CN112611561A - Vibration testing device for electromagnetic harmonic oscillating tooth transmission system - Google Patents
Vibration testing device for electromagnetic harmonic oscillating tooth transmission system Download PDFInfo
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- CN112611561A CN112611561A CN202011461557.7A CN202011461557A CN112611561A CN 112611561 A CN112611561 A CN 112611561A CN 202011461557 A CN202011461557 A CN 202011461557A CN 112611561 A CN112611561 A CN 112611561A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 34
- 238000012360 testing method Methods 0.000 title claims abstract description 19
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- 238000005192 partition Methods 0.000 claims description 55
- 239000000523 sample Substances 0.000 claims description 23
- 230000008859 change Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
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- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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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
- G01M13/028—Acoustic or vibration analysis
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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
- G01M13/021—Gearings
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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
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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Abstract
The invention discloses a vibration testing device of an electromagnetic harmonic oscillating tooth transmission system in the field of measuring instruments, and provides a testing device for exploring the vibration problem of a flexible gear, which provides a theoretical basis for the design and improvement of a system. This technical scheme passes through the pressure-sensitive sensing device in three position of pedestal connection to the multidirectional vibration research of realization to flexbile gear free vibration and forced vibration can be dismantled the end cover afterwards and change the flexbile gear size, change flexbile gear thickness, perhaps change magnetic induction coil in order to realize the monitoring of flexbile gear vibration amplitude.
Description
Technical Field
The invention belongs to the field of measuring instruments, and particularly relates to a vibration testing device for an electromagnetic harmonic oscillating tooth transmission system.
Background
The electromagnetic harmonic transmission is a novel mechanism for realizing motion transmission by controlling the flexible gear to elastically deform through a magnetic field. The harmonic drive is divided into harmonic gear drive and friction type harmonic drive,
on the basis of combining the advantages of electromagnetic harmonic drives and oscillating tooth drives, the prior art CN104767319A discloses an electromechanical integrated electromagnetic harmonic oscillating tooth drive. Deformation of a flexible gear shell in electromechanical integrated electromagnetic harmonic oscillating tooth transmission is a nonlinear problem of magnetic field and mechanical field coupling, and the magnetic field analysis and the magnetic field structure field coupling analysis of the flexible gear shell are of great importance. During operation of the whole system, vibration is inevitably generated due to multi-field action, and a flexible gear in the whole system is a core component and is very necessary to be subjected to vibration analysis independently. Therefore, a testing device for exploring the vibration problem of the flexible gear is needed to provide a theoretical basis for the design and improvement of the system.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a testing apparatus for exploring the vibration problem of a flexible gear, which provides a theoretical basis for the design and improvement of a system.
In order to achieve the purpose, the technical scheme of the invention is as follows: a vibration testing device for an electromagnetic harmonic oscillating tooth transmission system comprises a body of the electromagnetic harmonic oscillating tooth transmission device provided with a flexible gear and supports with cross sections of U-shaped, wherein the electromagnetic harmonic oscillating tooth transmission device is erected between the supports, end covers are detachably arranged on the surfaces of the electromagnetic harmonic oscillating tooth transmission device, circular through holes are formed in the vertical direction and the axial direction of each end cover, pressure-sensitive sensing devices are contacted in the through holes, and an integrally manufactured shaft support is connected between the pressure-sensitive sensing devices; a cross shaft is connected between the shaft frame and the support, and the middle of the support is connected with a free rotary table with an output shaft of the electromagnetic harmonic oscillating tooth transmission device.
After the scheme is adopted, the following beneficial effects are realized: 1. compared with the prior art of single inductor erection, the technical scheme connects the pressure-sensitive sensing devices in three directions through the shaft bracket so as to realize multi-directional vibration research on free vibration and forced vibration of the flexible wheel.
2. For the prior art who adopts fixed end cover, this technical scheme changes the flexbile gear size through dismantling the end cover, changes flexbile gear thickness, perhaps changes magnetic induction coil in order to realize the monitoring of flexbile gear vibration amplitude.
Further, pressure-sensitive sensing device includes pressure-sensitive inductor, probe and three even cavities, three even cavities have first baffle, second baffle, third baffle and fourth baffle along through-hole to inductor's direction sliding connection in proper order, first baffle encloses into atress cavity with the second baffle, and second baffle encloses into balanced cavity with the third baffle, and third baffle encloses into the response cavity with the fourth baffle, first baffle and fourth baffle all have the probe, and the probe contact flexbile gear of connecting first baffle connects the probe contact pressure-sensitive inductor of fourth baffle.
Has the advantages that: 1. for pressure-sensitive transducer direct measurement's prior art, this technical scheme drives probe transmission pressure through the baffle, turns into point-contact pressure with the irregular vibration of flexbile gear, turns into the baffle motion stroke with the amplitude of flexbile gear vibration simultaneously, is convenient for turn into linear motion with the vibration amplitude of baffle.
2. Compared with the prior art of converting point contact, the technical proposal utilizes the triple-connected chambers to realize the stable distance between the chambers, in order to maintain the measurement accuracy, the principle of keeping stability is that when the flexible gear vibrates, the stress chamber is subjected to the moment transmitted by the flexible gear, and is thus compressed, while the first diaphragm moves inwardly, the second diaphragm moves outwardly, thereby changing the pressure of the balance chamber, which now transfers torque to the fourth diaphragm according to the same principle, and the probe of the fourth clapboard is contacted with the pressure sensor so as to realize the measurement of the vibration, wherein the balance chamber maintains the balance correction in the three connected chambers, that is, the balance chamber, which is relatively independent of the change in the volume of the force-receiving chamber and the sensing chamber, may cause the volume of the remaining chambers to change to correct the initial pressure in order to maintain the self-pressure stably.
Furthermore, the outside parcel of the probe of connecting the fourth baffle has the extension spring, and the extension spring contacts pressure-sensitive transducer.
Has the advantages that: compared with the prior art with the correction function, the tension spring in the technical scheme performs the return operation so as to keep the probe of the first partition plate to be always in contact with the flexible gear.
Furthermore, a round pin is connected between the free turntable and the support.
Has the advantages that: compared with the prior art of an axial design inductor, the output shaft of the electromagnetic harmonic oscillating tooth transmission device is connected with the rotary table in the technical scheme, and the vibration amplitude of the rotary table per se is used for measuring the axial vibration of the flexible gear.
Furthermore, lines among the arbitrary pressure sensors are connected in parallel.
Has the advantages that: the pressure sensors can work independently.
Furthermore, a pinhole camera is arranged on the third partition plate towards the second partition plate, a flexible strip is connected between the third partition plate and the second partition plate, the length of the flexible strip is equal to the distance between the third partition plate and the second partition plate in a natural state, and one end of the flexible strip is bonded with the third partition plate.
Has the advantages that: compared with the prior art adopting the path detecting instrument, the technical scheme has the advantages that the image pickup range of the pinhole camera is shielded by the deflection amplitude when the flexible strips are in instantaneous collision, and at the moment, an operator can refer to the stress of the pressure sensor to the shielded visual field amplitude of the pinhole camera at the time point and draw the track generated by the vibration of the flexible wheel when the current vibration amplitude is obtained.
Drawings
FIG. 1 is a structural diagram of a vibration testing device of an electromagnetic harmonic oscillating tooth transmission system in the technical scheme;
FIG. 2 is a cross-sectional view of the horizontal axis of FIG. 1;
FIG. 3 is an enlarged view at B in FIG. 2;
FIG. 4 is a force analysis of a flexspline under the thin shell theory;
FIG. 5 is a model constructed from test setup data for the case of an initial magnetic field 688 Hz;
fig. 6 shows a model constructed from test apparatus data in the case of a varying magnetic field 4296 HZ.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises an electromagnetic harmonic oscillating tooth transmission device 1, a support 2, an end cover 3, a through hole 4, a shaft bracket 5, a transverse shaft 6, a free rotary table 7, a pressure sensor 8, a probe 9, a first partition plate 10, a second partition plate 11, a third partition plate 12, a fourth partition plate 13, a stress cavity 14, a balance cavity 15, an induction cavity 16, a flexible strip 17, a tension spring 18 and a pinhole camera 19.
Prior Art
Taking the technical scheme of the publication number CN104767319A as an example, this prior art discloses an electromagnetic harmonic oscillating tooth transmission device structure in this technical scheme, which mainly includes: the engine base is a hollow cylinder, two ends of the engine base are respectively fixedly connected with the end covers through bolts, the stator component is arranged in the engine base, the outer diameter of the stator component is the same as the inner diameter of the engine base, a cup-shaped flexible gear is arranged in the stator component, the flexible gear is a cylindrical shell with an opening on one side, the outer diameter of the flexible gear is smaller than the inner diameter of the stator component, the length of the flexible gear is longer than that of the stator component, one end of the flexible gear is fixedly connected with an end cover A at one end of the engine base, the outer side of the free end of the flexible gear is sleeved with the movable gear frame, one end of the movable gear frame is fixedly connected with the output shaft, a circle of radial through holes are formed in the wall of the movable gear frame, movable teeth are arranged in the radial through holes and are meshed with the inner tooth shape of the inner wall of the central gear, the central gear is an annular cylinder, the outer diameter of the central gear is the same, and a bearing is arranged in the middle of the end cover B at the other end of the engine base, and the other end of the output shaft passes through the middle of the bearing and extends to the outside of the end cover B.
Examples
The embodiment is basically as shown in the attached figure 1: a vibration testing device of an electromagnetic harmonic oscillating tooth transmission system comprises a body of an electromagnetic harmonic oscillating tooth transmission device 1 with a flexible gear and supports 2 with a U-shaped cross section, wherein the electromagnetic harmonic oscillating tooth transmission device 1 is erected between the supports 2, an end cover 3 is arranged on the surface of the electromagnetic harmonic oscillating tooth transmission device 1, circular through holes 4 are formed in the end cover 3 in the vertical direction and the axial direction, pressure-sensitive sensing devices are contacted in the through holes 4, and an integrally manufactured shaft bracket 5 is connected between the pressure-sensitive sensing devices; a cross shaft 6 is connected between the shaft bracket 5 and the support 2, a free rotary table 7 is connected between the middle part of the support 2 and an output shaft of the electromagnetic harmonic oscillating tooth transmission device 1, and a round head pin is connected between the free rotary table 7 and the support 2.
Referring to fig. 2 and 3, the pressure-sensitive sensing device includes a pressure sensor 8, a probe 9 and three connected chambers, the three connected chambers are sequentially connected with a first partition plate 10, a second partition plate 11, a third partition plate 12 and a fourth partition plate 13 in a sliding manner along a direction from the through hole 4 to the sensor, the first partition plate 10 and the second partition plate 11 enclose a stress chamber 14, the second partition plate 11 and the third partition plate 12 enclose a balance chamber 15, the third partition plate 12 and the fourth partition plate 13 enclose an induction chamber 16, the first partition plate 10 and the fourth partition plate 13 are both provided with the probe 9, the probe 9 connected with the first partition plate contacts the flexspline, the probe 9 connected with the fourth partition plate 13 contacts the pressure sensor 8, the probe 9 connected with the fourth partition plate 13 is wrapped with a tension spring 18, the tension spring 18 contacts the pressure sensor 8, and lines between any pressure sensors 8 are connected in parallel.
The third partition plate 12 is provided with a pinhole camera 19 facing the second partition plate 11, a flexible strip 17 is connected between the third partition plate 12 and the second partition plate 11, the length of the flexible strip 17 is equal to the distance between the third partition plate 12 and the second partition plate 11 in a natural state, one end of the flexible strip 17 is bonded with the third partition plate 12, and the pinhole camera 19 is located in the deflection stroke of the flexible strip 17.
The specific implementation process is as follows: A. and in the front stage, an operator connects an output shaft of the magnetic harmonic oscillating tooth transmission device with a turntable, then submerges a pressure-sensitive sensing device connected with a shaft bracket 5 into the through hole 4 of the shell, particularly the position of the probe 9, and then electrifys the whole body to start measurement.
B. In the measuring stage, orientation parameters are introduced to form coordinates (namely, the axial direction of the flexible gear is as follows): α & circumferential direction of the flexspline: beta represents the middle plane direction of the flexible gear is phi; the tension and compression internal force received on the unit width of the section alpha is represented by N1, and the horizontal offset force is represented by S12; the internal tension and compression force per unit width on the phi section is represented by N2, and the horizontal offset force is represented by S21. The bending moment per unit width on the α -section is represented by M1, the torque by M12, the bending moment per unit width on the Φ -section by M2, the torque by M21, and the lateral shear force by Q2
(1) Compared with the minimum curvature radius of the middle surface of the flexible gear, the thickness dimension of the flexible gear is quite small, so that the flexible gear can be treated as a thin shell in stress analysis.
(2) The stator winding is assumed to be electrified with three-phase sinusoidal alternating current, and the electrified current keeps stable frequency and phase and cannot generate disturbance due to uneven input current.
(3) The electromagnetic force on the flexible gear is simplified towards the neutral plane, the neutral plane can not extend, the strain on the neutral plane is zero, and the flexible gear is regarded as an isotropic body.
(4) The deflection of the flexible gear is very small, the flexible gear accords with the small deformation condition, and the flexible gear can still be calculated according to the cylindrical shell after deformation, so that the superposition principle of force is satisfied.
Referring to fig. 4, a general force equation of the flexible gear is then established according to the thin shell theory, and then a differential equation set of the first type of vibration equation is obtained through corresponding derivation and simplification. And then, the influence of electromagnetic induction is introduced, a two-dimensional electrodynamic equation and a Lorentz force equation set are deduced, and the result is introduced into a dynamic stress equation of the flexible wheel, so that a nonlinear dynamic differential equation of the vibration of the flexible wheel is obtained.
Then, during the actual measurement, the operator reads the actual data, at this time, the flexspline contacts different probes 9 during the rotation of the flexspline, at this time, when the probe 9 connected with the first partition plate 10 transmits the torque to the force-receiving chamber 14 to be compressed, at this time, in order to maintain the pressure in the force-receiving chamber 14 unchanged, when the first partition plate 10 moves inwards, the second partition plate 11 moves outwards, thereby changing the pressure in the equalizing chamber 15, when the equalizing chamber 15 transmits a moment to the fourth partition 13 according to the same principle, the measurement of the vibrations is carried out in contact with the fourth diaphragm 13, and therefore with the probes 9 of the fourth diaphragm 13, in contact with the pressure sensor 8, wherein the balancing chamber 15 maintains the balance correction in the triple chamber, that is, the balance chamber 15, which is relatively independent of the change in the volumes of the force receiving chamber 14 and the sensing chamber 16, may cause the remaining chamber volumes to change to correct the initial pressure in order to maintain the self-pressure stably.
The irregular vibration of the flexible gear is converted into point contact pressure, and meanwhile, the vibration amplitude of the flexible gear is converted into the motion stroke of the partition plate, so that the vibration amplitude of the partition plate is converted into linear motion conveniently.
C. And carrying out data statistics and analysis, and shielding the shooting range of the pinhole camera 19 by using the deflection amplitude when the flexible strip 17 is in instantaneous collision, wherein at the moment, an operator can draw a track generated by the vibration of the flexbile gear at the current vibration amplitude by referring to the stress of the pressure sensor 8 to the shielded visual field amplitude of the pinhole camera 19 at the time point.
D. Referring to fig. 5, the rotation trajectory of the flexspline in the axial direction, the neutral direction, and the circumferential direction when the initial magnetic field ω is 688HZ is calculated, where (a) is the axial direction of the flexspline, where (b) is the circumferential direction, and (c) is the vibration trajectory of the flexspline in the neutral direction.
Referring to fig. 6, when the initial magnetic field is changed to ω 4296HZ, fig. 5 shows the vibration trajectory of the flexspline in the axial direction, (a) in the circumferential direction, and (c) in the mid-plane direction
Under the excitation of harmonic current, the forced vibration of the flexible gear is changed in a simple harmonic manner, the vibration amplitude in each direction is small at the fixed end, and the vibration amplitude is larger and larger along the axial direction of the flexible gear. While still finding similar conclusions as free vibration, i.e. increasing modal order, the amplitude gradually decreases, indicating that low order modes are the dominant forms of vibration.
From a comparison of fig. 5 and 6, it can be seen that there is a relationship between the mode shape of the flexspline and the time. In a certain cross section of the flexible wheel, the amplitude is reduced along with the increase of time, and the amplitude is larger at the moment of starting vibration, so that the motion system needs to be started smoothly, and the vibration is reduced.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The utility model provides an electromagnetism harmonic oscillating tooth transmission system vibration testing arrangement, includes the electromagnetism harmonic oscillating tooth transmission's that is equipped with the flexbile gear body, its characterized in that: the electromagnetic harmonic oscillating tooth transmission device is erected between the supports, an end cover is arranged on the surface of the electromagnetic harmonic oscillating tooth transmission device, circular through holes are formed in the vertical direction and the axial direction of the end cover, pressure-sensitive sensing devices are contacted in the through holes, and an integrally manufactured shaft support is connected between the pressure-sensitive sensing devices; a cross shaft is connected between the shaft frame and the support, and the middle of the support is connected with a free rotary table with an output shaft of the electromagnetic harmonic oscillating tooth transmission device.
2. The vibration testing device for the electromagnetic harmonic oscillating tooth transmission system according to claim 1, wherein: the pressure-sensitive sensing device comprises a pressure sensor, a probe and a third connecting cavity, wherein the third connecting cavity is sequentially connected with a first partition plate, a second partition plate, a third partition plate and a fourth partition plate in a sliding mode along the direction from a through hole to the sensor, the first partition plate and the second partition plate enclose a stress cavity, the second partition plate and the third partition plate enclose a balance cavity, the third partition plate and the fourth partition plate enclose an induction cavity, the first partition plate and the fourth partition plate are both provided with the probe, the probe is connected with the flexible wheel of the first partition plate, and the probe connected with the fourth partition plate is connected with the pressure sensor.
3. The vibration testing device for the electromagnetic harmonic oscillating tooth transmission system according to claim 2, wherein: and the outside of the probe connected with the fourth partition plate is wrapped with a tension spring, and the tension spring is in contact with the pressure sensor.
4. The vibration testing device of an electromagnetic harmonic oscillating tooth transmission system according to claim 3, characterized in that: a round pin is connected between the free turntable and the bracket.
5. The vibration testing device of an electromagnetic harmonic oscillating tooth transmission system according to claim 4, characterized in that: the lines of the arbitrary pressure sensors are connected in parallel.
6. The vibration testing device of an electromagnetic harmonic oscillating tooth transmission system according to claim 5, characterized in that: the third baffle has the pinhole camera towards second baffle department, is connected with flexible strip between third baffle and the second baffle, the length of flexible strip equals the distance of third baffle and second baffle under the natural state, and flexible strip one end bonds with the third baffle.
7. The vibration testing device of an electromagnetic harmonic oscillating tooth transmission system according to claim 6, characterized in that: the pinhole camera is located in the deflection stroke of the flexible strip.
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| CN202011461557.7A CN112611561B (en) | 2020-12-08 | 2020-12-08 | Vibration testing device for electromagnetic harmonic oscillating tooth transmission system |
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| CN202011461557.7A CN112611561B (en) | 2020-12-08 | 2020-12-08 | Vibration testing device for electromagnetic harmonic oscillating tooth transmission system |
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| CN112611561B CN112611561B (en) | 2022-03-11 |
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| Title |
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| KAYABASI O, ERZINCANLI F.: "Shape Optimization of Tooth Profile of A Flexspline for A Harmonic", 《MATERIALS & DESIGN》 * |
| 梁永丽: "电磁谐波活齿传动系统输出力矩及动力学特性研究", 《中国博士学位论文全文数据库工程科技Ⅱ辑> * |
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| CN112611561B (en) | 2022-03-11 |
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