CN108458872A - A kind of Harmonic Gears deformation of flexible wheel characteristic test system and method - Google Patents
A kind of Harmonic Gears deformation of flexible wheel characteristic test system and method Download PDFInfo
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- CN108458872A CN108458872A CN201810349055.1A CN201810349055A CN108458872A CN 108458872 A CN108458872 A CN 108458872A CN 201810349055 A CN201810349055 A CN 201810349055A CN 108458872 A CN108458872 A CN 108458872A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
Abstract
A kind of Harmonic Gears deformation of flexible wheel characteristic test system and method, including optical table, Harmonic Drive System；Harmonic Drive System is included in servo motor holder, harmonic speed reducer holder and the magnetic powder brake holder that optical table upper surface is set gradually, and servo motor, harmonic speed reducer and magnetic powder brake are separately installed on servo motor holder, harmonic speed reducer holder and magnetic powder brake holder；Deformation data acquisition system is provided between servo motor holder and harmonic wave reducer stent, deformation data acquisition system includes displacement frame column, displacement frame crossbeam is provided between displacement frame column, displacement frame crossbeam can be mutually shifted with displacement frame column, be provided on the displacement frame column and displacement frame crossbeam in left side for acquiring the laser displacement sensor right over harmonic reducer flexible wheel with the two position distortions amounts in left；The present invention have many advantages, such as it is of low cost, simple in structure, be convenient to mount and dismount, test it is accurate.
Description
Technical field
The present invention relates to Harmonic Gears technical field, more particularly to a kind of Harmonic Gears deformation of flexible wheel characteristic is surveyed
Test system and method.
Background technology
Harmonic Gears are widely used in space flight and robot field.Harmonic Gears mainly by wave producer, just
Wheel and flexbile gear composition, make flexbile gear generate continuous flexible deformation, and be meshed with firm gear to transmit using the rotation of wave producer
Movement and power.Therefore, the deformation characteristic of flexbile gear has the transmission performance of Harmonic Gears important influence.
In existing Harmonic Gears deformation of flexible wheel characteristic test method, a part of test method cannot analyze load
Influence to deformation of flexible wheel characteristic.In addition, the structure composition and installation process of experimental bench are extremely complex, and the adjustable position of sensor
Set range very little (patent name：Harmonic drive gear teeth meshing and deformation of flexible wheel dynamic characterization measurement system, application number：
CN201410232483.8), another part test method uses high-accuracy translation stage to adjust the position of sensor so that whole
The cost of a test system is very high.In addition, the structure composition and installation process of experimental bench are also complex, and it is not easy to ensure sensing
Device is strictly in horizontal or vertical direction, and leading to test result and actual conditions, there are larger deviation (paper titles：Harmonic wave tooth
Wheel transmission deformation of flexible wheel characteristic research, publishes source：The Chinese Geology Univ. (Beijing), 2017).
In conclusion it is badly in need of a kind of more perfect Harmonic Gears deformation of flexible wheel characteristic test technology, it is arbitrary to realize
The high precision measurement of Harmonic Gears deformation of flexible wheel under operating mode.
Invention content
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of changes of Harmonic Gears flexbile gear
Shape characteristic test system and method, the system can test harmonic gear under the working conditions such as different loads, rotating speed and lubrication
Be driven flexbile gear deformation characteristic, and have many advantages, such as it is of low cost, simple in structure, be convenient to mount and dismount, test it is accurate.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of Harmonic Gears deformation of flexible wheel characteristic test system, including optical table 19 are located on optical table 19
It is provided with Harmonic Drive System；
The Harmonic Drive System be included in the servo motor holder 12 that 19 upper surface of optical table sets gradually,
Harmonic speed reducer holder 15 and magnetic powder brake holder 18,
It is separately installed with servo motor on servo motor holder 12, harmonic speed reducer holder 15 and magnetic powder brake holder 18
11, harmonic speed reducer 14 and magnetic powder brake 17 are provided with flexbile gear on harmonic speed reducer 14；
One end of the motor shaft of the servo motor 11 is connect with one end of first shaft coupling 13；First shaft coupling 13 it is another
One end of one end connection harmonic speed reducer 14, one end of the other end connection second shaft coupling 16 of harmonic speed reducer 14, second
One end of the other end connection magnetic powder brake 17 of axis device 16,
The servo motor 11 is connect by the first shaft coupling 13 with the harmonic speed reducer 14, the harmonic reduction
Device 14 is connect by the second shaft coupling 16 with the magnetic powder brake 17；
It is provided with deformation data acquisition system between the servo motor holder 12 and harmonic wave reducer stent 15, is deformed
Data collecting system includes displacement frame column 22, and displacement frame column 22 is arranged on optical table 19 and is located at harmonic speed reducer 14
Both sides are provided with displacement frame crossbeam 23 between displacement frame column 22, and displacement frame crossbeam 23 is moved up and down along displacement frame column 22, institute
State vertical the swashing that monitoring flexbile gear left deflection is separately provided on the displacement frame column 22 and displacement frame crossbeam 23 in left side
Optical displacement sensor 211 and horizontal laser light displacement sensor 212 for monitoring deflection right over flexbile gear；
The servo motor 11, first shaft coupling 13, harmonic speed reducer 14, second shaft coupling 16 and magnetic powder brake 17
Axis overlaps.
The side of left and right two of the displacement frame crossbeam 23 is both provided with two through-holes, passes through bolt and two displacement frames
Column 22 is connected.
Three sides of the displacement frame column 22 are both provided with the rectangle sliding slot being arranged in a vertical direction, rectangle
Displacement frame crossbeam 23 is provided on sliding slot.
The leading flank of the displacement frame crossbeam 23 is provided with the rectangle sliding slot arranged in the horizontal direction, on rectangle sliding slot
It is provided with displacement frame epipleural 25.
Displacement frame left plate 24 is equipped with by bolt on the displacement frame column 22 in the left side, on displacement frame crossbeam 23
Displacement frame epipleural 25, displacement frame left plate 24 and displacement frame epipleural 25 are installed by bolt by the way that bolt installation is vertical to swash
Optical displacement sensor 211 and horizontal laser light displacement sensor 212.
Magnetic bases 26 are housed, magnetic bases 26 are individually positioned in equipped with vertical laser position on the displacement frame column 22
22 side of displacement frame column of displacement sensor 211 and horizontal laser light displacement sensor 212, displacement frame column 22 and magnetic bases 26
It is arranged on optical table 19.
Servo motor holder 12, harmonic speed reducer holder 15 and the magnetic powder brake holder 18 is detachable structure.
A kind of application method of Harmonic Gears deformation of flexible wheel characteristic test system, includes the following steps,
First, the position of servo motor 11, harmonic speed reducer 14 and magnetic powder brake 17 in Harmonic Drive System is adjusted
It sets, their axis is made to overlap；
Then, the displacement frame column 22 in adjustment deformation data acquisition system, displacement frame crossbeam 23, displacement frame upside
The position of plate 25 and displacement frame left plate 24；Position by adjusting the displacement frame column 22 and the displacement frame left plate
24 height adjusts the position in 211 horizontal and vertical direction of the left side vertical laser displacement sensor respectively, keeps left side perpendicular
Straight laser displacement sensor 211 is capable of detecting when the deflection at 14 flexbile gear left position of harmonic speed reducer；By adjusting displacement frame
The height of crossbeam 23 and the position of displacement frame epipleural 25 are vertical to adjust the upper horizontal laser displacement sensor 212 respectively
With the position of horizontal direction, upper horizontal laser displacement sensor 212 is made to be capable of detecting when 14 flexbile gear of the harmonic speed reducer just
The deflection at top position.
After completing above-mentioned preparation, test is proceeded by：
First, the parameter of servo motor 11 and magnetic powder brake 17 is set, and servo motor 11 passes through 13 band of first shaft coupling
Dynamic harmonic speed reducer 14 rotates, and harmonic speed reducer 14 drives magnetic powder brake 17 to rotate by second shaft coupling 16, this time-harmonic wave
Retarder 14 works normally under given driving rotating speed and external load；
Then, start vertical laser displacement sensor 211 and horizontal laser light displacement sensor 212, and beat on computers
Mating software is opened, ensures the connection of the two；It is acquired right over 14 flexbile gear of harmonic speed reducer by two laser displacement sensors
With the deflection at the left positions Liang Ge；
Then, change position of the deformation data acquisition system between servo motor holder 12 and harmonic wave reducer stent 15
It sets, repeats above-mentioned work, obtain the deflection at the axially different position of 14 flexbile gear of the harmonic speed reducer；
Finally, change the parameter of magnetic powder brake 17 and servo motor 11, repeat above-mentioned work, obtain different loads and turn
The deflection of 14 flexbile gear of the harmonic speed reducer under fast operating mode.
Beneficial effects of the present invention：
The present invention realizes that the position of laser displacement sensor adjusts using several displacement frames simple in structure, entire to test
The structure composition and installation process of platform are very easy.Further, since the length for the rectangle sliding slot being arranged on displacement frame is optional, institute
It is very big with the adjustable position range of sensor；
The present invention does not use accurate displacement platform so that the cost of entire test system is relatively low.In addition, displacement frame is equal
It is obtained by machining, it is ensured that sensor is strictly in horizontal or vertical direction.
The present invention can analyze load torque and driving rotating speed etc. by the parameter of adjusting magnetic powder brake and servo motor
Influence of the parameter to Harmonic Gears deformation of flexible wheel characteristic, while Harmonic Gears can also be analyzed in different lubricating conditions
Under deformation of flexible wheel characteristic；
The present invention can be adapted for different model by replacing harmonic speed reducer holder and adjusting the positions of other holders
Harmonic speed reducer；
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the structural schematic diagram of Harmonic Drive System.
Fig. 3 is the structural schematic diagram of deformation data acquisition system.
Fig. 4 is the structural schematic diagram of displacement frame column.
Fig. 5 is the structural schematic diagram of displacement frame crossbeam.
Fig. 6 is the structural schematic diagram of displacement frame left plate.
Fig. 7 is the structural schematic diagram of displacement frame epipleural.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
The present invention is described in detail according to Figure of description 1-7.
As shown in Fig. 1 Fig. 2：A kind of Harmonic Gears deformation of flexible wheel characteristic test system；It includes that setting is flat in optics
Harmonic Drive System on platform 19 and deformation data acquisition system；
The Harmonic Drive System includes：Servo motor 11, servo motor holder 12, first shaft coupling 13, harmonic wave
Retarder 14, harmonic speed reducer holder 15, second shaft coupling 16, magnetic powder brake 17 and magnetic powder brake holder 18；It is described to watch
Motor 11 is taken on the servo motor holder 12, one end of the motor shaft of the servo motor 11 and first shaft coupling
One end of device 13 connects；The harmonic speed reducer 14 is mounted on the harmonic speed reducer holder 15, the harmonic speed reducer 14
One end connect the other end of the first shaft coupling 13, the other end of the harmonic speed reducer 14 connects the second shaft coupling
16 one end；The magnetic powder brake 17 is mounted on the magnetic powder brake holder 18, one end of the magnetic powder brake 17
Connect the other end of the second shaft coupling 16；I.e. the servo motor 11 is subtracted by the first shaft coupling 13 and the harmonic wave
Fast device 14 connects, and the harmonic speed reducer 14 is connect by the second shaft coupling 16 with the magnetic powder brake 17；It is described to watch
Electric machine support 12, harmonic speed reducer holder 15 and magnetic powder brake holder 18 is taken to be arranged on the optical table 19；
As shown in Figure 3：The deformation data acquisition system be located at servo motor holder 12 and harmonic wave reducer stent 15 it
Between comprising：Two displacement frame columns 22, displacement frame crossbeam 23, displacement frame left plate 24, displacement frame epipleural 25, two swash
Optical displacement sensor and two magnetic bases 26；Described two displacement frame columns 22 are individually positioned in the harmonic speed reducer 14
Arranged on left and right sides, and three sides of each displacement frame column 22 are both provided with the rectangle sliding slot being arranged in a vertical direction；It is described
Displacement frame crossbeam 23 is mounted on the centre of two displacement frame columns 22, and the leading flank of the displacement frame crossbeam 23 is provided with along level
The rectangle sliding slot of direction arrangement, left and right two sides of the displacement frame crossbeam 23 are both provided with two through-holes, so as to
It is connected by bolt and two displacement frame columns 22；On the displacement frame left plate 24 and the displacement frame epipleural 25 all
There are four through-hole, the displacement that the displacement frame left plate 24 (as shown in Figure 6) is mounted on the left side by bolt erects for setting
On column 22, the displacement frame epipleural 25 (as shown in Figure 7) is mounted on by bolt on the displacement frame crossbeam 23；It is described two
Laser displacement sensor is separately mounted to by bolt on the displacement frame left plate 24 and the displacement frame epipleural 25；Institute
It states two magnetic bases 26 and is individually positioned in the side that described two displacement frame columns 22 are equipped with the laser displacement sensor side
Side prevents its rollover；26, two displacement frame columns 22 of described two magnetic bases are arranged on the optical table 19.
The servo motor holder 12 is fixed by bolt and the optical table 19；The harmonic speed reducer holder 15 is logical
Bolt is crossed to fix with the optical table 19；The magnetic powder brake holder 18 is fixed by bolt and the optical table 19；
The displacement frame column 22 passes through at 212 homonymy bottom of the vertical laser displacement sensor 211 and horizontal laser light displacement sensor
Portion is bonded respectively with described two magnetic bases 26 to be fixed on the optical table 19, to avoid it because of side weight
It is excessive and turn on one's side.
The servo motor 11, first shaft coupling 13, harmonic speed reducer 14, second shaft coupling 16 and magnetic powder brake 17
Axis overlaps.
As shown in Fig. 4 Fig. 5：The displacement frame column 22 can arbitrarily move through magnetism on the optical table 19
Pedestal 26 is fixed with the optical table 19；The displacement frame crossbeam 23 can pass through the sliding slot displacement frame column 22 relatively
Upper and lower translation；The displacement frame epipleural 25 can pass through relatively described 23 left and right translation of displacement frame crossbeam of sliding slot；Institute's rheme
The translation above and below of column 22 can be erected by the relatively described left side displacement of sliding slot by moving frame left plate 24.
It is perpendicular to adjust the left side laser displacement sensor 211 by adjusting the height of the displacement frame left plate 24 first
Histogram to position, so that the optical axis of the left side vertical laser displacement sensor 211 is in 14 flexbile gear of the harmonic speed reducer
Front-left；Then the left side vertical laser displacement sensor 211 is adjusted by adjusting the position of the displacement frame column 22
The position of horizontal direction makes the left side vertical laser displacement sensor 211 be in best with 14 flexbile gear of the harmonic speed reducer
Operating distance.
First the upper horizontal laser displacement sensor is adjusted by adjusting the position of the displacement frame epipleural 25
The position of 212 horizontal directions makes the optical axis of the upper horizontal laser displacement sensor 212 be in the harmonic speed reducer 14 soft
The surface of wheel；Then the upper horizontal laser displacement sensor is adjusted by adjusting the height of the displacement frame crossbeam 23
The position of 212 vertical direction makes the upper horizontal laser displacement sensor 212 be in 14 flexbile gear of the harmonic speed reducer
Best effort distance.
The course of work of this test device is as follows；
It needs to complete following preparation before test.
First, the position of servo motor 11, harmonic speed reducer 14 and magnetic powder brake 17 in Harmonic Drive System is adjusted
It sets, their axis is made to overlap；
Then, the displacement frame column 22 in adjustment deformation data acquisition system, displacement frame crossbeam 23, displacement frame upside
The position of plate 25 and displacement frame left plate 24；Position by adjusting the displacement frame column 22 and the displacement frame left plate
24 height adjusts the position in 211 horizontal and vertical direction of the left side vertical laser displacement sensor respectively, makes the left side
The vertical laser displacement sensor in side 211 is capable of detecting when the deflection at 14 flexbile gear left position of the harmonic speed reducer；Pass through tune
The height of the whole displacement frame crossbeam 23 and the position of the displacement frame epipleural 25 adjust the upper horizontal laser respectively
The position of displacement sensor 212 both vertically as well as horizontally makes the upper horizontal laser displacement sensor 212 be capable of detecting when institute
State the deflection at position right over 14 flexbile gear of harmonic speed reducer.
After completing above-mentioned preparation, test is proceeded by.
First, the parameter of servo motor 11 and magnetic powder brake 17 is set, and servo motor 11 passes through 13 band of first shaft coupling
Dynamic harmonic speed reducer 14 rotates, and harmonic speed reducer 14 drives magnetic powder brake 17 to rotate by second shaft coupling 16, this time-harmonic wave
Retarder 14 works normally under given driving rotating speed and external load；
Then, start two laser displacement sensors, and open mating software on computers, ensure the company of the two
It connects；The deformation right over 14 flexbile gear of the harmonic speed reducer with the left positions Liang Ge is acquired by two laser displacement sensors
Amount；
Then, change the deformation data acquisition system between servo motor holder 12 and harmonic wave reducer stent 15
Position repeats above-mentioned work, obtains the deflection at the axially different position of 14 flexbile gear of the harmonic speed reducer；
Finally, change the parameter of magnetic powder brake 17 and servo motor 11, repeat above-mentioned work, obtain different loads and turn
The deflection of 14 flexbile gear of the harmonic speed reducer under fast operating mode.
Claims (7)
1. a kind of Harmonic Gears deformation of flexible wheel characteristic test system, which is characterized in that including optical table (19), be located at light
It learns and is provided with Harmonic Drive System on platform (19)；
The Harmonic Drive System be included in the servo motor holder (12) that optical table (19) upper surface sets gradually,
Harmonic speed reducer holder (15) and magnetic powder brake holder (18), servo motor holder (12), harmonic speed reducer holder (15) and
Servo motor (11), harmonic speed reducer (14) and magnetic powder brake (17) are separately installed on magnetic powder brake holder (18), it is humorous
Wave retarder is provided with flexbile gear on (14)；
One end of the motor shaft of the servo motor (11) is connect with one end of first shaft coupling (13)；First shaft coupling (13)
The other end connects one end of harmonic speed reducer (14), and the other end of harmonic speed reducer (14) connects the one of second shaft coupling (16)
End, one end of the other end connection magnetic powder brake (17) of second shaft coupling (16), the harmonic speed reducer (14) passes through described
Second shaft coupling (16) is connect with the magnetic powder brake (17)；
It is provided with deformation data acquisition system between the servo motor holder (12) and harmonic wave reducer stent (15), is deformed
Data collecting system includes displacement frame column (22), and displacement frame column (22) is arranged on optical table (19) and subtracts positioned at harmonic wave
Fast device (14) both sides, displacement frame crossbeam (23) is provided between displacement frame column (22), and displacement frame crossbeam (23) is erected along displacement
Column (22) moves up and down, and is separately provided for monitoring on the displacement frame column (22) and displacement frame crossbeam (23) in the left side soft
Take turns the vertical laser displacement sensor (211) of left deflection and the horizontal laser light displacement for monitoring deflection right over flexbile gear
Sensor (212)；
The servo motor (11), first shaft coupling (13), harmonic speed reducer (14), second shaft coupling (16) and magnetic powder brake
(17) axis overlaps.
2. a kind of Harmonic Gears deformation of flexible wheel characteristic test system according to claim 1, which is characterized in that described
The side of left and right two of displacement frame crossbeam (23) be both provided with two through-holes, by bolt and two displacement frame columns (22) into
Row is connected.
3. a kind of Harmonic Gears deformation of flexible wheel characteristic test system according to claim 1, which is characterized in that described
Three sides of displacement frame column (22) be both provided with the rectangle sliding slot being arranged in a vertical direction, be arranged on rectangle sliding slot
There is displacement frame crossbeam (23)；
The leading flank of the displacement frame crossbeam (23) is provided with the rectangle sliding slot arranged in the horizontal direction, is set on rectangle sliding slot
It is equipped with displacement frame epipleural (25).
4. a kind of Harmonic Gears deformation of flexible wheel characteristic test system according to claim 3, which is characterized in that described
Left side displacement frame column (22) on displacement frame left plate (24) is equipped with by bolt, displacement frame crossbeam passes through spiral shell on (23)
Bolt is equipped with displacement frame epipleural (25), displacement frame left plate (24) and displacement frame epipleural (25) and swashs by the way that bolt installation is vertical
Optical displacement sensor (211) and horizontal laser light displacement sensor (212).
5. a kind of Harmonic Gears deformation of flexible wheel characteristic test system according to claim 1, which is characterized in that described
Displacement frame column (22) on be equipped with magnetic bases (26), magnetic bases (26) be individually positioned in equipped with vertical laser displacement sense
Displacement frame column (22) side of device (211) and horizontal laser light displacement sensor (212), displacement frame column (22) and magnetic bases
(26) it is arranged on optical table (19).
6. a kind of Harmonic Gears deformation of flexible wheel characteristic test system according to claim 1, which is characterized in that described
Servo motor holder (12), harmonic speed reducer holder (15) and magnetic powder brake holder (18) be detachable structure.
7. based on a kind of application method of Harmonic Gears deformation of flexible wheel characteristic test system, which is characterized in that including following
Step,
First, servo motor (11) in Harmonic Drive System, harmonic speed reducer (14) and magnetic powder brake (17) are adjusted
Position makes their axis overlap；
Then, the displacement frame column (22) in adjustment deformation data acquisition system, displacement frame crossbeam (23), displacement frame upside
The position of plate (25) and displacement frame left plate (24)；Position by adjusting the displacement frame column (22) and the displacement frame
The height of left plate (24) adjusts the position in the horizontal and vertical direction of the left side vertical laser displacement sensor (211) respectively
It sets, left side vertical laser displacement sensor (211) is made to be capable of detecting when the deflection at harmonic speed reducer (14) flexbile gear left position；
Swash to adjust the upper horizontal respectively by adjusting the height of displacement frame crossbeam (23) and the position of displacement frame epipleural (25)
The position of Optical displacement sensor (212) both vertically as well as horizontally, makes upper horizontal laser displacement sensor (212) be capable of detecting when
The deflection at position right over harmonic speed reducer (14) flexbile gear；
After completing above-mentioned preparation, test is proceeded by：
First, the parameter of setting servo motor (11) and magnetic powder brake (17), servo motor (11) pass through first shaft coupling
(13) harmonic speed reducer (14) is driven to rotate, harmonic speed reducer (14) drives magnetic powder brake (17) by second shaft coupling (16)
It rotates, harmonic speed reducer (14) works normally under given driving rotating speed and external load at this time；
Then, start vertical laser displacement sensor (211) and horizontal laser light displacement sensor (212), and beat on computers
Mating software is opened, ensures the connection of the two；By two laser displacement sensors acquire harmonic speed reducer (14) flexbile gears just on
The deflection of side and the left positions Liang Ge；
Then, change position of the deformation data acquisition system between servo motor holder (12) and harmonic wave reducer stent (15)
It sets, repeats above-mentioned work, obtain the deflection at the harmonic speed reducer (14) axially different position of flexbile gear；
Finally, change the parameter of magnetic powder brake (17) and servo motor (11), repeat above-mentioned work, obtain different loads and turn
The deflection of the harmonic speed reducer (14) flexbile gear under fast operating mode.
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| CN109262611A (en) * | 2018-10-08 | 2019-01-25 | 哈工大机器人（合肥）国际创新研究院 | A kind of acquisition methods and device of the total torsional deformation angle of flexible machine person joint |
| CN109282987A (en) * | 2018-11-19 | 2019-01-29 | 清华大学 | Harmonic drive mesh stiffness test macro and method based on loading by means of digital image correlation method |
| CN109647731A (en) * | 2018-11-16 | 2019-04-19 | 浙江来福谐波传动股份有限公司 | A kind of internal tooth detection method of harmonic speed reducer steel wheel |
| CN110530309A (en) * | 2019-09-24 | 2019-12-03 | 东莞市沃德精密机械有限公司 | The detection device of harmonic speed reducer axial runout and circular runout |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
| CN112611561A (en) * | 2020-12-08 | 2021-04-06 | 燕山大学 | Vibration testing device for electromagnetic harmonic oscillating tooth transmission system |
| CN113008549A (en) * | 2021-04-12 | 2021-06-22 | 宁波大学 | Variable-size RV reducer planetary gear stress measuring device and method |
| CN113063350A (en) * | 2021-03-23 | 2021-07-02 | 宁波大学 | System and method for detecting tooth form and output end face flatness of flexible gear of harmonic reducer |
| CN115615373A (en) * | 2022-12-19 | 2023-01-17 | 山东九博智能装备有限公司 | Harmonic gear radial runout detection device, detection method and control method |
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| CN109647731A (en) * | 2018-11-16 | 2019-04-19 | 浙江来福谐波传动股份有限公司 | A kind of internal tooth detection method of harmonic speed reducer steel wheel |
| CN109282987A (en) * | 2018-11-19 | 2019-01-29 | 清华大学 | Harmonic drive mesh stiffness test macro and method based on loading by means of digital image correlation method |
| CN110530309A (en) * | 2019-09-24 | 2019-12-03 | 东莞市沃德精密机械有限公司 | The detection device of harmonic speed reducer axial runout and circular runout |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
| CN112611561A (en) * | 2020-12-08 | 2021-04-06 | 燕山大学 | Vibration testing device for electromagnetic harmonic oscillating tooth transmission system |
| CN112611561B (en) * | 2020-12-08 | 2022-03-11 | 燕山大学 | Vibration testing device for electromagnetic harmonic oscillating tooth transmission system |
| CN113063350A (en) * | 2021-03-23 | 2021-07-02 | 宁波大学 | System and method for detecting tooth form and output end face flatness of flexible gear of harmonic reducer |
| CN113008549A (en) * | 2021-04-12 | 2021-06-22 | 宁波大学 | Variable-size RV reducer planetary gear stress measuring device and method |
| CN115615373A (en) * | 2022-12-19 | 2023-01-17 | 山东九博智能装备有限公司 | Harmonic gear radial runout detection device, detection method and control method |
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