CN107843424A - A kind of harmonic reduction machine detecting device and its control method - Google Patents
A kind of harmonic reduction machine detecting device and its control method Download PDFInfo
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Abstract
The present invention, which provides a kind of harmonic reduction machine detecting device and its control method, control method, includes detecting step, and detecting step includes back clearance testing procedure, and back clearance testing procedure includes：The step of obtaining back clearance test target theoretical parameter, the step of obtaining harmonic wave speed reducing machine pre- thermal signal, the number of turns of harmonic wave speed reducing machine rotation is the preheating number of back clearance test target theoretical parameter, obtain the step of harmonic wave speed reducing machine reversely rotates signal, the position that harmonic wave speed reducing machine reversely rotates is defined as A1 positions, obtain the step of harmonic wave speed reducing machine rotates forward signal, harmonic wave speed reducing machine is rotated forward to angle on target, obtain the step of harmonic wave speed reducing machine reversely rotates signal, harmonic wave speed reducing machine reversely rotates to the position of set angle and is defined as A2 positions, the step of obtaining the difference X1 of A2 positions and A1 positions, the step of showing and storing difference X1.Control method is simple to operate, improves the control speed of harmonic wave speed reducing machine and the accuracy of positional precision, and improve the accuracy of detection of detection means.
Description
Technical field
The present invention relates to mechanical performance detection device technical field, more particularly to a kind of control of harmonic reduction machine detecting device
Method processed, and using the control method carry out detect harmonic wave speed reducing machine performance detection means.
Background technology
With the continuous development and popularization and application of high-precision motion control technology, the energy, communication, lathe, instrument and meter, machine
Device people, automobile, shipbuilding, weaving, metallurgy, conventional weapon, precision optics equipment, printing mechanism, medicine equipment, as space be driven
Device and for manipulate HTHP pipeline and the mechanism to be worked under the conditions of having atomic radiation or other hazardous mediums etc. neck
Domain is required for high-precision harmonic wave speed reducing machine.
The main performance parameter of harmonic wave speed reducing machine includes transmission efficiency, non-loaded detent torque, rigidity, back clearance, idle running, angle
Degree passes on precision and transient process etc., and existing harmonic wave speed reducing machine test system has the ability to detect properties,
It is also relatively elaborate when adjusting test event and test target but error is larger during practical set, it is difficult to ensure measuring accuracy,
And existing detection device is measuring the deformation error that introduces power transmission shaft during angular displacement, systematic error is caused to be surveyed much larger than true
Value, testing requirement can not be met in accuracy；On the performance test of servomotor, traditional detection means is equally by artificial
Factor influence is very big, especially is difficult to adjust in terms of axiality when mounted, causes measuring accuracy not ensure.In addition,
The component part of existing harmonic wave speed reducing machine test system is more, and it is larger to cause the deviation of test result, causes entirely to test
The precision of system is also than relatively low.
The content of the invention
The first object of the present invention is to provide a kind of control of harmonic reduction machine detecting device simple to operate, accuracy of detection is high
Method processed.
The second object of the present invention is to provide a kind of harmonic reduction machine testing dress simple and reasonable, accuracy of detection is high
Put.
In order to realize the first object of the present invention, the present invention provides a kind of control method of harmonic reduction machine detecting device,
Wherein, detection means includes frame, workbench, computer console, slide rail, the first support base, the second support base, the 3rd support
Seat, four-supporting, the first servomotor, harmonic wave speed reducing machine, first shaft coupling, bearing, encoder, second shaft coupling, load
Reductor and the second servomotor, workbench are arranged in frame, and workbench is marble platform, and computer console is installed
On workbench, slide rail installation offers multiple spacing holes on the table, on slide rail, and installation limited location circle is coordinated on spacing hole
Post, spacing cylinder are made up of elastic plastic material, the first support base, the second support base, the 3rd support base and four-supporting
In turn movably being coordinated with slide rail by the sliding block of bottom, the first servomotor is arranged on the left surface of the first support base,
Harmonic wave speed reducing machine is arranged in the circular hole of the second support base, and bearing is arranged in the circular hole of the 3rd support base, first shaft coupling
One end shaft hole matching of output shaft and harmonic wave speed reducing machine, the input shaft of first shaft coupling is through bearing and defeated with second shaft coupling
Go out set to coordinate, load-retarding machine is arranged on the right flank of four-supporting, and the output shaft of load-retarding machine runs through the 4th
The circular hole of seat is supportted, the output shaft of the first servomotor and the other end shaft hole matching of harmonic wave speed reducing machine, encoder are enclosed on first
On the input shaft of axle device and on the right flank of the 3rd support base, the output shaft of load-retarding machine and second shaft coupling it is defeated
Enter set to coordinate, the output axis connection of the input of load-retarding machine and the second servomotor, the second servomotor is arranged on load
The side of the input of reductor, control method include detecting step, and detecting step includes back clearance testing procedure, back clearance test step
Suddenly include：
The step of obtaining back clearance test target theoretical parameter；
The step of obtaining harmonic wave speed reducing machine pre- thermal signal；
Harmonic wave speed reducing machine rotates, and the number of turns of harmonic wave speed reducing machine rotation is the preheating number of back clearance test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
Harmonic wave speed reducing machine is reversely rotated to the set angle of back clearance test target theoretical parameter, the position of harmonic wave speed reducing machine and is defined as
A1 positions；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
Harmonic wave speed reducing machine is rotated forward to the angle on target of back clearance test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
Harmonic wave speed reducing machine reversely rotates to set angle, the position of harmonic wave speed reducing machine and is defined as A2 positions；
The step of obtaining the difference X1 of A2 positions and A1 positions；
The step of showing and storing difference X1.
From such scheme, by the output valve and back clearance test target theoretical parameter that obtain multigroup angular encoder
Set angle carries out the difference that contrast is drawn, what the back clearance that the curve generated according to multigroup difference can obtain harmonic wave speed reducing machine was tested
As a result, the accuracy of the control speed of harmonic wave speed reducing machine and positional precision is high, substantially increases harmonic reduction machine detecting device
Accuracy of detection, and the control method of harmonic reduction machine detecting device is simple to operate.
Further scheme is that detecting step also includes reperformance test step, and reperformance test step includes:
The step of obtaining reperformance test goal theory parameter；
The step of obtaining harmonic wave speed reducing machine pre- thermal signal；
Harmonic wave speed reducing machine rotates, and the number of turns of harmonic wave speed reducing machine rotation is the preheating number of repeated test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
Harmonic wave speed reducing machine reversely rotates；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
Harmonic wave speed reducing machine is rotated forward to the angle on target of reperformance test goal theory parameter, the position of harmonic wave speed reducing machine and defined
For B1 positions；
The step of obtaining B1 positions and the difference Y1 of the angle on target of reperformance test goal theory parameter;
The step of showing and storing difference Y1；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
Harmonic wave speed reducing machine reversely rotates；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
Harmonic wave speed reducing machine is rotated forward to the angle on target of reperformance test goal theory parameter, the position of harmonic wave speed reducing machine and defined
For B2 positions；
The step of obtaining B2 positions and the difference Y2 of the angle on target of reperformance test goal theory parameter;
The step of showing and storing difference Y2；
Calculating difference Y1 and difference Y2 standard deviation, show and storage standard is poor.
From such scheme, by obtaining multigroup B1 positions, B2 positions ... and reperformance test goal theory parameter
Angle on target difference Y1, Y2 ..., then calculated value Y1, Y2 ... standard deviation, so as to draw the weight of harmonic wave speed reducing machine
Multiple precision performance, control method it is simple to operate, control speed, the positional precision of harmonic wave speed reducing machine are very accurate, greatly improve
The accuracy of detection of harmonic reduction machine detecting device.
Further scheme is that detecting step also includes transmission accuracy testing procedure, and transmission accuracy testing procedure includes：
The step of obtaining transmission accuracy test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
Harmonic wave speed reducing machine, which is reversely rotated to the set angle of transmission accuracy test target theoretical parameter, the position of harmonic wave speed reducing machine, to be determined
Justice is A' positions；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
Harmonic wave speed reducing machine rotates forward, and during harmonic wave speed reducing machine rotates forward 360 degree, harmonic wave speed reducing machine is per rotary drive
During the angle on target of accuracy test goal theory parameter, the position of harmonic wave speed reducing machine is defined as C1 positions;
The step of obtaining C1 positions and the difference Z1 of the angle on target of transmission accuracy test target theoretical parameter;
The step of showing and storing difference Z1.
From such scheme, during harmonic wave speed reducing machine rotates forward 360 degree, harmonic wave speed reducing machine is per rotary drive
During the angle on target of accuracy test goal theory parameter, the position of harmonic wave speed reducing machine is defined as C1 positions, C2 positions, C3 positions
Put ..., by C1 positions, C2 positions, C3 positions ... respectively carried out with angle on target contrast draw difference Z1, Z2,
Z3 ..., and transmission accuracy curve map is generated, so as to obtain the result of the transmission accuracy of harmonic wave speed reducing machine test, harmonic reduction
Control speed, the positional precision of machine are very accurate, substantially increase the accuracy of detection of harmonic reduction machine detecting device, and control
Method it is simple to operate.
In order to realize the second object of the present invention, the present invention, which provides a kind of harmonic reduction machine detecting device, includes frame, work
Make platform, computer console, slide rail, the first support base, the second support base, the 3rd support base, four-supporting, the first servo electricity
Machine, harmonic wave speed reducing machine, first shaft coupling, bearing, encoder, second shaft coupling, load-retarding machine and the second servomotor, work
Make platform in the frame, workbench is marble platform, and in computer console installment work platform, slide rail is arranged on workbench
On, multiple spacing holes are offered on slide rail, installation limited location cylinder are coordinated on spacing hole, spacing cylinder is elastic plastic material system
Into the first support base, the second support base, the 3rd support base and four-supporting in turn can by the sliding block and slide rail of bottom
Movably coordinate, the first servomotor is arranged on the left surface of the first support base, and harmonic wave speed reducing machine is arranged on the second support base
In circular hole, bearing is arranged in the circular hole of the 3rd support base, the output shaft of first shaft coupling and one end axis hole of harmonic wave speed reducing machine
Coordinate, the input shaft of first shaft coupling is through bearing and covers and coordinates with the output of second shaft coupling, and load-retarding machine is arranged on the
The right flank of four-supporting, and the output shaft of load-retarding machine run through four-supporting circular hole, the first servomotor it is defeated
The other end shaft hole matching of shaft and harmonic wave speed reducing machine, encoder are enclosed on the input shaft of first shaft coupling and installed in the 3rd
On the right flank for supportting seat, the output shaft of load-retarding machine and the input set of second shaft coupling coordinate, the input of load-retarding machine
With the output axis connection of the second servomotor, the second servomotor is arranged on the side of the input of load-retarding machine.
Further scheme is that the quantity of slide rail is two, and two slide rails are disposed side by side on workbench, the first support
The sliding block and slide rail that seat, the second support base, the 3rd support base and four-supporting are set by bottom symmetrical respectively may move
Ground coordinates.
From such scheme, harmonic reduction machine detecting device in the course of the work, will according to the installation of harmonic wave speed reducing machine
Seek installation harmonic wave speed reducing machine and be installed in the circular hole of the second support base, open the software systems of computer console simultaneously
The first servomotor and the second servomotor is set to be powered, software systems send control signal control the first servomotor and second and watched
Take motor to start to rotate, the first servomotor drives harmonic wave speed reducing machine to act by output shaft, the output shaft of the second servomotor
Connect load-retarding machine and driving load reductor to act, so as to be harmonic wave speed reducing machine by second shaft coupling and first shaft coupling
Deceleration loading is provided.In the process, encoder is incessantly sent to the data collected the software of computer console
System, software systems finally show and stored test result.Wherein, the deceleration loading of harmonic wave speed reducing machine is cancelled if desired, only
Need to control the second servomotor to be stopped.Rotated, and utilized by the first Serve Motor Control harmonic wave speed reducing machine
Load-retarding machine provides deceleration loading for harmonic wave speed reducing machine, improve harmonic wave speed reducing machine control speed and positional precision it is accurate
Property, so as to carry out the test of the back clearance of harmonic wave speed reducing machine, reperformance test and transmission accuracy test, substantially increase harmonic reduction
The accuracy of detection of machine detecting device, and it is simple and reasonable.
Brief description of the drawings
Fig. 1 is the structure chart of harmonic reduction machine detecting device embodiment of the present invention.
Fig. 2 is the top view of harmonic reduction machine detecting device embodiment of the present invention.
Fig. 3 is the flow chart of the control method embodiment of harmonic reduction machine detecting device of the present invention.
Fig. 4 be harmonic reduction machine detecting device of the present invention control method embodiment in detecting step flow chart.
Fig. 5 be harmonic reduction machine detecting device of the present invention control method embodiment in back clearance testing procedure flow chart.
Fig. 6 be harmonic reduction machine detecting device of the present invention control method embodiment in reperformance test step flow
Figure.
Fig. 7 be harmonic reduction machine detecting device of the present invention control method embodiment in back clearance testing procedure with repeatability survey
Try is combined into the flow chart of a test action suddenly.
Fig. 8 be harmonic reduction machine detecting device of the present invention control method embodiment in transmission accuracy testing procedure flow
Figure.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
Harmonic reduction machine detecting device embodiment：
Referring to Fig. 1 and Fig. 2, harmonic reduction machine detecting device 1 includes frame 2, workbench 3, computer console 4, slide rail 5, the
One support base 7, the second support base 8, the 3rd support base 11, four-supporting 14, the first servomotor 6, harmonic wave speed reducing machine（Do not mark
Show）, first shaft coupling 9, bearing（Do not indicate）, encoder 12, second shaft coupling 13, the servo of load-retarding machine 15 and second electricity
Machine 16, workbench 3 are arranged in frame 2, and workbench 3 be marble platform, in the installment work platform 3 of computer console 4, are counted
Calculation machine console 4 is used for the rotating for controlling the first servomotor 6 and the second servomotor 16, and obtains the defeated of encoder 12
Go out numerical value, and the relevant parameter of harmonic wave speed reducing machine is calculated by supporting software.Wherein, computer console 4 passes through control
Make the second servomotor 16 and carry out driving load reductor 15 and provide deceleration loading for harmonic wave speed reducing machine.
Slide rail 5 is arranged on workbench 3, and multiple spacing holes 51 are offered on slide rail 5, coordinate installation limited on spacing hole 51
Circle of position post 52, spacing cylinder 52 are made up of elastic plastic material.First support base 7, the second support base 8, the 3rd support base 11 with
And the 4th support 14 in turn movably coordinated by the sliding block 17 and slide rail 5 of bottom, the first servomotor 6 is installed in the
The left surface of one support base 7, harmonic wave speed reducing machine are arranged in the circular hole of the second support base 8, and bearing is arranged on the 3rd support base 11
Circular hole in, the output shaft of first shaft coupling 9 and one end shaft hole matching of harmonic wave speed reducing machine, the input shaft of first shaft coupling 9 pass through
To wear bearing and cover cooperation with the output of second shaft coupling 13, load-retarding machine 15 is arranged on the right flank of four-supporting 14, and
And the output shaft of load-retarding machine 15 runs through the circular hole of four-supporting 14.
The output shaft of first servomotor 6 and the other end shaft hole matching of harmonic wave speed reducing machine, encoder 12 are enclosed on first
On the input shaft of axle device 9 and on the right flank of the 3rd support base 11, the output shaft of load-retarding machine 15 and the second shaft coupling
The input set of device 13 coordinates, the output axis connection of the input of load-retarding machine 15 and the second servomotor 16, the second servo electricity
Machine 16 is arranged on the side of the input of load-retarding machine 15.
The quantity of the present embodiment slide rail 5 is two, and two slide rails 5 are disposed side by side on workbench 3, the first support base 7, the
The sliding block 17 and slide rail 5 that two support bases 8, the 3rd support base 11 and four-supporting 14 are set by bottom symmetrical respectively are removable
Coordinate dynamicly.The shape of sliding block 17 and slide rail 5 can be the common fit shapes of the present embodiment, and the cooperation shape of dovetail groove also can be selected
Shape.
Above-mentioned harmonic reduction machine detecting device 1 installs harmonic wave in the course of the work, according to the installation requirement of harmonic wave speed reducing machine
Reductor is simultaneously installed in the circular hole of the second support base 8, is opened the software systems of computer console 4 and is made first to watch
Take the servomotor 16 of motor 6 and second to be powered, software systems send control signal and control the first servomotor 6 and the second servo electricity
Machine 16 starts to rotate, and the first servomotor 6 drives harmonic wave speed reducing machine to act by output shaft, the output shaft of the second servomotor 16
Load-retarding machine 15 is connected and driving load reductor 15 acts, so as to be humorous by second shaft coupling 13 and first shaft coupling 9
Ripple reductor provides deceleration loading.In the process, 12 data collected of encoder are sent to computer control incessantly
The software systems of platform 4 processed, software systems finally show and stored test result.Wherein, if necessary to cancel harmonic wave speed reducing machine
Deceleration loading, it is only necessary to control the second servomotor 16 to be stopped.Harmonic wave speed reducing machine is controlled by the first servomotor 6
Rotation, and deceleration loading is provided for harmonic wave speed reducing machine using load-retarding machine 15, improve the control speed of harmonic wave speed reducing machine with
The accuracy of positional precision, so as to carry out the test of the back clearance of harmonic wave speed reducing machine, reperformance test and transmission accuracy test, significantly
The accuracy of detection of harmonic reduction machine detecting device 1 is improved, and it is simple and reasonable.
The control method embodiment of harmonic reduction machine detecting device：
Reference picture 3, Fig. 3 are the flow charts of the control method of harmonic reduction machine detecting device 1, step S10 are first carried out, to harmonic wave
The first servomotor 6, encoder 12, the servomotor 16 of load-retarding machine 15 and second of deceleration machine detecting device 1 carry out origin
Homing action, after completing origin reset such as each controlling organization, then according to the demand of harmonic wave speed reducing machine properties detection, perform
Step S20, carry out properties detection relevant parameter, including the speed of the first servomotor 6 and the second servomotor 16, plus
Speed, deceleration, acceleration, crawl speed and precision angle parameter, and when ProductName, speed ratio, detection number, pause
Between, set angle parameter etc., then perform step S30, debugging fortune carried out to the first servomotor 6 and the second servomotor 16
OK, commissioning test, such as each machine are carried out according to step S20 state modulator the first servomotors 6 stored and the second servomotor 16
Structure commissioning test is normal, then shows that the working condition of harmonic reduction machine detecting device 1 is completely ready, just can be to harmonic reduction
Machine carries out performance detection, then performs step S40, detecting step.
Reference picture 4, Fig. 4 are detecting step S40 flow charts, and detecting step S40 includes back clearance testing procedure S50, repeated
Property testing procedure S60 and transmission accuracy testing procedure S70., can be to back clearance according to the demand of actual harmonic wave speed reducing machine performance detection
Testing procedure S50, reperformance test step S60 and transmission accuracy testing procedure S70 control sequence are adjusted, and to the back of the body
Gap testing procedure S50 and reperformance test step S60 is combined as a test action, so as to pass through a test action
The test result of back clearance test and transmission accuracy test can be obtained simultaneously.
Reference picture 5, Fig. 5 are back clearance testing procedure S50 flow charts, and step S51 is first carried out, and obtain back clearance test target
Theoretical parameter, back clearance test target theoretical parameter include detection number, preheating number, test target angle, load on or off with
And the setting of load value, it can be transferred every parameter stored by the display screen 41 of computer console 4, then performed
Step S52, the pre- thermal signal of harmonic wave speed reducing machine, it can be inputted preheating instruction by display screen 41, then perform step S53, harmonic wave
Reductor rotates, and the number of turns of harmonic wave speed reducing machine rotation is the preheating number of setting, then performs step S54, obtains harmonic reduction
Machine reversely rotates signal, and it can input toggling command by display screen 41, then perform step S55, harmonic wave speed reducing machine reversely revolves
Turn certain angle（Or the angle of system default）When, harmonic wave speed reducing machine is defined as A1 positions, A1 positions in the position of the angle
The zero point or starting point for being regarded as harmonic wave speed reducing machine are put, then performs step S56, harmonic wave speed reducing machine is obtained and rotates forward letter
Number, it can be inputted by display screen 41 and rotate forward instruction, then perform step S57, and harmonic wave speed reducing machine rotates forward, and works as harmonic reduction
Machine is rotated forward to test target angle, then performs step S58, is obtained harmonic wave speed reducing machine and is reversely rotated signal, it can lead to
Cross display screen 41 and input toggling command, then perform step S59, harmonic wave speed reducing machine reversely rotates and above-mentioned certain angle identical
During angle, encoder 12 exports the angle value of the A2 positions of now harmonic wave speed reducing machine and shows it on display screen 41, then
Step S510 is performed, computer console 4 carries out A2 positions and A1 positions to contrast the difference X1 drawn, then performs step
S511, the display screen 41 of computer console 4 show and store difference X1.Above-mentioned steps repeatedly circulate, wherein the number circulated
For the detection number of above-mentioned setting, so as to obtain the output valve of multigroup encoder 12, i.e. the A3 positions of harmonic wave speed reducing machine, A4 positions
Put, A5 positions ..., and by A3 positions, A4 positions, A5 positions ... respectively carried out with A1 positions contrast draw difference X2,
X3, X4 ..., the result of the back clearance test of harmonic wave speed reducing machine can be obtained according to the curve of multigroup difference X2, X3, X4 ... generation.
Reference picture 6, Fig. 6 are reperformance test step S60 flow charts, and step S61 is first carried out, and obtain reperformance test
Goal theory parameter, reperformance test goal theory parameter include detection number, preheat number, test target angle, load and open
Or the setting of pass and load value, it can transfer every parameter stored by the display screen 41 of computer console 4, with
Step S62 is performed afterwards, and the pre- thermal signal of harmonic wave speed reducing machine, it can be inputted preheating instruction by display screen 41, then perform step
S63, harmonic wave speed reducing machine rotation, the number of turns of harmonic wave speed reducing machine rotation is the preheating number of setting, then performs step S64, obtains
Harmonic wave speed reducing machine reversely rotates signal, and it can input toggling command by display screen 41, then perform step S65, harmonic reduction
Machine reversely rotates, and then performs step S66, obtains harmonic wave speed reducing machine and rotates forward signal, and it can be in the aobvious of computer console 4
Input harmonics reductor rotates forward instruction in display screen 41, then performs step S67, and harmonic wave speed reducing machine rotates forward, and works as harmonic reduction
When machine is rotated forward to test target angle, the position of now harmonic wave speed reducing machine is defined as B1 positions, multiple circulation step S64
To S67, wherein the number circulated is the detection number of above-mentioned setting, so as to obtain the output valve of multigroup encoder 12, i.e. harmonic wave
B2 positions, B3 positions, the B4 positions ... of reductor, after meeting to detect number, step S68 is then performed, by B1 positions, B2
Position, B3 positions, B4 positions ... carry out difference Y1, Y2, Y3, Y4 ... that contrast is drawn with test target angle respectively, connect
Execution step S69, the display screen 41 of computer console 4 shows and stores difference Y1, Y2, Y3, Y4 ..., then performs step
Rapid S610, computer console 4 calculating difference Y1, Y2, Y3, Y4 ... standard deviation, then perform step S611, computer control
The display screen 41 of platform 4 processed shows and stores the standard deviation, so as to draw the Repeatability precision of harmonic wave speed reducing machine.
Reference picture 7, Fig. 7 are the flow charts that back clearance testing procedure and reperformance test step are combined into a test action,
Step S81 is first carried out, obtains test target theoretical parameter, test target theoretical parameter includes detection number, preheating number, surveyed
Angle on target, load on or off and the setting of load value are tried, it can transfer items by the display screen 41 of computer console 4
The parameter stored, step S82 is then performed, the pre- thermal signal of harmonic wave speed reducing machine, it can input preheating by display screen 41 and refer to
Order, step S83 is then performed, harmonic wave speed reducing machine rotation, the number of turns of harmonic wave speed reducing machine rotation is the preheating number of setting, is then held
Row step S84, obtain harmonic wave speed reducing machine and reversely rotate signal, it can input toggling command by display screen 41, then perform step
Rapid S85, harmonic wave speed reducing machine reversely rotate certain angle（Or the angle of system default）When, by harmonic wave speed reducing machine in the angle
Position is defined as A1 positions, and A1 positions are regarded as the zero point or starting point of harmonic wave speed reducing machine, then performs step S86, obtains
Harmonic wave speed reducing machine is taken to rotate forward signal, it can be inputted by display screen 41 and rotate forward instruction, then perform step S57, and harmonic wave subtracts
Fast machine is rotated forward, and when harmonic wave speed reducing machine is rotated forward to test target angle, the position of now harmonic wave speed reducing machine is defined
For B1 positions.Multiple circulation step S84 is to S87, wherein the number circulated is the detection number of above-mentioned setting.Followed in multiple step
During ring, while step S88 is performed, position A2 positions that computer console 4 rotates to an angle harmonic wave speed reducing machine,
A3 positions, A4 positions ... carry out contrasting difference X1, X2, X3 ... for drawing with A1 positions, then perform step S89, calculate
The display screen 41 of machine console 4 shows and stores difference X1, X2, X3 ....Meanwhile during multiple step cycle, hold
Row step S810, the output valve of multigroup encoder 12, i.e. the B2 positions of harmonic wave speed reducing machine, B3 positions, B4 positions ... are obtained, and
By B1 positions, B2 positions, B3 positions, B4 positions ... respectively carried out with test target angle contrast draw difference Y1, Y2,
Y3, Y4 ..., then perform step S811, the display screen 41 of computer console 4 shows and stores difference Y1, Y2, Y3,
Y4 ..., step S812 is then performed, computer console 4 calculating difference Y1, Y2, Y3, Y4 ... standard deviation, is then performed
Step S813, the display screen 41 of computer console 4 show and store the standard deviation.Control method is simple, and can obtain simultaneously
The back clearance precision and Repeatability precision of harmonic wave speed reducing machine.
Reference picture 8, Fig. 8 are transmission accuracy testing procedure S70 flow charts, and step S71, transmission accuracy test is first carried out
Goal theory parameter, it can be transferred every parameter stored by the display screen 41 of computer console 4, then perform step
Rapid S72, obtain harmonic wave speed reducing machine and reversely rotate signal, it can input toggling command by display screen 41, then perform step
S73, harmonic wave speed reducing machine reversely rotates, when harmonic wave speed reducing machine is reversely rotated to certain angle（Or the angle of system default）When,
Harmonic wave speed reducing machine is defined as A' positions in the position of the angle, A' positions are regarded as zero point or the starting of harmonic wave speed reducing machine
Point, step S74 is then performed, obtain harmonic wave speed reducing machine and rotate forward signal, it can be inputted by display screen 41 and rotate forward instruction, be connect
Execution step S75, harmonic wave speed reducing machine rotates forward, during harmonic wave speed reducing machine rotates forward 360 degree, harmonic wave speed reducing machine
During the angle on target of every rotary drive accuracy test goal theory parameter, that is, some angle set is then held as collection period
Row step S76, obtain harmonic wave speed reducing machine and often rotate to position during angle on target, be defined as C1 positions, C2 positions, C3 positions
Put ..., then perform step S77, C1 positions, C2 positions, C3 positions ... are carried out to what contrast was drawn with angle on target respectively
Difference Z1, Z2, Z3 ..., step S78 is then performed, the display screen 41 of computer console 4 shows and store difference Z1,
Z2, Z3 ..., and transmission accuracy curve map is generated, so as to obtain the result of the transmission accuracy of harmonic wave speed reducing machine test.
The preferred embodiments of embodiment described above, the simply present invention, it is not therefore the Fan Yiben to limit the scope of the present invention
The equivalent change or modification that construction, feature and principle described in patent application the scope of the claims are done, it all should be included in of the invention special
In sharp application range.
Claims (5)
1. a kind of control method of harmonic reduction machine detecting device, it is characterised in that the detection means includes frame, work
Platform, computer console, slide rail, the first support base, the second support base, the 3rd support base, four-supporting, the first servo electricity
Machine, harmonic wave speed reducing machine, first shaft coupling, bearing, encoder, second shaft coupling, load-retarding machine and the second servomotor, institute
Workbench is stated in the frame, the workbench is marble platform, and the computer console installs the work
On platform；
The slide rail is arranged on the workbench, and multiple spacing holes are offered on the slide rail, coordinate peace on the spacing hole
Equipped with spacing cylinder, the spacing cylinder is made up of elastic plastic material；
First support base, second support base, the 3rd support base and the four-supporting in turn pass through
The sliding block of bottom movably coordinates with the slide rail, and first servomotor is arranged on the left side of first support base
Face, the harmonic wave speed reducing machine are arranged in the circular hole of second support base, and the bearing is arranged on the 3rd support base
In circular hole, one end shaft hole matching of the output shaft of the first shaft coupling and the harmonic wave speed reducing machine, the first shaft coupling
Input shaft covers cooperation through the bearing and with the output of the second shaft coupling, and the load-retarding machine is arranged on the described 4th
The right flank of support base, and the output shaft of the load-retarding machine runs through the circular hole of the four-supporting；
The output shaft of first servomotor and the other end shaft hole matching of the harmonic wave speed reducing machine, the encoder are enclosed on institute
State on the input shaft of first shaft coupling and on the right flank of the 3rd support base, the output shaft of the load-retarding machine
Input with the second shaft coupling, which covers, to be coordinated, the output shaft of the input of the load-retarding machine and second servomotor
Connection, second servomotor are arranged on the side of the input of the load-retarding machine;
The control method includes detecting step, and the detecting step includes back clearance testing procedure, the back clearance testing procedure bag
Include：
The step of obtaining back clearance test target theoretical parameter；
The step of obtaining harmonic wave speed reducing machine pre- thermal signal；
The harmonic wave speed reducing machine rotation, the number of turns of the harmonic wave speed reducing machine rotation is the pre- of the back clearance test target theoretical parameter
Hot number；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
The harmonic wave speed reducing machine is reversely rotated to the set angle of the back clearance test target theoretical parameter, the harmonic wave speed reducing machine
Position be defined as A1 positions；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
The harmonic wave speed reducing machine is rotated forward to the angle on target of the back clearance test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
The harmonic wave speed reducing machine reversely rotates to the set angle, the position of the harmonic wave speed reducing machine and is defined as A2 positions；
The step of obtaining the difference X1 of A2 positions and A1 positions；
The step of showing and storing the difference X1.
2. control method according to claim 1, it is characterised in that：
The detecting step also includes reperformance test step, and the reperformance test step includes:
The step of obtaining reperformance test goal theory parameter；
The step of obtaining harmonic wave speed reducing machine pre- thermal signal；
The harmonic wave speed reducing machine rotation, the number of turns of the harmonic wave speed reducing machine rotation is the reperformance test goal theory parameter
Preheat number；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
The harmonic wave speed reducing machine reversely rotates；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
The harmonic wave speed reducing machine is rotated forward to the angle on target of the reperformance test goal theory parameter, the harmonic reduction
The position of machine is defined as B1 positions；
The step of obtaining B1 positions and the difference Y1 of the angle on target of the reperformance test goal theory parameter;
The step of showing and storing the difference Y1；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
The harmonic wave speed reducing machine reversely rotates；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
The harmonic wave speed reducing machine is rotated forward to the angle on target of the reperformance test goal theory parameter, the harmonic reduction
The position of machine is defined as B2 positions；
The step of obtaining B2 positions and the difference Y2 of the angle on target of the reperformance test goal theory parameter;
The step of showing and storing the difference Y2；
The difference Y1 and the difference Y2 standard deviation are calculated, shows and stores the standard deviation.
3. control method according to claim 1 or 2, it is characterised in that：
The detecting step also includes transmission accuracy testing procedure, and the transmission accuracy testing procedure includes：
The step of obtaining transmission accuracy test target theoretical parameter；
Obtain the step of harmonic wave speed reducing machine reversely rotates signal；
The harmonic wave speed reducing machine, which is reversely rotated to the set angle of the transmission accuracy test target theoretical parameter, the harmonic wave, to be subtracted
The position of fast machine is defined as A' positions；
Obtain the step of harmonic wave speed reducing machine rotates forward signal；
The harmonic wave speed reducing machine rotates forward, during the harmonic wave speed reducing machine rotates forward 360 degree, the harmonic reduction
When machine often rotates the angle on target of the transmission accuracy test target theoretical parameter, the position of the harmonic wave speed reducing machine is defined as C1
Position;
The step of obtaining C1 positions and the difference Z1 of the angle on target of the transmission accuracy test target theoretical parameter;
The step of showing and storing the difference Z1.
4. a kind of harmonic reduction machine detecting device, it is characterised in that the detection means includes frame, workbench, computer control
Platform processed, slide rail, the first support base, the second support base, the 3rd support base, four-supporting, the first servomotor, harmonic reduction
Machine, first shaft coupling, bearing, encoder, second shaft coupling, load-retarding machine and the second servomotor, the workbench peace
In the frame, the workbench is marble platform, and the computer console is installed on the workbench；
The slide rail is arranged on the workbench, and multiple spacing holes are offered on the slide rail, coordinate peace on the spacing hole
Equipped with spacing cylinder, the spacing cylinder is made up of elastic plastic material；
First support base, second support base, the 3rd support base and the four-supporting in turn pass through
The sliding block of bottom movably coordinates with the slide rail, and first servomotor is arranged on the left side of first support base
Face, the harmonic wave speed reducing machine are arranged in the circular hole of second support base, and the bearing is arranged on the 3rd support base
In circular hole, one end shaft hole matching of the output shaft of the first shaft coupling and the harmonic wave speed reducing machine, the first shaft coupling
Input shaft covers cooperation through the bearing and with the output of the second shaft coupling, and the load-retarding machine is arranged on the described 4th
The right flank of support base, and the output shaft of the load-retarding machine runs through the circular hole of the four-supporting；
The output shaft of first servomotor and the other end shaft hole matching of the harmonic wave speed reducing machine, the encoder are enclosed on institute
State on the input shaft of first shaft coupling and on the right flank of the 3rd support base, the output shaft of the load-retarding machine
Input with the second shaft coupling, which covers, to be coordinated, the output shaft of the input of the load-retarding machine and second servomotor
Connection, second servomotor are arranged on the side of the input of the load-retarding machine.
5. detection means according to claim 4, it is characterised in that：
The quantity of the slide rail is two, and two slide rails are disposed side by side on the workbench, first support base, described
The sliding block and institute that second support base, the 3rd support base and the four-supporting are set by bottom symmetrical respectively
Slide rail is stated movably to coordinate.
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| CN109732595A (en) * | 2018-12-29 | 2019-05-10 | 深圳市越疆科技有限公司 | A kind of calibration method of steering engine, device and controller |
| CN109968402A (en) * | 2019-02-28 | 2019-07-05 | 北京镁伽机器人科技有限公司 | Backhaul gap measuring method and control method, device, system and storage medium |
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| CN112917511A (en) * | 2019-12-06 | 2021-06-08 | 中国科学院沈阳自动化研究所 | Robot joint motion precision measuring method |
| CN114043527A (en) * | 2021-11-22 | 2022-02-15 | 成都飞机工业（集团）有限责任公司 | Single joint positioning precision calibration method of joint robot |
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