CN110514141A - A kind of Rigid Gear of Harmonic Reducer tooth form detection system - Google Patents
A kind of Rigid Gear of Harmonic Reducer tooth form detection system Download PDFInfo
- Publication number
- CN110514141A CN110514141A CN201910879302.3A CN201910879302A CN110514141A CN 110514141 A CN110514141 A CN 110514141A CN 201910879302 A CN201910879302 A CN 201910879302A CN 110514141 A CN110514141 A CN 110514141A
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- firm gear
- gear
- laser
- displacement sensor
- fixture
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a kind of Rigid Gear of Harmonic Reducer tooth form detection systems, turret base, bracket and control cabinet are installed on the workbench, high-accuracy turntable is mounted in turret base, and direct current torque motor drives high-accuracy turntable rotation, and corner carries out rotational angle calibration by Circular gratings；Firm gear is fixed in firm gear fixture；Laser displacement sensor is mounted on vertical slide unit, and reflecting mirror is housed below laser displacement sensor, so that vertical laser process is reflected to form the laser of horizontal direction by reflecting mirror, is realized the detection to the flank profil surface of firm gear internal tooth.The present invention obtains the point coordinate value on flank profil surface with Circular gratings calibration rotation angle, and by the polar radius of laser displacement sensor acquisition firm gear toothed surfaces flank profil.Furthermore by vertical slide unit, the space tooth form of firm gear is measured, space flank profil data are obtained, the present invention improves precision and efficiency of detecting.
Description
Technical field
The present invention relates to tooth form detection fields, more particularly to a kind of Rigid Gear of Harmonic Reducer tooth form detection system.
Background technique
Harmonic speed reducer due to its high transmission ratio, high-precision, it is compact-sized the features such as, be that joint of robot is essential
Kernel component.Main feature one of of the high-precision as harmonic speed reducer, the manufacture and detection accuracy for improving retarder are main
Want the first purpose.The detection of Rigid Gear of Harmonic Reducer tooth form at present is mainly by gear measuring center and optical profilometer come complete
At.Low module internal gear this for Rigid Gear of Harmonic Reducer, gear measuring center need to customize dedicated extra small modulus and visit
Needle, not only expense is high, and detection efficiency is lower；And although optical profilometer detection efficiency is higher, it can only be detected just
The tooth form for taking turns the single section in end face, can not detect firm gear space tooth form.
Using the Rigid Gear of Harmonic Reducer tooth form detection system based on laser ranging technique, realize that Rigid Gear of Harmonic Reducer is empty
Between tooth form accurate, efficient detection, meet the needs of harmonic speed reducer industrialization.
Summary of the invention
In order to meet accurate, the efficient detection of Rigid Gear of Harmonic Reducer tooth form, the present invention devises a kind of new harmonic
Retarder firm gear tooth form detection system is, it can be achieved that Precision measurement to firm gear internal tooth tooth form.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of Rigid Gear of Harmonic Reducer tooth form detection system, the system comprise the following structure:
Turret base, bracket and control cabinet are installed on the workbench, and high-accuracy turntable is mounted in turret base, direct current power
Torque motor drives high-accuracy turntable rotation, and corner carries out rotational angle calibration by Circular gratings；Firm gear is fixed in firm gear fixture,
And it is installed on high-accuracy turntable；Laser displacement sensor is mounted on vertical slide unit, and is carried out on vertical by slide unit motor
Lower movement, laser displacement sensor lower section are equipped with reflecting mirror, make vertical laser by reflecting to form level side by reflecting mirror
To laser, realize the detection to the flank profil surface of firm gear internal tooth.
The firm gear is installed in firm gear fixture, and firm gear fixture should ensure that the concentricity of firm gear and axial runout are micro- 5
In rice；
The structure of the firm gear fixture includes fixture upper end cover and fixture base, and fixture upper end cover and fixture base pass through spiral shell
Line carries out axially position and fastening, and the inner circle of fixture base is H7/h6 with the outer circle matching relationship of firm gear, and processes roughness
It needs identical.
The laser of laser displacement sensor transmitting should be with the concentricity of firm gear less than 10 microns, laser displacement sensor
Measurement accuracy less than 5 microns；
The reflecting mirror and the angle of horizontal direction are 45 degree, pass through the laser of the vertical direction of laser displacement sensor
Reflect to form the laser of horizontal direction.
The detection system tooth form detecting step is as follows:
Step 1: turret base is installed on the workbench, and high-accuracy turntable is mounted in turret base, then installs fixture
Pedestal until jitter values are less than 5 microns, realizes pair of fixture base by the bounce of the inner circle of amesdial measured material pedestal
It is neutral.
Step 2: firm gear is installed in fixture base, and the inner circle of the outer circle and fixture base that make firm gear realizes small―gap suture
Cooperation measures the end face run-out of firm gear by amesdial, and until jitter values are less than 5 microns, realization firm gear fixture is horizontally arranged.
Step 3: control cabinet drives direct current torque motor to drive high-accuracy turntable uniform rotation, and by Circular gratings to turning
Dynamic angle carries out real-time calibration.
Step 4: bracket is installed on workbench, and vertical slide unit is installed on bracket, and slide unit is carried out by slide unit motor
Vertical to move up and down, the laser for reflecting reflecting mirror reaches the flank of tooth top of firm gear internal tooth, and adjusts the position of bracket, makes laser
The laser of displacement sensor transmitting should realize that the centering of laser displacement sensor is adjusted with the concentricity of firm gear less than 10 microns.
Step 5: high-accuracy turntable drives firm gear uniform rotation, acquires distance measurements measured by laser displacement sensor, subtracts
The distance value for removing laser displacement sensor and reflecting mirror obtains the polar radius of firm gear internal tooth.
Step 6: while distance measurements measured by corner amount and laser displacement sensor measured by Circular gratings are acquired, just
The point coordinate value on internal tooth flank profil surface is taken turns, high-accuracy turntable is rotated by 360 ° as firm gear internal tooth list section tooth form, drives slide unit electricity
Machine makes laser displacement sensor move 5 millimeters straight down.
Step 7: step 6 is repeated, until having surveyed firm gear internal tooth, resulting coordinate set is the space tooth of firm gear internal tooth
Shape.
Due to the adoption of the technical scheme as described above, the invention has the following beneficial effects:
Rigid Gear of Harmonic Reducer tooth form detection system of the present invention, high-accuracy turntable and Special tooling clamp driving are rigid
Wheel rotation demarcates rotation angle with Circular gratings, and obtains the pole half of firm gear toothed surfaces flank profil by laser displacement sensor
Diameter obtains the point coordinate value on flank profil surface.Furthermore by vertical slide unit, can the space tooth form to firm gear measure, obtain
Space flank profil data provide technical support for profile error analysis.The present invention can be with harmonic speed reducer processing enterprise to firm gear tooth
The demand of shape detection, improves precision and efficiency of detecting.
Detailed description of the invention
Fig. 1；Rigid Gear of Harmonic Reducer tooth form detection system
Fig. 2；Rigid Gear of Harmonic Reducer
Fig. 3: firm gear fixture
Wherein, 1 workbench, 2 high-accuracy turntables, 3 brackets, 4 firm gears, 5 laser displacement sensors, 6 slide unit motors, 7 is vertical
Slide unit, 8 reflecting mirrors, 9 firm gear fixtures, 10 Circular gratings, 11 direct current torque motors, 12 turret bases, 13 control cabinets, in 14 firm gears
Tooth, 15 fixture upper end covers, 16 fixture bases
Specific embodiment
As shown in Figure 1, a kind of Rigid Gear of Harmonic Reducer tooth form detection system, the system comprise the following structure: on workbench 1
Turret base 12, bracket 3 and control cabinet 13 are installed, high-accuracy turntable 2 is mounted in turret base 12, direct current torque motor 11
High-accuracy turntable 2 is driven to rotate, corner is demarcated by Circular gratings 10；Firm gear 4 is fixed in firm gear fixture 9, and is installed on
On high-accuracy turntable 2；Laser displacement sensor 5 is mounted on vertical slide unit 7, and carries out vertical fortune up and down by slide unit motor 6
It is dynamic, reflecting mirror 8 is housed below laser displacement sensor 5, makes vertical laser by reflecting to form horizontal direction by reflecting mirror
Laser, realize the measurement to the flank profil surface point position of firm gear internal tooth 14.
As shown in Fig. 2, the firm gear 4 is mainly firm gear internal tooth 14 to geodesic structure, firm gear internal tooth 14 is low module internal gear.
The firm gear 4 is installed in firm gear fixture 9, and the concentricity and axial runout that firm gear fixture 9 should ensure that firm gear are 5
In micron；
As shown in figure 3, the structure of the firm gear fixture 9 includes fixture upper end cover 15 and fixture base 16, fixture upper end cover
15 and fixture base 16 pass through screw thread and carry out axially position and fastening, the inner circle of fixture base 16 cooperates with the outer circle of firm gear 4
Relationship is H7/h6, and processing roughness need to be identical.
The laser that the laser displacement sensor 5 emits should be with the concentricity of firm gear 4 less than 10 microns, laser displacement sensing
The measurement accuracy of device 5 should be less than 5 microns；
The reflecting mirror 8 and the angle of horizontal direction are 45 degree, pass through the laser of the vertical direction of laser displacement sensor 5
Cross the laser for reflecting to form horizontal direction.
The detection system tooth form detecting step is as follows:
Step 1: turret base 12 is mounted on workbench 1, and high-accuracy turntable 2 is mounted in turret base 12, is then pacified
Clamps pedestal 16, by the bounce of the inner circle of amesdial measured material pedestal 16, until jitter values are less than 5 microns, realization is pressed from both sides
Have pedestal 16 to neutrality.
Step 2: firm gear 4 is installed in fixture base 16, and the inner circle of the outer circle and fixture base 16 that make firm gear 4 is realized
Small―gap suture cooperation, the end face run-out of firm gear 4 is measured by amesdial, until jitter values are less than 5 microns, realizes the water of firm gear fixture
Placing flat.
Step 3: control cabinet 13 drives direct current torque motor 6 to drive high-accuracy 2 uniform rotation of turntable, and passes through Circular gratings
10 pairs of rotational angles carry out real-time calibration.
Step 4: bracket 3 is installed on workbench 1, and vertical slide unit 7 is installed on bracket 3, and slide unit 7 passes through slide unit electricity
Machine 7 is moved up and down vertically, and the laser for reflecting reflecting mirror reaches the flank of tooth top of firm gear internal tooth 14, and adjusts bracket 3
Position, the laser for emitting laser displacement sensor 5 should realize laser displacement sensing with the concentricity of firm gear 4 less than 10 microns
The centering of device 5 is adjusted.
Step 5: high-accuracy turntable 2 drives 4 uniform rotation of firm gear, acquires distance measured by laser displacement sensor 5
Amount, subtracts the distance value of laser displacement sensor 5 Yu reflecting mirror 8, obtains the polar radius of firm gear internal tooth 14.
Step 6: while distance measurements measured by corner amount and laser displacement sensor 5 measured by Circular gratings 10 are acquired,
The point coordinate value on 14 flank profil surface of firm gear internal tooth, high-accuracy turntable 2 are rotated by 360 ° as the single section tooth form of firm gear internal tooth 4, driving
Slide unit motor 7 makes laser displacement sensor 5 move 5 millimeters straight down.
Step 7: step 6 is repeated, until having surveyed firm gear internal tooth 14, resulting coordinate set is the sky of firm gear internal tooth 14
Between tooth form.
Claims (6)
1. a kind of Rigid Gear of Harmonic Reducer tooth form detection system, it is characterised in that: the system comprises the following structure,
Turret base, bracket and control cabinet are installed on the workbench, and high-accuracy turntable is mounted in turret base, DC torque electricity
Machine drives high-accuracy turntable rotation, and the angle of rotation carries out rotational angle calibration by Circular gratings；Firm gear is fixed on firm gear fixture
In, and be installed on high-accuracy turntable；Laser displacement sensor is mounted on vertical slide unit, and is carried out vertically by slide unit motor
It moves up and down, reflecting mirror is housed below laser displacement sensor, make vertical laser by reflecting to form level by reflecting mirror
The laser in direction realizes the detection to the flank profil surface of firm gear internal tooth.
2. a kind of Rigid Gear of Harmonic Reducer tooth form detection system according to claim 1, it is characterised in that: the firm gear peace
Loaded on the concentricity and axial runout that in firm gear fixture, firm gear fixture should ensure that firm gear in 5 microns.
3. a kind of Rigid Gear of Harmonic Reducer tooth form detection system according to claim 1, it is characterised in that: the firm gear folder
The structure of tool includes fixture upper end cover and fixture base, and fixture upper end cover and fixture base are by screw thread progress axially position and tightly
Gu the inner circle of fixture base is H7/h6 with the outer circle matching relationship of firm gear, and process roughness need it is identical.
4. a kind of Rigid Gear of Harmonic Reducer tooth form detection system according to claim 1, it is characterised in that: the laser position
The laser of displacement sensor transmitting should be with the concentricity of firm gear less than 10 microns, and the measurement accuracy of laser displacement sensor is micro- less than 5
Rice.
5. a kind of Rigid Gear of Harmonic Reducer tooth form detection system according to claim 1, it is characterised in that: the reflecting mirror
Angle with horizontal direction is 45 degree, makes the laser of the vertical direction of laser displacement sensor by reflecting to form horizontal direction
Laser.
6. the detection method carried out using a kind of Rigid Gear of Harmonic Reducer tooth form detection system described in claim 1, feature
Be: the implementation steps of detection method are as follows,
Step 1: turret base is installed on the workbench, and high-accuracy turntable is mounted in turret base, then installs fixture bottom
Seat until jitter values are less than 5 microns, realizes the centering of fixture base by the bounce of the inner circle of amesdial measured material pedestal
Property；
Step 2: firm gear is installed in fixture base, and the inner circle of the outer circle and fixture base that make firm gear realizes small―gap suture cooperation,
The end face run-out that firm gear is measured by amesdial, until jitter values are less than 5 microns, realization firm gear fixture is horizontally arranged；
Step 3: control cabinet drives direct current torque motor to drive high-accuracy turntable uniform rotation, and by Circular gratings to angle of rotation
Degree carries out real-time calibration；
Step 4: bracket is installed on workbench, and vertical slide unit is installed on bracket, and it is vertical that slide unit is carried out by slide unit motor
It moves up and down, the laser for reflecting reflecting mirror reaches the flank of tooth top of firm gear internal tooth, and adjusts the position of bracket, makes laser displacement
The laser of sensor emission should realize that the centering of laser displacement sensor is adjusted with the concentricity of firm gear less than 10 microns；
Step 5: high-accuracy turntable drives firm gear uniform rotation, acquires distance measurements measured by laser displacement sensor, subtracts sharp
The distance value of Optical displacement sensor and reflecting mirror obtains the polar radius of firm gear internal tooth；
Step 6: while distance measurements measured by corner amount and laser displacement sensor measured by Circular gratings are acquired, in firm gear
The point coordinate value on tooth flank profil surface, high-accuracy turntable are rotated by 360 ° as firm gear internal tooth list section tooth form, and slide unit motor is driven to make
Laser displacement sensor moves 5 millimeters straight down；
Step 7: step 6 is repeated, until having surveyed firm gear internal tooth, resulting coordinate set is the space tooth form of firm gear internal tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879302.3A CN110514141B (en) | 2019-09-18 | 2019-09-18 | Harmonic reducer rigid gear tooth form detecting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879302.3A CN110514141B (en) | 2019-09-18 | 2019-09-18 | Harmonic reducer rigid gear tooth form detecting system |
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| CN110514141A true CN110514141A (en) | 2019-11-29 |
| CN110514141B CN110514141B (en) | 2021-07-16 |
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Cited By (3)
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| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
| CN112344884A (en) * | 2020-10-16 | 2021-02-09 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN113587846A (en) * | 2021-08-01 | 2021-11-02 | 北京工业大学 | Small modulus tooth profile detection method based on coordinate transformation principle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112344884A (en) * | 2020-10-16 | 2021-02-09 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN113587846A (en) * | 2021-08-01 | 2021-11-02 | 北京工业大学 | Small modulus tooth profile detection method based on coordinate transformation principle |
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| CN110514141B (en) | 2021-07-16 |
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