CN112903286A - Precision testing device and testing method for static rigidity and hysteresis curve of harmonic reducer - Google Patents
Precision testing device and testing method for static rigidity and hysteresis curve of harmonic reducer Download PDFInfo
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Abstract
The invention discloses a device and a method for precisely testing static rigidity and a hysteresis curve of a harmonic reducer, and relates to the technical field of harmonic reducers. The testing device comprises a worm and gear loading mechanism, a torque sensor, an angle encoder and a fixing mechanism for fixedly mounting a harmonic reducer, wherein the worm and gear loading mechanism, the torque sensor, the angle encoder and the harmonic reducer are sequentially connected; the worm and gear loading mechanism is used for gently applying torque force to the harmonic reducer; the torque sensor is used for acquiring the torque force applied by the worm and gear loading mechanism in real time; the angle encoder is used for acquiring the output rotation angle of the harmonic reducer under the stress action in real time.
Description
Technical Field
The invention relates to the technical field of harmonic reducers, in particular to a device and a method for precisely testing static rigidity and hysteresis curves of a harmonic reducer.
Background
The harmonic reducer mainly comprises a Wave Generator (WG), a flexible gear (FS) and a rigid gear (CS), wherein the wave generator is generally an elliptical cam, and when the wave generator is active, the cam is arranged in a thin-wall bearing and then arranged in the flexible gear. At the moment, the flexible gear is changed from the original round shape to the oval shape, and the flexible gear teeth and the rigid gear teeth at two ends of the long axis of the oval shape are in a complete meshing state, namely the external teeth of the flexible gear are meshed with the internal teeth of the rigid gear along the tooth height. When the cam rotates in the flexible gear, the flexible gear is forced to generate continuous elastic deformation, and the continuous rotation of the wave generator makes the four states of meshing, meshing and disengaging of the flexible gear teeth and the rigid gear teeth to circularly and repeatedly change the original meshing state. For the harmonic reducer, a flexible gear in three large assemblies of the harmonic reducer serves as a flexible part, the harmonic reducer has certain hysteresis in the transmission force and motion process due to the special properties of the flexible gear, the torsional rigidity of the flexible gear determines the transmission performance and reliability of the whole harmonic reducer, and the development of the harmonic reducer in high-precision electromechanical transmission is restricted due to the insufficient torsional rigidity of the flexible gear, so that a precise and accurate rigidity test experiment needs to be carried out on the harmonic reducer.
At present, the rigidity of the harmonic reducer is mainly tested by an experimental method, the experimental testing device used in the prior art applies torque to the harmonic reducer by weights, and the data obtained by the method is discrete, needs manual repeated operation and is complex. Meanwhile, in the process of weight addition, artificial error factors can generate large errors on the rigidity or the hysteresis curve, and in addition, the connection mode between the harmonic speed reducer and the angle encoder in the conventional experimental testing device also has certain flexibility and generates small errors on the rigidity or the hysteresis curve.
Disclosure of Invention
The invention aims to provide a device and a method for precisely testing static rigidity and hysteresis curve of a harmonic reducer.
In order to achieve the above object, a first aspect of the present invention provides a precision testing apparatus for static stiffness and hysteresis curve of a harmonic reducer, including a worm and gear loading mechanism, a torque sensor, an angle encoder, and a fixing mechanism for fixedly mounting the harmonic reducer, where the worm and gear loading mechanism, the torque sensor, the angle encoder, and the harmonic reducer are connected in sequence;
the worm and gear loading mechanism is used for gently applying torque force to the harmonic reducer;
the torque sensor is used for acquiring the torque force applied by the worm and gear loading mechanism in real time;
the angle encoder is used for acquiring the output rotation angle of the harmonic reducer under the stress action in real time.
Preferably, the device further comprises a coupler arranged between the worm and gear loading mechanism and the torque sensor, and a coupler arranged between the torque sensor and the angle encoder;
the worm gear loading mechanism is connected with the torque sensor through the coupler, and the torque sensor is connected with the angle encoder through the coupler.
Preferably, the fixing mechanism comprises a clamping tool and an input shaft end cover, the input shaft end cover is used for fixing a rigid gear of the harmonic reducer with a mounting groove of the clamping tool, and an output shaft of the angle encoder is fixed with a flexible gear of the harmonic reducer.
Furthermore, an output shaft of the worm and gear loading mechanism, an output shaft of the coupler, an output shaft of the torque sensor, an output shaft of the angle encoder and a flexible gear central shaft of the harmonic reducer are located on the same axis.
Preferably, the fixture further comprises a horizontal base material for fixing the worm gear loading mechanism, the support frame of the torque sensor and the clamping tool.
Compared with the prior art, the precision testing device for the static rigidity and the hysteresis curve of the harmonic reducer provided by the invention has the following beneficial effects:
the invention provides a precision testing device for static rigidity and hysteresis curve of a harmonic reducer, which comprises a worm and gear loading mechanism, a torque sensor, an angle encoder and a fixing mechanism, wherein the fixing mechanism is used for fixedly mounting the harmonic reducer, and the output end of the worm and gear loading mechanism is connected with the input end of the harmonic reducer sequentially through the torque sensor and the angle encoder. During experimental testing, engineers can slowly rotate the force application wheel of the worm and gear loading mechanism clockwise, the force application wheel is gradually increased from zero load to rated load and is used for slowly applying torque force to the harmonic reducer, then the force application wheel is gradually reduced from the rated load to the zero load, the torque force is read in real time through the torque sensor and the rotating angle is read in real time through the angle encoder in the process, the operation process is repeated, and multiple groups of data are obtained and the average value of the data is obtained to serve as the final experimental result.
Therefore, compared with the loading mode of adding weights in the prior art, the obtained experimental data are discrete, and certain errors are generated by artificially adding weights due to the instability of loads. The invention can continuously load or unload in a single direction through the worm and gear loading device, and the worm and gear loading device can keep the stability of a load value through self-locking after being loaded or unloaded, thereby reducing the influence of system errors generated by the deformation of test equipment and errors generated by a transmission chain on a rigidity test result as much as possible, and being capable of continuously, quickly and accurately testing and processing static rigidity and hysteresis curves of harmonic reducers of different models, and further analyzing the relation between torque force and a rotating angle in the harmonic reducer.
The second aspect of the invention provides a method for precisely testing static rigidity and hysteresis curve of a harmonic reducer, which comprises the following steps:
testing the harmonic reducer by adopting a harmonic reducer static rigidity and hysteresis curve precision testing device, and correspondingly acquiring a plurality of groups of testing data, wherein each group of testing data comprises an input torque and an output corner;
and constructing a static rigidity and hysteresis curve based on the test data, wherein the static rigidity and hysteresis curve is used for representing the variable relation between the input torque and the output rotation angle.
Compared with the prior art, the beneficial effects of the precision testing method for the static rigidity and the hysteresis curve of the harmonic reducer provided by the invention are the same as the beneficial effects of the precision testing device for the static rigidity and the hysteresis curve of the harmonic reducer provided by the technical scheme, and the details are not repeated herein.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, executes the steps of the method for precision testing of static stiffness and hysteresis curve of a harmonic reducer.
Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the invention are the same as the beneficial effects of the precision testing method for the static stiffness and the hysteresis curve of the harmonic reducer provided by the technical scheme, and the detailed description is omitted here.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a first schematic structural diagram of a precise testing apparatus for static stiffness and hysteresis curve of a harmonic reducer according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii of a precise testing apparatus for static stiffness and hysteresis curve of a harmonic reducer in an embodiment of the present invention.
Reference numerals:
1-input shaft end cover, 2-harmonic reducer;
3-angle encoder, 4-torque sensor;
5-coupler and 6-worm gear loading mechanism.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 and fig. 2, the present embodiment provides a precision testing apparatus for static stiffness and hysteresis curve of a harmonic reducer, including:
the device comprises a worm and gear loading mechanism 6, a torque sensor 4, an angle encoder 3 and a fixing mechanism for fixedly mounting a harmonic reducer 2, wherein the worm and gear loading mechanism 6, the torque sensor 4, the angle encoder 3 and the harmonic reducer 2 are sequentially connected; the worm and gear loading mechanism 6 is used for gently applying torque force to the harmonic reducer 2; the torque sensor 4 is used for acquiring the torque force applied by the worm and gear loading mechanism 6 in real time; the angle encoder 3 is used for acquiring the output rotation angle of the harmonic reducer 2 under the stress action in real time.
The device for precisely testing the static rigidity and the hysteresis curve of the harmonic reducer comprises a worm and gear loading mechanism 6, a torque sensor 4, an angle encoder 3 and a fixing mechanism, wherein the fixing mechanism is used for fixedly mounting the harmonic reducer 2, and the output end of the worm and gear loading mechanism 6 is connected with the input end of the harmonic reducer 2 sequentially through the torque sensor 4 and the angle encoder 3. During experimental testing, engineers can gently rotate the force application wheel of the worm and gear loading mechanism 6 clockwise, the force application wheel is gradually increased from zero load to rated load, the force application wheel is used for gently applying torque force to the harmonic reducer 2, then the force application wheel is gradually reduced from the rated load to zero load, the torque force is read in real time through the torque sensor 4 in the process, the rotating angle is read in real time through the angle encoder 3, the operation process is repeated, and multiple groups of data are obtained and averaged to serve as a final experimental result.
Therefore, compared with the loading mode of adding weights in the prior art, the obtained experimental data are discrete, and certain errors are generated by artificially adding weights due to the instability of loads. According to the embodiment, the load value stability can be kept through self-locking after the worm and gear loading device is loaded or unloaded, the influence of system errors generated by the deformation of the testing equipment and errors generated by a transmission chain on the rigidity testing result is reduced as much as possible, an integral differential equation is adopted to describe the hysteresis curve, and a function fitting mode is utilized to carry out parameter identification to obtain the precise rigidity and hysteresis curve of the harmonic reducer 2, so that the static rigidity and hysteresis curve of the harmonic reducer 2 of different models can be tested and processed continuously, quickly and precisely.
In the above embodiment, the device further comprises a coupling 5 arranged between the worm gear loading mechanism 6 and the torque sensor 4, and a coupling 5 arranged between the torque sensor 4 and the angle encoder 3; the worm gear loading mechanism 6 is connected with the torque sensor 4 through the coupler 5, and the torque sensor 4 is connected with the angle encoder 3 through the coupler 5.
During specific implementation, the output shaft of the worm and gear loading mechanism 6 and the input shaft of the torque sensor 4 are different in size, the output shaft of the torque sensor 4 and the input shaft of the angle encoder 3 are different in size, in order to reduce transmission errors between the output shaft of the worm and gear loading mechanism 6 and the input shaft of the torque sensor 4 and between the output shaft of the torque sensor 4 and the input shaft of the angle encoder 3, the coupling 5 is adopted to reduce transmission chains among parts in a testing device, the transmission fit degree of the coupling is improved, and the precision measurement of the rigidity of the harmonic reducer 2 is realized.
In the above embodiment, the fixing mechanism includes a clamping tool and an input shaft end cover 1, the input shaft end cover 1 is used for fixing the rigid gear of the harmonic reducer 2 and the mounting groove of the clamping tool, and the output shaft of the angle encoder 3 is fixed with the flexible gear of the harmonic reducer 2.
During specific implementation, the clamping frock is including fixing the base on the substrate, establish the backup pad on the base, and fix the installation department that is used for installing the reduction gear in the backup pad, the installation department is penetrating tubular structure, harmonic reducer 2's rigid wheel passes through the installation department and supports, be equipped with the through-hole on installation department and the input shaft end cover 1, be equipped with the thread groove that corresponds with the through-hole position on the rigid wheel, use the bolt to pass the through-hole that input shaft end cover 1 and installation department were still in proper order, and with the thread groove threaded connection of rigid wheel, can realize the fixed of harmonic reducer 2 on the clamping frock.
In the above embodiment, the output shaft of the worm gear loading mechanism 6, the output shaft of the coupling 5, the output shaft of the torque sensor 4, the output shaft of the angle encoder 3, and the flexible gear center shaft of the harmonic reducer 2 are located on the same axis.
In the above embodiment, the fixture further comprises a horizontal base material for fixing the worm and gear loading mechanism 6, the support frame of the torque sensor 4 and the clamping tool.
During specific implementation, the base material is a marble base material, the output shaft of the worm gear loading mechanism 6, the output shaft of the coupler 5, the output shaft of the torque sensor 4, the output shaft of the angle encoder 3 and the flexible gear central shaft of the harmonic reducer 2 are located on the same axis, coaxiality and straightness errors of arrangement of parts are small, and meanwhile, in the connection process of the parts, the parts are centered pairwise through the infrared laser centering instrument, so that errors caused by the straightness, the coaxiality and the like are greatly reduced. In addition, this embodiment compares in the testing arrangement among the prior art, and the drive chain of very big reduction spare part shortens the transmission through using fewest spare part, links firmly the output of harmonic speed reducer ware 2 and angle encoder 3 on the clamping machine structure directly, consequently can accurately carry out the precision measurement to rigidity. Moreover, compared with a rigidity test experiment table loaded by a motor, the rigidity test experiment table is simple and reliable in structure, low in manufacturing cost and free of motor stalling phenomenon, and motor loss and burnout in the loading process are avoided. The worm gear is adopted as a loading device, so that the operation personnel can use the loading device conveniently, and the loading torque can be read in real time through upper computer software.
Example two
The embodiment provides a method for precisely testing static rigidity and hysteresis curve of a harmonic reducer, which comprises the following steps:
testing the harmonic reducer by adopting a harmonic reducer static rigidity and hysteresis curve precision testing device, and correspondingly acquiring a plurality of groups of testing data, wherein each group of testing data comprises an input torque and an output corner;
and constructing a static rigidity and hysteresis curve based on the test data, wherein the static rigidity and hysteresis curve is used for representing the variable relation between the input torque and the output rotation angle.
For a rigid-flexible compound transmission system, an input torque h and an output rotation angle θ are generally described by a nonlinear equation h as k (θ), wherein h is used for expressing a function of static rigidity and a hysteresis curve of a harmonic reducer, experiments show that the output rotation angle θ is not only related to the current input torque h but also related to the previous loaded torque, namely, hysteresis has a memory characteristic, and when the memory characteristic of the hysteresis is considered, a hysteresis model can be described by an integral differential equation, so that a correction term z can be added on the nonlinear equation of the technology to express:
h＝k(θ)+z (1)
where φ (t, τ) is a memory function if t is ignored0Memory effect of < t, then t can be given0As an initial time (t)0When it is 0), the expressions (1) and (2) are written as
Tau represents a moment of t, and we can know the characteristics of the memory function by some simple assumptions, and assuming that the influence of the memory effect is gradually reduced, phi (u) is a finite continuous decreasing function, and can be replaced by the sum of exponential functions:
analysis of the characteristics of the hysteresis curve reveals that the total hysteresis torque is also related to the angular velocity d θ/d τ, where τ ∈ (0, t). In other words, the value of the total retard torque h (t) is related to k (θ) and d θ/d τ.
The function h (t) is further simplified:
wherein
Represents the total variation of θ in the interval (s, t).
From the viewpoint of mathematical analysis, equations (4) and (6) are equal. In practice, when t is 0, θ is 0, and the integral part of equation (5) may be replaced with a differential equation. If the memory function is a first-order exponential function
Instead, the hysteresis function has the form:
this model can describe the behavior of the harmonic reducer dynamically and very accurately, and has the following two properties:
1. semi-global Lipschitz continuity
The hysteresis model is described by equation (7), and it can be seen that the hysteresis model function h is semi-global Lipschitz continuous.
2. Velocity independence
For periodic motion (θ is periodic), the steady state hysteresis curve is velocity independent. Although the velocity θ is input to the differential equation (7), it can be seen that the hysteresis curve is related to velocity at steady state
Is irrelevant. For example, if we give two inputs θ1And theta2，θ1And theta2Are equal in amplitude and unequal in frequency, the resulting steady-state hysteresis curve is the same.
The hysteresis curve function describes parameter identification:
suppose torque τn(T) is continuous and has a period T, the function of θ also has a period TA function. If θ (t) is Qsin (ω t), the torque-rotation angle curve converges to a symmetric hysteresis curve.
The steady state hysteresis curve is divided into 3 sections: the part of the stiffness curve k (theta), the rising part z when the displacement increases (d theta/dt > 0)uDecreasing part z when the displacement decreases (d θ/dt < 0)d。
The curve z being symmetrical, i.e. zu(θ)＝-zd(-θ)。
To fully characterize the hysteresis, we will simulate a hysteresis curve cluster, rather than a single hysteresis loop, taking into account the effect of amplitude variations. Therefore, the single-loop model is composed of two curves, i.e., two curves of static stiffness and hysteresis, represented by equations (110) and (11):
next, the parameters of both curves can be obtained from experimental data by non-linear fitting. The stiffness curve function f (θ) selects an odd polynomial function:
k(θ)＝a1θ+a2θ3+a3θ5 (12)
stiffness parameter (a)1,a2,a3) And the memory function parameters (a, α) are obtained using a non-linear least squares fit:
wherein h isujAnd hdjIs the hysteresis curve of the j (j is 1, … m) th experimental data, epsilonuj，εdjIs the fitting error and m is the number of sets of experimental data.
The optimal parameters are then selected using the least squares method whose normalization function is:
where n is the number of data points contained in a hysteresis curve (rising or falling). Identified parameters
Can be used to estimate the transfer torque. The amount of torsional deformation can also be determined by the inverse function.
Finally, all function description parameters of the hysteresis curve can be obtained by function fitting.
Compared with the prior art, the memory characteristic of the hysteresis phenomenon is fully considered in the embodiment, so that the drawn hysteresis curve is more accurate.
EXAMPLE III
The embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for precisely testing the static stiffness and the hysteresis curve of the harmonic reducer are executed.
Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment are the same as the beneficial effects of the precision testing method for the static stiffness and the hysteresis curve of the harmonic reducer provided by the technical scheme, and are not repeated herein.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the invention may be implemented by hardware instructions related to a program, the program may be stored in a computer-readable storage medium, and when executed, the program includes the steps of the method of the embodiment, and the storage medium may be: ROM/RAM, magnetic disks, optical disks, memory cards, and the like.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A precision testing device for static rigidity and hysteresis curve of a harmonic reducer is characterized by comprising a worm and gear loading mechanism, a torque sensor, an angle encoder and a fixing mechanism for fixedly mounting the harmonic reducer, wherein the worm and gear loading mechanism, the torque sensor, the angle encoder and the harmonic reducer are sequentially connected;
the worm and gear loading mechanism is used for gently applying torque force to the harmonic reducer;
the torque sensor is used for acquiring the torque force applied by the worm and gear loading mechanism in real time;
the angle encoder is used for acquiring the output rotation angle of the harmonic reducer under the stress action in real time.
2. The device of claim 1, further comprising a coupling disposed between the worm gear loading mechanism and the torque sensor, and a coupling disposed between the torque sensor and the angular encoder;
the worm gear loading mechanism is connected with the torque sensor through the coupler, and the torque sensor is connected with the angle encoder through the coupler.
3. The device of claim 2, wherein the fixing mechanism comprises a clamping tool and an input shaft end cover, the input shaft end cover is used for fixing a rigid gear of the harmonic reducer with a mounting groove of the clamping tool, and an output shaft of the angle encoder is fixed with a flexible gear of the harmonic reducer.
4. The device of claim 3, wherein the output shaft of the worm and gear loading mechanism, the output shaft of the coupler, the output shaft of the torque sensor, the output shaft of the angle encoder, and the flexspline central shaft of the harmonic reducer are all co-located on the same axis.
5. The device according to any one of claims 1 to 4, further comprising a horizontal base material for fixing the worm and gear loading mechanism, the support frame of the torque sensor and the clamping tool.
6. A method for precisely testing static rigidity and hysteresis curve of a harmonic reducer is characterized by comprising the following steps:
testing the harmonic reducer by adopting a harmonic reducer static rigidity and hysteresis curve precision testing device, and correspondingly acquiring a plurality of groups of testing data, wherein each group of testing data comprises an input torque and an output corner;
and constructing a static rigidity and hysteresis curve based on the test data, wherein the static rigidity and hysteresis curve is used for representing the variable relation between the input torque and the output rotation angle.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as set forth in claim 6.
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| CN114544169A (en) * | 2022-03-03 | 2022-05-27 | 江苏开璇智能科技有限公司 | Rigidity test workbench for harmonic speed reduction module |
| CN117969085A (en) * | 2024-03-29 | 2024-05-03 | 中国科学院西安光学精密机械研究所 | Worm gear meshing relationship measuring device of turntable and high-precision control method |
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