CN110207984A - A kind of torsion calibration device and method of precision speed reduction device combination property detector - Google Patents
A kind of torsion calibration device and method of precision speed reduction device combination property detector Download PDFInfo
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- CN110207984A CN110207984A CN201910535916.XA CN201910535916A CN110207984A CN 110207984 A CN110207984 A CN 110207984A CN 201910535916 A CN201910535916 A CN 201910535916A CN 110207984 A CN110207984 A CN 110207984A
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Classifications
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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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
Abstract
The invention discloses the torsion calibration device and method of a kind of precision speed reduction device combination property detector, including sequentially connected from top to bottom: top cover, speed end bucket, as the telophragma of benchmark, low speed end bucket and pedestal；The top of telophragma is connected with speed end torque sensor, and speed end flower keyboard is connected on speed end torque sensor, and the speed end cooperation of speed end flower keyboard and precision speed reduction device combination property detector is driven；The lower part of telophragma is connected with low speed end torque sensor, and low speed end flower keyboard is connected on the torque sensor of low speed end, and the low speed end cooperation of low speed end flower keyboard and precision speed reduction device combination property detector is driven.Torsion calibration device of the present invention is mounted on precision speed reduction device combination property detector, it is matched with the hole instrument high-speed end and low speed end mechanical interface and control mode, the torch measuring system of instrument is compared and demarcates and is compensated automatically by instrument system, the torque detected value that can also be specified by tested retarder carries out point compensation.
Description
Technical field
The present invention relates to detector torque calibration technology, in particular to a kind of torsion of precision speed reduction device combination property detector
Square calibrating installation and method, the calibration for the surveyed torque value of precision speed reduction device combination property detector, it is ensured that retarder detection
The true and accuracy of the torque measurement of instrument.
Background technique
Retarder has a wide range of applications as transmission device in mechanization and automation field.Especially led in robot
Domain, critical component of the high accurate speed reducer as robot motion's transmission system, performance directly affect entire robot and pass
The kinematic accuracy and efficiency of dynamic system, so the performance detection of precision speed reduction device is manufactured for machine man-based development, or even entirely
The development of equipment industry has important influence.In order to detect the performance of precision speed reduction device, it is comprehensive to specially design a kind of precision speed reduction device
Performance detector is closed to realize the detection to retarder parameter, the retarder of production and sales meets respective performances ginseng to ensure
Number index.
Precision speed reduction device combination property detector is by the way of multistage components arranged in series.Wherein, torque sensor
As series connection link first is that the core component of instrument, measured by obtained torque value be also represent retarder performance important
Physical quantity, thus it is most important to the calibration of torque sensor.Existing calibration method is all the output end to torque sensor
Directly measure, however due in instrument torque sensor be not to be connected directly with tested retarder, torque sensor and tested subtract
There are transmission chains between fast device, and align mode is inconsistent with use state, the influence factors meeting such as coaxiality error, deformation, friction
Additional torque is generated, the actual torque value (output torque of retarder test device) and torque for acting on retarder are in turn resulted in
There are deviations for the reading value of sensor, it is therefore desirable to calibrate to the output torque of precision speed reduction device combination property detector.
Summary of the invention
The present invention is solves the problems, such as that being tested reducer input shaft and output shaft torque value accurately measures, and provides a kind of precision and subtracts
The torsion calibration device and method of fast device combination property detector, can be easily in retarder performance detection using the present invention
The torque value influenced by additional torque is calibrated, it is ensured that the accurate survey of tested reducer input shaft and output shaft torque value
Amount；It is loaded simultaneously using precision speed reduction device combination property detector itself and automatic control mode, it is ensured that efficiently realize detector
Torque calibration process.
The technical scheme adopted by the invention is that: a kind of torsion calibration device of precision speed reduction device combination property detector,
Including sequentially connected from top to bottom: top cover, speed end bucket, as the telophragma of benchmark, low speed end bucket and pedestal；The centre
The top of disk is connected with speed end torque sensor, and speed end flower keyboard is connected on the speed end torque sensor, described
The speed end of speed end flower keyboard and the precision speed reduction device combination property detector, which cooperates, to be driven；The lower part of the telophragma connects
It is connected to low speed end torque sensor, low speed end flower keyboard, low speed end spline are connected on the torque sensor of the low speed end
The low speed end of disk and the precision speed reduction device combination property detector, which cooperates, to be driven.
Further, the speed end of the top cover and the precision speed reduction device combination property detector is positioned by seam allowance
And it compresses；The low speed end of the pedestal and the precision speed reduction device combination property detector is positioned and is compressed by seam allowance.
Further, the speed end bucket is positioned by seam allowance with the top cover and is connect with screw, plays the work of support
With the speed end bucket is positioned by seam allowance and is installed on the telophragma with screw；The low speed end bucket and the pedestal
It is positioned by seam allowance and is connected with screw, play the role of support, the low speed end bucket is positioned by seam allowance and installed with screw
In on the telophragma.
Further, the speed end torque sensor is fixedly connected on described by speed end torque sensor fixed plate
On telophragma, torque that the speed end torque sensor and the precision speed reduction device combination property detector speed end are installed
Sensor model number is consistent；Low speed end torque sensor is fixedly connected in described by low speed end torque sensor fixed plate
On disk, low speed end torque sensor is passed with the torque that the precision speed reduction device combination property detector low speed end is installed
Sensor model is consistent.
Further, the external splines of the speed end flower keyboard, which is positioned and is screwed by seam allowance, is connected to the height
On fast end torque sensor, the external splines of the speed end flower keyboard and the precision speed reduction device combination property detector speed end
Internal spline cooperate transmission；The external splines of low speed end flower keyboard positioned by seam allowance and be screwed be connected to it is described low
On fast end torque sensor, the external splines of low speed end flower keyboard and the precision speed reduction device combination property detector low speed end
Internal spline cooperate transmission.
Further, torsion calibration device further includes passing for the speed end torque sensor and low speed end torque
Sensor cabling walks spool；It is described walk spool from the bucket of the low speed end, pass sequentially through the telophragma and the speed end
Bucket extends to outside torsion calibration device.
It is of the present invention another solution is that a kind of torque school based on precision speed reduction device combination property detector
The torque calibration method of standard apparatus, comprising the following steps:
Examine and determine torsion calibration device；
The speed end output torque of the precision speed reduction device combination property detector and low is calibrated using torsion calibration device
Fast end output torque.
Further, the calibrating torsion calibration device includes: the height using torductor to torsion calibration device
Fast end and low speed end is ascending gradually applies torque, until setting value；The speed end torque sensor is turned round when obtaining calibrating
Square calibrating installation speed end measures torque value, and torsion calibration device low speed end is surveyed when low speed end torque sensor obtains calibrating
Torque value is obtained, the speed end input torque value of torsion calibration device and torsion calibration device high low speed end when calibrating when record is examined and determine
Torque calibration fills when measuring the low speed end input torque value and calibrating of the corresponding relationship and torsion calibration device between torque value
It sets low fast end and measures corresponding relationship between torque value.
Further, the high speed that the precision speed reduction device combination property detector is calibrated using torsion calibration device
The method for holding output torque are as follows:
Torsion calibration device is mounted on the speed end and low speed of the precision speed reduction device combination property detector by step A
Between end；The top cover of torsion calibration device and the speed end of the precision speed reduction device combination property detector are fixed,
The low speed side pressure of the pedestal and the precision speed reduction device combination property detector fastens；The high speed of torsion calibration device
The internal spline of the external splines and the precision speed reduction device combination property detector speed end of holding flower keyboard cooperates, the low speed end flower
The internal spline at precision speed reduction device combination property detector low speed end described in the external splines of keyboard cooperates；
The speed end shafting of step B, the precision speed reduction device combination property detector are in drive state, and the precision subtracts
The low speed end shafting of fast device combination property detector is in an off state, and ensures the speed end spline of torsion calibration device
The external splines side of disk is bonded with the internal spline side of the precision speed reduction device combination property detector speed end completely；
Step C, the speed end shafting and low speed end Axial Status of the precision speed reduction device combination property detector have confirmed
Bi Hou, speed end motor start slowly to apply along forward and reverse respectively linearly increasing torque value until full scale；If required
N torque value of the need calibration of model retarder is torque measurement point i, i=1,2 ..., n, in a calibration process, by the torsion
The corresponding retarder torque value of square measurement point i is converted into speed end torque value, when the speed end torque of torsion calibration device
When the torque value that sensor measures reaches torque measurement point i corresponding speed end torque value, synchronous recording torsion calibration device
The speed end torque sensor registration xhiThe torsion installed with the precision speed reduction device combination property detector speed end
The registration y of square sensorhi；
Step D is repeated in step C several times, obtains the speed end torque sensing of torsion calibration device several times
The average value of device registrationAnd the torque sensing that the precision speed reduction device combination property detector speed end is installed several times
The average value of device registrationTorque of the precision speed reduction device combination property detector speed end in each torque measurement point i is mended
Value is repaid to calculate by formula (1):
In formula, vhiFor speed end torque compensation value.
Further, the low speed that the precision speed reduction device combination property detector is calibrated using torsion calibration device
The method for holding output torque are as follows:
Torsion calibration device is mounted on the speed end and low speed of the precision speed reduction device combination property detector by step a
Between end；The top cover of torsion calibration device and the speed end of the precision speed reduction device combination property detector are fixed,
The low speed side pressure of the pedestal and the precision speed reduction device combination property detector fastens；The high speed of torsion calibration device
The internal spline of the external splines and the precision speed reduction device combination property detector speed end of holding flower keyboard cooperates, the low speed end flower
The internal spline at precision speed reduction device combination property detector low speed end described in the external splines of keyboard cooperates；
The low speed end shafting of step b, the precision speed reduction device combination property detector are in drive state, and the precision subtracts
The speed end shafting of fast device combination property detector is in an off state, and ensures the low speed end spline of torsion calibration device
The external splines side of disk is bonded with the internal spline side at the precision speed reduction device combination property detector low speed end completely；
Step c, the speed end shafting and low speed end Axial Status of the precision speed reduction device combination property detector have confirmed
Bi Hou, low speed end motor start slowly to apply along forward and reverse respectively linearly increasing torque value until full scale；If required
N torque value of the need calibration of model retarder is torque measurement point i, i=1,2 ..., n, in a calibration process, by the torsion
The corresponding retarder torque value of square measurement point i is converted into low speed end torque value, when the low speed end torque of torsion calibration device
When the torque value that sensor measures reaches torque measurement point i corresponding low speed end torque value, synchronous recording torsion calibration device
Low speed end torque sensor registration xliThe torsion installed with the precision speed reduction device combination property detector low speed end
The registration y of square sensorli；
Step d is repeated in step c several times, obtains the low speed end torque sensing of torsion calibration device several times
The average value of device registrationAnd the torque sensing that the precision speed reduction device combination property detector low speed end is installed several times
The average value of device registrationTorque of the precision speed reduction device combination property detector low speed end in each torque measurement point i is mended
Value is repaid to calculate by formula (2):
In formula, vliFor low speed end torque compensation value.
The beneficial effects of the present invention are: the present invention solves precision speed reduction device combination property detector due to connecting among it
The deformation of structure leads to the problem of additional torque and causes parameter measurement inaccuracy related to torque, in torsion calibration device
The reading of speed end torque sensor and fast end torque sensor is torque value standard, to precision speed reduction device combination property detector
The torque sensor registration that the torque sensor registration and low speed end that high speed end is installed are installed carries out error compensation, reaches
To the purpose of instrument torque physical quantity calibration.
Detailed description of the invention
Fig. 1 is the constructional appearance figure of torsion calibration device of the present invention.
Fig. 2 is the structure composition constructed profile of torsion calibration device of the present invention.
Attached drawing mark: 1, top cover；2, speed end bucket；3, spool is walked；4, telophragma；5, low speed end bucket；6, pedestal；7, low speed
Hold flower keyboard；8, low speed end torque sensor；9, low speed end torque sensor fixed plate；10, speed end torque sensor is fixed
Plate；11, speed end torque sensor；12, speed end flower keyboard.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
As shown in Figure 1 and Figure 2, a kind of torsion calibration device of precision speed reduction device combination property detector, wherein torque
The speed end of calibrating installation is connected with the speed end of precision speed reduction device combination property detector, low speed end and precision speed reduction device are comprehensive
The low speed end for closing performance detector is connected, between the speed end and low speed end of precision speed reduction device combination property detector,
Instead of being tested retarder parts.
Torsion calibration device includes top cover 1, speed end bucket 2, walks spool 3, telophragma 4, low speed end bucket 5, pedestal 6, low speed
Hold flower keyboard 7, low speed end torque sensor 8, low speed end torque sensor fixed plate 9, speed end torque sensor fixed plate 10,
Speed end torque sensor 11, speed end flower keyboard 12.The top cover 1, speed end bucket 2, telophragma 4, low speed end bucket 5 and pedestal
6 are from top to bottom sequentially connected.
The speed end of the top cover 1 and the precision speed reduction device combination property detector is positioned and is compressed by seam allowance；
The low speed end of the pedestal 6 and the precision speed reduction device combination property detector is positioned and is compressed by seam allowance.The speed end
Bucket 2 is positioned by seam allowance with the top cover 1 and is connect with screw, and support is played the role of, and the speed end bucket 2 is fixed by seam allowance
Position is simultaneously installed on the telophragma 4 with screw；The low speed end bucket 5 is positioned by seam allowance with the pedestal 6 and is connected with screw
It connects, plays the role of support, the low speed end bucket 5 is positioned by seam allowance and is installed on the telophragma 4 with screw.Described
Telophragma 4, for installing various parts, connects, to guarantee benchmark as benchmark by seam allowance and each positioning parts, and with screw
Transmitting.The low speed end torque sensor fixed plate 9 is designed according to 8 structure of low speed end torque sensor, the high speed
End torque sensor fixed plate 10 is designed according to 11 structure of speed end torque sensor, and the speed end torque sensor is solid
Fixed board 10 and the low speed end torque sensor fixed plate 9 are respectively arranged in the upper and lower part of the telophragma 4, and being used for will be described
Speed end torque sensor 11 and low speed end torque sensor 8 are mounted on the telophragma 4.The speed end torque passes
Sensor 11 and low speed end torque sensor 8 are high-precision torque sensor, the speed end torque sensor 11 and institute
Stating the torque sensor that precision speed reduction device combination property detector speed end is installed should be same model；Low speed end torque
The torque sensor that sensor 8 and the precision speed reduction device combination property detector low speed end are installed should be same model.Institute
The external splines for stating speed end flower keyboard 12, which is positioned and is screwed by seam allowance, is connected to the speed end torque sensor 11
On, the internal spline of the external splines of the speed end flower keyboard 12 and the precision speed reduction device combination property detector speed end cooperates
Transmission；The external splines of low speed end flower keyboard 7, which is positioned and is screwed by seam allowance, is connected to low speed end torque biography
On sensor 8, the internal spline of the external splines of low speed end flower keyboard 7 and the precision speed reduction device combination property detector low speed end
Cooperation transmission.It is described walk spool 3 be used for 8 cabling of the speed end torque sensor 11 and low speed end torque sensor, institute
Spool 3 is stated away from the low speed end bucket 5, the telophragma 4 is passed sequentially through and the speed end bucket 2 extends to torque calibration
Outside device.
The method that torque calibration is carried out using the torsion calibration device of above-mentioned precision speed reduction device combination property detector, including
Following steps:
(1) torsion calibration device is examined and determine
Using calibration department torductor to the speed end of torsion calibration device and low speed end it is ascending by
Step applies torque, until setting value；Torsion calibration device speed end measures when the speed end torque sensor 11 obtains calibrating
Torque value, torsion calibration device low speed end measures torque value when low speed end torque sensor 8 obtains calibrating, when record is examined and determine
The high low speed end of torsion calibration device measures pair between torque value when the speed end input torque value and calibrating of torsion calibration device
Should be related to and the low speed end input torque value of torsion calibration device and calibrating when torsion calibration device low speed end measure torque value
Between corresponding relationship.
(2) output torque of the precision speed reduction device combination property detector is calibrated using torsion calibration device
For speed end output torque calibration method:
Torsion calibration device is mounted on the speed end and low speed of the precision speed reduction device combination property detector by step A
Between end；The top cover 1 of torsion calibration device is changed the outfit fastly by the compression on the precision speed reduction device combination property detector
It sets and is fixed with the speed end of the precision speed reduction device combination property detector, the pedestal 6 passes through the precision speed reduction device
Compression fast replacing device and the low speed side pressure of the precision speed reduction device combination property detector on combination property detector fasten；
The external splines of the speed end flower keyboard 12 of torsion calibration device and the precision speed reduction device combination property detector speed end
Internal spline cooperation, precision speed reduction device combination property detector low speed end described in the external splines of low speed end flower keyboard 7 it is interior
Spline fitted.
Step B, the band of the high low speed end spline movable sleeving of the precision speed reduction device combination property detector in its hydraulic cylinder
Its speed end shafting is set to be in drive state under dynamic, the low speed end shafting of the precision speed reduction device combination property detector is in disconnected
Open state.After speed end motor drives speed end shafting to rotate forward a circle, it is ensured that the high speed of torsion calibration device at this time
The external splines side of flower keyboard 12 is held to paste completely with the internal spline side of the precision speed reduction device combination property detector speed end
It closes, it is ensured that speed end shafting is completed to deform.
Step C, the speed end shafting and low speed end Axial Status of the precision speed reduction device combination property detector have confirmed
Bi Hou, speed end motor start slowly to apply along forward and reverse respectively linearly increasing torque value until full scale, allow described
The speed end shafting of precision speed reduction device combination property detector has the tendency that rotation, to make each component undergoes deformation to transmit and turn round
Square, but do not occur really to rotate.If the n torque value that the needs of required specific model retarder are calibrated is (for example, starting turns
Square, nominal torque etc.) it is torque measurement point i, i=1,2 ..., n is in a calibration process, corresponding by the torque measurement point i
Retarder torque value is converted into speed end torque value, when the torsion that the speed end torque sensor 11 of torsion calibration device measures
When square value reaches torque measurement point i corresponding speed end torque value, the speed end of synchronous recording torsion calibration device is turned round
The registration x of square sensor 11hiThe torque sensor installed with the precision speed reduction device combination property detector speed end shows
Number yhi；
Step D is repeated in step C several times, obtains the speed end torque sensing of torsion calibration device several times
The average value of 11 registration of deviceAnd the torque biography that the precision speed reduction device combination property detector speed end is installed several times
The average value of sensor registrationTorque of the precision speed reduction device combination property detector speed end in each torque measurement point i
Offset is calculated by formula (1):
In formula, vhiFor speed end torque compensation value.
By the speed end torque compensation value v of obtained torque measurement point ihiIt is listed as follows:
| Torque measurement point i | 1 | 2 | …… | n |
| Speed end torque compensation value vhi |
For low speed end output torque calibration method:
Torsion calibration device is mounted on the speed end and low speed of the precision speed reduction device combination property detector by step a
Between end；The top cover 1 of torsion calibration device is changed the outfit fastly by the compression on the precision speed reduction device combination property detector
It sets and is fixed with the speed end of the precision speed reduction device combination property detector, the pedestal 6 passes through the precision speed reduction device
Compression fast replacing device and the low speed side pressure of the precision speed reduction device combination property detector on combination property detector fasten；
The external splines of the speed end flower keyboard 12 of torsion calibration device and the precision speed reduction device combination property detector speed end
Internal spline cooperation, precision speed reduction device combination property detector low speed end described in the external splines of low speed end flower keyboard 7 it is interior
Spline fitted；
Step b, the band of the high low speed end spline movable sleeving of the precision speed reduction device combination property detector in its hydraulic cylinder
Its low speed end shafting is set to be in drive state under dynamic, the speed end shafting of the precision speed reduction device combination property detector is in disconnected
Open state.After low speed end motor moving axis system rotates forward a circle, it is ensured that the low speed end spline of torsion calibration device at this time
The external splines side of disk 7 is bonded with the internal spline side at the precision speed reduction device combination property detector low speed end completely, it is ensured that
Low speed end shafting is completed to deform.
Step c, the speed end shafting and low speed end Axial Status of the precision speed reduction device combination property detector have confirmed
Bi Hou, low speed end motor start slowly to apply along forward and reverse respectively linearly increasing torque value until full scale, allow described
The low speed end shafting of precision speed reduction device combination property detector has the tendency that rotation, to make each component undergoes deformation to transmit and turn round
Square, but do not occur really to rotate.If the n torque value that the needs of required specific model retarder are calibrated is torque measurement point i,
The corresponding retarder torque value of the torque measurement point i is converted into low speed end torque in a calibration process by i=1,2 ..., n
Value, when to reach torque measurement point i corresponding low for the torque value that the low speed end torque sensor 8 of torsion calibration device measures
When fast end torque value, the registration x of the low speed end torque sensor 8 of synchronous recording torsion calibration deviceliSubtract with the precision
The registration y for the torque sensor that fast device combination property detector low speed end is installedli；
Step d is repeated in step c several times, obtains the low speed end torque sensing of torsion calibration device several times
The average value of 8 registration of deviceAnd the torque biography that the precision speed reduction device combination property detector low speed end is installed several times
The average value of sensor registrationTorque of the precision speed reduction device combination property detector low speed end in each torque measurement point i
Offset is calculated by formula (2):
In formula, vliFor low speed end torque compensation value.
By the low speed end torque compensation value v of obtained torque measurement point iliIt is listed as follows:
| Torque measurement point i | 1 | 2 | …… | n |
| Low speed end torque compensation value vli |
When the precision speed reduction device combination property detector carries out actual measurement, examined with the precision speed reduction device comprehensive performance
It surveys the value that instrument speed end measures and subtracts speed end torque calibration value vhi, what is obtained is exactly the torque of compensated retarder input
Value；Low speed end torque calibration value v is subtracted with the value that the precision speed reduction device combination property detector low speed end measuresli, obtain
It is exactly the torque value of compensated retarder output.
Torsion calibration device of the present invention is mounted on the precision speed reduction device combination property detector, with detector high speed
End and low speed end mechanical interface and control mode match, and are compared to the torch measuring system of the detector and demarcate and pass through
Instrument system compensates automatically, and the torque detected value that can also be specified by tested retarder carries out point compensation.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (10)
1. a kind of torsion calibration device of precision speed reduction device combination property detector, which is characterized in that including from top to bottom successively
Connection: top cover (1), speed end bucket (2), as the telophragma (4) of benchmark, low speed end bucket (5) and pedestal (6)；The centre
The top of disk (4) is connected with speed end torque sensor (11), is connected with speed end on the speed end torque sensor (11)
The speed end of flower keyboard (12), the speed end flower keyboard (12) and the precision speed reduction device combination property detector, which cooperates, to be passed
It is dynamic；The lower part of the telophragma (4) is connected with low speed end torque sensor (8), connects on low speed end torque sensor (8)
There is low speed end flower keyboard (7), low speed end flower keyboard (7) and the low speed end of the precision speed reduction device combination property detector are matched
Close transmission.
2. a kind of torsion calibration device of precision speed reduction device combination property detector according to claim 1, feature exist
In the top cover (1) and the speed end of the precision speed reduction device combination property detector are positioned and compressed by seam allowance；It is described
Pedestal (6) and the low speed end of the precision speed reduction device combination property detector are positioned and are compressed by seam allowance.
3. a kind of torsion calibration device of precision speed reduction device combination property detector according to claim 1, feature exist
In the speed end bucket (2) is positioned by seam allowance with the top cover (1) and connect with screw, and support, the height are played the role of
Fast end bucket (2) is positioned by seam allowance and is installed on the telophragma (4) with screw；The low speed end bucket (5) and the pedestal
(6) it is positioned by seam allowance and is connected with screw, play the role of support, the low speed end bucket (5) is positioned by seam allowance and uses spiral shell
Nail is installed on the telophragma (4).
4. a kind of torsion calibration device of precision speed reduction device combination property detector according to claim 1, feature exist
In the speed end torque sensor (11) is fixedly connected on the telophragma by speed end torque sensor fixed plate (10)
(4) on, torsion that the speed end torque sensor (11) and the precision speed reduction device combination property detector speed end are installed
Square sensor model number is consistent；Low speed end torque sensor (8) is fixedly connected by low speed end torque sensor fixed plate (9)
On the telophragma (4), low speed end torque sensor (8) and the precision speed reduction device combination property detector low speed end
The torque sensor model installed is consistent.
5. a kind of torsion calibration device of precision speed reduction device combination property detector according to claim 1, feature exist
In the external splines of the speed end flower keyboard (12), which is positioned and is screwed by seam allowance, is connected to the speed end torque biography
On sensor (11), external splines and the precision speed reduction device combination property detector speed end of the speed end flower keyboard (12)
Internal spline cooperation transmission；The external splines of low speed end flower keyboard (7) positioned by seam allowance and be screwed be connected to it is described
On low speed end torque sensor (8), the external splines of low speed end flower keyboard (7) and the precision speed reduction device comprehensive performance are detected
The internal spline at instrument low speed end cooperates transmission.
6. a kind of torsion calibration device of precision speed reduction device combination property detector according to claim 1, feature exist
In torsion calibration device further includes walking for the speed end torque sensor (11) and low speed end torque sensor (8)
Line walks spool (3)；It is described walk spool (3) from low speed end bucket (5), pass sequentially through the telophragma (4) and described
Speed end bucket (2) extends to outside torsion calibration device.
7. a kind of torque calibration based on the described in any item precision speed reduction device combination property detectors of the claims 1 to 6
The torque calibration method of device, which comprises the following steps:
Examine and determine torsion calibration device；
Speed end output torque and the low speed end of the precision speed reduction device combination property detector are calibrated using torsion calibration device
Output torque.
8. a kind of torque of torsion calibration device based on precision speed reduction device combination property detector according to claim 7
Calibration method, which is characterized in that the calibrating torsion calibration device includes: using torductor to torsion calibration device
Speed end and low speed end is ascending gradually applies torque, until setting value；The speed end torque sensor (11) is examined
Timing torsion calibration device speed end measures torque value, and torque calibration fills when low speed end torque sensor (8) obtains calibrating
It sets low fast end and measures torque value, the speed end input torque value of torsion calibration device is filled with torque calibration when calibrating when record is examined and determine
When setting high low speed end and measuring the low speed end input torque value and calibrating of corresponding relationship and torsion calibration device between torque value
Torsion calibration device low speed end measures the corresponding relationship between torque value.
9. a kind of torque of torsion calibration device based on precision speed reduction device combination property detector according to claim 7
Calibration method, which is characterized in that described that the precision speed reduction device combination property detector is calibrated using torsion calibration device
The method of speed end output torque are as follows:
Step A, by torsion calibration device be mounted on the precision speed reduction device combination property detector speed end and low speed end it
Between；The top cover (1) and the speed end of the precision speed reduction device combination property detector of torsion calibration device are fixed, institute
It states pedestal (6) and the low speed side pressure of the precision speed reduction device combination property detector fastens；The height of torsion calibration device
The external splines of fast end flower keyboard (12) and the internal spline of the precision speed reduction device combination property detector speed end cooperate, described low
The internal spline at precision speed reduction device combination property detector low speed end described in the external splines of fast end flower keyboard (7) cooperates；
The speed end shafting of step B, the precision speed reduction device combination property detector are in drive state, the precision speed reduction device
The low speed end shafting of combination property detector is in an off state, and ensures the speed end flower keyboard of torsion calibration device
(12) external splines side is bonded with the internal spline side of the precision speed reduction device combination property detector speed end completely；
Step C, after speed end shafting and low speed end the Axial Status confirmation of the precision speed reduction device combination property detector,
Speed end motor starts slowly to apply along forward and reverse respectively linearly increasing torque value until full scale；If required model subtracts
N torque value of the need calibration of fast device is torque measurement point i, i=1,2 ..., n, in a calibration process, by the torque measurement
The corresponding retarder torque value of point i is converted into speed end torque value, when the speed end torque sensor of torsion calibration device
(11) when the torque value measured reaches torque measurement point i corresponding speed end torque value, synchronous recording torsion calibration device
The registration x of the speed end torque sensor (11)hiIt is installed with the precision speed reduction device combination property detector speed end
The registration y of torque sensorhi；
Step D is repeated in step C several times, obtains the speed end torque sensor of torsion calibration device several times
(11) average value of registrationAnd the torque biography that the precision speed reduction device combination property detector speed end is installed several times
The average value of sensor registrationTorque of the precision speed reduction device combination property detector speed end in each torque measurement point i
Offset is calculated by formula (1):
In formula, vhiFor speed end torque compensation value.
10. a kind of torsion of torsion calibration device based on precision speed reduction device combination property detector according to claim 7
Square calibration method, which is characterized in that described calibrates the precision speed reduction device combination property detector using torsion calibration device
Low speed end output torque method are as follows:
Step a, by torsion calibration device be mounted on the precision speed reduction device combination property detector speed end and low speed end it
Between；The top cover (1) and the speed end of the precision speed reduction device combination property detector of torsion calibration device are fixed, institute
It states pedestal (6) and the low speed side pressure of the precision speed reduction device combination property detector fastens；The height of torsion calibration device
The external splines of fast end flower keyboard (12) and the internal spline of the precision speed reduction device combination property detector speed end cooperate, described low
The internal spline at precision speed reduction device combination property detector low speed end described in the external splines of fast end flower keyboard (7) cooperates；
The low speed end shafting of step b, the precision speed reduction device combination property detector are in drive state, the precision speed reduction device
The speed end shafting of combination property detector is in an off state, and ensures the low speed end flower keyboard of torsion calibration device
(7) external splines side is bonded with the internal spline side at the precision speed reduction device combination property detector low speed end completely；
Step c, after speed end shafting and low speed end the Axial Status confirmation of the precision speed reduction device combination property detector,
Low speed end motor starts slowly to apply along forward and reverse respectively linearly increasing torque value until full scale；If required model subtracts
N torque value of the need calibration of fast device is torque measurement point i, i=1,2 ..., n, in a calibration process, by the torque measurement
The corresponding retarder torque value of point i is converted into low speed end torque value, when the low speed end torque sensor of torsion calibration device
(8) when the torque value measured reaches torque measurement point i corresponding low speed end torque value, the institute of synchronous recording torsion calibration device
State the registration x of low speed end torque sensor (8)liThe torque installed with the precision speed reduction device combination property detector low speed end
The registration y of sensorli；
Step d is repeated in step c several times, obtains the low speed end torque sensor (8) of torsion calibration device several times
The average value of registrationAnd the torque sensor that the precision speed reduction device combination property detector low speed end is installed several times
The average value of registrationTorque compensation of the precision speed reduction device combination property detector low speed end in each torque measurement point i
Value is calculated by formula (2):
In formula, vliFor low speed end torque compensation value.
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Cited By (1)
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| CN111089667A (en) * | 2019-12-20 | 2020-05-01 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
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