CN110514141B - A Harmonic Reducer Rigid Gear Tooth Profile Detection System - Google Patents
A Harmonic Reducer Rigid Gear Tooth Profile Detection System Download PDFInfo
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- CN110514141B CN110514141B CN201910879302.3A CN201910879302A CN110514141B CN 110514141 B CN110514141 B CN 110514141B CN 201910879302 A CN201910879302 A CN 201910879302A CN 110514141 B CN110514141 B CN 110514141B
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- 238000005259 measurement Methods 0.000 claims description 4
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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
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Abstract
本发明公开了一种谐波减速器刚轮齿形检测系统，转台底座、支架和控制柜安装在工作台上，高精密转台安装在转台底座上，直流力矩电机驱动高精密转台转动，转角通过圆光栅进行转动角度标定；刚轮固定在刚轮夹具中；激光位移传感器安装在竖直滑台上，激光位移传感器下方装有反射镜，通过反射镜使竖直的激光经过反射形成水平方向的激光，实现对刚轮内齿的齿廓表面的检测。本发明运用圆光栅标定旋转角度，并通过激光位移传感器获取刚轮齿形表面齿廓的极半径，得到齿廓表面的点坐标值。此外通过竖直滑台，对刚轮的空间齿形进行测量，得到空间齿廓数据，本发明提高了检测精度和效率。
The invention discloses a gear tooth profile detection system of a harmonic reducer. A turntable base, a bracket and a control cabinet are installed on a worktable, a high-precision turntable is installed on the turntable base, a DC torque motor drives the high-precision turntable to rotate, and the rotation angle passes through The rotation angle is calibrated by the circular grating; the rigid wheel is fixed in the rigid wheel fixture; the laser displacement sensor is installed on the vertical sliding table, and the mirror is installed under the laser displacement sensor, and the vertical laser is reflected by the mirror to form a horizontal direction. Laser, realize the detection of the tooth profile surface of the inner teeth of the rigid wheel. The invention uses the circular grating to calibrate the rotation angle, and obtains the pole radius of the tooth profile of the tooth profile surface of the rigid wheel through the laser displacement sensor, and obtains the point coordinate value of the tooth profile surface. In addition, through the vertical sliding table, the space tooth profile of the rigid wheel is measured to obtain the space tooth profile data, and the invention improves the detection accuracy and efficiency.
Description
Technical Field
The invention relates to the field of tooth profile detection, in particular to a tooth profile detection system for a rigid wheel of a harmonic reducer.
Background
The harmonic reducer is an essential core part of a robot joint due to the characteristics of high transmission ratio, high precision, compact structure and the like. High accuracy is one of the main features of a harmonic reducer, and it is one of the main objects to improve the manufacturing and detection accuracy of the reducer. At present, the detection of the tooth form of the rigid wheel of the harmonic reducer is mainly completed by a gear measuring center and an optical profiler. For a small-modulus internal gear such as a harmonic reducer rigid gear, a gear measurement center needs to customize a special ultra-small-modulus probe, so that the cost is high, and the detection efficiency is low; although the optical profiler has high detection efficiency, the optical profiler can only detect the tooth profile of a single section of the end face of the rigid wheel and cannot detect the space tooth profile of the rigid wheel.
The harmonic reducer rigid gear tooth form detection system based on the laser ranging technology is adopted, so that accurate and efficient detection of the harmonic reducer rigid gear space tooth form is realized, and the industrialization requirement of the harmonic reducer is met.
Disclosure of Invention
In order to meet the requirement of accurate and efficient detection of the tooth form of the rigid gear of the harmonic reducer, the invention designs a novel tooth form detection system of the rigid gear of the harmonic reducer, and the precise detection of the tooth form of the internal tooth of the rigid gear can be realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
a harmonic reducer rigid wheel tooth form detecting system comprises the following structures:
the rotary table base, the support and the control cabinet are arranged on the workbench, the high-precision rotary table is arranged on the rotary table base, the direct-current torque motor drives the high-precision rotary table to rotate, and the rotation angle is calibrated through the circular grating; the rigid wheel is fixed in the rigid wheel clamp and is arranged on the high-precision rotary table; the laser displacement sensor is installed on vertical slip table to carry out vertical up-and-down motion through the slip table motor, the speculum is equipped with to laser displacement sensor below, makes vertical laser form the laser of horizontal direction through the speculum through the reflection, realizes the detection to the profile of tooth surface of rigid wheel internal tooth.
The rigid wheel is arranged in a rigid wheel clamp, and the rigid wheel clamp is used for ensuring that the coaxiality and the axial runout of the rigid wheel are within 5 microns;
the structure of rigid wheel anchor clamps contains anchor clamps upper end cover and anchor clamps base, and anchor clamps upper end cover and anchor clamps base carry out axial positioning and fastening through the screw thread, and the excircle fit relation of the interior circle of anchor clamps base and rigid wheel is H7/H6, and the roughness needs the same.
The coaxiality of the laser emitted by the laser displacement sensor and the rigid wheel is less than 10 microns, and the measurement precision of the laser displacement sensor is less than 5 microns;
the included angle between the reflector and the horizontal direction is 45 degrees, so that the laser in the vertical direction of the laser displacement sensor is reflected to form the laser in the horizontal direction.
The tooth profile detection method of the detection system comprises the following steps:
the method comprises the following steps: the turntable base is installed on the workbench, the high-precision turntable is installed on the turntable base, then the fixture base is installed, the bounce of the inner circle of the fixture base is measured through the dial indicator until the bounce value is smaller than 5 micrometers, and the centering performance of the fixture base is achieved.
Step two: the rigid wheel is arranged in the clamp base, the outer circle of the rigid wheel is in small clearance fit with the inner circle of the clamp base, the end face runout of the rigid wheel is measured through the dial indicator until the runout value is smaller than 5 micrometers, and the rigid wheel clamp is horizontally placed.
Step three: the control cabinet drives the direct current torque motor to drive the high-precision turntable to rotate at a constant speed, and the rotating angle is calibrated in real time through the circular grating.
Step four: the support is installed on the workbench, the vertical sliding table is installed on the support, the sliding table vertically moves up and down through the sliding table motor, laser reflected by the reflecting mirror reaches the upper portion of the tooth surface of the inner teeth of the rigid wheel, the position of the support is adjusted, the coaxiality of the laser emitted by the laser displacement sensor and the rigid wheel is smaller than 10 microns, and centering adjustment of the laser displacement sensor is achieved.
Step five: the high-precision turntable drives the rigid wheel to rotate at a constant speed, the distance measured by the laser displacement sensor is collected, and the distance value between the laser displacement sensor and the reflector is subtracted to obtain the polar radius of the inner teeth of the rigid wheel.
Step six: and simultaneously, acquiring the rotation angle measured by the circular grating and the distance measured by the laser displacement sensor, and the point coordinate value of the surface of the tooth profile of the inner tooth of the rigid wheel, rotating the high-precision rotary table for 360 degrees to obtain the tooth profile of the single section of the inner tooth of the rigid wheel, and driving the sliding table motor to enable the laser displacement sensor to vertically move downwards for 5 mm.
Step seven: and repeating the sixth step until the internal teeth of the rigid wheel are measured, wherein the obtained point coordinate set is the space tooth form of the internal teeth of the rigid wheel.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the harmonic reducer rigid wheel tooth form detection system, the high-precision rotary table and the special tool fixture drive the rigid wheel to rotate, the rotation angle is calibrated by using the circular grating, the polar radius of the tooth form on the tooth form surface of the rigid wheel is obtained by the laser displacement sensor, and the point coordinate value of the tooth form surface is obtained. In addition, the spatial tooth profile of the rigid wheel can be measured through the vertical sliding table, so that spatial tooth profile data are obtained, and technical support is provided for tooth profile error analysis. The invention can meet the requirement of harmonic reducer processing enterprises on the detection of the tooth profile of the rigid wheel, and improves the detection precision and efficiency.
Drawings
FIG. 1; harmonic reducer rigid gear tooth form detection system
FIG. 2; harmonic reducer rigid wheel
FIG. 3: rigid wheel clamp
The device comprises a workbench 1, a high-precision rotary table 2, a support 3, a rigid wheel 4, a laser displacement sensor 5, a sliding table motor 6, a vertical sliding table 7, a reflector 8, a rigid wheel clamp 9, a circular grating 10, a direct-current torque motor 11, a rotary table base 12, a control cabinet 13, a rigid wheel inner tooth 14, a clamp upper end cover 15 and a clamp base 16
Detailed Description
As shown in fig. 1, a harmonic reducer rigid wheel tooth profile detection system includes the following structure: a rotary table base 12, a support 3 and a control cabinet 13 are arranged on the workbench 1, the high-precision rotary table 2 is arranged on the rotary table base 12, the direct-current torque motor 11 drives the high-precision rotary table 2 to rotate, and the rotation angle is calibrated through a circular grating 10; the rigid wheel 4 is fixed in the rigid wheel clamp 9 and is arranged on the high-precision rotary table 2; laser displacement sensor 5 installs on vertical slip table 7 to carry out vertical up-and-down motion through slip table motor 6, laser displacement sensor 5 below is equipped with speculum 8, makes vertical laser form the laser of horizontal direction through the speculum through the reflection, realizes the measurement to the profile surface point position of rigid wheel internal tooth 14.
As shown in fig. 2, the main structure to be measured of the rigid wheel 4 is the inner teeth 14 of the rigid wheel, and the inner teeth 14 of the rigid wheel are small-modulus inner gears.
The rigid wheel 4 is arranged in a rigid wheel clamp 9, and the rigid wheel clamp 9 is used for ensuring that the coaxiality and the axial runout of the rigid wheel are within 5 microns;
as shown in fig. 3, the structure of the rigid wheel clamp 9 includes a clamp upper end cover 15 and a clamp base 16, the clamp upper end cover 15 and the clamp base 16 are axially positioned and fastened through threads, the fitting relationship between the inner circle of the clamp base 16 and the outer circle of the rigid wheel 4 is H7/H6, and the machining roughness needs to be the same.
The coaxiality of the laser emitted by the laser displacement sensor 5 and the rigid wheel 4 is less than 10 microns, and the measurement precision of the laser displacement sensor 5 is less than 5 microns;
the included angle between the reflector 8 and the horizontal direction is 45 degrees, so that the laser in the vertical direction of the laser displacement sensor 5 is reflected to form the laser in the horizontal direction.
The tooth profile detection method of the detection system comprises the following steps:
the method comprises the following steps: the turntable base 12 is installed on the workbench 1, the high-precision turntable 2 is installed on the turntable base 12, then the fixture base 16 is installed, the bounce of the inner circle of the fixture base 16 is measured through a dial indicator until the bounce value is smaller than 5 micrometers, and the centering performance of the fixture base 16 is achieved.
Step two: install rigid wheel 4 in anchor clamps base 16, make the excircle of rigid wheel 4 and the interior circle of anchor clamps base 16 realize little clearance fit, measure the runout of rigid wheel 4 through the amesdial, until the value of runout is less than 5 microns, realize the level of rigid wheel anchor clamps and place.
Step three: the control cabinet 13 drives the direct current torque motor 6 to drive the high-precision rotary table 2 to rotate at a constant speed, and the rotating angle is calibrated in real time through the circular grating 10.
Step four: the support 3 is installed on the workbench 1, the vertical sliding table 7 is installed on the support 3, the sliding table 7 vertically moves up and down through the sliding table motor 7, laser reflected by the reflecting mirror reaches the upper part of the tooth surface of the inner teeth 14 of the rigid wheel, the position of the support 3 is adjusted, the coaxiality between the laser emitted by the laser displacement sensor 5 and the rigid wheel 4 is smaller than 10 microns, and centering adjustment of the laser displacement sensor 5 is achieved.
Step five: the high-precision turntable 2 drives the rigid wheel 4 to rotate at a constant speed, the distance measured by the laser displacement sensor 5 is collected, and the distance value between the laser displacement sensor 5 and the reflector 8 is subtracted to obtain the polar radius of the inner teeth 14 of the rigid wheel.
Step six: and simultaneously, the rotation angle measured by the circular grating 10 and the distance measured by the laser displacement sensor 5 and the point coordinate values of the surface of the tooth profile of the inner teeth 14 of the rigid wheel are collected, the high-precision rotary table 2 rotates 360 degrees to obtain the single-section tooth profile of the inner teeth 4 of the rigid wheel, and the sliding table motor 7 is driven to drive the laser displacement sensor 5 to vertically move downwards by 5 millimeters.
Step seven: and repeating the sixth step until the internal teeth 14 of the rigid wheel are measured, wherein the obtained point coordinate set is the space tooth form of the internal teeth 14 of the rigid wheel.
Claims (4)
1. A detection method of a harmonic reducer rigid wheel tooth profile detection system comprises the following structures that a rotary table base, a support and a control cabinet are installed on a workbench, a high-precision rotary table is installed on the rotary table base, a direct-current torque motor drives the high-precision rotary table to rotate, and the rotation angle is calibrated through a circular grating; the rigid wheel is fixed in the rigid wheel clamp and is arranged on the high-precision rotary table; the laser displacement sensor is arranged on the vertical sliding table and vertically moves up and down through a sliding table motor, the reflector is arranged below the laser displacement sensor, and vertical laser is reflected through the reflector to form laser in the horizontal direction, so that the detection of the tooth profile surface of the inner teeth of the rigid gear is realized;
the rigid wheel is arranged in a rigid wheel clamp, and the rigid wheel clamp is used for ensuring that the coaxiality and the axial runout of the rigid wheel are within 5 microns;
the method is characterized in that: the detection method is carried out as follows,
the method comprises the following steps: the turntable base is arranged on the workbench, the high-precision turntable is arranged on the turntable base, then the fixture base is arranged, the run-out of the inner circle of the fixture base is measured through the dial indicator until the run-out value is smaller than 5 micrometers, and the centering performance of the fixture base is realized;
step two: mounting the rigid wheel in a fixture base, enabling the outer circle of the rigid wheel to be in small clearance fit with the inner circle of the fixture base, measuring the end face runout of the rigid wheel through a dial indicator until the runout value is smaller than 5 micrometers, and horizontally placing the rigid wheel fixture;
step three: the control cabinet drives the direct-current torque motor to drive the high-precision turntable to rotate at a constant speed, and the rotating angle is calibrated in real time through the circular grating;
step four: the support is arranged on the workbench, the vertical sliding table is arranged on the support, the sliding table vertically moves up and down through a sliding table motor, so that the laser reflected by the reflector reaches the upper part of the tooth surface of the inner teeth of the rigid wheel, the position of the support is adjusted, the coaxiality between the laser emitted by the laser displacement sensor and the rigid wheel is smaller than 10 microns, and the centering adjustment of the laser displacement sensor is realized;
step five: the high-precision turntable drives the rigid wheel to rotate at a constant speed, the distance measured by the laser displacement sensor is collected, and the distance value between the laser displacement sensor and the reflector is subtracted to obtain the polar radius of the inner teeth of the rigid wheel;
step six: simultaneously collecting the angle of rotation measured by the circular grating and the distance measured by the laser displacement sensor, and the point coordinate value of the surface of the tooth profile of the inner tooth of the rigid wheel, rotating the high-precision rotary table for 360 degrees to obtain the tooth profile of the single section of the inner tooth of the rigid wheel, and driving the sliding table motor to enable the laser displacement sensor to vertically move downwards for 5 mm;
step seven: and repeating the sixth step until the internal teeth of the rigid wheel are measured, wherein the obtained point coordinate set is the space tooth form of the internal teeth of the rigid wheel.
2. The detection method of the harmonic reducer rigid gear tooth form detection system according to claim 1, characterized in that: the structure of rigid wheel anchor clamps contains anchor clamps upper end cover and anchor clamps base, and anchor clamps upper end cover and anchor clamps base carry out axial positioning and fastening through the screw thread, and the excircle fit relation of the interior circle of anchor clamps base and rigid wheel is H7/H6, and the roughness needs the same.
3. The detection method of the harmonic reducer rigid gear tooth form detection system according to claim 1, characterized in that: the coaxiality of the laser emitted by the laser displacement sensor and the rigid wheel is less than 10 microns, and the measurement precision of the laser displacement sensor is less than 5 microns.
4. The detection method of the harmonic reducer rigid gear tooth form detection system according to claim 1, characterized in that: the included angle between the reflector and the horizontal direction is 45 degrees, so that the laser in the vertical direction of the laser displacement sensor is reflected to form the laser in the horizontal direction.
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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 |
| CN112344884B (en) * | 2020-10-16 | 2022-01-04 | 大连理工大学 | A coaxiality and clearance measuring device for frame assemblies |
| 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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