CN109029978A - Precision speed reduction device geometric lost motion assessment method - Google Patents
Precision speed reduction device geometric lost motion assessment method Download PDFInfo
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Abstract
The invention discloses precision speed reduction device geometric lost motion assessment methods, belong to precision measurement metering and mechanical transmission fields.The present invention first optimizes the measurement scheme of geometric lost motion, and single cycle load, unloading can be obtained a closed hysteresis loop.The model of hysteresis loop of precision speed reduction device is established in the coupling for comprehensively considering non-linear rigidity and friction.Based on model of hysteresis loop, the assessment method of geometric lost motion, i.e. median profile method are proposed.This method is suitable for surveying the geometric lost motion of precision speed reduction device using hysteresis loop method, the measurement method including input terminal locking, the measurement method of output end load and output end locking, input terminal load.Compared with traditional evaluation method, functional relation of the present invention is more clear, operation more aspect, measurement accuracy with higher, and the geometric lost motion suitable for all kinds of precision speed reduction devices is evaluated.
Description
Technical field
The present invention relates to a kind of evaluations of the geometric lost motion of precision speed reduction device, belong to precision measurement measurement technology and machine driving
Field.
Background technique
Precision speed reduction device is the core component of industrial robot, and the quality of performance directly affects the performance of complete machine.Machine
The widely applied retarder in device people field mainly has RV retarder and harmonic speed reducer.RV retarder have higher rigidity and
Rotating accuracy, therefore be mostly used in the heavy duty position such as base, large arm, shoulder；Harmonic speed reducer is applied in forearm, wrist more
Or hand.
Due to the coupling of nonlinear elastic deformation, friction etc., hysteretic characteristic is generally existing in precision speed reduction device, leads to
The inconsistent phenomenon for often showing as input, output is an important factor for influencing precision speed reduction device performance.Return difference is that characterization is accurate
The key index of retarder hysteretic characteristic specifically includes that the geometric lost motion δ as caused by the pure gap of transmission systemg(also known as
Idle running return difference or gap return difference)；The elasticity return difference δ as caused by actuated element torsional deflectione；The temperature as caused by temperature change
Return difference δt；Return difference δ is worn caused by wearing during military servicew.Geometric lost motion is the important of precision speed reduction device accuracy assessment
Index, measurement and evaluation are also the basis for improving precision speed reduction device performance.
Currently, industrial circle mainly uses the geometric lost motion of hysteresis loop method measurement precision speed reduction device, and by geometric lost motion
Is defined as: apply ± 3% nominal torque to overcome internal friction and oil film resistance, and in the good situation of each component contact,
The output shaft angle value as caused by the geometrical factors such as backlash, bearing clearance in transmission chain, also known as idle running return difference or
Gap return difference.The evaluation of geometric lost motion needs to realize that main curve-fitting method has segmentation at present by the fitting of hysteresis loop
Linear fit, fitting of a polynomial, BP neural network fitting etc., the precision of measurement result depends critically upon the fitting algorithm of curve.
On the whole, the geometric lost motion measurement of precision speed reduction device is primarily present following two main problem: (1) single cycle
The hysteresis loop that load, unloading obtain is not closed, and needs to carry out curve fitting, the error of introducing is larger；(2) hysteresis loop
Approximating method not yet carry out going deep into systematic research, current curve-fitting method cannot inherently reflect hysteresis loop
Changing rule, the hysteresis loop for causing fitting to obtain and measurement hysteresis loop reduce geometric lost motion survey there are large error
Accuracy of measurement.
Therefore, it is necessary to carry out going deep into system research to the assessment method of accurate deceleration geometric lost motion, to realize that geometry returns
The precise measurement of difference.
Summary of the invention
The measurement of geometric lost motion is based primarily upon the realization of hysteresis loop method, and traditional measurement scheme is by the one of precision speed reduction device
End locking, one end load, load positive first, unloading, then Opposite side loading, unloading.It is stagnant since measurement data is recorded from 0 point
It returns curve not close, needs to be segmented and be repeatedly fitted, the error of introducing is larger.Curve-fitting method current simultaneously obtains
Hysteresis loop and measurement hysteresis loop there are large error, reduce measurement accuracy.
The present invention first optimizes measurement scheme, and single cycle load, unloading can be obtained a closed hysteresis
Curve, avoiding the error introduced due to curve matching is influenced.The coupling influence for comprehensively considering non-linear rigidity and friction, builds
Vertical precision speed reduction device model of hysteresis loop.Based on model of hysteresis loop, the assessment method of geometric lost motion, i.e. median profile are proposed
Method.
Specific step is as follows:
S1. traditional measurement scheme is optimized, the scheme after optimization are as follows: (1) 0 → T of stepR: forward direction is loaded onto volume
Determine torque TR；Step (2) TR→ 0: forward direction unloading nominal torque TRTo 0；(3) 0 →-T of stepR: Opposite side loading to specified torsion
Square-TR；Step (4)-TR→ 0: reversely unloading nominal torque-TRTo 0；(5) 0 → T of stepR: forward direction is loaded onto nominal torque again
TR.The data of step (1) do not record, real-time recording step (2)-step (5) step data, with the torque T of output end for horizontal seat
The torsion angle of mark, output end is ordinate, can draw a closed hysteresis loop, as shown in Figure 1.
S2. precision speed reduction device model of hysteresis loop is established.The hysteresis loop of precision speed reduction device has non-linear and memory special
Property, torsion angle is not only related with current input torque, also related with history input torque；And on forward and reverse stroke,
Identical input torque, corresponding different output torsion angle.This is mainly intercoupled by internal non-linear rigidity and friction
Effect as a result, therefore the hysteretic behavior of precision speed reduction device is expressed as the coupled structure of rigidity module and hysteresis module, such as Fig. 2
It is shown.Nonlinear spring characterizes the stiffness characteristics of precision speed reduction device, and with the increase of input torque, rigidity tends to be saturated；In parallel
Maxwell sliding block characterization actuated element frictional behavior, in input variable reversion, it is slow to be generated due to consumption energy
Stagnant phenomenon.
Then the hysteresis loop of precision speed reduction device is expressed as the coupling function of rigidity module and hysteresis moduleSuch as formula (1).
Wherein:Indicate that the hysteresis loop of precision speed reduction device, τ indicate output end torque, b0、c0、d0、m、A0、B0、
τ0For fitting parameter to be measured.
Arrangement abbreviation is carried out to formula (1), ascending curve, the decline curve of precision speed reduction device hysteresis loop indicate are as follows:
Wherein: f+' be hysteresis loop ascending curve；f+' be hysteresis loop decline curve；M, n is fitting parameter to be measured.
S3. median profile model is established.Median profile refers in hysteresis loop that same torque acts on lower ascending curve, decline
The curve that curve torsion angle average value is constituted, as shown in Figure 3.According to model of hysteresis loop is established, median profile is expressed as formula (3).
S4. the parameter identification of median profile.Formula (3) is fitted based on least square method, obtains each of median profile
Item parameter.Parameter identification method is as follows:
Wherein: M (τi) it is the intermediate value that fitting obtains；τiFor the torque value of collection point；εiFor the error of fitting of collection point；I=
1 ... n, n are hysteresis loop data collection point number.
Wherein:The intermediate value obtained for measurement.
Then the parameters of median profile M (τ) are determined by following minimum criteria:
S5. geometric lost motion is evaluated.The geometric lost motion of precision speed reduction device refers to forward and reverse torsion angle at ± 3% nominal torque
The difference of mean value, the difference of the functional value on as median profile M (τ) at ± 3% nominal torque, as shown in Figure 4.It is obtained according to fitting
The median profile function obtained, general ± 0.03TRSubstitution formula (3), the then geometric lost motion of precision speed reduction device are as follows:
δg=M (0.03TR)-M(-0.03TR) (7)
Wherein: TRFor the nominal torque of precision speed reduction device.
Geometric lost motion assessment method of the invention has following distinguishing feature:
1. optimization after measurement scheme, can be obtained a closed hysteresis loop without curve matching, avoid due to
The error that curve matching introduces influences, and improves measurement accuracy；
2. the model of hysteresis loop established, meets the hysteretic characteristic formation mechenism of precision speed reduction device, can inherently reflect
The non-linear relation of output end torsion angle and torque, therefore the median profile method mentioned based on the present invention, the evaluation of geometric lost motion
As a result precision with higher；
3. the geometric lost motion assessment method that the present invention is mentioned is a kind of general method, suitable for all kinds of precision speed reduction devices
Geometric lost motion evaluation, such as cycloidal reducer, harmonic speed reducer.
Detailed description of the invention
Fig. 1 is closed hysteresis loop figure.
Fig. 2 is precision speed reduction device hysteretic behavior structure chart.
Fig. 3 is precision speed reduction device hysteresis loop, median profile figure.
Fig. 4 is the geometric lost motion Evaluation model figure of precision speed reduction device.
Specific embodiment
Below in conjunction with specific measurement, the present invention will be described for evaluation example:
It measured, evaluated based on RV retarder geometric lost motion of the hysteresis loop method to certain model, surveyed RV retarder
Nominal torque TR=784Nm, speed ratio R=121.Measurement process is based on hysteresis loop method, is locked using output end, input terminal adds
The mode of load is realized.
Geometric lost motion estimation steps are as follows:
S1. it when geometric lost motion measures, is locked using output end, the mode of input terminal gradient load.It proposes according to the present invention
Optimization measurement scheme, the load of control servo motor forward direction gradient, unloading first, the then load of reversed gradient, unloading, then just
To load.Acquisition input in real time, the corner of output end, torque signal.
S2. the torsion angle of input terminal is converted by speed ratio R to output end, then output end torsion angle can be obtained by following formula.
The torque of output end is directly measured by torque sensor.Using output shaft torque as abscissa, θ is that ordinate draws hysteresis loop.
Wherein: θinFor the torsion angle of input terminal；θoutFor the small torsion angle of output end, for carrying out angle compensation；R is
The speed ratio value of precision speed reduction device.
S3. the data of the ascending curve of hysteresis loop, decline curve are analyzed and processed, obtain the measurement of median profile
Value.
S4. median profile numerical value measurement obtained substitutes into median profile model (3), is based on least square method, and fitting obtains
Obtain the parameters of median profile
S5. general ± 0.03TRSubstitution formula (3) obtains the geometric lost motion value of measurement point, realizes the evaluation of geometric lost motion.
Claims (2)
1. precision speed reduction device geometric lost motion assessment method, it is characterised in that:
S1. measurement scheme optimizes: (1) 0 → T of stepR: forward direction is loaded onto nominal torque TR；Step (2) TR→ 0: positive unloading volume
Determine torque TRTo 0；(3) 0 →-T of stepR: Opposite side loading to nominal torque-TR；Step (4)-TR→ 0: reversely unloading specified torsion
Square-TRTo 0；(5) 0 → T of stepR: forward direction is loaded onto nominal torque T againR；The data of step (1) do not record, real-time recording step
(2) data of-step (5) step, using the torque T of output end as abscissa, the torsion angle of output end is ordinate, can be drawn
One closed hysteresis loop；
S2. precision speed reduction device model of hysteresis loop is established；The hysteresis loop of precision speed reduction device has non-linear and memory characteristic, turns round
Rotational angle theta is not only related with current input torque, also related with history input torque；And it is identical on forward and reverse stroke
Input torque, corresponding different output torsion angle；This is mainly intercoupled effect by internal non-linear rigidity and friction
As a result, therefore the hysteretic behavior of precision speed reduction device is expressed as the coupled structure of rigidity module and hysteresis module；Nonlinear spring table
The stiffness characteristics of precision speed reduction device are levied, with the increase of input torque, rigidity tends to be saturated；Parallel Maxwell sliding block characterization
The frictional behavior of actuated element generates hysteresis phenomenon due to consumption energy in input variable reversion；
Then the hysteresis loop of precision speed reduction device is expressed as the coupling function of rigidity module and hysteresis moduleSuch as formula (1)；
Wherein:Indicate that the hysteresis loop of precision speed reduction device, τ indicate output end torque, b0、c0、d0、m、A0、B0、τ0For to
Survey fitting parameter；
Arrangement abbreviation is carried out to formula (1), ascending curve, the decline curve of precision speed reduction device hysteresis loop indicate are as follows:
Wherein: f+' be hysteresis loop ascending curve；f+' be hysteresis loop decline curve；M, n is fitting parameter to be measured；
S3. median profile model is established；Median profile refers in hysteresis loop that same torque acts on lower ascending curve, decline song
The curve that line torsion angle average value is constituted, as shown in Figure 3；According to model of hysteresis loop is established, median profile is expressed as formula (3)；
S4. the parameter identification of median profile；Formula (3) is fitted based on least square method, obtains every ginseng of median profile
Number；Parameter identification method is as follows:
Wherein: M (τi) it is the intermediate value that fitting obtains；τiFor the torque value of collection point；εiFor the error of fitting of collection point；I=1 ...
N, n are hysteresis loop data collection point number；
Wherein:The intermediate value obtained for measurement；
Then the parameters of median profile M (τ) are determined by following minimum criteria:
S5. geometric lost motion is evaluated；The geometric lost motion of precision speed reduction device refers to forward and reverse torsion angle mean value at ± 3% nominal torque
Difference, the difference of the functional value on as median profile M (τ) at ± 3% nominal torque；The median profile letter obtained according to fitting
Number, general ± 0.03TRSubstitution formula (3), the then geometric lost motion of precision speed reduction device are as follows:
δg=M (0.03TR)-M(-0.03TR) (7)
Wherein: TRFor the nominal torque of precision speed reduction device.
2. precision speed reduction device geometric lost motion assessment method according to claim 1, it is characterised in that:
S1. it when geometric lost motion measures, is locked using output end, the mode of input terminal gradient load；It is first according to optimization measurement scheme
The first load of control servo motor forward direction gradient, unloading, then reversed gradient load, unloading, then positive load；It acquires in real time defeated
Enter, the corner of output end, torque signal；
S2. the torsion angle of input terminal is converted by speed ratio R to output end, then output end torsion angle can be obtained by following formula；Output
The torque at end is directly measured by torque sensor；Using output shaft torque as abscissa, θ is that ordinate draws hysteresis loop；
Wherein: θinFor the torsion angle of input terminal；θoutFor the small torsion angle of output end, for carrying out angle compensation；R is precision
The speed ratio value of retarder；
S3. the data of the ascending curve of hysteresis loop, decline curve are analyzed and processed, obtain the measured value of median profile；
S4. median profile numerical value measurement obtained substitutes into median profile model (3), is based on least square method, is fitted in obtaining
It is worth the parameters of curve
S5. general ± 0.03TRSubstitution formula (3) obtains the geometric lost motion value of measurement point, realizes the evaluation of geometric lost motion.
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Cited By (5)
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| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110095288A (en) * | 2019-05-17 | 2019-08-06 | 重庆理工大学 | A kind of robot speed reducer comprehensive performance off-line test experimental rig and test method |
| CN110987423A (en) * | 2019-12-26 | 2020-04-10 | 中科新松有限公司 | Static test method and test platform for rigidity of harmonic speed reducer |
| CN113715058A (en) * | 2021-08-11 | 2021-11-30 | 埃夫特智能装备股份有限公司 | Industrial robot connecting rod rigidity testing method |
| CN118163117A (en) * | 2024-05-13 | 2024-06-11 | 上海术之道医疗器械有限公司 | Method, system, device, medium, and program product for driving robot joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110095288A (en) * | 2019-05-17 | 2019-08-06 | 重庆理工大学 | A kind of robot speed reducer comprehensive performance off-line test experimental rig and test method |
| CN110987423A (en) * | 2019-12-26 | 2020-04-10 | 中科新松有限公司 | Static test method and test platform for rigidity of harmonic speed reducer |
| CN110987423B (en) * | 2019-12-26 | 2021-12-07 | 中科新松有限公司 | Static test method and test platform for rigidity of harmonic speed reducer |
| CN113715058A (en) * | 2021-08-11 | 2021-11-30 | 埃夫特智能装备股份有限公司 | Industrial robot connecting rod rigidity testing method |
| CN118163117A (en) * | 2024-05-13 | 2024-06-11 | 上海术之道医疗器械有限公司 | Method, system, device, medium, and program product for driving robot joint |
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Application publication date: 20181218 |