CN111089667A - Torque testing method and system for harmonic reducer - Google Patents
Torque testing method and system for harmonic reducer Download PDFInfo
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- CN111089667A CN111089667A CN201911330455.9A CN201911330455A CN111089667A CN 111089667 A CN111089667 A CN 111089667A CN 201911330455 A CN201911330455 A CN 201911330455A CN 111089667 A CN111089667 A CN 111089667A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
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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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Abstract
The invention discloses a torque testing method and a system for a harmonic reducer, wherein the method comprises the following steps: one end of the test bracket is connected with the harmonic reducer, and the other end of the test bracket is connected with the torque sensor; the motor is connected with the harmonic reducer and controls the test support to move towards the motor until no gap exists between the harmonic reducer and the motor; presetting test parameters, and controlling the rotating speed of the motor according to the test parameters to control the theoretical torque of the harmonic reducer; the torque sensor detects the measured torque of the harmonic reducer to obtain a torque measured value of the harmonic reducer; obtaining a torque theoretical value of the harmonic reducer according to the test parameters; and presetting an efficiency threshold, and if the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold, determining the torque theoretical value to be the maximum torque of the harmonic reducer. The method judges whether the maximum torque of the harmonic reducer is obtained or not by judging whether the ratio of the torque measured value to the torque theoretical value is lower than an efficiency threshold value or not, so that the maximum torque is calculated simply, automatically and manpower is saved.
Description
Technical Field
The invention relates to the technical field of harmonic reducers, in particular to a torque testing method and system for a harmonic reducer.
Background
With the rapid development of mechanization, harmonic speed reduction serves as a speed regulating component of a mechanical device and plays an important role in the operation of the mechanical device. The harmonic reducer relies on the flexbile gear to produce controllable deformation and tooth difference and realizes the speed reduction purpose, therefore the maximum torque that the harmonic reducer can bear can directly influence the positioning control precision and the life of speed reducer.
Among the prior art, to the moment of torsion test of harmonic speed reduction mostly based on simulation running state, fixed with harmonic speed reducer's flexbile gear, wave generator input through the load of constantly increasing the output, through the moment of torsion formula: and calculating the maximum torque which can be borne by the harmonic. However, the method causes low testing efficiency of the harmonic reducer, and in the measuring link, due to artificial influence, a large error is generated, which can only be used as a reference and cannot be used as the true maximum torque of the harmonic reducer.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a torque testing method for the harmonic reducer, which can enable the torque testing of the harmonic reducer to be simple, convenient to operate, low in cost, reliable in testing and labor-saving.
The invention further provides a torque testing system for the harmonic reducer.
In a first aspect, an embodiment of the present invention provides a torque testing method for a harmonic reducer, comprising: the method comprises the following steps:
s1, fixedly mounting the harmonic reducer on a test bracket, wherein one end of a connecting shaft of the test bracket is connected with one end of the harmonic reducer, and the other end of the connecting shaft is connected with a torque sensor;
s2, connecting a motor to the other end of the harmonic reducer, and driving the test support to move towards the motor through the rotation of the handle until no gap exists between the harmonic reducer and the motor;
s3, presetting test parameters, and controlling the current value and the voltage value of the motor according to the test parameters to output the theoretical torque borne by the harmonic reducer;
s4, the torque sensor detects the torque of the harmonic reducer to obtain a torque measured value of the harmonic reducer;
s5, obtaining a torque theoretical value of the harmonic reducer through a calculation formula according to the test parameters;
s6, presetting an efficiency threshold, and if the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold, determining that the torque theoretical value is the maximum torque of the harmonic speed reducer.
The torque testing method for the harmonic reducer provided by the embodiment of the invention at least has the following beneficial effects: the harmonic reducer is installed on the testing support, the motor is connected with the harmonic reducer, the torque sensor is connected with the harmonic reducer through the connecting shaft of the testing support, the rotating speed of the motor is controlled according to testing parameters, the theoretical torque of the harmonic reducer is further controlled, then the torque sensor obtains the torque measured value of the harmonic reducer, the torque theoretical value corresponding to the theoretical torque is calculated according to the testing parameters, when the ratio of the torque measured value to the torque theoretical value is reduced to an efficiency threshold value, the torque theoretical value at the moment is the maximum torque allowed by the harmonic reducer, and therefore the maximum torque measuring operation of the harmonic reducer is simple, automatic and labor-saving.
A torque testing method for a harmonic reducer according to other embodiments of the present invention, 2, further includes:
and S7, when the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold value, acquiring and saving analysis data between the torque measured value and the torque theoretical value.
According to other embodiments of the invention, a torque testing method for a harmonic reducer, 3. the step S1 is specifically as follows:
s11, fixedly mounting the harmonic reducer on the test support through screws;
s12, fixing one end of the connecting shaft of the test support and a wave generator of the harmonic reducer through a clamp spring;
and S13, the other end of the connecting shaft is connected with the torque sensor.
According to another embodiment of the present invention, in a torque testing method for a harmonic reducer, step S2 is specifically:
s21, fixing a flange of the motor and a rigid wheel of the harmonic reducer through screws;
and S22, adjusting the handle to move the test bracket towards the motor until no gap exists between a rigid wheel of the harmonic reducer and a flange of the motor.
According to other embodiments of the present invention, a torque testing method for a harmonic reducer, the testing parameters comprising: the motor speed, the motor power, the use coefficient, the planet gear reduction ratio, the harmonic reduction ratio and the harmonic reducer efficiency.
According to another embodiment of the present invention, in a torque testing method for a harmonic reducer, step S5 is specifically:
s51, obtaining a motor torque value through a motor torque calculation formula according to the motor rotating speed and the motor power;
s52, obtaining a planetary reducer torque value through a reducer torque calculation formula according to the motor torque value, the planetary gear reduction ratio and the use coefficient;
and S53, obtaining a torque theoretical value of the harmonic reducer through a harmonic reducer torque calculation formula according to the planetary reducer torque value, the harmonic reduction ratio and the harmonic reducer efficiency.
According to other embodiments of the invention, the torque calculation formula is T9550 × P/n, where P is motor power, n is motor speed, and T is motor torque;
the reducer torque calculation formula is T1 ═ T/i ═ η 1, wherein i is the planetary gear reduction ratio, η 1 is the use coefficient, and T1 is the planetary reducer torque;
the harmonic reducer torque calculation formula is T2 ═ T1 ═ i2 ×. η 2, wherein i2 is the harmonic reduction ratio, η 2 is the harmonic reducer efficiency, and T2 is the torque theoretical value of the harmonic reducer.
According to another embodiment of the invention, the efficiency threshold is 40-50%, and when the ratio of the torque measured value to the torque theoretical value is lower than 40-50%, the torque at the input end of the rigid wheel of the harmonic speed reducer, which is obtained by the torque sensor, is the maximum torque allowed by the harmonic speed reducer.
In a second aspect, an embodiment of the present invention provides a torque testing system for a harmonic reducer: the method comprises the following steps:
a harmonic reducer;
the test bracket is used for fixing the harmonic reducer;
the motor is used for providing different torques of the harmonic reducer by adjusting the rotating speed;
the torque sensor is used for acquiring a torque measured value of the harmonic reducer;
the control module is used for presetting test parameters and controlling the rotating speed of the motor according to the test parameters;
the calculation module is used for calculating a torque theoretical value of the harmonic reducer according to the test parameters;
the comparison module is used for presetting an efficiency threshold value and comparing the efficiency threshold value with the ratio of the torque measured value to the torque theoretical value to obtain a comparison result, and the control module outputs the maximum torque of the harmonic speed reducer according to the comparison result.
The torque testing system for the harmonic reducer, provided by the embodiment of the invention, has the following beneficial effects: the torque sensor obtains a torque measurement value of the harmonic reducer, the calculation module calculates a torque theoretical value corresponding to theoretical torque according to the test parameters, and when the ratio of the torque measurement value to the torque theoretical value is reduced to an efficiency threshold value, the torque theoretical value at the moment is the maximum torque allowed by the harmonic reducer, so that the maximum torque measurement operation of the harmonic reducer is simple, automatic and labor-saving.
According to other embodiments of the present invention, a torque testing system for a harmonic reducer further comprises: and the storage module is used for storing the analysis data between the torque measured value and the torque theoretical value when the comparison result is that the ratio of the torque measured value to the torque theoretical value reaches the efficiency threshold.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a torque testing method for a harmonic reducer according to the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a torque testing system for a harmonic reducer in accordance with an embodiment of the present invention;
FIG. 3 is a block diagram of an embodiment of a torque testing system for a harmonic reducer according to the present invention.
Reference numerals: 100. a harmonic reducer; 200. testing the bracket; 300. a motor; 400. a torque sensor; 500. a control module; 600. a calculation module; 700. a comparison module; 800. and a storage module.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Referring to fig. 1, a flow chart of a torque testing method for a harmonic reducer according to an embodiment of the present invention is shown. The method specifically comprises the following steps:
s1, fixedly mounting the harmonic reducer on a test bracket, wherein one end of a connecting shaft of the test bracket is connected with one end of the harmonic reducer, and the other end of the connecting shaft is connected with a torque sensor;
s2, connecting the motor to the other end of the harmonic reducer, and driving the test bracket to move towards the motor by rotating the handle until no gap exists between the harmonic reducer and the motor;
and S3, presetting test parameters, and controlling the current value and the voltage value of the motor according to the test parameters to output the theoretical torque born by the harmonic reducer. The current value and the voltage value of the motor are adjusted according to the test parameters to adjust the rotating speed of the motor, and the theoretical torque provided by the motor to the harmonic reducer is controlled through the rotating speed control of the motor, so that the output torque of the motor is easy to control;
s4, detecting the measurement torque of the harmonic reducer by the torque sensor to obtain the torque measurement value of the harmonic reducer;
s5, obtaining a torque theoretical value of the harmonic reducer through a calculation formula according to the test parameters;
and S6, presetting an efficiency threshold, wherein if the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold, the torque theoretical value is the maximum torque of the harmonic reducer.
After the harmonic reducer is fixed by the test bracket, the motor is connected with one end of the harmonic reducer, the torque sensor is connected with the other end of the harmonic reducer, the test system adjusts the rotating speed of the motor according to the test parameters to drive the harmonic reducer to rotate so as to provide the theoretical torque of the harmonic reducer, then the torque measurement value of the harmonic reducer is obtained through adjustment according to different test parameters and a torque sensor, the theoretical value of the torque provided to the harmonic reducer can be calculated according to the test parameters in the test system, the measured torque value measured by the torque sensor is compared with the theoretical torque value to obtain a comparison result, and comparing the obtained comparison result with an efficiency threshold, and when the comparison result reaches the efficiency threshold, and if the harmonic reducer is damaged, the performance requirement cannot be met, and the theoretical torque value calculated by the testing parameters preset by the testing system is the maximum torque allowed by the harmonic reducer. Through the calculation of the maximum torque of the harmonic reducer, on one hand, the test automation saves manpower, and on the other hand, the calculation mode of obtaining the maximum torque is simple and accurate when the ratio between the torque measurement value and the torque theoretical value reaches the efficiency threshold value.
Step S1 specifically includes:
s11, fixedly mounting the harmonic reducer on a test bracket through screws;
s12, fixing one end of a connecting shaft of the test support and a wave generator of the harmonic reducer through a clamp spring;
and S13, the other end of the connecting shaft is connected with the torque sensor.
The harmonic reducer is fixed on the testing support through screws, then the connecting shaft of the testing support is fixed with the wave generator through the clamp spring, and the other end of the connecting shaft is connected with the torque sensor, so that the torque sensor can conveniently measure the accurate torque of the harmonic reducer through measuring the torque of the connecting shaft.
Step S2 specifically includes:
s21, fixing a flange of the motor and a rigid wheel of the harmonic reducer through screws;
and S22, adjusting the handle to move the test bracket towards the motor until no gap exists between the rigid wheel of the harmonic reducer and the flange of the motor.
The flange of the motor and the rigid wheel of the harmonic reducer are fixed through screws so as to provide torque for the rigid wheel of the harmonic reducer through the rotation of the motor. Because set up the slide rail that can keep away from or be close to along the motor direction under the test support, and the slide rail of test support below is the lead screw principle, drives the lead screw after the handle rotates and rotates, then lead screw nut and test leg joint rotate in order to drive the test support along the slide rail to motor direction back-and-forth movement, so adjust the distance between test support and the motor simply through the handle. After the harmonic reducer is fixedly installed on the testing support, the testing support is driven to be close to or far away from the motor by rotating the handle to move, and then the distance between the flange of the motor and the rigid wheel of the harmonic reducer is adjusted. If all parts of the harmonic reducer are connected, a gap is not required between a rigid wheel of the harmonic reducer and a flange of the motor by rotating the handle, so that the torque provided by the motor to the harmonic reducer is closer to a torque theoretical value calculated by the test parameters.
The test parameters include: the motor speed, the motor power, the use coefficient, the planet gear reduction ratio, the harmonic reduction ratio and the harmonic reducer efficiency. When the testing system needs to perform testing work, testing parameters are set after a power supply of the system needs to be switched on, and the main testing parameters are the rotating speed of the motor, the power of the motor, the using system of the harmonic reducer, the reduction ratio of the planetary gear, the reduction ratio of the harmonic and the efficiency of the harmonic reducer, so that an accurate torque theoretical value can be calculated conveniently.
Step S5 specifically includes:
s51, obtaining motor torque through a torque calculation formula of the motor according to the motor rotating speed and the motor power; the torque calculation formula is T9550P/n, wherein P is motor power, n is motor rotating speed, and T is a motor torque value; the torque value of the motor can be calculated through the known motor speed and the motor power.
And S52, obtaining the torque of the planetary reducer through a reducer torque calculation formula according to the motor torque, the planetary gear reduction ratio and the use coefficient, wherein the reducer torque calculation formula is T1-T/i η 1, i is the planetary gear reduction ratio, η 1 is the use coefficient, and T1 is the torque value of the planetary reducer.
And S53, obtaining a torque theoretical value of the harmonic reducer through a harmonic reducer torque calculation formula according to the torque of the planetary reducer, the harmonic reduction ratio and the efficiency of the harmonic reducer, wherein the harmonic reducer torque calculation formula is T2-T1 i2 η 2, i2 is the harmonic reduction ratio, η 2 is the efficiency of the harmonic reducer, and T2 is the torque theoretical value of the harmonic reducer.
The efficiency threshold is 40-50%, the ratio of the torque measured value to the torque theoretical value is η ═ T3/T2, η is the measurement efficiency of the harmonic reducer, when the measurement efficiency is reduced to be below 40-50%, the flexible gear of the harmonic reducer is broken, and the performance requirement cannot be met.
In conclusion, after all parts of the harmonic reducer are installed on the test support, the harmonic reducer is well connected with the motor and the torque sensor, the motor is controlled to rotate according to the test parameters so as to provide the output torque of the harmonic reducer, and then the theoretical torque value obtained by the harmonic reducer is calculated according to the test parameters. The method comprises the steps that a torque sensor obtains a torque measured value of a harmonic reducer while a motor provides torque of the harmonic reducer, when the ratio of the torque measured value to a torque theoretical value reaches an efficiency threshold value, a flexible gear of the harmonic reducer is considered to be damaged, and the torque measured value is considered to be the maximum torque allowed by the harmonic reducer. The whole harmonic reducer testing structure is simple, convenient to operate, low in cost, reliable in testing and labor-saving.
Example two: referring to fig. 1, a torque testing method for a harmonic reducer further includes:
and S7, when the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold value, acquiring and storing analysis data between the torque measured value and the torque theoretical value. The method comprises the steps of obtaining analysis data through calculation and comparison between a torque measurement value and a torque theoretical value of the harmonic reducer, and storing the analysis data in a system, so that an operator can inquire the test condition and the maximum torque of any one harmonic reducer at any time.
Example three: referring to fig. 2 and 3, an embodiment of the present invention discloses a torque testing system for a harmonic reducer 100, including:
the harmonic reducer 100, the test rack 200, the motor 300, the torque sensor 400, the control module 500, the calculation module 600, the comparison module 700, and the storage module 800. The test bracket 200 is used for fixing the harmonic reducer 100; the motor 300 is used for providing different torques of the harmonic reducer 100 by adjusting the rotating speed, and the rotating speed of the motor 300 is adjusted according to the test parameters of the control module 500; a torque sensor 400 for obtaining a torque measurement of the harmonic reducer 100; the control module 500 is used for presetting test parameters and controlling the rotating speed of the motor 300 according to the test parameters; the calculation module 600 is configured to calculate a theoretical torque value of the harmonic reducer 100 according to the test parameter; the comparison module 700 is configured to preset an efficiency threshold and compare the efficiency threshold with a ratio of the torque measurement value to the torque theoretical value to obtain a comparison result, and the control module 500 outputs the maximum torque of the harmonic reducer 100 according to the comparison result. The storage module 800 is configured to store analysis data between the torque measurement value and the torque theoretical value when the comparison result is that the ratio of the torque measurement value to the torque theoretical value reaches the efficiency threshold.
In summary, the harmonic reducer 100 is mounted on the test bracket 200, the motor 300 is connected to the harmonic reducer 100 to control the theoretical torque of the harmonic reducer 100, the torque sensor 400 obtains the torque measurement value of the harmonic reducer 100 when the motor 300 provides the theoretical torque of the harmonic reducer 100, wherein the rotation speed of the motor 300 is adjusted by the test parameters preset by the control module 500, so that the theoretical torque of the harmonic reducer 100 is the same as the torque theoretical value calculated by the calculation module 600 according to the test parameters, and then the ratio of the torque measurement value to the torque theoretical value is compared with the efficiency threshold value to obtain the comparison result, if the ratio of the torque measurement value to the torque theoretical value is reduced below the efficiency threshold value, the harmonic reducer 100 is considered to be damaged, and the torque theoretical value at this time is the maximum torque allowed by the damage of the harmonic reducer 100, so that the maximum torque of the harmonic reducer, and the automation is laborsaving.
Specifically, a method for a torque testing system of a harmonic reducer is as described in the first embodiment and the second embodiment, and is not described herein again.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A torque testing method for a harmonic reducer, comprising:
s1, fixedly mounting the harmonic reducer on a test bracket, wherein one end of a connecting shaft of the test bracket is connected with one end of the harmonic reducer, and the other end of the connecting shaft is connected with a torque sensor;
s2, connecting a motor to the other end of the harmonic reducer, and driving the test support to move towards the motor through rotation of a handle until no gap exists between the harmonic reducer and the motor;
s3, presetting test parameters, and controlling the current value and the voltage value of the motor according to the test parameters to output the theoretical torque borne by the harmonic reducer;
s4, the torque sensor detects the torque of the harmonic reducer to obtain a torque measured value of the harmonic reducer;
s5, obtaining a torque theoretical value of the harmonic reducer through a calculation formula according to the test parameters;
s6, presetting an efficiency threshold, and if the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold, determining that the torque theoretical value is the maximum torque of the harmonic speed reducer.
2. The torque testing method for the harmonic reducer according to claim 1, further comprising:
and S7, when the ratio of the torque measured value to the torque theoretical value is lower than the efficiency threshold value, acquiring and saving analysis data between the torque measured value and the torque theoretical value.
3. The torque testing method for the harmonic reducer according to claim 1, wherein the step S1 is specifically as follows:
s11, fixedly mounting the harmonic reducer on the test support through screws;
s12, fixing one end of the connecting shaft of the test support and a wave generator of the harmonic reducer through a clamp spring;
and S13, the other end of the connecting shaft is connected with the torque sensor.
4. The torque testing method for the harmonic reducer according to claim 1, wherein the step S2 is specifically as follows:
s21, fixing a flange of the motor and a rigid wheel of the harmonic reducer through screws;
and S22, adjusting the handle to move the test bracket towards the motor until no gap exists between a rigid wheel of the harmonic reducer and a flange of the motor.
5. A torque test method for a harmonic reducer according to claim 1, characterized in that said test parameters comprise: the motor speed, the motor power, the use coefficient, the planet gear reduction ratio, the harmonic reduction ratio and the harmonic reducer efficiency.
6. The torque testing method for the harmonic reducer according to claim 5, wherein the step S5 is specifically as follows:
s51, obtaining a motor torque value through a motor torque calculation formula according to the motor rotating speed and the motor power;
s52, obtaining a planetary reducer torque value through a reducer torque calculation formula according to the motor torque value, the planetary gear reduction ratio and the use coefficient;
and S53, obtaining a torque theoretical value of the harmonic reducer through a harmonic reducer torque calculation formula according to the planetary reducer torque value, the harmonic reduction ratio and the harmonic reducer efficiency.
7. The torque testing method for the harmonic reducer according to claim 6, wherein the torque calculation formula is T9550P/n, where P is motor power, n is motor speed, and T is motor torque;
the reducer torque calculation formula is T1 ═ T/i ═ η 1, wherein i is the planetary gear reduction ratio, η 1 is the use coefficient, and T1 is the planetary reducer torque;
the harmonic reducer torque calculation formula is T2 ═ T1 ═ i2 ×. η 2, wherein i2 is the harmonic reduction ratio, η 2 is the harmonic reducer efficiency, and T2 is the torque theoretical value of the harmonic reducer.
8. The method for testing the torque of the harmonic reducer according to claim 1, wherein the efficiency threshold is 40-50%, and when the ratio of the torque measured value to the torque theoretical value is lower than 40-50%, the torque at the input end of the rigid wheel of the harmonic reducer, which is obtained by the torque sensor, is the maximum torque allowed by the harmonic reducer.
9. A torque testing system for a harmonic reducer, comprising:
a harmonic reducer;
the test bracket is used for fixing the harmonic reducer;
the motor is used for providing different torques of the harmonic reducer by adjusting a current value and a voltage value;
the torque sensor is used for acquiring a torque measured value of the harmonic reducer;
the control module is used for presetting test parameters and controlling the current value and the voltage value of the motor according to the test parameters;
the calculation module is used for calculating a torque theoretical value of the harmonic reducer according to the test parameters;
the comparison module is used for presetting an efficiency threshold value and comparing the efficiency threshold value with the ratio of the torque measured value to the torque theoretical value to obtain a comparison result, and the control module outputs the maximum torque of the harmonic speed reducer according to the comparison result.
10. A torque testing system for a harmonic reducer according to claim 9, further comprising:
and the storage module is used for storing the analysis data between the torque measured value and the torque theoretical value when the comparison result is that the ratio of the torque measured value to the torque theoretical value reaches the efficiency threshold.
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| CN113804435A (en) * | 2021-08-25 | 2021-12-17 | 广东赛尼智能装备科技有限公司 | Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer |
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