CN110793736A - Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force - Google Patents
Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force Download PDFInfo
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- CN110793736A CN110793736A CN201910781980.6A CN201910781980A CN110793736A CN 110793736 A CN110793736 A CN 110793736A CN 201910781980 A CN201910781980 A CN 201910781980A CN 110793736 A CN110793736 A CN 110793736A
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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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Abstract
The invention provides an adjustable device for measuring the rigidity of a harmonic reducer, which can eliminate radial force and comprises a base, two symmetrically arranged torsion arms, a symmetrical loading part and a measuring meter, wherein the base is arranged on a workbench; the base is fixed in on the workstation, the harmonic speed reducer ware that awaits measuring sets up on the base, the harmonic speed reducer ware input shaft that awaits measuring is fixed not changeing, the radial both sides fixed connection of harmonic speed reducer ware output shaft that twists reverse arm and awaits measuring, symmetry loading part is including being located respectively the two sets of force application units of twisting arm top and below, two sets of force application units are respectively to corresponding twisting arm application of force, application of force point position is adjustable and about output shaft axis symmetry, the direction of force perpendicular to twists reverse arm and the size of power can acquire, set up the gauge on at least one twisting arm and be used for measuring the displacement of.
Description
Technical Field
The invention relates to a mechanical transmission measurement technology, in particular to an adjustable device for measuring the rigidity of a harmonic reducer, which can eliminate radial force.
Background
The harmonic reducer is a core component of an industrial robot and is an indispensable component for reliable and accurate operation of a mechanical arm. With the need of industrial transformation and upgrading in China, industrial robots are widely applied in China, and the demand of harmonic reducers is increasing day by day. Different from a common gear reducer, the harmonic reducer realizes the speed reduction by means of controllable deformation and tooth difference generated by a flexible gear. The torsional rigidity of the harmonic reducer can directly influence the positioning control precision of the industrial robot, and is one of indexes for evaluating the key performance of the harmonic reducer. The traditional rigidity measuring device for the harmonic reducer adopts unilateral loading torque, and the mode cannot avoid radial pressure generated on an output shaft of the harmonic reducer due to the dead weight of a loading device, and the radial force can directly influence the measurement precision; therefore, the traditional loading device is simple in structure, but causes error factors.
Disclosure of Invention
The invention aims to provide a device for eliminating radial force and adjustably measuring the rigidity of a harmonic reducer.
The technical scheme for realizing the purpose of the invention is as follows: an adjustable device for measuring the rigidity of a harmonic reducer, which can eliminate radial force, comprises a base arranged on a workbench, two symmetrically arranged torsion arms, a symmetrical loading part and a measuring meter; the base is fixed in on the workstation, the harmonic speed reducer ware that awaits measuring sets up on the base, the harmonic speed reducer ware input shaft that awaits measuring is fixed not changeing, the radial both sides fixed connection of harmonic speed reducer ware output shaft that twists reverse arm and awaits measuring, symmetry loading part is including being located respectively the two sets of force application units of twisting arm top and below, two sets of force application units are respectively to corresponding twisting arm application of force, application of force point position is adjustable and about output shaft axis symmetry, the direction of force perpendicular to twists reverse arm and the size of power can acquire, set up the gauge on at least one twisting arm and be used for measuring the displacement of.
Further, the force application unit comprises a jack, a rod end spherical connector, a force sensor and an internal thread sleeve; the jack is fixed in the workstation or sets up on the support of workstation, and on rod end spherical connector one end was fixed in the jack output shaft, the bulb in the rod end spherical connector can be around the centre of sphere rotation swing in certain angle range, and force sensor one end is through the rod end fixed connection of internal thread sleeve with rod end spherical connector, the force sensor other end and corresponding torsion arm fixed connection.
Furthermore, a plurality of threaded holes are formed in the torsion arm, and the force sensor is connected with the threaded holes in the torsion arm in a matched mode.
Furthermore, the torsion arm is fixed on two sides of the sleeve, the sleeve is connected with a shaft sleeve key arranged in the sleeve, and the shaft sleeve is sleeved outside the output shaft of the harmonic reducer to be tested and is connected with the output shaft key.
Furthermore, a level is arranged on the torsion arm.
Furthermore, a three-jaw chuck is arranged on the workbench and clamps the input shaft of the harmonic reducer to be tested.
Compared with the prior art, the invention has the remarkable advantages that: (1) the device eliminates the radial force caused by unilateral loading of the traditional torsional rigidity measuring device, so that the error of the measuring result is smaller; (2) the device can be adapted to harmonic reducers with different output shaft diameters and different rigidity ranges, and has a wide application range; (3) the device ensures that the torsion arm is always subjected to a force perpendicular to the torsion arm, the force is a value measured by the force sensor, and the measurement result is calculated more accurately; (4) the device is stressed at two sides, the stress is only half of the original stress, the deformation of the torsion arm caused by stress is smaller, and the precision is higher; (5) a plurality of measuring points can be recorded, and a torsional rigidity characteristic curve of the harmonic gear is drawn; (6) the device has compact and simple structure, convenient disassembly and easy processing and realization.
The invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a three-view diagram of the whole structure of an adjustable device for measuring the rigidity of a harmonic reducer according to the present invention, wherein (a) is a front view, (b) is a side view, and (c) is a top view.
Fig. 2 is a partial sectional view and a sectional position schematic view of a device for eliminating radial force and adjustably measuring rigidity of a harmonic reducer according to the present invention, wherein (a) is a partial schematic view, and (b) is a sectional view a-a of (a).
Detailed Description
With reference to fig. 1 and 2, the device for measuring the rigidity of the harmonic reducer with the adjustable function of eliminating the radial force comprises a T-shaped groove workbench 11, a harmonic reducer part arranged on the workbench 11, a symmetrical loading part, reducer parts adapted to different specifications, an angle adjusting part, a data measuring part and a fixed input shaft part.
The harmonic reducer part comprises an input shaft and an output shaft of the harmonic reducer 1, and a base 10 which supports the harmonic reducer on a T-shaped groove workbench 11. The symmetrical loading part comprises vertical jacks 9,9 'for providing loads, torsion arms 4,5 for transmitting torque, a sleeve 3 for applying the torque to an output shaft, and force sensors 6, 6', internal thread sleeves 7,7 'and rod end spherical connectors 8, 8' which are of the same structure and are symmetrically distributed with the output shaft as the center. The part adapted to different specifications of the speed reducer comprises a replaceable shaft sleeve 2, and the shaft sleeve 2 is matched and connected with a sleeve 3.
The sleeve 3 is a cylindrical part with a key groove on the inner ring, and the axial length is not more than the length of the output shaft of the harmonic reducer 1.
The torsion arms 4 and 5 are made of steel with square cross sections and fixedly connected with the sleeve 3; in order to meet the requirements of different harmonic speed reducer rigidity and different force sensor ranges, a plurality of pairs of threaded holes are formed in the same corresponding positions of the lower planes of the pair of torsion arms, and the threaded holes are used for connecting the force sensors 6 and 6' and adjusting the actual force arm length in the experiment.
The shaft sleeve 2 is a cylindrical barrel body with the outer diameter equal to the inner diameter of the sleeve 3 and the inner diameter equal to the diameter of the output shaft of the harmonic reducer 1; the outer ring of the cylinder body is provided with a boss extending along the axial direction, and the boss is tightly matched with the key groove of the sleeve 3; the inner ring of the cylinder is provided with a key groove so as to be connected with the output shaft key; in order to make the device match with reducers with different sizes, a series of shaft sleeves 2 can be processed and manufactured by changing the inner diameter and the groove width according to the size of an output shaft.
The symmetrical loading part comprises two groups of force application units, the two groups of force application units are respectively positioned above and below the torsion arm, the two groups of force application units respectively apply force to the corresponding torsion arm, the position of a force application point is adjustable and is symmetrical about the axis of the output shaft, the direction of the force is vertical to the torsion arm, and the force can be obtained. First force application unit is located first torsion arm 4 below, including first vertical jack 9, first rod end spherical connector 8, first internal thread sleeve 7, first force sensor 6, first vertical jack 9 is fixed in on workstation 11, 8 one end of first rod end spherical connector is fixed in on the 8 output shafts of first vertical jack, bulb among the first rod end spherical connector 8 can be around the centre of sphere rotation swing within a certain angle range, 6 one end of first force sensor is through the rod end fixed connection of first internal thread sleeve 7 with first rod end spherical connector 8, 6 other ends of first force sensor and corresponding torsion arm fixed connection. The first force application unit is located above the second torsion arm 5 and comprises a second vertical jack 9 ', a second rod end spherical connector 8', a second internal thread sleeve 7 'and a second force sensor 6', the second vertical jack 9 'is fixed on a support arranged on the workbench 11, two ends of the second rod end spherical connector 8' are fixed on an output shaft of the second vertical jack 8 ', a ball head in the second rod end spherical connector 8' can rotate and swing in a second fixed angle range around a ball center, two ends of the second force sensor 6 'are fixedly connected with a rod end of the second rod end spherical connector 8' through the second internal thread sleeve 7 ', and the other end of the second force sensor 6' is fixedly connected with the corresponding torsion arm.
The torsion arms 4 and 5 are provided with a plurality of vertical threaded hole coupling force sensors 6 and 6' at corresponding equal-length positions; the angle adjusting part comprises rod end spherical connectors 8 and 8 ', one ends of the rod end spherical connectors are connected with the force sensors 6 and 6' through internal thread sleeves 7 and 7 ', and the plane of the other ends of the rod end spherical connectors is contacted with the plane loading parts of the jacks 9 and 9'; the data measuring part comprises a dial indicator 13, force sensors 6 and 6' and a matched data acquisition instrument.
The pulling pressure of the force sensors 6 and 6' is read by the data acquisition unit; to produce an accurate measurement system, it is necessary to ensure that the sensor is stressed vertically and uniformly.
The end spherical connector 8/8' takes a ball head as a core, the upper end is provided with an external threaded rod, and the lower end part is a plane; the ball head and the external thread rod are integrated and can rotate and swing around the center of the ball within a certain angle range; the threaded rod of the force sensor 6/6 ' is connected to the lower threaded rod of the force sensor by an internally threaded sleeve 7/7 ', and the lower flat surface of the force sensor is in contact with the upper flat surface of the jack 9/9 ', thereby transferring vertical loads. When a large force is applied, the output shaft rotates by an angle, the torsion arm 4/5 rotates along with the output shaft and is not completely horizontal, and the central lines of the sensor, the rod end spherical connector and the jack are not coaxial any more; the angling of the rod end spherical connector 8/8' ensures that the rotated torque arm 4/5 is still subjected to forces perpendicular to itself.
The jacks 9 and 9' are vertical jacks, and the load transfer part is a plane. Wherein, the base of the jack 9 is placed on the T-shaped groove workbench 11, and the jack 9' is connected and inversely hung on the bracket 15 by bolts; the lifting jack loading plane is in contact with the plane of the rod end spherical connector 8, 8' to apply vertical load.
The level gauge 12 is placed on the upper plane of the torsion arm 4 to ensure the level of the loading initial force arm.
The lower end of the dial indicator 13 is in contact with a certain point on the surface of the upper plane of the torsion arm; in the whole test loading process, the displacement of the point in the vertical direction is smaller than the maximum measuring range of the dial indicator; the displacement of the point is measured and converted to radians by calculation.
The three-jaw chuck 14 is fixed on the T-shaped groove worktable 11, and the three-jaw chuck 14 is used for fixing the input shaft of the reducer 1.
Claims (6)
1. An adjustable device for measuring the rigidity of a harmonic reducer, which can eliminate radial force, is characterized by comprising a base (10) arranged on a workbench (11), two symmetrically arranged torsion arms (4,5), a symmetrical loading part and a measuring meter (13); wherein
The base (10) is fixed on the workbench (11),
the harmonic reducer (1) to be tested is arranged on the base (10),
the input shaft of the harmonic reducer (1) to be tested is fixed and does not rotate,
the torsion arms (4,5) are fixedly connected with two radial sides of an output shaft of the harmonic reducer (1) to be tested, the symmetrical loading part comprises two groups of force application units which are respectively positioned above and below the torsion arms,
the two groups of force application units respectively apply force to the corresponding torsion arms,
the position of the force application point is adjustable and symmetrical about the axis of the output shaft,
the direction of the force is perpendicular to the torsion arms and the magnitude of the force is available,
at least one torsion arm is provided with a measuring gauge (13) and is used for measuring the displacement of the torsion arm.
2. The apparatus of claim 1, wherein the force application unit comprises a jack, a rod end spherical connector, a force sensor, an internally threaded sleeve; wherein
The jack is fixed on the working platform (11) or a bracket arranged on the working platform (11),
one end of the rod end spherical connector is fixed on the jack output shaft,
the ball head in the rod end spherical surface connector can rotate and swing around the ball center within a certain angle range,
one end of the force sensor is fixedly connected with the rod end of the rod end spherical connector through the internal thread sleeve, and the other end of the force sensor is fixedly connected with the corresponding torsion arm.
3. The device according to claim 2, characterized in that the torsion arms (4,5) are provided with a plurality of threaded holes, and the force sensor is in matching connection with the threaded holes in the torsion arms.
4. A device according to claim 1, characterized in that the torsion arms (4,5) are fixed to both sides of the sleeve (3),
the sleeve (3) is connected with a shaft sleeve (2) arranged in the sleeve in a key way,
the shaft sleeve (2) is sleeved outside the output shaft of the harmonic reducer (1) to be tested and is in key connection with the output shaft.
5. A device according to claim 1, characterised in that the torsion arm is provided with a level (12).
6. The device according to claim 1, characterized in that a three-jaw chuck (14) is arranged on the working table (11), and the three-jaw chuck (14) clamps the input shaft of the harmonic reducer (1) to be tested.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781980.6A CN110793736A (en) | 2019-08-23 | 2019-08-23 | Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781980.6A CN110793736A (en) | 2019-08-23 | 2019-08-23 | Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force |
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| CN110793736A true CN110793736A (en) | 2020-02-14 |
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| CN201910781980.6A Pending CN110793736A (en) | 2019-08-23 | 2019-08-23 | Adjustable device for measuring rigidity of harmonic reducer and eliminating radial force |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776628A (en) * | 2014-01-15 | 2014-05-07 | 天津大学 | Reducer torsional rigidity and idle running error test experiment table and test method thereof |
| CN106568559A (en) * | 2016-11-05 | 2017-04-19 | 上海大学 | Measuring device for twisting rigidity of flexible bearing |
| CN108225693A (en) * | 2017-12-21 | 2018-06-29 | 杭州中德传动设备有限公司 | A kind of rotary decelerator rigidity detection device and its detection method |
| US20190120717A1 (en) * | 2017-10-23 | 2019-04-25 | United Technologies Corporation | Inducing and monitoring a vibratory response in a component |
| CN110146286A (en) * | 2019-05-15 | 2019-08-20 | 上海大学 | A kind of harmonic speed reducer torsion test test device |
-
2019
- 2019-08-23 CN CN201910781980.6A patent/CN110793736A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776628A (en) * | 2014-01-15 | 2014-05-07 | 天津大学 | Reducer torsional rigidity and idle running error test experiment table and test method thereof |
| CN106568559A (en) * | 2016-11-05 | 2017-04-19 | 上海大学 | Measuring device for twisting rigidity of flexible bearing |
| US20190120717A1 (en) * | 2017-10-23 | 2019-04-25 | United Technologies Corporation | Inducing and monitoring a vibratory response in a component |
| CN108225693A (en) * | 2017-12-21 | 2018-06-29 | 杭州中德传动设备有限公司 | A kind of rotary decelerator rigidity detection device and its detection method |
| CN110146286A (en) * | 2019-05-15 | 2019-08-20 | 上海大学 | A kind of harmonic speed reducer torsion test test device |
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Application publication date: 20200214 |
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