CN109406141A - A kind of harmonic speed reducer precision measurer hardware system - Google Patents
A kind of harmonic speed reducer precision measurer hardware system Download PDFInfo
- Publication number
- CN109406141A CN109406141A CN201811233889.2A CN201811233889A CN109406141A CN 109406141 A CN109406141 A CN 109406141A CN 201811233889 A CN201811233889 A CN 201811233889A CN 109406141 A CN109406141 A CN 109406141A
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- harmonic speed
- speed reducer
- shaft coupling
- hardware system
- driving
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 29
- 230000008878 coupling Effects 0.000 claims abstract description 25
- 238000010168 coupling process Methods 0.000 claims abstract description 25
- 238000005859 coupling reaction Methods 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
-
- 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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
A kind of harmonic speed reducer precision measurer hardware system is disclosed in the present invention, including driving device, information collecting device, loading device, controller and host computer, the driving device includes driving motor and driving shaft coupling, the driving motor connects tested retarder by driving shaft coupling, the tested retarder connects loading device by load shaft coupling, and the information collecting device includes the first grating sensor, the second grating sensor and torque sensor.The present invention verifies the transmission accuracy of harmonic speed reducer using the method for grating dynamic measurement, greatly improve measurement accuracy, the present invention greatly improves the degree of automation of measurement, has saved cost of human and material resources using controller and host computer as control unit simultaneously.The present invention can also carry out accuracy detection for different harmonic speed reducers.
Description
Technical field
The present invention relates to the detection field of harmonic wave speed reducing machine, in particular to a kind of harmonic speed reducer precision measurer hardware system
System.
Background technique
Making industry is to determine the important evidence of national economy level, is the main power of scientific and technical innovation, is fundamental to the building of the country, power
Base.Currently, great change occurs for global economy and China is faced with structural transformation of the economy upgrading, need to hold on to the epoch
The pulse of development struggles the manufacturing industry for developing China, realizes that the great of China's manufacturing industry is revived.Nowadays China is in the manufacturing industry scale of construction
Aspect has been a big country, but China is not a manufacturing industry power, and technical level also more falls behind, compared with developed countries
There are certain gaps.Accordingly, for the research of Advanced Machine Manufacturing Technology, it appears shoulder heavy responsibilities.At present in the world, it commonly uses
The number of units of robot shared by every ten thousand people measures the manufacturing development degree of country, for robot, harmonic reduction
Device is one of key components and parts, and the performance of the latter directly determines robot performance.The performance of robot specifically includes that
Freedom degree, positioning accuracy, repeatability, operating rate, bearing capacity etc..Will not only there be considerable flexibility in robot, want simultaneously
There is more accurate position positioning, its performance requirement also will be different applied to the robot of different occasions.Such as opposite
Field more dangerous, the presence of robot efficiently solve the difficulty that the mankind are faced for the mankind；Aerospace field pair
The positioning accuracy performance requirement of robot is extremely harsh, mars exploration robot to the performance requirement of freedom degree and operating rate more
To be accurate, Mars sample is fetched by high integration intelligence control system；Pacemaker needs one for human body
Prolonged use, the requirement for its life performance are particularly important；Accurate harmonic speed reducer can guarantee that industrial robot exists
It can be reliably completed process task in production, can guarantee processing quality when repeating identical movement.Traditional harmonic wave
Retarder measurement accuracy is not high, can only be single for testing the harmonic wave speed reducing machine of model a kind of, and the degree of automation is not high,
It needs to put into a large amount of manpower and material resources when test, develops a kind of harmonic speed reducer precision measurer hardware system hereby.
Summary of the invention
It is an object of the invention to solve the problem in above-mentioned technology, a kind of harmonic speed reducer precision measurer is provided
Hardware system, the system are verified the transmission accuracy of harmonic speed reducer using the method for grating dynamic measurement, greatly improved
Measurement accuracy, while the present invention uses controller and host computer as control unit, greatly improves the automation journey of measurement
Degree, has saved cost of human and material resources.The present invention can also carry out accuracy detection for different harmonic speed reducers.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of harmonic speed reducer precision measurer hardware system, including driving device, information collecting device, loading device,
Controller and host computer, the driving device include driving motor and driving shaft coupling, and the driving motor passes through driving
Shaft coupling connects tested retarder, and the tested retarder connects loading device, the information collection dress by load shaft coupling
It sets including the first grating sensor, the second grating sensor and torque sensor.
Further, the first grating sensor setting drives in harmonic speed reducer as a preferred technical solution,
Shaft coupling one end, the second grating sensor setting is in load shaft coupling one end.
Further, the torque sensor setting love load shaft coupling and load dress as a preferred technical solution,
Between setting.
Further, the first grating sensor, the second grating sensor and the torque as a preferred technical solution,
Sensor is connected respectively to controller, and the controller connects host computer.
Further, the host computer is connected to loading device as a preferred technical solution,.
Possessed by of the invention the utility model has the advantages that
The present invention verifies the transmission accuracy of harmonic speed reducer using the method for grating dynamic measurement, greatly improves survey
Accuracy of measurement, while the present invention uses controller and host computer as control unit, greatly improves the degree of automation of measurement,
Cost of human and material resources are saved.The present invention can also carry out accuracy detection for different harmonic speed reducers.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
Embodiment 1
As shown in Figure 1, a kind of harmonic speed reducer precision measurer hardware system, including driving device, information collecting device,
Loading device, controller and host computer, the driving device include driving motor and driving shaft coupling, the driving motor
Tested retarder is connected by driving shaft coupling, the tested retarder connects loading device, the letter by load shaft coupling
Ceasing acquisition device includes the first grating sensor, the second grating sensor and torque sensor, first grating sensor
Setting drives shaft coupling one end in harmonic speed reducer, and the second grating sensor setting is loading shaft coupling one end, described
Torque sensor setting love load shaft coupling and loading device between passed in, first grating sensor, the second grating
Sensor and torque sensor are connected respectively to controller, and the controller connects host computer one kind according to claim 1
Harmonic speed reducer precision measurer hardware system, which is characterized in that the host computer is connected to loading device.
When work, said detecting system wave retarder upper end is set as input terminal axis, including stepper motor, grating sensing
Device, shaft coupling etc., lower end are output shaft end, including torque sensor, load equipment, coupling equipment connect into an entirety,
Using the shaft coupling guide hole at harmonic speed reducer both ends as boundary, the mechanical equipment at both ends is an entirety, can with propeller shaft slip into
The adjustment of row integral level.Host computer carries out serial communication, sends drive command, starting driving electricity by controller control protocol
Machine, drives entire mechanical equipment to rotate, and grating sensor perceives input terminal and output end grating signal, adopting in controller respectively
Truck is sampled, is quantified, value samples primary system and calculate to output end, with theoretical value in conjunction with the reduction ratio of harmonic speed reducer
It is compared, the trueness error of the harmonic speed reducer can be found out；When disengaging loading device, torque sensor shows zero, can
Test the rotating accuracy value under harmonic speed reducer static state；When connecting with loading device, host computer sends torque command, and torque passes
Sensor perceives torque signal, and grating sensor sends grating signal in the loaded state, can test the dynamic of harmonic speed reducer
Trueness error.The torque value that loading device is applied can be read by torque sensor.
Preferably, during design of measuring system, the closed disk grating of RON886 model of Heidenhain company is selected
Encoder, this grating encoder advantage is more obvious, it is the important encoder for studying precision measure, and such model grating is compiled
Code device is more demanding in terms of installing with required precision.Therefore this measuring system selects closed disk light beam encoder, Lai Tigao
The precision of measuring system.The measuring basis of selection is periodic grid, and grating is engraved on glass or rigid material body.According to defeated
The difference of signal out, there are two types of grating encoder, one kind is absolute type, and another kind is increment type.The choosing of measuring instrument grating encoder
Built-in bearing angular encoder is selected, this encoder uses the built-in bearing stator coupler of 36000 lines, selected grating encoding
Device is rigidly fixed in hollow shaft.To improve the sensitivity of grating encoder, and select diaphragm type coupler.According to diaphragm
Moulding, the diaphragm in shaft coupling can have 6 jiaos, 8 jiaos or 10 jiaos.This diaphragm can make torque transmitting visibly homogeneous, and centering is accurate,
The speed and corner of driving motor can be sufficiently accurately transferred to measurement main shaft.The torque sensor of measuring system uses
The B1 type torque sensor of Beijing company, such sensor measurement principle are strain principles of electrical measurement, answer to be equipped in variable resistance and answer
Become meter, in the case that strain axis is influenced by torsion, after miniature deformation occurs, answers the variation of variable resistance that can be changed into voltage letter
Number, torque value is converted by the measurement of voltage signal, the measurement method for answering variable resistance complexity is avoided well, along with contorted
State, the design using the energy with signal is contactless couples, avoiding contact with leads to unnecessary inaccuracy, can measure corresponding torsion
Square numerical value.
The description and the appended drawings of the invention be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
According to disclosed technology contents, some of technical characteristics can be made field technique personnel by not needing creative labor
Some replacements and deformation, are within the scope of the invention.
Claims (5)
1. a kind of harmonic speed reducer precision measurer hardware system, including driving device, information collecting device, loading device, control
Device and host computer processed, which is characterized in that the driving device includes driving motor and driving shaft coupling, the driving motor
Tested retarder is connected by driving shaft coupling, the tested retarder connects loading device, the letter by load shaft coupling
Ceasing acquisition device includes the first grating sensor, the second grating sensor and torque sensor.
2. a kind of harmonic speed reducer precision measurer hardware system according to claim 1, which is characterized in that described
The setting of one grating sensor drives shaft coupling one end in harmonic speed reducer, and the second grating sensor setting is in load shaft coupling
Device one end.
3. a kind of harmonic speed reducer precision measurer hardware system according to claim 1, which is characterized in that the torsion
Between square sensor setting love load shaft coupling and loading device.
4. a kind of harmonic speed reducer precision measurer hardware system according to claim 1, which is characterized in that described
One grating sensor, the second grating sensor and torque sensor are connected respectively to controller, and the controller connects host computer.
5. a kind of harmonic speed reducer precision measurer hardware system according to claim 1, which is characterized in that described is upper
Position machine is connected to loading device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233889.2A CN109406141A (en) | 2018-10-23 | 2018-10-23 | A kind of harmonic speed reducer precision measurer hardware system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233889.2A CN109406141A (en) | 2018-10-23 | 2018-10-23 | A kind of harmonic speed reducer precision measurer hardware system |
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| Publication Number | Publication Date |
|---|---|
| CN109406141A true CN109406141A (en) | 2019-03-01 |
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| CN201811233889.2A Withdrawn CN109406141A (en) | 2018-10-23 | 2018-10-23 | A kind of harmonic speed reducer precision measurer hardware system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108482A (en) * | 2019-05-09 | 2019-08-09 | 盐城工学院 | A kind of sound state rotating accuracy detection system of harmonic speed reducer |
| CN110336494A (en) * | 2019-05-30 | 2019-10-15 | 中国矿业大学 | A kind of Coupled Rigid-flexible multi-machine system |
| CN112051046A (en) * | 2020-09-07 | 2020-12-08 | 北京航空航天大学 | High-precision motor performance measuring device |
-
2018
- 2018-10-23 CN CN201811233889.2A patent/CN109406141A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108482A (en) * | 2019-05-09 | 2019-08-09 | 盐城工学院 | A kind of sound state rotating accuracy detection system of harmonic speed reducer |
| CN110336494A (en) * | 2019-05-30 | 2019-10-15 | 中国矿业大学 | A kind of Coupled Rigid-flexible multi-machine system |
| CN110336494B (en) * | 2019-05-30 | 2023-10-20 | 中国矿业大学 | Rigid-flexible coupling multi-motor system |
| CN112051046A (en) * | 2020-09-07 | 2020-12-08 | 北京航空航天大学 | High-precision motor performance measuring device |
| CN112051046B (en) * | 2020-09-07 | 2022-08-26 | 北京航空航天大学 | High-precision motor performance measuring device |
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Application publication date: 20190301 |