CN110542552A - Rigidity automatic testing machine for harmonic reducer - Google Patents
Rigidity automatic testing machine for harmonic reducer Download PDFInfo
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- CN110542552A CN110542552A CN201910889979.5A CN201910889979A CN110542552A CN 110542552 A CN110542552 A CN 110542552A CN 201910889979 A CN201910889979 A CN 201910889979A CN 110542552 A CN110542552 A CN 110542552A
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- 238000012360 testing method Methods 0.000 title claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 13
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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
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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
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
- G01M5/005—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress by means of external apparatus, e.g. test benches or portable test systems
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a rigidity automatic testing machine of a harmonic reducer, which comprises a positioning mechanism, a rigid lever, a force application mechanism, a displacement detector and a controller, wherein the positioning mechanism is used for fixing a rigid wheel of the harmonic reducer; simulating actual load by a force application mechanism and a rigid body lever to apply torque to the harmonic reducer, detecting pressure applied to the rigid body lever by a pressure detector, and detecting the offset of the rigid body lever by a displacement detector; the controller obtains the rigidity of the harmonic reducer according to the action length, the pressure and the offset of the rigid lever. The invention can accurately measure the acting force on the harmonic reducer, and ensure the accuracy of the rigidity test result; and by utilizing the lever principle, the force application mechanism can generate larger torque at the harmonic speed reducer only by providing smaller pressure, so that more labor is saved.
Description
Technical Field
The invention relates to the technical field of harmonic reducer performance testing, in particular to an automatic harmonic reducer rigidity testing machine.
Background
Under the large background of 4.0 of the international intelligent manufacturing industry, industrial robots are more and more widely applied. The harmonic reducer is used as a key part of an industrial robot, and the performance of the harmonic reducer directly influences the performance of the whole robot. The rigidity (the ratio of the torque that the harmonic reducer can bear in the axial direction to the rotation angle thereof) is used as an important index for evaluating the performance of the harmonic reducer, and the rigidity of the harmonic reducer is generally required to be tested in the production and processing process of the harmonic reducer so as to ensure the capacity of the harmonic reducer for bearing external force.
In the prior art, the harmonic reducers are usually installed at each joint of the mechanical arm, the rigidity of the harmonic reducers is evaluated through the load bearing capacity of the mechanical arm, the load of the mechanical arm cannot be accurately measured, the deformation angle of the harmonic reducers in the test process cannot be obtained and displayed, the measured data is simple to process, and the test result accuracy is low.
Disclosure of Invention
The invention aims to provide an automatic rigidity testing machine for a harmonic reducer, which can accurately measure the acting force borne by the harmonic reducer so as to improve the accuracy of a rigidity testing result.
In order to achieve the aim, the invention discloses a rigidity automatic testing machine for a harmonic reducer, which comprises a positioning mechanism, a rigid lever, a force application mechanism, a displacement detector and a controller, wherein the positioning mechanism is used for fixing a rigid wheel of the harmonic reducer to be tested, the rigid lever is provided with a first end part and a second end part which are opposite in the axial direction, and the first end part is used for being connected with the rigid wheel of the harmonic reducer; the force application mechanism is connected with the rigid body lever to apply pressure to the rigid body lever and comprises a pressure detector which detects the pressure applied to the rigid body lever by the force application mechanism; the displacement detector is arranged at a position close to the second end part and used for detecting the offset of the rigid body lever; the controller obtains torque applied to the harmonic reducer according to a product of a distance between the force point of the rigid body lever and the first end and the pressure, obtains a rotation angle of the harmonic reducer according to the offset and the distance, and obtains rigidity of the harmonic reducer according to a ratio of the torque to the rotation angle.
Preferably, the force application mechanism comprises a driver and a lead screw transmission structure, the lead screw transmission structure comprises a lead screw connected to the output end of the driver and a lead screw nut sleeved on the lead screw, and the lead screw drives the lead screw nut to move along the axial direction of the lead screw nut under the driving of the driver so as to apply pressure to the rigid lever.
preferably, the screw rod transmission structure further includes an elastic member, the elastic member is sleeved on the screw rod, the elastic member is located below the screw nut, and the screw nut compresses the elastic member to apply pressure to the rigid lever when moving along the axial direction of the screw rod.
More preferably, the elastic member is a spring.
preferably, the pressure detector is disposed between the elastic member and the rigid body lever, the elastic member transmits a flexible pressure to the pressure detector when compressed by the lead screw nut, and the pressure detector detects the pressure and transmits the pressure to the rigid body lever.
Preferably, positioning mechanism includes rotating electrical machines and mounting panel, rotating electrical machines installs the mounting panel, rotating electrical machines is used for the harmonic drive the rigid wheel of harmonic reduction gear, rotating electrical machines in the last test position test of harmonic reduction gear is accomplished the back drive the harmonic reduction gear is rotatory to next test position.
preferably, the first end part of the harmonic reducer is connected with a rigid wheel of the harmonic reducer through the flange.
Preferably, the harmonic reducer rigidity automatic testing machine further comprises a display, the display is in communication connection with the controller, and the display displays rigidity data output by the controller.
Preferably, the force applying mechanism is connected to the second end portion, and the controller obtains the torque according to an axial dimension of the rigid body lever and the pressure.
Preferably, the controller obtains the rigidity of the harmonic reducer by calculating a formula R ═ F × L/(arctan (S/L)); wherein, R is the rigidity of the harmonic reducer, F is the pressure born by the rigid lever, L is the axial dimension of the rigid lever, and S is the offset.
Compared with the prior art, the harmonic reducer rigidity automatic testing machine provided by the invention has the advantages that the actual load is simulated by the force application mechanism and the rigid lever to apply torque to the harmonic reducer, when the harmonic reducer deforms under the action of the torque, the displacement detector detects the offset of the rigid lever, the controller obtains the torque applied to the harmonic reducer according to the action length of the rigid lever and the pressure applied to the rigid lever, and obtains the rotation angle of the harmonic reducer according to the offset and the action length, so that the rigidity of the harmonic reducer is obtained. The invention can accurately measure the acting force (namely torque) born by the harmonic reducer, and ensures the accuracy of the rigidity test result; moreover, the pressure applied to the rigid body lever is converted into the torque applied to the harmonic reducer, and the lever principle is utilized to ensure that the force application mechanism only needs to provide smaller pressure to generate larger torque on the harmonic reducer, so that the testing process is more labor-saving; in addition, a plurality of test data such as the rotation angle of the harmonic reducer in the test process can be obtained.
Drawings
Fig. 1 is a schematic perspective view of an automated rigidity testing machine for a harmonic reducer according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of the harmonic reducer rigidity automatic testing machine shown in FIG. 1 with a portion of the cabinet door removed.
Fig. 3 is a schematic structural view of another angle of the harmonic reducer rigidity automatic testing machine shown in fig. 2.
Fig. 4 is a front view of the harmonic reducer rigidity automation testing machine shown in fig. 3.
Fig. 5 is a sectional view of the harmonic reducer rigidity automation test machine shown in fig. 3.
Fig. 6 is a right side view of the harmonic reducer rigidity automated testing machine shown in fig. 3.
fig. 7 is a block diagram of an electric control system of the harmonic reducer rigidity automatic testing machine according to the embodiment of the invention.
Detailed Description
The following detailed description is given with reference to the accompanying drawings for illustrating the contents, structural features, and objects and effects of the present invention.
Referring to fig. 1 to 7, the invention discloses a harmonic reducer rigidity automatic testing machine 100 for testing rigidity of a harmonic reducer 200, wherein the harmonic reducer 200 includes a flexible gear and a rigid gear, the harmonic reducer rigidity automatic testing machine 100 fixes the rigid gear of the harmonic reducer 200, and applies torque to the rigid gear of the harmonic reducer 200 through a rigid lever 1, so as to test rigidity of the harmonic reducer 200; the accuracy of the rigidity test result of the harmonic reducer 200 is ensured, test data such as the torsion angle of the harmonic reducer 200 under the specified bending moment load can be obtained, and the test result is automatically obtained and displayed according to the test data.
Specifically, the harmonic reducer rigidity automatic testing machine 100 of the present invention includes a rigid body lever 1, a force application mechanism 2, a displacement detector 3, a controller 4, and a positioning mechanism 5, where the positioning mechanism 5 is used to fix a rigid wheel of the harmonic reducer 200, the rigid body lever 1 has a first end portion 11 and a second end portion 12 that are axially opposite, and the first end portion 11 is coaxially connected to the rigid wheel of the harmonic reducer 200. The force application mechanism 2 is connected to the rigid body lever 1, and the force application mechanism 2 is used for applying pressure to the rigid body lever 1 so as to apply torque to a rigid wheel of the harmonic reducer 200 through the rigid body lever 1; the forcing mechanism 2 includes a pressure detector 23, and the pressure detector 23 detects the pressure applied to the rigid body lever 1 by the forcing mechanism 2 and transmits information of the detected pressure to the controller 4. The displacement detector 3 is arranged at a position close to the second end portion 12, when the harmonic reducer 200 deforms under the action of torque, the rigid body lever 1 generates deviation relative to the displacement detector 3 along with the deformation of the harmonic reducer 200, the displacement detector 3 detects the deviation amount of the rigid body lever 1 in the test process, and the detected deviation amount is sent to the controller 4. The controller 4 obtains the torque applied to the harmonic reducer 200 according to the product of the distance between the force point of the rigid body lever 1 and the first end portion 11 (i.e., the acting length of the rigid body lever 1) and the pressure, obtains the rotation angle of the harmonic reducer 200 according to the offset amount and the distance, and obtains the rigidity of the harmonic reducer 200 according to the ratio of the torque to the rotation angle.
The rigid body lever 1 is made of a material which is not easy to deform, the deformation of the rigid body lever in the test process can be ignored, and the offset detected by the displacement detector 3 is caused by the deformation of the harmonic reducer 200.
Hereinafter, the harmonic reducer rigidity automatic test machine 100 according to the present invention will be described in further detail with reference to fig. 1 to 7.
referring to fig. 2 and 3, fig. 2 and 3 show a structure of the harmonic reducer rigidity automatic testing machine 100 with a part of a cabinet door removed, the harmonic reducer rigidity automatic testing machine 100 shown in fig. 2 and 3 includes an electric control cabinet 71 located at a lower portion of a cabinet 7 of the harmonic reducer rigidity automatic testing machine and a mounting table 72 located at an upper portion of the cabinet 7 of the harmonic reducer rigidity automatic testing machine, and the rigid body lever 1 is horizontally disposed above the mounting table 72. The positioning mechanism 5 is arranged on the mounting table 72, a rigid wheel of the harmonic reducer 200 is fixed on the positioning mechanism 5, and the first end part 11 of the rigid body lever 1 is connected with the rigid wheel of the harmonic reducer 200 through a flange 8; the force application mechanism 2 is vertically installed above the rigid body lever 1 through a mounting frame 25, the lower end of the force application mechanism 2 is connected with the rigid body lever 1, and when the force application mechanism 2 applies downward pressure to the rigid body lever 1, the rigid body lever 1 applies torque to a rigid wheel of the harmonic speed changer.
Referring to fig. 1 and 7, specifically, an input device 6 is installed at the outer side of the cabinet 7, the input device 6 includes a keyboard 61, a mouse 62, and the like, and the input device 6 inputs the relevant test data, such as the distance between the force-bearing point of the rigid lever 1 and the first end portion 11 (i.e., the acting length of the rigid lever 1), the maximum test torque value, and the like, to the controller 4, and the controller 4 controls the pressure output of the force application mechanism 2 according to the maximum test torque value, and uses the distance as the rigidity calculation parameter. Further, a display 9 is further arranged on the cabinet 7, the display 9 is in communication connection with the controller 4, and the display 9 displays corner data, rigidity curves and the like output by the controller 4, so that real-time display of test parameters and rigidity test results is realized.
Referring to fig. 5, in the harmonic reducer rigidity automatic testing machine 100 shown in fig. 5, the force applying mechanism 2 is connected to the second end portion 12 of the rigid lever 1, the distance between the force-bearing point of the rigid lever 1 and the first end portion 11 is the axial dimension of the rigid lever 1, the controller 4 obtains the torque according to the product of the axial dimension of the rigid lever 1 and the pressure, the force applying mechanism 2 is connected to the second end portion 12 of the rigid lever 1, so that the action length of the rigid lever 1 is maximized, and the force applying mechanism 2 can generate a larger torque to the harmonic reducer 200 only by providing a smaller pressure, which is more labor-saving. Specifically, the controller 4 obtains the rigidity of the harmonic reducer 200 by calculating the formula R ═ F × L/(arctan (S/L)); where R is the rigidity of the harmonic reducer 200, F is the pressure borne by the rigid body lever 1, L is the axial dimension of the rigid body lever 1, and S is the offset. Of course, in other embodiments, the force applying mechanism 2 may be connected to other positions of the rigid body lever 1, and in this case, because the distance between the force-receiving point on the rigid body lever 1 and the first end portion 11 is small, the force applying mechanism 2 needs to provide a large pressure to the rigid body lever 1 to generate a large torque on the harmonic reducer 200.
Referring to fig. 3 and 4, in detail, the positioning mechanism 5 includes a rotating motor 51 and a mounting plate 52, the rotating motor 51 is mounted on the mounting plate 52, the mounting plate 52 is vertically mounted on the mounting table 72, and an output shaft of the rotating motor 51 is connected to a rigid wheel of the harmonic reducer 200 connected to the first end portion 11, and is used for harmonic-driving the rigid wheel of the harmonic reducer 200. After the rigidity test of the previous test position of the harmonic reducer 200 is completed by the harmonic reducer rigidity automatic testing machine 100, the controller 4 controls the rotating motor 51 to drive the rigid wheel of the harmonic reducer 200 to rotate by a preset angle (i.e. rotate to the next test position) and perform self-locking, and the harmonic reducer rigidity automatic testing machine 100 tests the rotated harmonic reducer 200 so as to test a plurality of positions (e.g. 4, 6, 12, etc., preferably, each position is distributed at equal intervals in the circumferential direction of the harmonic reducer 200, and certainly, the positions can also be distributed at unequal intervals) in the circumferential direction of the harmonic reducer 200, thereby improving the accuracy of the rigidity test result. More specifically, the rotating electric machine 51 is preferably a servo motor having a brake function (self-locking), but should not be limited thereto.
referring to fig. 3 and fig. 5, in detail, the force applying mechanism 2 includes a driver 21 and a lead screw transmission structure 22, the lead screw transmission structure 22 includes a lead screw 221 connected to an output end of the driver 21 and a lead screw nut 222 sleeved on the lead screw 221, the lead screw 221 drives the lead screw nut 222 to move along an axial direction thereof under the driving of the driver 21, so as to apply pressure to the rigid body lever 1. The rigid body lever 1 is applied with pressure in a screw rod transmission mode, and the structure is simple and the precision is high; of course, in other embodiments, the rigid lever 1 may be pressed by pneumatic transmission or the like, and therefore, the invention should not be limited thereto. Wherein the driver 21 is screw-mounted to the mounting bracket 25. Preferably, the driver 21 includes a driving motor 211 and a planetary reducer 212 connected to an output shaft of the driving motor 211, the output shaft of the planetary reducer 212 is connected to the lead screw 221, and the planetary reducer 212 limits the rotation speed of the driving motor 211 output to the lead screw 221, thereby controlling the movement of the lead screw 221 and thus the movement of the lead screw nut 222.
Referring to fig. 5, in detail, the lead screw transmission structure 22 further includes an elastic member 223, the elastic member 223 is sleeved on the lead screw 221, the elastic member 223 is located below the lead screw nut 222, the lead screw nut 222 compresses the elastic member 223 when moving along the axial direction of the lead screw 221, and applies a flexible pressure to the rigid body lever 1 through the elastic member 223. More specifically, the pressure detector 23 is installed between the elastic member 223 and the rigid body lever 1, the elastic member 223 transmits a flexible pressure to the pressure detector 23 when being compressed by the lead screw nut 222, and the pressure detector 23 detects and transmits the pressure to the rigid body lever 1; by providing the elastic member 223, the pressure detector 23 and the lead screw transmission structure 22 are in flexible contact, which can prevent the problem that the pressure detector 23 is easily damaged when the lead screw transmission structure 22 and the pressure detector 23 are in hard contact, and can also avoid the problem that the rigid body lever 1 is easily deformed or the force application mechanism 2 is easily damaged when the force application mechanism 2 and the rigid body lever 1 are in hard contact. Preferably, the elastic member 223 is a spring, but should not be limited thereto.
The following describes the working process of the harmonic reducer rigidity automatic testing machine 100 for performing the rigidity compliance test and the extreme rigidity test by taking a specific embodiment as an example.
The working process of the rigidity standard test is as follows:
Firstly, fixing a flexible gear of a harmonic reducer 200, connecting a rigid gear of the harmonic reducer 200 with a rigid lever 1 through a flange 8, and connecting a rotating motor 51 with the rigid gear of the harmonic reducer 200; selecting a rigidity standard-reaching test mode, and clicking or inputting a maximum test torque value and a standard rigidity value corresponding to the harmonic reducer 200; the controller 4 outputs a control instruction to enable the second motor driver 53 to control the rotating motor 51 to drive the rigid wheel of the harmonic reducer 200 to rotate to a first test position, and the rigid wheel is self-locked to prevent rotation; then, the controller 4 outputs a control command to enable the first motor driver 24 to control the driving motor 211 to drive the lead screw 221 to drive the lead screw nut 222 to move downwards so as to compress the elastic member 223, at this time, the elastic member 223 generates a flexible pressure acting on the pressure detector 23, so that the pressure is transmitted to the second end portion 12 of the rigid body lever 1 through the pressure detector 23 to apply a torque to the harmonic reducer 200, meanwhile, the pressure detector 23 detects the pressure and sends pressure information to the controller 4, and the controller 4 automatically obtains the torque according to the axial size and the pressure of the rigid body lever 1; when the harmonic reducer 200 deforms under the action of torque, the harmonic reducer is linked with the rigid lever 1 to enable the rigid lever 1 to generate certain offset relative to the displacement detector 3, at the moment, the displacement detector 3 can measure the offset of the rigid lever 1 and send the offset to the controller 4, and the controller 4 converts the offset into a rotation angle; when the ratio of the torque to the rotation angle is equal to or greater than the standard rigidity value, the controller 4 automatically determines that the rigidity of the harmonic reducer 200 meets the requirement; then, the driving motor 211 drives the lead screw 221 to drive the lead screw nut 222 to move upwards until the original position is returned, and the test of the first test position is completed; then, the rotating motor 51 drives the rigid wheel of the harmonic reducer 200 to rotate to a second testing position, and the testing steps are repeated to continue the test until all testing positions are tested; if the rigidity of the harmonic reducer 200 at all the test positions reaches the standard rigidity value, the controller 4 automatically outputs the test result that the rigidity reaches the standard; if the ratio of the torque to the rotation angle of the harmonic reducer 200 at a certain test position is smaller than the standard rigidity value, the controller 4 automatically outputs the test result as a rigidity failure, and the rest untested test positions are not tested.
The working procedure of the extreme rigidity test is as follows:
Firstly, fixing a flexible gear of a harmonic reducer 200, connecting a rigid gear of the harmonic reducer 200 with a rigid lever 1 through a flange 8, and connecting a rotating motor 51 with the rigid gear of the harmonic reducer 200; selecting a limit rigidity test mode (namely, torque does not set an upper limit value until the harmonic reducer 200 is damaged); the controller 4 outputs a control instruction to enable the second motor driver 53 to control the rotating motor 51 to drive the rigid wheel of the harmonic reducer 200 to rotate to a first test position, and the rigid wheel is self-locked to prevent rotation; then, the controller 4 outputs a control command to make the first motor driver 24 control the driving motor 211 to drive the lead screw 221 to drive the lead screw nut 222 to move downwards so as to compress the elastic member 223, at this time, the elastic member 223 generates a flexible pressure acting on the pressure detector 23, so that the pressure detector 23 transmits the pressure to the second end portion 12 of the rigid body lever 1 to apply a torque to the harmonic reducer 200, and at the same time, the pressure detector 23 detects the pressure and sends pressure information to the controller 4; when the pressure is increased to a certain value, the torque applied to the harmonic reducer 200 is also increased to a certain limit torque value, the harmonic reducer 200 is damaged, at this time, the displacement detector 3 can measure that the offset of the rigid lever 1 is instantly increased, the displacement detector 3 sends the offset to the controller 4, the controller 4 converts the offset into a corner (the corner is the maximum corner of the harmonic reducer 200), and simultaneously, the torque (the torque is the maximum torque of the harmonic reducer 200) is automatically obtained according to the axial size of the rigid lever 1 and the pressure when the harmonic reducer 200 is damaged, the controller 4 obtains the limit rigidity of the harmonic reducer 200 according to the maximum torque and the maximum corner, and outputs a test result and draws a rigidity curve; when the offset is increased instantly, the controller 4 controls the first motor driver 24 to stop driving the driving motor 211, and then controls the first motor driver 24 to make the driving motor 211 drive the lead screw 221 to drive the lead screw nut 222 to move upwards until the original position is reached, and the next limit rigidity test is finished.
Compared with the prior art, the harmonic reducer rigidity automatic testing machine 100 of the invention simulates actual load through the force application mechanism 2 and the rigid body lever 1 to apply torque to the harmonic reducer 200, when the harmonic reducer 200 deforms under the action of the torque, the displacement detector 3 detects the offset of the rigid body lever 1, the controller 4 obtains the torque applied to the harmonic reducer 200 according to the action length of the rigid body lever 1 and the pressure applied to the rigid body lever 1, and obtains the rotation angle of the harmonic reducer 200 according to the offset and the action length, thereby obtaining the rigidity of the harmonic reducer 200. The invention can accurately measure the acting force (namely torque) born by the harmonic reducer 200, and ensure the accuracy of the rigidity test result; moreover, the pressure applied by the rigid body lever 1 is converted into torque applied to the harmonic reducer 200, and the force application mechanism 2 can generate larger torque on the harmonic reducer 200 by only providing smaller pressure by utilizing the lever principle, so that the testing process is more labor-saving; in addition, a plurality of test data such as the rotation angle of the harmonic reducer 200 in the test process can be obtained.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.
Claims (10)
1. The utility model provides an automatic test machine of harmonic speed reducer rigidity which characterized in that includes:
The positioning mechanism is used for fixing a rigid wheel of the harmonic reducer to be tested;
A rigid body lever having axially opposite first and second ends, the first end for connection to a rigid gear of the harmonic reducer;
The force application mechanism is connected to the rigid body lever to apply pressure to the rigid body lever and comprises a pressure detector which detects the pressure applied to the rigid body lever by the force application mechanism;
A displacement detector disposed adjacent to the second end portion for detecting an offset of the rigid body lever; and
And the controller is used for obtaining the torque applied to the harmonic reducer according to the product of the pressure and the distance between the force-bearing point of the rigid body lever and the first end part, obtaining the corner of the harmonic reducer according to the offset and the distance, and obtaining the rigidity of the harmonic reducer according to the ratio of the torque to the corner.
2. The automated harmonic reducer rigidity testing machine according to claim 1, wherein the force applying mechanism includes a driver and a lead screw transmission structure, the lead screw transmission structure includes a lead screw connected to an output end of the driver and a lead screw nut sleeved on the lead screw, and the lead screw drives the lead screw nut to move along an axial direction thereof under the driving of the driver so as to apply pressure to the rigid lever.
3. The automated harmonic reducer rigidity testing machine according to claim 2, wherein the lead screw transmission structure further comprises an elastic member, the elastic member is sleeved on the lead screw, the elastic member is located below the lead screw nut, and the lead screw nut compresses the elastic member to apply pressure to the rigid body lever when moving along the axial direction of the lead screw.
4. The automated harmonic reducer stiffness testing machine of claim 3, wherein the elastic member is a spring.
5. The automated harmonic reducer rigidity testing machine according to claim 3, wherein the pressure detector is disposed between the elastic member and the rigid body lever, the elastic member transmits a flexible pressure to the pressure detector when compressed by the feed screw nut, and the pressure detector detects and transmits the pressure to the rigid body lever.
6. The automated testing machine for the rigidity of the harmonic reducer according to claim 1, wherein the positioning mechanism comprises a rotating motor and a mounting plate, the rotating motor is mounted on the mounting plate, the rotating motor is used for harmonically driving a rigid wheel of the harmonic reducer, and the rotating motor drives the harmonic reducer to rotate to a next testing position after the testing at a previous testing position of the harmonic reducer is completed.
7. The automated testing machine for the rigidity of the harmonic reducer according to claim 6, further comprising a flange, wherein the first end is connected with a rigid wheel of the harmonic reducer through the flange.
8. The automated harmonic reducer stiffness testing machine as set forth in claim 1 further comprising a display in communicative connection with the controller, the display displaying stiffness data output by the controller.
9. The automated harmonic reducer stiffness testing machine of claim 1, wherein the force application mechanism is coupled to the second end portion, and the controller obtains the torque based on an axial dimension of the rigid body lever and the pressure.
10. The automated harmonic reducer stiffness testing machine of claim 9, wherein the controller obtains the stiffness of the harmonic reducer by calculating a formula R ═ F × L/(arctan (S/L)); wherein, R is the rigidity of the harmonic reducer, F is the pressure born by the rigid lever, L is the axial dimension of the rigid lever, and S is the offset.
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| CN112747101A (en) * | 2020-12-29 | 2021-05-04 | 华南理工大学 | Tooth shape design method for double-arc tooth profile harmonic reducer |
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| CN210665047U (en) * | 2019-09-19 | 2020-06-02 | 东莞市沃德精密机械有限公司 | Rigidity automatic testing machine for harmonic reducer |
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| CN112747101A (en) * | 2020-12-29 | 2021-05-04 | 华南理工大学 | Tooth shape design method for double-arc tooth profile harmonic reducer |
| CN112747101B (en) * | 2020-12-29 | 2022-07-26 | 华南理工大学 | Tooth shape design method for double-arc tooth profile harmonic reducer |
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