement transmission accuracy Piece counterweight screw 18 of each installation of level, for hanging counterweight 19.And prepare the counterweight 19 of matching.
First, assembly method
As shown in Figures 1 to 3, the assembly method of harmonic speed reducer static accuracy test fixture comprises the following steps:
Axis, axis, the axle of interior axle 3 of angular optical polygon combination of harmonic speed reducer 14 are must assure that before S1, test Line and the collimating light pipe centre bore axis of collimating light pipe 13 are on a contour plane;
S2, by assembly relation by interior axle 3 on the test bracket 8, rotate the side of interior axle 3 and in its opposite side amesdial The cylindrical bounce of interior axle 3 is checked, the cylindrical bounce of interior axle 3 again can fill angular optical polygon combination with interior axle 3 within 0.01mm Match somebody with somebody;Angular optical polygon combination is loaded onto after interior axle 3, checks that angular optical polygon 4 is cylindrical with the method for checking the cylindrical bounce of interior axle 3 Bounce, if bounce within 0.01mm, accuracy test can be carried out, frock is otherwise adjusted, until angular optical polygon 4 outside Circle bounce is within 0.01mm;
S3, reducer stent include the first reducer stent 2 and the second reducer stent 7, and pinboard 1 is fixed on into test On platform, then the side of harmonic speed reducer 14 is installed in the first reducer stent 2, and fixes harmonic speed reducer 14, afterwards Second reducer stent 7 is arranged on the opposite side of harmonic speed reducer 14, then by the first reducer stent 2 and the second reducer stent 7 are fixed on pinboard 1;
S4, the output shaft of harmonic speed reducer 14 is penetrated into interior axle 3 and nylon pin 16 is inserted to be fixedly connected with harmonic speed reducer 14 output shafts and interior axle 3, then test bracket 8 is fixed on pinboard 1;It is because make use of output shaft with the connection of nylon pin 16 The motion state of output shaft, so can stably be delivered on angular optical polygon 4, test in addition by the hole of one end very much After the completion of not only convenient disassembly, can also prevent plowing from harmonic speed reducer 14;If output shaft connects for key, the harmonic of interior axle 3 Decelerator 14 uses key type of attachment;The purpose of each connected mode is provided to exactly pass the output state of decelerator above It is delivered on angular optical polygon 4;
S5. handle 5 and driver plate 6 are combined, the input shaft of harmonic speed reducer 14 penetrates driver plate 6 and fastened, afterwards in interior axle 3 Amesdial is put on right side well, and manual driver plate rotates along (inverse) hour hands, checks the cylindrical bounce of interior axle 3, if bounce 0.01mm with It is interior, then without adjusting frock;
Amesdial is put on S6, --- non-optical minute surface --- right side cylindrical in angular optical polygon 4 again well, and manual driver plate is suitable Or rotate counterclockwise, the cylindrical bounce of angular optical polygon 4 is checked, if bounce can carry out precision survey within 0.01mm Examination, otherwise adjusts frock, until bounce is within 0.01mm;
S7, by driver plate 6 on the input shaft of harmonic speed reducer 14, load onto holding screw 17, fit a handle on 5 on driver plate 6, Limiting plate 15 is installed again, and steady pin 15 is inserted on limiting plate 15, assembling is completed.As shown in Figures 1 to 3,
2nd, transmission accuracy is tested
Referring to figs. 1 to 3, transmission accuracy method of testing comprises the following steps:
S1, the holding screw 17 for fastening the input shaft of harmonic speed reducer 14 unclamped on driver plate 6, while it is more to unclamp optics The nut 9 of face rib body combination, respectively adjusts angular optical polygon 4 and driver plate 6 to " 0 " position of each self-calibration, " 0 " of driver plate 6 For digital 1 corresponding index hole 61, the then alignment of collimating light pipe 13 angular optical polygon 4 " 0 " plane, until by part collimating light pipe 13 " tracking cross " is adjusted in its cross recess, writes down the reading of now collimating light pipe 13, then tightens the tightening on the driver plate of driver plate 6 Screw 17, while tightening the nut 9 of angular optical polygon combination;
S2, every time from 13 reading of collimating light pipe when, first steady pin 15 is passed through from the endoporus of limiting plate 12, then with driver plate 6 Index hole 61 contact, driver plate 6 is limited when the effect of steady pin 15 is for reading and does not rotate and finally ensures angular optical polygon 4 It is motionless;
S3, angular optical polygon is set with the fixing turn of 5 rotating driver plate of handle 6 one to turn a face, by steady pin 15 from limiting plate 12 endoporus pass and are directed at and insert the index hole 61 of driver plate 6, must now note if the index hole 61 of driver plate 6 be from 1 to 25 targets numeral, rotates clockwise driver plate 6, if what is now read is the 1st face point after angular optical polygon 4 " 0 " plane Number of degrees value, then now steady pin 15 should be directed at the index hole 61 of the numeral 2 of driver plate 6;
S4, driver plate 6 are completed after rotating every time, and steady pin 15 is again out from limiting plate 12 and the driver plate 6 of alignment is inserted Index hole 61 so that pin driver plate 6;Adjust in " tracking cross " fine setting to its cross recess in collimating light pipe 13, write down now The reading of collimating light pipe 13;According to the method described above untill the 24th reading is read, the index hole 61 for now corresponding to driver plate 6 is counted Word 25;The difference of these reading maxima and minimas is just the trueness error of decelerator.
So driver plate 6 is driven to rotate with handle 5, driver plate 6 drives harmonic speed reducer 14 to move, harmonic speed reducer 14 drives interior Axle 3 is rotated, and finally will move through axle sleeve 11 passes to angular optical polygon 4 to interior axle 3, and each light is read by collimating light pipe 13 Learn after the error of division of polygon 4, the value for having read each minute surface of angular optical polygon 4, take what is read from collimating light pipe 13 The difference of minimum and maximum reading just may know that the error of division of harmonic speed reducer 14.Transmission accuracy calculation formula=(maximum number Value-minimum value) × 100/60 (unit:Point).
Note:
A, a fixing turn refer to:Driver plate 6, which is rotated, drives angular optical polygon 4 to rotate from next in face of quasi- collimated light The number of turns required for pipe 13, the face number of the number of turns=14 gearratios of harmonic speed reducer/angular optical polygon 4.With certain right-angle drive Exemplified by type speed reducer:Its gearratio is 417.3, and angular optical polygon 4 is 24 face bodies, then driver plate 6 will turn 417.3/24= 17.3875 circles, are also both to turn 0.3875 × 360 °=139.5 ° again after driver plate 6 is enclosed per secondary turn 17 24 face bodies can be made to turn 1 Face is 360 °/24=15 °
B, driver plate indexing:Driver plate 6 is designed according to gearratio to index, i.e., 6 numbers of divisions of driver plate=harmonic speed reducer 14 is driven The remainder obtained than the face number of/angular optical polygon 4 multiplied by with 360 ° just for the number of divisions between adjacent two numeral of driver plate 6.With certain Exemplified by right-angle drive type speed reducer:Its gearratio is 417.3, and angular optical polygon 4 is 24 face bodies, then driver plate 6 will turn 417.3/24=17.3875 is enclosed, and is also both to turn 0.3875 × 360 °=139.5 ° again after driver plate 6 is enclosed per secondary turn 17 to make 24 It is 360 °/24=15 ° that face body, which turns 1 face,.
Index hole 61 on c, driver plate 6 is to be used as initial position using numeral 1 --- " 0 " position, then now with steady pin 15 Be directed at the index hole 61 of the demarcation of numeral 1 on driver plate 6, as shown in Figure 2 numeral 1 on driver plate 6,2 ... 25 pairs should have clockwise Beat and enclose index hole 61 in the side of driver plate 6 one, then the direction rotated during test should also be clockwise, so rotate certain every time When arriving next digital after the number of turns, the index hole 61 pinned with steady pin 15 is just against operator.
D, the effect of alignment pin 15 are in order to prevent that interior axle 3 is run in the reading process of collimating light pipe 13, while being carved on driver plate 6 There is numeral, operator can be helped to improve the accuracy of indexing, it is to avoid it turns or multiple circles number less, the index hole to be read 61 Numeral, which is horizontal, faces the convenient reading of operator.
3rd, gap idle running method of testing
With reference to Fig. 4,5, frock used in the idle running method of testing of gap is in frock knot used in transmission accuracy test On structure, the counterweight screw 18 for being used to hang counterweight 19 in each increase by one of the left and right sides difference level of interior axle 3, and prepare The counterweight 19 of matching.The gap idle running method of testing comprises the following steps:
S1, with steady pin 15 driver plate 6 is fixed on digital 1 corresponding initial index hole 61, so that decelerator is inputted Axle is fixed, and is unclamped nut 9 and is adjusted angular optical polygon 4 to " 0 " position, while the cursor of collimating light pipe 13 is adjusted into initial position 10.00;
S2, as shown in Figure 5,6, two counterweight screws 18 is respectively charged into the counterweight screwed hole of the left and right sides of interior axle 3 It is interior, two counterweight screws 18 install after be horizontal attitude, then the right-hand member of counterweight screw 18 on right side adds counterweight 19 (Fig. 6 shows What is shown is counterweight 19 on the right-hand member of counterweight screw 18 on right side), counterweight 19 is then laid down, regulation collimating light pipe 13 makes its cursor Playback on its cross recess, read now numerical value;Then in left side, the operation that counterweight is agreed to being done on screw 18, so weight Again twice, the numerical value that these collimating light pipes 13 are observed and is write down simultaneously;
Counterbalance mass reduction formula:5%* rated loads/central moment/acceleration of gravity.
Data are substituted into the present embodiment:5% × 10/ (0.07 × 9.8)=0.73kg
S3, the maximum taken in all numerical value, according to formula (10.00-x) × 100/60 (unit:Point) calculated gap sky Journey.
Table 1 is 4 samples randomly selected in 5 samples of certain right-angle drive type harmonic speed reducer (gearratio is 417.3) The method (using driver plate) of the product present invention and with out-of-date methods (use optical dividing head, collimating light pipe, angular optical polygon etc.) The trueness error contrast of test.
The new aging method trueness error test data of right-angle drive type harmonic speed reducer of table 1
Out-of-date methods, which are removed, changes driver plate 6 into optical dividing head and polygon mirror combination and the connection of harmonic speed reducer output end Axle fit system coordinates for gap, and remaining connected mode is similar, and testing procedure is same, without steady pin 15 when being exactly reading, And rely on the alignment pin of optical dividing head itself.The new aging method correction data from table 1, the two is attained by test harmonic reduction The mesh of device precision, but out-of-date methods data measured is likely to old with respect to there is certain deviation for new method by analysis Support sleeve, the connecting shaft fit system of harmonic speed reducer output shaft and angular optical polygon 4 in method are not tight enough, cause light Polygon 4, which has, somewhat beats, so that having deviation from the data measured of collimating light pipe 13.Therefore, by changing test bracket 8 Fit system with axle sleeve 11 is interference fits, improves the degree of accuracy of transmission accuracy.It is more stupid additionally, due to optical dividing head Carrying inconvenience again causes frock debug time long, typically at least needs time half a day to install and the good all frocks of debugging, and uses The form of driver plate 6, is installed and debugging good less than one hour of all frocks.
Because optical dividing head is heavier, it is unfavorable for carrying and installs, we is according to the different transmission of harmonic speed reducer Than designing simple indexing driver plate, the efficiency of installation is improved, while avoid handling process unfavorable factor and pound operator by mistake, and To count to be transformed on the index hole of driver plate side with reading every time respectively (only needs to fix the number of turns every time and looks for next number The index hole of word 61), further improve operatively simplicity.Therefore, the present invention fast and effeciently can subtract to harmonic wave Fast device carries out accuracy test, and saves index time for operator.
During using optical dividing head, needing to stir the fixing turn of optical dividing head one every time turns to angular optical polygon 4 During lower one side, it is required for gradually counting lower optical dividing head numeral respectively, including the complete number of turns first rotated, and finally rotate The number of degrees, find and are repositioned behind position, bothered very much, and so prolonged operation easily causes indexing mistake.
This frock need to stir the fixing turn of driver plate 6 one angular optical polygon 4 is turned to lower one side when, it is only necessary to it is simple Meter under first need the complete number of turns that rotates, then next digital corresponding index hole 61 on driver plate 6 is alignd fixation again Pin 15, then steady pin 15 is inserted into the index hole 61 with regard to that can complete operation.Embodiment data before continuity, for example, having surveyed The data in the face of angular optical polygon 4 first were obtained, it is necessary to test the second face, what steady pin 15 now inserted driver plate 6 is 2 pairs of numeral The index hole 61 answered, then need to only exit steady pin 15 and driver plate 6 is rotated clockwise into 17 circles, then rotate clockwise driver plate 6 to numeral 3 The corresponding alignment of index hole 61 steady pin 15, then steady pin 15 is inserted into the corresponding index hole 61 of the numeral 3, you can accurately will Angular optical polygon 4 switches to second and faces quasi- collimating light pipe 13.

Claims (8)

1. harmonic speed reducer static accuracy test fixture, including reducer stent, interior axle (3), angular optical polygon (4), test Support (8), angular optical polygon combination, collimating light pipe (13);Bearing is provided with test bracket (8), interior axle (3) is arranged on axle In holding;Interior axle (3) one end combines connection with angular optical polygon, and collimating light pipe (13) is arranged on angular optical polygon combination side, Reducer stent, test bracket (8) and collimating light pipe (13) are fixedly mounted on pinboard (1);It is characterized in that:
Also include driver plate (6), limiting plate (12) and steady pin (15);Interior axle (3) other end is provided with for connecting harmonic reduction The nylon pin (16) of device (14) output shaft, driver plate (6) is provided with the joint of harmonic speed reducer (14) input shaft for connection, institute State and holding screw (17) is provided with joint;The limiting plate (12) is arranged on driver plate (6) side, and steady pin (15) is mobilizable to be set Put on limiting plate (12), the index hole (61) on position correspondence driver plate (6) periphery of steady pin (15).
2. the harmonic speed reducer static accuracy test fixture as described in claim 1, other are characterised by:Driver plate (6) is provided with Number of prisms identical index hole (61) and " 0 " position index hole (61) in the combination of number of bits angular optical polygon.
3. the harmonic speed reducer static accuracy test fixture as described in claim 1, other are characterised by:The optical multisurface rib Body combination includes axle sleeve (11), catch (10), nut (9), angular optical polygon (4), catch (10), angular optical polygon (4), Catch (10) and nut (9) are sleeved on axle sleeve (11) successively.
4. by any described harmonic speed reducer static accuracy test fixture of claims 1 to 3, other are characterised by:Between doing When gap idle running is tested, piece counterweight of each installation of level is distinguished in the left and right sides of interior axle (3) with screw (18), for hanging weight Code (19).
5. the assembly method of harmonic speed reducer static accuracy test fixture, it is characterised in that:Comprise the following steps:
S1, the axis that must assure that harmonic speed reducer (14), axis, the axis of interior axle (3) and the standard of angular optical polygon combination Straight collimator (13) centre bore axis is on a contour plane;
S2, by assembly relation by interior axle (3) on the test bracket (8), rotate interior axle (3) side and in its opposite side with thousand points The cylindrical bounce of table look-up interior axle (3), interior axle (3) it is cylindrical bounce within 0.01mm, can again by angular optical polygon combination with Interior axle (3) is assembled;Angular optical polygon combination is loaded onto after interior axle (3), and optics is checked with the method for checking interior axle (3) cylindrical bounce The cylindrical bounce of polygon (4), if bounce can carry out accuracy test, otherwise adjust frock within 0.01mm, until The cylindrical bounce of angular optical polygon (4) is within 0.01mm;
S3, reducer stent include the first reducer stent (2) and the second reducer stent (7), and pinboard (1) is fixed on into survey Try on platform, then harmonic speed reducer (14) side is installed in the first reducer stent (2), and fix harmonic speed reducer (14) the second reducer stent (7), is arranged on harmonic speed reducer (14) opposite side afterwards, then by the first reducer stent (2) It is fixed on the second reducer stent (7) on pinboard (1);
S4, the output shaft of harmonic speed reducer (14) is penetrated into interior axle (3) and nylon pin (16) is inserted to be fixedly connected with harmonic reduction Device (14) output shaft and interior axle (3), then test bracket (8) is fixed on pinboard (1);
S5, handle (5) and driver plate (6) combined, harmonic speed reducer (14) input shaft penetrates driver plate (6) and fastened, Zhi Hou Put amesdial on the right side of interior axle (3) well, manual driver plate rotates along (inverse) hour hands, check the cylindrical bounce of interior axle (3), if bounce exists Within 0.01mm, then without adjusting frock;
Amesdial is put on S6, again --- non-optical minute surface --- right side cylindrical in angular optical polygon (4) well, manual driver plate along or Rotate counterclockwise, checks the cylindrical bounce of angular optical polygon (4), if bounce can carry out precision survey within 0.01mm Examination, otherwise adjusts frock, until bounce is within 0.01mm;
S7, by driver plate (6) on harmonic speed reducer (14) input shaft, load onto holding screw (17), handle loaded onto on driver plate (6) Hand (5), then limiting plate (15) is installed, and steady pin (15) is inserted on limiting plate (15), complete assembling.
6. the transmission accuracy method of testing of harmonic speed reducer static accuracy test fixture, it is characterised in that:
The transmission accuracy method of testing comprises the following steps:
S1, the holding screw (17) for fastening harmonic speed reducer (14) input shaft unclamped on driver plate (6), while unclamping optics The nut (9) of polygon combination, respectively adjusts angular optical polygon (4) and driver plate (6) to " 0 " position of each self-calibration, dials " 0 " of disk (6) is digital 1 corresponding index hole (61), then collimating light pipe (13) alignment angular optical polygon (4) " 0 " plane, Until " tracking cross " of part collimating light pipe (13) is adjusted in its cross recess, the reading of now collimating light pipe (13) is write down, then The holding screw (17) on driver plate (6) is tightened, while tightening the nut (9) of angular optical polygon combination;
S2, every time from collimating light pipe (13) reading when, first steady pin (15) is passed through from limiting plate (12) endoporus, then with driver plate (6) index hole (61) contact, driver plate (6) is limited when the effect of steady pin (15) is for reading and is not rotated finally ensures optics Polygon (4) is motionless;
S3, angular optical polygon is set with the fixing turn of handle (5) rotating driver plate (6) one to turn a face, by steady pin (15) from spacing Plate (12) endoporus passes and is directed at and inserts the index hole (61) of driver plate (6), must now note if the index hole of driver plate (6) (61) be since 1 target from small to large numeral, driver plate (6) is rotated clockwise, if what is now read is optical multisurface rib The 1st face indexing numerical value after body (4) " 0 " plane, then now steady pin (15) should be directed at the index hole of driver plate (6) numeral 2 (61);
S4, driver plate (6) are completed after rotating every time, and steady pin (15) is again out from limiting plate (12) and the driver plate of alignment is inserted (6) index hole (61) and then pinning driver plate (6);" tracking cross " adjusted in collimating light pipe (13) is finely tuned to its cross recess It is interior, write down the reading of now collimating light pipe (13);According to the method described above untill last reading is read, now correspond to and dial The index hole (61) of disk (6) is a maximum numeral;The difference of these reading maxima and minimas is just missed for the precision of decelerator Difference.
7. the transmission accuracy method of testing of harmonic speed reducer static accuracy test fixture as claimed in claim 6, its feature exists In:A fixing turn refers to described in S3:Driver plate (6), which is rotated, drives angular optical polygon (4) to rotate from next in face of quasi- collimation The number of turns required for light pipe (13), the face number of the number of turns=harmonic speed reducer (14) gearratio/angular optical polygon (4).
8. the gap idle running method of testing of harmonic speed reducer static accuracy test fixture, it is characterised in that:Comprise the following steps:
S1, with steady pin (15) driver plate (6) is fixed on digital 1 corresponding initial index hole (61), so that decelerator is defeated Enter axle to fix, unclamp nut (9) adjustment angular optical polygon (4) to " 0 " position, while collimating light pipe (13) cursor is adjusted to initially Position 10.00;
S2, two counterweights are respectively charged into screw (18) in the counterweight screwed hole of interior axle (3) left and right sides, two counterweights are used Screw (18) is horizontal attitude after installing, then counterweight screw (18) right-hand member on right side adds counterweight (19), then lays down counterweight (19), regulation collimating light pipe (13) makes its cursor home on its cross recess, reads now numerical value;Then in left side, counterweight The operation agreed to being done on screw (18), is so repeated twice, and writes down the numerical value that these collimating light pipes (13) are observed simultaneously;
S3, the minimum value taken in all numerical value, and calculated gap idle running.
CN201710388663.9A 2017-05-27 2017-05-27 Harmonic speed reducer static accuracy test fixture and its assembly method and application method Active CN107255561B (en)

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