CN110595417B - Calibration device and method for angle measurement system of precise speed reducer detector - Google Patents
Calibration device and method for angle measurement system of precise speed reducer detector Download PDFInfo
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- CN110595417B CN110595417B CN201910941770.9A CN201910941770A CN110595417B CN 110595417 B CN110595417 B CN 110595417B CN 201910941770 A CN201910941770 A CN 201910941770A CN 110595417 B CN110595417 B CN 110595417B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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Abstract
The invention discloses a calibration device and a calibration method of an angle measurement system of a precise speed reducer detector, wherein the calibration device comprises a polyhedron used for angle calibration of a high-speed end measurement system and a low-speed end measurement system, a multi-tooth dividing table used for enabling the polyhedron and a circular grating of the high-speed end measurement system and the low-speed end measurement system to move at a set angle, a photoelectric auto-collimator used for reading angle values, and a mounting structure used for mounting the polyhedron and the multi-tooth dividing table on a high-speed end output shaft or a low-speed end input shaft of the precise speed reducer detector. The invention can effectively avoid the occurrence of installation clearance, does not generate additional error in angle transmission, has higher installation precision, can ensure the coaxiality of the polyhedron and the circular grating, has firm and reliable matching, and is beneficial to ensuring the calibration precision; the invention also ensures that the measuring points are not limited to the working surface of the polyhedron, has better global calibration effect, and solves the problem that other methods applying the polyhedron to the measurement and the compensation of the polyhedron only have the calibration effect on the sampling points of the error samples and are invalid on the non-sampling points.
Description
Technical Field
The invention relates to a precise detection metering and calibration technology, in particular to a precise speed reducer detector angle measurement system calibration device and an angle measurement system calibration method.
Background
The precise speed reducer is widely applied to various fields of national economy and national defense industry, with the development of industrial automation technology, the application requirements of automation equipment such as aviation, satellite, medical treatment, military science and technology, electronic equipment, robots and the like are gradually improved, and the transmission efficiency, the load capacity, the precision grade and the like of the speed reducer seriously influence the working precision and the service life of the whole system, so that the precise detection of the performance of the speed reducer becomes particularly important.
The angle measurement is used as a key technical parameter in the performance detection of the speed reducer, and determines the measurement accuracy of key performance parameters such as torsional rigidity, idle stroke, backlash, transmission error and the like of the speed reducer. In the speed reducer detector, a circular grating is used as an angle measuring element, the circular grating is connected in series to a measuring shaft system, and rotates coaxially and synchronously with a speed reducer to be measured, and the rotation angle of the circular grating is read out through a reading head, so that the angle measurement of the speed reducer is realized. Although the precision of the circular grating is higher, installation errors, such as eccentric errors, inclination errors and the like of the circular grating, are introduced in the assembly process, so that the precision of the angle measurement system is reduced, and therefore, the angle standard component is required to be adopted for calibration. Because the polyhedral prism has higher measurement precision and simple structure, the angular calibration is carried out by adopting the polyhedral prism, and the polyhedral prism and the circular grating need to coaxially rotate. Due to certain measurement environment limitations, for example, when the polyhedral is required to be used for hanging measurement, high requirements are placed on the installation of the polyhedral. Moreover, the measured data of the polyhedron are limited to the number of the prismatic working faces, and the measured data only have high calibration effect at sampling points, so that the calibration effect at other angle positions is greatly reduced.
Therefore, an accurate method is needed to calibrate the angle measurement of the precise speed reducer detector, and the measurement accuracy of the angle measurement system is improved.
Disclosure of Invention
The invention aims to solve the defects of the existing angle measurement system calibration method and provides a reliable polygon installation method and a method for increasing the sampling point number of the polygon. By improving the installation mode and the measurement method, the angle measurement calibration can be accurately carried out on the precise speed reducer detector by the calibration method, and the measurement accuracy of the angle measurement system is effectively improved.
The technical scheme adopted by the invention is as follows: a calibration device for an angle measurement system of a precision speed reducer detector, which is used for angle calibration of a high-speed end measurement system and a low-speed end measurement system of the precision speed reducer detector, and comprises:
The polygon is used for angle calibration of the high-speed end measuring system and the low-speed end measuring system;
The multi-tooth indexing table is fixedly connected with the polyhedron and used for enabling the polyhedron, the circular grating of the high-speed end measuring system and the circular grating of the low-speed end measuring system to move at a set angle;
the photoelectric auto-collimator is arranged opposite to the polyhedral prism and is used for reading an angle value; and
And the mounting structure is used for mounting the polyhedron and the multi-tooth indexing table on a high-speed end output shaft or a low-speed end input shaft of the precise speed reducer detector.
Further, the mounting structure comprises an expansion element capable of enabling the multi-tooth indexing table and the polyhedron to be suspended and fixed on the high-speed end of the precision speed reducer detector, a mounting piece for enabling the expansion element to be connected with the polyhedron and the multi-tooth indexing table, and a large round nut for clamping the polyhedron and the multi-tooth indexing table;
The expansion element comprises an expansion sleeve, a first contact platform and a square clamping part which are connected in sequence; the outer wall of the expansion sleeve is cylindrical, the inner wall of the expansion sleeve is a conical surface, the outer wall of the expansion sleeve is matched with the high-speed end output shaft, and a plurality of rectangular openings which are beneficial to deformation of the expansion sleeve are formed in the side wall of the upper part of the expansion sleeve; the center of the square clamping part is provided with a through threaded hole;
The top of the mounting piece is provided with a second contact platform for connecting with the first contact platform of the expansion element; the middle part of the mounting piece is provided with a shaft shoulder positioning, and the upper end surface of the shaft shoulder positioning is provided with a cylindrical surface matched with the involute internal spline addendum circle of the low-speed end input shaft; the multi-tooth indexing table and the polyhedral rib are sleeved outside the mounting piece and positioned below the shaft shoulder positioning after being fixedly connected, and the lower end surface of the shaft shoulder positioning is contacted with the upper end surface of the multi-tooth indexing table and used for limiting the axial positions of the multi-tooth indexing table and the polyhedral rib; the tail part of the mounting piece is provided with external threads, and the large round nut is screwed into and clamps the multi-tooth indexing table and the polyhedron from the external threads at the tail part of the mounting piece.
When the high-speed end measuring system is calibrated, the polyhedron is required to be installed on a station of the high-speed end output shaft, at the moment, the upper end face of the first contact platform of the expansion element is in contact with the lower end face of the high-speed end output shaft in a fitting manner to realize axial positioning, and the second contact platform of the installation piece is connected with the first contact platform of the expansion element; the expansion element is screwed in through the penetrating threaded hole of the square clamping part by adopting a bolt, the bolt contacts the inner wall of the expansion sleeve when being screwed upwards, so that the expansion sleeve is deformed to the outer side in a flowering mode, is contacted with the involute internal spline addendum circle of the high-speed end output shaft, and the angle measuring system calibration device is connected with the high-speed end output shaft by friction force between the involute internal spline addendum circle of the high-speed end output shaft, which is generated by extrusion deformation of the outer wall of the expansion sleeve.
When the low-speed end measuring system is calibrated, the polyhedral prism is required to be installed on a station of the low-speed end input shaft, at the moment, the cylindrical surface positioned by the shaft shoulder of the mounting piece is matched with the involute internal spline addendum circle of the low-speed end input shaft, the end surface, far away from the multi-tooth dividing table, of the shaft shoulder of the mounting piece is positioned to be in contact with the upper end surface of the low-speed end input shaft, so that spigot matching is formed, and coaxiality of the polyhedral prism and a circular grating of the low-speed end measuring system is ensured; meanwhile, friction force is ensured between the angle measurement system calibration device and the end face of the low-speed end input shaft through the dead weight of the angle measurement system calibration device, so that the polyhedron and the low-speed end input shaft cannot generate relative rotation.
The diameter of the inner wall of the conical surface of the expansion sleeve is gradually reduced from bottom to top.
The first contact platform of the expansion element is provided with a through connection threaded hole used for being connected with the second contact platform of the mounting piece, and the expansion element and the mounting piece are connected into a whole through the through connection threaded hole; the through connection screw holes are arranged in a plurality, and are distributed at equal intervals along the circumferential direction.
The outer diameter of the first contact platform of the expansion element is larger than the inner diameter of the involute internal spline addendum circle of the high-speed end output shaft and smaller than the inner diameter of the involute internal spline addendum circle of the low-speed end input shaft; the outer diameter of the second contact platform of the mounting piece is smaller than the inner diameter of the involute internal spline addendum circle of the low-speed end input shaft.
The invention adopts another technical scheme that: the method for calibrating the angle measurement system of the precise speed reducer detector comprises a high-speed end part, a low-speed end part, a data acquisition system and a control system; the high-speed end part comprises a driving motor for driving the tested speed reducer to work, a high-speed end measuring system for measuring the performance parameters of the input end of the tested speed reducer, and a high-speed end output shaft for connecting with the tested speed reducer; the low-speed end part comprises a load motor for bearing and driving reversely, a low-speed end measuring system for measuring the performance parameters of the output end of the tested speed reducer, and a low-speed end input shaft for connecting with the tested speed reducer; the control system is used for controlling the driving motor, the load motor and the data acquisition system; the high-speed end measuring system and the low-speed end measuring system comprise a circular grating and double reading heads; the angle measurement system calibration method adopts the angle measurement system calibration device of the precise speed reducer detector, and comprises the following steps:
step 1, installing an angle measurement system calibration device on the high-speed end output shaft or the low-speed end input shaft;
step 2, setting the polygon to have n faces, wherein k is smaller than the rotation angle k of the multi-tooth indexing table An angle difference k is formed between the polygon and the circular grating of the high-speed end measuring system or the low-speed end measuring system;
step 3, the control system controls the driving motor or the load motor to rotate, so that the ith working surface of the polygon is aligned to the photoelectric auto-collimator, wherein i=1, 2, …, n;
Step 4, reading a reading d i of the photoelectric autocollimator and double-reading-head readings x 1i and x 2i of the high-speed end measuring system or the low-speed end measuring system through the data acquisition system;
Step 5, extracting the compensation value c i of the ith surface of the polygon, and then measuring the angle measurement value of the angle measurement system calibration device Circular grating angle measurement/>, of the high-speed end measurement system or the low-speed end measurement systemThe calibration angle value L i＝ai-bi;
step 6, repeating the steps 3 to 5 until n calibration angle values with an angle difference k between the polygon and the circular grating are obtained;
Step 7, selecting x different angle differences k between the polygon and the circular grating, and sequentially repeating the steps 2 to 6 to obtain xn calibration angle values;
and 8, after the measurement is finished, sequencing the xn calibration angle values from small to large according to the circular grating angle measurement values corresponding to the xn calibration angle values to obtain the calibration value of the high-speed end measurement system or the low-speed end measurement system.
The beneficial effects of the invention are as follows: the installation scheme in the calibration device and the method of the angle measurement system of the precise speed reducer detector can effectively avoid the occurrence of installation gaps, does not generate additional errors in angle transmission, has higher installation precision, can ensure the coaxiality of the polyhedron and the circular grating, is firmly and reliably matched, and is favorable for ensuring the calibration precision. The measuring method also ensures that the measuring point is not limited to the working surface of the polygon, has better global calibration effect, and solves the problem that other methods applying the polygon measurement and compensation only have the calibration effect on the error sample sampling point and are invalid on the non-sampling point.
Drawings
FIG. 1 is a schematic diagram of a calibration device for a complete machine and an angle measurement system of a precision speed reducer detector;
FIG. 2 is a schematic view of the angular system calibration apparatus installed at the high speed end;
FIG. 3 is a schematic view of the angular system calibration apparatus installed at the low speed end;
FIG. 4 is a schematic illustration of the structure of an expansion element;
FIG. 5 is a schematic cross-sectional view of an expansion element;
FIG. 6 is a schematic view of a mounting structure;
fig. 7 is a schematic view of a connection of a polygonal pyramid, a multi-tooth indexing table, and an expansion element.
The drawings are marked: 1. the angle measuring system calibrating device comprises a calibrating device 2, a driving motor 3, a high-speed end measuring system 4, a high-speed end output shaft 5, an expansion element 6, a mounting piece 7, a multi-tooth indexing table 8, a polyhedron, 9, a photoelectric autocollimator 10, a low-speed end input shaft 11, a low-speed end measuring system 12, a load motor 13, a large round nut 14, an expansion sleeve 15, a first contact platform 16 and a square clamping part.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
The invention relates to a precise speed reducer detector, which is shown in fig. 1 and comprises a high-speed end part, a low-speed end part, a data acquisition system and a control system. The high-speed end part comprises a driving motor 2 for driving the tested speed reducer to work, a high-speed end measuring system 3 for measuring the performance parameters of the input end of the tested speed reducer, and a high-speed end output shaft 4 for being connected with the tested speed reducer. The low speed end portion includes a load motor 12 for carrying and driving in reverse, a low speed end measurement system 11 for measuring a measured speed reducer output performance parameter, and a low speed end input shaft 10 for connecting with the measured speed reducer. The data acquisition system is used for acquiring and processing angle measurement data of the high-speed end measurement system 3 and the low-speed end measurement system 11. The control system is used for controlling the driving motor 2, the load motor 12 and the data acquisition system. Wherein, the high-speed end measuring system 3 and the low-speed end measuring system 11 comprise a circular grating and a double reading head.
As shown in fig. 1 to 3, a calibration device for an angle measurement system of a precision speed reducer detector comprises a polygon 8 for angle calibration, a multi-tooth indexing table 7 for enabling the polygon 8 to move at a set angle with a circular grating of a high-speed end measurement system 3 and a circular grating of a low-speed end measurement system 11, a photoelectric auto-collimator 9 for reading angle values, and a mounting structure for mounting the polygon 8 and the multi-tooth indexing table 7 on a high-speed end output shaft 4 or a low-speed end input shaft 10 of the precision speed reducer detector. Wherein the multi-tooth indexing table 7 is fixedly connected with the polyhedron 8; the photoelectric auto-collimator 9 is arranged opposite to the polyhedron 8; the mounting structure comprises an expansion element 5 which enables the multi-tooth indexing table 7 and the polyhedron 8 to be suspended and fixed on the high-speed end of a precise speed reducer detector, a mounting piece 6 for connecting the expansion element 5 with the polyhedron 8 and the multi-tooth indexing table 7, and a round nut 13 for clamping the polyhedron 8 and the multi-tooth indexing table 7.
As shown in fig. 4 and 5, the expansion element 5 comprises an expansion sleeve 14, a first contact platform 15 and a square clamping portion 16, which are connected in sequence. The outer wall of the expansion sleeve 14 is cylindrical, the inner wall is a conical surface, and the diameter of the inner wall is gradually reduced from bottom to top; the outer wall of the expansion sleeve 14 is matched with the high-speed end output shaft 4, and a plurality of rectangular openings which are beneficial to the deformation of the expansion sleeve 14 are formed in the side wall of the upper part of the expansion sleeve 14. The first contact platform 15 of the expansion element 5 is provided with a through connection threaded hole for connecting with the second contact platform of the mounting piece 6, the expansion element 5 and the mounting piece 6 are connected into a whole through the through connection threaded hole, and a plurality of through connection threaded holes are arranged and distributed at equal intervals along the circumferential direction; the outer diameter of the first contact land 15 of the expansion element 5 is larger than the inner diameter of the involute internal spline addendum circle of the high speed end output shaft 4 and smaller than the inner diameter of the involute internal spline addendum circle of the low speed end input shaft 10. The outer side of the square clamping part 16 is square, and the expansion element 5 can be clamped at the part by using a spanner when in use; the center of the square clamping portion 16 is provided with a through threaded hole, and a bolt can be screwed into the expansion element 5 through the through threaded hole of the square clamping portion 16. When the expansion element 5 is used, the expansion sleeve 14 can be put into the high-speed end output shaft 4 until the first contact platform 15 is in end face contact with the high-speed end output shaft 4 by clamping the square clamping part 16 below by using a wrench; and screwing the bolt into the expansion element 5 through the penetrating threaded hole, contacting the inner wall of the expansion sleeve 14 when the bolt is screwed upwards, screwing upwards after contacting, extruding the conical surface inner wall of the expansion sleeve 14, and enabling the expansion sleeve 14 to be deformed outwards in a flowering mode, so that the outer wall of the expansion sleeve 14 is in extrusion contact with the involute internal spline addendum circle of the high-speed end output shaft 4, and the angle measurement system calibration device 1 and the high-speed end output shaft 4 are connected together by friction force between the involute internal spline addendum circle of the high-speed end output shaft 4, which is generated by extrusion deformation of the outer wall of the expansion sleeve 14. When the expansion sleeve is disassembled, the expansion sleeve 14 can restore the shape only by unscrewing the bolt from the through threaded hole of the expansion element 5, and is taken out from the involute spline housing of the high-speed end output shaft 4.
The top of the mounting piece 6 is provided with a second contact platform for connecting the first contact platform 15 of the expansion element 5, and the outer diameter of the second contact platform of the mounting piece 6 is smaller than the inner diameter of the involute internal spline addendum circle of the low speed end input shaft 10. The middle part of the mounting piece 6 is provided with a shaft shoulder positioning, and the upper end surface of the shaft shoulder positioning is provided with a cylindrical surface matched with the involute internal spline addendum circle of the low-speed end input shaft 10. The multi-tooth indexing table 7 and the polyhedral 8 are fixedly connected and then sleeved outside the mounting piece 6 and positioned below the shaft shoulder positioning, and the lower end surface of the shaft shoulder positioning is contacted with the upper end surface of the multi-tooth indexing table 7 and used for limiting the axial positions of the multi-tooth indexing table 7 and the polyhedral 8. The tail part of the mounting piece 6 is provided with external threads, and the round nut 13 is screwed into the multi-tooth indexing table 7 and the polyhedron 8 from the external threads at the tail part of the mounting piece 6.
In the high-speed end angle measuring system, the driving motor 2 is connected with the high-speed end measuring system 3, and the high-speed end measuring system 3 is connected with the high-speed end output shaft 4. When calibrating the high-speed end measuring system 3, the angular measuring system calibrating device 1 is firstly installed, and the polyhedron 8 is installed on the station of the high-speed end output shaft 4. The expansion element 5 can be installed in the high-speed output shaft 4, and then the installation piece 6 is connected with the multi-tooth indexing table 7 and the polygon 8 together, and is connected with the expansion element 5, so that the installation of the polygon 8 is completed, and the polygon 8 in the angle measurement system calibration device 1 and the circular grating in the high-speed end measurement system 3 are ensured to coaxially and synchronously rotate. When in installation, the upper end surface of the first contact platform 15 of the expansion element 5 is in abutting contact with the lower end surface of the high-speed end output shaft 4 to realize axial positioning, and the second contact platform of the installation piece 6 is connected with the first contact platform 15 of the expansion element 5; the expansion element 5 is screwed in through the through threaded hole of the square clamping part 16 by a bolt, and the bolt contacts the inner wall of the expansion sleeve 14 when being screwed in upwards, so that the expansion sleeve 14 deforms outwards in a flowering mode, contacts with the involute internal spline addendum circle of the high-speed end output shaft 4, and friction force generated by extrusion deformation of the outer wall of the expansion sleeve 14 and between the involute internal spline addendum circle of the high-speed end output shaft 4 connects the angle measurement system calibration device 1 with the high-speed end output shaft 4.
In the low-speed-end angle measuring system, the load motor 12 is connected to the low-speed-end measuring system 11, and the low-speed-end measuring system 11 is connected to the low-speed-end input shaft 10. When calibrating the low-speed-end measuring system 11, the angular measuring system calibrating device 1 is first installed, and the polygon 8 is installed on the low-speed-end input shaft 10. The mounting piece 6 can be placed in the low-speed-end input shaft 10, the structure (comprising the second contact platform and the expansion element 5) at the upper part of the shaft shoulder positioning of the mounting piece 6 is freely hung in the low-speed-end input shaft 10, the cylindrical surface positioned on the shaft shoulder of the mounting piece 6 is matched with the involute internal spline addendum circle of the low-speed-end input shaft 10, the end surface, far away from the multi-tooth indexing table 7, of the shaft shoulder positioning of the mounting piece 6 is contacted with the upper end surface of the low-speed-end input shaft 10, and spigot matching is formed, so that coaxiality of the polyhedron 8 and a circular grating in the low-speed-end measuring system 11 is ensured. The multi-tooth indexing table 7 and the polyhedral 8 are positioned through the lower end surface positioned by the shaft shoulder of the mounting piece 6, and are clamped by utilizing the threaded transmission of the large round nut 13 and the mounting piece 6; the multi-tooth indexing table 7 and the polyhedron 8 are fixedly connected. And connecting the mounting piece 6, the multi-tooth indexing table 7 and the polyhedron 8 together to finish the mounting of the polyhedron 8. The dead weight of the angle measurement system calibration device 1 ensures that friction exists between the angle measurement system calibration device 1 and the end face of the low-speed-end input shaft 10, so that the polygon 8 and the low-speed-end input shaft 10 cannot rotate relatively, and the polygon 8 and the circular grating of the low-speed-end measurement system 11 are ensured to rotate synchronously.
The angular measurement system calibration device 1 is connected with the polygon 8 by adopting the multi-tooth indexing table 7, and the polygon 8 and the circular grating of the high-speed end measurement system 3 or the low-speed end measurement system 11 are moved by moving the multi-tooth indexing table 7 by a fixed angle value. The other set of circular grating angle values can be realized by enabling the working surface of the polyhedron 8 to face, and the circular grating angle can be calibrated. The problem that the number of sampling points is limited to the number of prism surfaces can be solved by changing the moving angle value of the multi-tooth indexing table 7 for a plurality of times, and the global calibration effect is good.
The calibration method for the angle measurement system of the precise speed reducer detector adopts the calibration device 1 for the angle measurement system to calibrate the angle measurement system of the precise speed reducer detector, and comprises the following steps:
Step 1, installing an angle measurement system calibration device 1 on the high-speed end output shaft 4 or the low-speed end input shaft 10 through the installation structure and the installation method thereof, and starting to calibrate after the angle measurement system calibration device 1 is installed;
Step 2, providing the polygon 8 with n faces, and rotating the multi-tooth indexing table 7 by an angle k, wherein k is smaller than An angle difference k is formed between the polygon 8 and the circular grating of the high-speed end measuring system 3 or the low-speed end measuring system 11;
Step 3, the control system controls the driving motor 2 or the load motor 12 to rotate, so that the ith working surface of the polygon 8 is aligned to the photoelectric auto-collimator 9, wherein i=1, 2, …, n;
Step 4, reading a reading d i of the photoelectric autocollimator 9 and double-reading-head readings x 1i and x 2i of the high-speed end measuring system 3 or the low-speed end measuring system 11 through the data acquisition system;
Step 5, extracting the compensation value c i of the ith surface of the polygon 8, wherein the angle measurement value of the angle measurement system calibration device 1 is the ith surface angle value plus the reading value of the photoelectric auto-collimator 9 plus the working surface compensation value of the polygon 8 plus the angle difference value between the polygon 8 and the circular grating, namely The measured value of the circular grating angle of the high-speed end measuring system 3 or the low-speed end measuring system 11 is the average value of double-reading-head readings, namely/>The difference between the measured value of the angle of the circular grating and the measured value of the angle of the polygon 8 of the calibrating device 1 of the angle measuring system is the calibrated angle value L i＝ai-bi;
Step 6, repeating the steps 3 to 5 until n calibration angle values with an angle difference k between the polygon 8 and the circular grating are obtained;
step 7, selecting x different angle differences k between the polygon 8 and the circular grating, and sequentially repeating the steps 2 to 6 to obtain xn calibration angle values;
And 8, after the measurement is finished, sequencing the xn calibration angle values according to the order from small to large of the circular grating angle measurement values corresponding to the xn calibration angle values to obtain the calibration value of the high-speed end measurement system 3 or the low-speed end measurement system 11.
And in the measurement process of calibrating the angle measuring system of the precise speed reducer detector, namely, angle values are respectively measured through a circular grating in a high-speed end measuring system 3 and a low-speed end measuring system 11 of the detector and the polyhedron 8 in the angle measuring system calibrating device 1, angle data are transmitted to the data acquisition system, and the measured data are further processed through the data acquisition system to obtain the calibrated values. And the polygon 8 is driven to rotate through the multi-tooth indexing table 7, so that the problem of limited number of angle sampling points is solved, and the effect of global calibration is achieved.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims, which are within the scope of the present invention.
Claims (7)
1. A precision reducer detector angular measurement system calibration device (1) for angular calibration of a high-speed end measurement system (3) and a low-speed end measurement system (11) of a precision reducer detector, comprising:
A polyhedron (8) for angular alignment of the high-speed end measurement system (3) and the low-speed end measurement system (11);
The multi-tooth indexing table (7), the multi-tooth indexing table (7) is fixedly connected with the polyhedron (8) and is used for enabling the polyhedron (8) to move at a set angle with the circular grating of the high-speed end measuring system (3) and the circular grating of the low-speed end measuring system (11);
a photoelectric auto-collimator (9), wherein the photoelectric auto-collimator (9) is arranged opposite to the polyhedron (8) and is used for reading an angle value; and
The mounting structure is used for mounting the polyhedron (8) and the multi-tooth indexing table (7) on a high-speed end output shaft (4) or a low-speed end input shaft (10) of the precise speed reducer detector; the mounting structure comprises an expansion element (5) which can enable the multi-tooth indexing table (7) and the multi-tooth prism (8) to be suspended and fixed on the high-speed end of the precision speed reducer detector, a mounting piece (6) for enabling the expansion element (5) to be connected with the multi-tooth prism (8) and the multi-tooth indexing table (7), and a large round nut (13) for clamping the multi-tooth prism (8) and the multi-tooth indexing table (7);
The expansion element (5) comprises an expansion sleeve (14), a first contact platform (15) and a square clamping part (16) which are connected in sequence; the outer wall of the expansion sleeve (14) is cylindrical, the inner wall of the expansion sleeve is conical, the outer wall of the expansion sleeve (14) is matched with the high-speed end output shaft (4), and a plurality of rectangular openings which are beneficial to deformation of the expansion sleeve (14) are formed in the side wall of the upper part of the expansion sleeve (14); the center of the square clamping part (16) is provided with a through threaded hole;
The top of the mount (6) is provided with a second contact platform for connecting a first contact platform (15) of the expansion element (5); the middle part of the mounting piece (6) is provided with a shaft shoulder positioning, and the upper end surface of the shaft shoulder positioning is provided with a cylindrical surface matched with the involute internal spline addendum circle of the low-speed end input shaft (10); the multi-tooth indexing table (7) and the polyhedral (8) are fixedly connected and then sleeved outside the mounting piece (6) and positioned below the shaft shoulder positioning, and the lower end surface of the shaft shoulder positioning is contacted with the upper end surface of the multi-tooth indexing table (7) and used for limiting the axial positions of the multi-tooth indexing table (7) and the polyhedral (8); the tail part of the mounting piece (6) is provided with external threads, and the large round nut (13) is screwed into and clamps the multi-tooth indexing table (7) and the polyhedron (8) from the external threads at the tail part of the mounting piece (6).
2. The calibrating device (1) of the angle measuring system of the precision reducer detector according to claim 1, wherein when the high-speed end measuring system (3) is calibrated, the polygon (8) is required to be installed on a station of the high-speed end output shaft (4), at this time, the upper end face of the first contact platform (15) of the expansion element (5) is in contact with the lower end face of the high-speed end output shaft (4) in a fitting manner to realize axial positioning, and the second contact platform of the mounting piece (6) is connected with the first contact platform (15) of the expansion element (5); the expansion element (5) is screwed in through the penetrating threaded hole of the square clamping part (16) by a bolt, the bolt contacts the inner wall of the expansion sleeve (14) when being screwed upwards, the expansion sleeve (14) is deformed outwards in a flowering mode, the expansion sleeve is contacted with the involute internal spline addendum circle of the high-speed end output shaft (4), and the angle measurement system calibration device (1) is connected with the high-speed end output shaft (4) by friction force between the involute internal spline addendum circle of the high-speed end output shaft (4) and generated by extrusion deformation of the outer wall of the expansion sleeve (14).
3. The calibration device (1) of the angle measurement system of the precision reducer detector according to claim 1, wherein when the low-speed end measurement system (11) is calibrated, the polygon (8) is required to be installed on a station of the low-speed end input shaft (10), at this time, a cylindrical surface positioned on a shaft shoulder of the mounting piece (6) is matched with an involute internal spline tooth top circle of the low-speed end input shaft (10), the shaft shoulder of the mounting piece (6) is positioned far away from the end surface of the multi-tooth indexing table (7) and is contacted with the upper end surface of the low-speed end input shaft (10), so that a spigot is formed to be matched, and coaxiality of the polygon (8) and a circular grating of the low-speed end measurement system (11) is ensured; meanwhile, the dead weight of the angle measurement system calibration device (1) ensures that friction is generated between the angle measurement system calibration device (1) and the end face of the low-speed end input shaft (10), so that the polyhedron (8) and the low-speed end input shaft (10) cannot rotate relatively.
4. The calibration device (1) of the angle measurement system of the precision reducer detector according to claim 1, wherein the diameter of the conical surface inner wall of the expansion sleeve (14) is gradually reduced from bottom to top.
5. The calibrating device (1) of the angle measuring system of the precision speed reducer detector according to claim 1, characterized in that a through connection threaded hole for connecting with a second contact platform of the mounting piece (6) is formed on a first contact platform (15) of the expansion element (5), and the expansion element (5) and the mounting piece (6) are connected into a whole through the through connection threaded hole; the through connection screw holes are arranged in a plurality, and are distributed at equal intervals along the circumferential direction.
6. The calibration device (1) of the precision reducer detector angular measurement system according to claim 1, characterized in that the outer diameter of the first contact platform (15) of the expansion element (5) is greater than the inner diameter of the involute internal spline addendum circle of the high-speed end output shaft (4) and smaller than the inner diameter of the involute internal spline addendum circle of the low-speed end input shaft (10); the outer diameter of the second contact platform of the mounting piece (6) is smaller than the inner diameter of the involute internal spline addendum circle of the low-speed end input shaft (10).
7. The method for calibrating the angle measurement system of the precise speed reducer detector comprises a high-speed end part, a low-speed end part, a data acquisition system and a control system; the high-speed end part comprises a driving motor (2) for driving the tested speed reducer to work, a high-speed end measuring system (3) for measuring the performance parameters of the input end of the tested speed reducer, and a high-speed end output shaft (4) for connecting with the tested speed reducer; the low-speed end part comprises a load motor (12) for bearing and driving reversely, a low-speed end measuring system (11) for measuring the performance parameters of the output end of the tested speed reducer, and a low-speed end input shaft (10) for connecting with the tested speed reducer; the control system is used for controlling the driving motor (2), the load motor (12) and the data acquisition system; wherein, the high-speed end measuring system (3) and the low-speed end measuring system (11) comprise a circular grating and a double reading head; the method for calibrating the angle measurement system of the precise speed reducer detector is characterized by comprising the following steps of:
step 1, installing an angle measurement system calibration device (1) on the high-speed end output shaft (4) or the low-speed end input shaft (10);
step 2, providing the polygon (8) with n faces, wherein k is smaller than the rotation angle k of the multi-tooth indexing table (7) An angle difference k is formed between the polygon (8) and the circular grating of the high-speed end measuring system (3) or the low-speed end measuring system (11);
Step 3, the control system controls the driving motor (2) or the load motor (12) to rotate, so that the ith working surface of the polyhedron (8) is aligned with the photoelectric auto-collimator (9), wherein i=1, 2, …, n;
Step 4, reading a reading d i of the photoelectric autocollimator (9) and double-reading-head readings x 1i and x 2i of the high-speed end measuring system (3) or the low-speed end measuring system (11) through the data acquisition system;
Step 5, extracting the compensation value c i of the ith surface of the polygon (8), and measuring the angle measurement value of the angle measurement system calibration device (1) The high-speed end measurement system (3) or the low-speed end measurement system (11) is used for measuring the angle of the circular grating/>The calibration angle value L i＝ai-bi;
step 6, repeating the steps 3 to 5 until n calibration angle values with an angle difference k between the polygon (8) and the circular grating are obtained;
Step 7, selecting x different angle differences k between the polygon (8) and the circular grating, and sequentially repeating the steps 2 to 6 to obtain xn calibration angle values;
And 8, after the measurement is finished, sequencing the xn calibration angle values from small to large according to the circular grating angle measurement values corresponding to the xn calibration angle values to obtain the calibration value of the high-speed end measurement system (3) or the low-speed end measurement system (11).
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