CN113029563A - Angle measurement error compensation method for angle calibrator of speed reducer detector - Google Patents
Angle measurement error compensation method for angle calibrator of speed reducer detector Download PDFInfo
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- G—PHYSICS
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- 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
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
本发明公开了一种减速器检测仪角度校准器的测角误差补偿方法，包括：误差标定，得到高速端和低速端误差分布表；其次，分别根据高速端误差分布表和低速端误差分布表对高速端角位置、低速端角位置进行补偿。本发明可以模拟被测减速器的实际运行情况，对减速器测量仪高速端与角度校准器、角度校准器与低速端花键啮合过程中存在的测角误差进行测量，并根据不同型号减速器测量过程中所需的速度和加载扭矩选取补偿值，对减速器检测仪的圆光栅测角系统进行补偿。
The invention discloses a method for compensating the angle measurement error of the angle calibrator of a reducer detector. Compensate for high-speed end angular position and low-speed end angular position. The invention can simulate the actual operation of the tested reducer, measure the angle measurement error existing in the spline meshing process between the high-speed end of the reducer measuring instrument and the angle calibrator, and the angle calibrator and the low-speed end spline, and according to different types of reducers The speed and loading torque required in the measurement process are selected to compensate for the circular grating angle measuring system of the reducer detector.
Description
Technical Field
The invention relates to calibration and compensation of an angle measurement error of a precision speed reducer, in particular to an angle measurement error compensation method suitable for compensating the introduction of a speed reducer detector due to the fact that a shaft system is connected with an input end and an output end of the speed reducer in a spline mode.
Background
The reducer is widely applied to the mechanical and automatic fields as a transmission device, and performance parameters such as transmission error, transmission efficiency, torsional rigidity and the like of the reducer as a joint device of an industrial robot can influence the service life and the working performance of the robot. At present, the existing speed reducer detector generally adopts a mode of arranging multiple stages of parts in series, namely, devices such as an angle sensor, a torque sensor and a loading driving motor are connected in series at the output end and the input end of a detected speed reducer. The angle sensor generally adopts a circular grating angle measuring system, and cannot be directly connected with a measured speed reducer in the actual use process, so that the angle measuring value of the circular grating cannot directly represent the actual angle value required in the parameters of the output shaft and the input shaft of the speed reducer.
In order to realize the quick replacement of the tested speed reducer and improve the installation efficiency, the high-speed end and the low-speed end of the speed reducer measuring instrument are connected with the input shaft and the output shaft of the speed reducer in a spline mode. The spline is affected by factors such as loading torque, spline tooth shape and material rigidity in the meshing process, deformation is inevitably generated, angle measurement errors are introduced, and the angle measurement precision of the speed reducer detector is further affected. In addition, different spline processing methods and processing precision are different, even if splines are processed by the same method in the processing process of the internal and external splines, the shape of each tooth cannot be guaranteed to be the same, the meshing characteristics and error curves of the teeth are different, and the angle measurement errors introduced in the meshing process of the two splines represent the angle measurement errors of all the splines and are not reasonable, so that the angle measurement errors caused by the spline meshing between the high and low speed ends of the speed reducer measuring instrument and the input and output shafts of the speed reducer need to be compensated.
At present, the conventional speed reducer detector lacks a method for compensating angle measurement errors in a spline meshing process, an angle calibration device and a calibration method can only compensate spline gaps, if uncompensated circular grating angle measurement values are directly used as angle values input and output by the speed reducer, calculated performance parameters of the speed reducer are inaccurate, and therefore an angle measurement error compensation method of an angle calibrator of the speed reducer detector is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a compensation method suitable for compensating angle measurement errors in the spline meshing process, in particular to a precision speed reducer detector. The invention can simulate the actual working condition of the reducer, realize the measurement of the angle measurement error in the process of meshing the reducer detector with the input shaft spline and the output shaft spline of the reducer, and compensate the angle measurement error, thereby improving the angle measurement precision of the reducer measuring instrument.
The technical scheme adopted by the invention is as follows: an angle measurement error compensation method of a speed reducer detector angle calibrator comprises the steps that the angle calibrator comprises an adapter shell, a circular grating angle measurement system and a combined shaft; the adapter shell is connected with the end faces of the high-speed end and the low-speed end of the detector in a positioning manner; the combined shaft comprises a high-speed end measuring shaft, a rigid shaft and a low-speed end measuring shaft which are detachably connected in sequence, wherein an external spline of the high-speed end measuring shaft can be connected with an internal spline of the measuring shaft at the high-speed end of the detector, and an external spline of the low-speed end measuring shaft can be connected with an internal spline of the measuring shaft at the low-speed end of the detector; a circular grating of the circular grating angle measuring system is fixedly connected with the rigid shaft; the angle measurement error compensation method is characterized by comprising the following steps of:
Step 1-1, installing the angle calibrator: the angle calibrator is placed between the high-speed end and the low-speed end of the detector, the upper end surface and the lower end surface of an adapter shell of the angle calibrator are respectively connected with the high-speed end and the low-speed end of the detector, an external spline of a high-speed end measuring shaft of the angle calibrator is connected with an internal spline of the measuring shaft of the high-speed end of the detector, and an external spline of a low-speed end measuring shaft is connected with an internal spline of the measuring shaft of the low-speed end of the detector, so that the measuring shaft of the low-speed end of the detector, a combined shaft of the angle calibrator and the measuring shaft of the high-speed end of the detector form a measuring shafting, and meanwhile, the spline installation phase under the installation state is recorded;
step 1-2, eliminating unilateral clearance: a motor at the low-speed end of the detector drives the measuring shafting to rotate, so that a spline gap is formed by only single-side contact of the spline;
step 1-3, simulating a testing method of a speed reducer: setting the high-speed end of the detector into a speed mode, setting the low-speed end of the detector into a torque mode, and recording the input speed at the moment as V1Torque of M1；
Step 1-4, speed and torque loading: after the speed and torque of the reducer detector are loaded stably, synchronously acquiring and recording the readings of the circular gratings at the high-speed end and the low-speed end of the angle calibrator, the detector and the circular gratings at the low-speed end of the detector at 360 DEG/N intervals in a rotation period by taking the readings of the circular gratings of the angle calibrator as a reference;
the angular position of the circular grating of the angle calibrator is recorded as an array a, a ═ a0,a1,…,ak,…,aN}，akIn order to acquire the angular position of the circular grating of the angular calibrator when the angular position is k multiplied by 360 DEG/N, the angular position of the circular grating corresponding to the high-speed end of the detector is an array b, and b is { b ═ b { (b) }0,b1,…,bk,…,bN}，bkIn order to acquire the angular position of the circular grating at the high-speed end of the detector when the angular position is kx360 DEG/N, the angular position of the circular grating corresponding to the low-speed end of the detector is an array c, and c is { c ═ c { (c) }0,c1,…,ck,…,cN}，ckIn order to acquire the circular grating angular position of the low-speed end of the detector when the angular position is k multiplied by 360 DEG/N, the difference between the circular grating angular position of the high-speed end of the detector and the circular grating angular position of the angle calibrator is an array p, and p is { p ═ p { (p }0,p1,…,pk,…,pN}＝{a0-b0,a1-b1,…,ak-bk,…,aN-bNAnd the meshing error between the internal spline of the measuring shaft at the high-speed end of the detector and the external spline of the measuring shaft at the high-speed end of the angle calibrator is an array m, wherein m is { m ═ m0,m1,…,mk,…,mN}＝{p0-p0,p1-p0,…,pk-p0,…,pN-p0And the difference between the circular grating angular position of the low-speed end of the detector and the circular grating angular position of the angle calibrator is an array q, wherein q is { q ═ q }0,q1,…,qk,…,qN}＝{a0-c0,a1-c1,…,ak-ck,…,aN-cNAnd the meshing error between the measuring shaft internal spline at the low-speed end of the detector and the measuring shaft external spline at the low-speed end of the angle calibrator is an array n, wherein n is { n ═ n0,n1,…,nk,…,nN}＝{q0-q0,q1-q0,…,qk-q0,…,qN-q0Where k is 0,1, …, N;
step 1-5, changing calibration conditions: change the driving speed to ViWhere I is 1,2, …, I represents the number of drive speeds required for the test, or changes the loading torque to MjWherein J is 1,2, …, J represents the number of driving speed loading torques required by the test; repeating the steps 1-4, and calculating to obtain a plurality of groups m of spline meshing errors between the high-speed end of the detector and the angle calibrator at the momentHigh-speed terminal，mHigh-speed terminal＝{mijI ═ 1,2, …, I; j ═ 1,2, …, J }, where m isij＝{mij0,mij1,…,mijk,…,mijNAnd the spline meshing error between the low-speed end of the detector and the angle calibrator is an array group nLow speed end，nLow speed end＝{nijI ═ 1,2, …, I; j ═ 1,2, …, J }, where n isij＝{nij0,nij1,…,nijk,…,nijNAnd obtaining an error distribution table;
Step 2-1, disassembling a combined shaft of the angle calibrator, inserting a high-speed end measuring shaft and a low-speed end measuring shaft used in calibration into a speed reducer as connecting pieces, then installing the speed reducer to be tested and a switching piece into a detector, ensuring that the installation phase of a spline is the same as the installation phase of the initial spline in the step 1-1 at the moment, and pressing a shell of the speed reducer and the switching piece;
step 2-2, selecting corresponding error numbers in the error distribution table according to the driving speed and the loading torque required by the detected speed reducer detection items, fitting an error curve by taking (the collected angular positions corresponding to the error numbers and the error numbers) as calibration points, and obtaining a high-speed end error equation under the set loading speed and the set loading torque
And low speed end error equation
Wherein, thetaHeight ofIndicating high speed end angular position, thetaIs low inIndicating the low speed tip angular position, phiHeight ofIndicating a value of the meshing error corresponding to the high speed end angular position value,
representing a meshing error value corresponding to the low-speed end angle position value;
step 2-3, calculating the error equation of the high-speed end
Substituting the angular position corresponding relation into the high-speed end circular grating for compensation to obtain the angular position value after the high-speed end compensation
And/or, error-correcting the low-speed end
Substituting the angular position corresponding relation into the low-speed end circular grating for compensation to obtain the angular position value of the low-speed end after compensation
Further, in step 1-1, the upper end surface of the adapter housing of the angle calibrator and the high-speed end of the detector are positioned and pressed through a seam allowance, and the lower end surface of the adapter housing of the angle calibrator and the low-speed end of the detector are positioned and pressed through a seam allowance.
Furthermore, the precision of the circular grating angle measurement system is higher than that of the angle measurement system used at the high-speed end and the low-speed end of the detector.
The invention has the beneficial effects that: the invention discloses a calibration compensation method for angle measurement errors in a spline meshing process, which is characterized in that a core component combined shaft adopts a mode that a detachable high-speed end measuring shaft and a detachable low-speed end measuring shaft are connected with a rigid shaft and can be equivalent to a speed reducer with a reduction ratio of 1, so that the actual operation condition of the tested speed reducer is simulated, the angle measurement errors existing in the meshing process of the high-speed end of a speed reducer measuring instrument and an angle calibrator and the low-speed end spline are measured, a compensation value is selected according to the speed and the loading torque required in the measuring process of speed reducers of different models, the angle measurement value of a circular grating is compensated, the defect that the spline clearance can only be compensated by the current angle calibration device and calibration method is overcome, and the angle measurement precision of a precision speed reducer detector is further improved.
Drawings
FIG. 1: the structural appearance diagram of the angle calibrator of the invention;
FIG. 2: the angle calibrator structurally forms a schematic sectional view;
FIG. 3 is a schematic diagram of the operation of the angle calibrator of the present invention.
The attached drawings are marked as follows:
1-adaptor housing; 2-circular grating angle measuring system;
3-a bearing; 4-high speed end measuring shaft;
5-rigid shaft; 6-low speed end measuring shaft;
7-high-speed end of the detector; 8-angle calibrator;
9-low speed end of the detector.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
the invention relates to a specific structure of an angle calibrator 8, and can refer to the invention patent with the publication number of CN 111121669A, namely a multifunctional angle calibration device and method for a precision speed reducer detector.
As shown in fig. 1 to 3, the angle calibrator 8 includes an adaptor housing 1, a circular grating goniometer system 2, a bearing 3, and a combined shaft. The adapter shell 1 can be connected with the end faces of a high-speed end 7 and a low-speed end 9 of the detector in a positioning mode, wherein the upper end face of the adapter shell 1 of the device is compressed with the high-speed end of the measuring instrument through a spigot in a positioning mode, and the lower end face of the adapter shell 1 of the device is compressed with the low-speed end of the measuring instrument through a spigot in a positioning mode. The combined shaft comprises a high-speed end measuring shaft 4, a rigid shaft 5 and a low-speed end measuring shaft 6 which are detachably connected in sequence, wherein an external spline of the high-speed end measuring shaft 4 can be connected with an internal spline of a measuring shaft at a high-speed end 7 of the detector, and an external spline of the low-speed end measuring shaft 6 can be connected with an internal spline of a measuring shaft at a low-speed end 9 of the detector; the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 are the same as a connecting shaft used for detecting the speed reducer and can be replaced mutually. The inner ring of the bearing 3 is connected with the rigid shaft 5, and the outer ring of the bearing is connected with the adapter shell 1; the circular grating of the circular grating angle measuring system 2 is fixedly connected with the rigid shaft 5; the precision of the circular grating angle measuring system 2 is higher than that of the angle measuring system used by the high-speed end 7 and the low-speed end 9 of the detector; the circular grating angle measuring system 2 comprises two circular grating reading heads which are arranged in a diameter-matching mode.
An angle measurement error compensation method of a speed reducer detector angle calibrator 8 is particularly suitable for compensating angle measurement errors of speed reducer detectors caused by the fact that a shaft system is connected with input ends and output ends of a speed reducer in a spline mode. The angle measurement error compensation method comprises the following steps:
(1) calibration for high speed end meshing error
Step 1-1, installing the angle calibrator 8: the angle calibrator 8 is placed between the high-speed end 7 and the low-speed end 9 of the detector, after the upper end surface and the lower end surface of the adapter shell 1 of the angle calibrator 8 are respectively positioned with the high-speed end 7 and the low-speed end 9 of the detector, the adapter shell 1 of the angle calibrator 8 is pressed by a pressing device, the external spline of the high-speed end measuring shaft 4 of the angle calibrator 8 is connected with the internal spline of the measuring shaft of the high-speed end 7 of the detector, the external spline of the low-speed end measuring shaft 6 is connected with the internal spline of the measuring shaft of the low-speed end 9 of the detector, so that the measuring shaft of the low-speed end 9 of the detector, the combined shaft of the angle calibrator 8 and the measuring shaft of the high-speed end 7 of the detector form a measuring shafting, and simultaneously, the installation phase of the splines in the installation state is recorded.
Step 1-2, eliminating unilateral clearance: the motor at the low-speed end 9 of the detector drives the measuring shafting to rotate, so that the spline gap is formed by only single-side contact of the spline.
Step 1-3, simulating a testing method of a speed reducer: the output end and the input end of the speed reducer detector are set to be in different loading modes, the high-speed end 7 of the speed reducer detector is set to be in a speed mode, the low-speed end 9 of the speed reducer detector is set to be in a torque mode, and the input speed at the moment is recorded to be V1Torque of M1。
Step 1-4, speed and torque loading: after the speed and torque of the reducer detector are loaded stably, the circle grating reading of the angle calibrator 8 is taken as a reference, and the circle grating reading of the angle calibrator 8, the detector high-speed end 7 and the detector low-speed end 9 is synchronously acquired and recorded at intervals of 360 degrees/N in a rotation period (0-360 degrees).
The angular position of the circular grating of the angle calibrator 8 is recorded as an array a, a ═ a0,a1,…,ak,…,aN}，akIn order to acquire the circular grating angular position of the angular calibrator 8 at the angular position k × 360 °/N, the circular grating angular position corresponding to the high-speed end 7 of the detector is an array b, where b is { b ═ N0,b1,…,bk,…,bN}，bkIn order to collect the angular position k multiplied by 360 DEG/N of the circular grating of the high-speed end 7 of the detector, the detector is usedThe difference between the circular grating angular position of the high-speed end 7 of the measuring instrument and the circular grating angular position of the angle calibrator 8 is an array p, where p is { p ═ p0,p1,…,pk,…,pN}＝a-b＝{a0-b0,a1-b1,…,ak-bk,…,aN-bNAnd the meshing error between the internal spline of the measuring shaft at the high-speed end 7 of the detector and the external spline of the measuring shaft 4 at the high-speed end of the angle calibrator 8 is an array m, where m is { m ═ m0,m1,…,mk,…,mN}＝p-p0＝{p0-p0,p1-p0,…,pk-p0,…,pN-p0Where k is 0,1, …, N, and the resulting data are shown in table 1.
TABLE 1 high-speed end 7 engagement error List of the tester
Step 1-5, changing calibration conditions: change the driving speed to ViWhere I is 1,2, …, I represents the number of drive speeds required for the test, or changes the loading torque to MjWhere J is 1,2, …, J represents the number of drive speed loading torques required. Repeating the steps 1-4, and calculating to obtain a plurality of groups m of spline meshing errors between the high-speed end 7 of the detector and the angle calibrator 8 at the momentHigh-speed terminal，mHigh-speed terminal＝{mijI ═ 1,2, …, I; j ═ 1,2, …, J }, where m isij＝{mij0,mij1,…,mijk,…,mijNAnd obtaining a high-speed end error distribution table shown in table 2.
TABLE 2 high-speed end error distribution Table
And 2-1, disassembling a combined shaft of the angle calibrator 8, inserting the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 used in calibration into a speed reducer as connecting pieces, then installing the speed reducer to be tested and the adapter into a detector, ensuring that the installation phase of the spline is the same as the installation phase of the initial spline in the step 1-1, and pressing the shell 1 of the speed reducer and the adapter.
Step 2-2, selecting corresponding error numbers in the error distribution table according to the driving speed and the loading torque required by the detected speed reducer detection items, fitting an error curve by taking (the collected angular positions corresponding to the error numbers and the error numbers) as calibration points, and obtaining a high-speed end error equation under the set loading speed and the set loading torque
Wherein, thetaHeight ofThe high-speed end angle position is indicated,
and indicating the meshing error value corresponding to the high-speed end angle position value.
Step 2-3, calculating the error equation of the high-speed end
Substituting the angular position corresponding relation into the high-speed end circular grating for compensation to obtain the angular position value after the high-speed end compensation
(2) Calibration for low speed end engagement error
Step A, error calibration
Step a-1, installing the angle calibrator 8: the angle calibrator 8 is placed between the high-speed end 7 and the low-speed end 9 of the detector, after the upper end surface and the lower end surface of the adapter shell 1 of the angle calibrator 8 are respectively positioned with the high-speed end 7 and the low-speed end 9 of the detector, the adapter shell 1 of the angle calibrator 8 is pressed by a pressing device, the external spline of the high-speed end measuring shaft 4 of the angle calibrator 8 is connected with the internal spline of the measuring shaft of the high-speed end 7 of the detector, the external spline of the low-speed end measuring shaft 6 is connected with the internal spline of the measuring shaft of the low-speed end 9 of the detector, so that the measuring shaft of the low-speed end 9 of the detector, the combined shaft of the angle calibrator 8 and the measuring shaft of the high-speed end 7 of the detector form a measuring shafting, and simultaneously, the installation phase of the splines in the installation state is recorded.
Step A-2, eliminating unilateral gaps: the motor at the low-speed end 9 of the detector drives the measuring shafting to rotate, so that the spline gap is formed by only single-side contact of the spline.
Step A-3, simulating a testing method of the speed reducer: setting the high-speed end 7 of the detector into a speed mode, setting the low-speed end 9 of the detector into a torque mode, and recording the input speed at the moment as V1Torque of M1。
Step A-4, speed and torque loading: after the speed and torque of the reducer detector are loaded stably, the circle grating reading of the angle calibrator 8 is taken as a reference, and the circle grating reading of the angle calibrator 8, the detector high-speed end 7 and the detector low-speed end 9 is synchronously acquired and recorded at intervals of 360 degrees/N in a rotation period (0-360 degrees).
The angular position of the circular grating of the angle calibrator 8 is recorded as an array a, a ═ a0,a1,…,ak,…,aN}，akIn order to acquire the circular grating angular position of the angular calibrator 8 at the angular position k × 360 °/N, the circular grating angular position corresponding to the low-speed end 9 of the detector is an array c, where c is { c ═ N0,c1,…,ck,…,cN}，ckIn order to acquire the circular grating angular position of the low-speed end 9 of the detector when the angular position k is multiplied by 360 °/N, the difference between the circular grating angular position of the low-speed end 9 of the detector and the circular grating angular position of the angle calibrator 8 is an array q, q ═ q { (q })0,q1,…,qk,…,qN}＝a-c＝{a0-c0,a1-c1,…,ak-ck,…,aN-cNAnd the meshing error between the internal spline of the measuring shaft at the low-speed end 9 of the detector and the external spline of the measuring shaft 6 at the low-speed end of the angle calibrator 8 is an array n, wherein n is { n ═ n }0,n1,…,nk,…,nN}＝q-q0＝{q0-q0,q1-q0,…,qk-q0,…,qN-q0Where k is 0,1, …, N, and the resulting data are shown in table 3.
TABLE 3 Low speed end engagement error List
Step A-5, changing the calibration conditions: change the driving speed to ViWhere I is 1,2, …, I represents the number of drive speeds required for the test, or changes the loading torque to MjWhere J is 1,2, …, J represents the number of drive speed loading torques required. Repeating the steps 1-4, and calculating to obtain a plurality of groups n of spline meshing errors between the low-speed end 9 of the detector and the angle calibrator 8 at the momentLow speed end，nLow speed end＝{nijI ═ 1,2, …, I; j ═ 1,2, …, J }, where n isij＝{nij0,nij1,…,nijk,…,nijNAnd obtaining a low-speed end error distribution table shown in table 4.
TABLE 4 error distribution table at low speed end
Step B error compensation
And step B-1, disassembling a combined shaft of the angle calibrator 8, inserting the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 used in calibration into the speed reducer as connecting pieces, then installing the speed reducer to be tested and the adapter into the detector, ensuring that the installation phase of the spline is the same as the installation phase of the initial spline in the step 1-1, and pressing the shell 1 of the speed reducer and the adapter.
B-2, selecting corresponding error numbers in the error distribution table according to the driving speed and the loading torque required by the detected speed reducer detection items, and fitting an error curve by taking (the collection angular positions corresponding to the error numbers and the error numbers) as calibration points to obtain a set loadingLow-speed end error equation under speed and loading torque
Wherein, thetaIs low inIndicating the angular position of the low-speed tip,
and indicating the meshing error value corresponding to the low-speed end angle position value.
Step B-3, the error equation of the low-speed end is calculated
Substituting the angular position corresponding relation into the low-speed end circular grating for compensation to obtain the angular position value of the low-speed end after compensation
The rigid bar in the combined shaft is equivalent to a speed reducer with the reduction ratio of 1, no transmission error is introduced, and the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 at two ends are also connecting shafts used in the measuring process of the comprehensive speed reducer measuring instrument and respectively used as an input shaft and an output shaft of the measured speed reducer. Therefore, the invention can simulate the actual operation condition of the detected speed reducer, measure the angle measurement error existing in the spline meshing process of the high-speed end 7 and the angle calibrator 8 of the detector and the low-speed end 9 of the detector, and select the compensation value according to the speed and the loading torque required in the measuring process of the speed reducers of different models to compensate the circular grating angle measurement system 2 of the speed reducer detector.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (3)
1. An angle measurement error compensation method of a speed reducer detector angle calibrator (8) is disclosed, wherein the angle calibrator (8) comprises an adapter shell (1), a circular grating angle measurement system (2) and a combined shaft; the adapter shell (1) is connected with the end faces of the high-speed end (7) and the low-speed end (9) of the detector in a positioning way; the combined shaft comprises a high-speed end measuring shaft (4), a rigid shaft (5) and a low-speed end measuring shaft (6) which are detachably connected in sequence, an external spline of the high-speed end measuring shaft (4) can be connected with an internal spline of a measuring shaft of the high-speed end (7) of the detector, and an external spline of the low-speed end measuring shaft (6) can be connected with an internal spline of a measuring shaft of the low-speed end (9) of the detector; a circular grating of the circular grating angle measuring system (2) is fixedly connected with the rigid shaft (5); the angle measurement error compensation method is characterized by comprising the following steps of:
step 1, error calibration
Step 1-1, installing the angle calibrator (8): -placing the angle calibrator (8) between the high speed end (7) of the detector and the low speed end (9) of the detector, the upper end surface and the lower end surface of an adapter shell (1) of the angle calibrator (8) are respectively connected with the high-speed end (7) and the low-speed end (9) of the detector, moreover, the external spline of the high-speed end measuring shaft (4) of the angle calibrator (8) is connected with the internal spline of the measuring shaft of the high-speed end (7) of the detector, the external spline of the low-speed end measuring shaft (6) is connected with the internal spline of the measuring shaft of the low-speed end (9) of the detector, enabling a measuring shaft of the low-speed end (9) of the detector, a combined shaft of the angle calibrator (8) and a measuring shaft of the high-speed end (7) of the detector to form a measuring shaft system, and recording a spline mounting phase in the mounting state;
step 1-2, eliminating unilateral clearance: a motor at the low-speed end (9) of the detector drives the measuring shafting to rotate, so that a spline gap is formed by only single-side contact of the spline;
step 1-3, simulating a testing method of a speed reducer: setting the high-speed end (7) of the detector into a speed mode, setting the low-speed end (9) of the detector into a torque mode, and recording the input speed at the moment as V1Torque of M1；
Step 1-4, speed and torque loading: after the speed and torque of the reducer detector are loaded stably, taking the circle grating reading of the angle calibrator (8) as a reference, and synchronously acquiring and recording the circle grating reading of the angle calibrator (8), the high-speed end (7) of the detector and the low-speed end (9) of the detector at intervals of 360 degrees/N in a rotation period;
the angle position of the circular grating of the angle calibrator (8) is recorded as an array a, a ═ a0,a1,…,ak,…,aN}，akIn order to acquire the circular grating angular position of the angular calibrator (8) when the angular position is kx360 DEG/N, the circular grating angular position corresponding to the high-speed end (7) of the detector is an array b, and b ═ b0,b1,…,bk,…,bN}，bkIn order to acquire the circular grating angular position of the high-speed end (7) of the detector when the angular position is kx360 DEG/N, the circular grating angular position corresponding to the low-speed end (9) of the detector is an array c, and c ═ c0,c1,…,ck,…,cN}，ckIn order to acquire the circular grating angular position of the low-speed end (9) of the detector when the angular position is kx360 DEG/N, the difference between the circular grating angular position of the high-speed end (7) of the detector and the circular grating angular position of the angle calibrator (8) is an array p, and p is { p ═ p { (p)0,p1,…,pk,…,pN}＝{a0-b0,a1-b1,…,ak-bk,…,aN-bNAnd the meshing error between the internal spline of the measuring shaft at the high-speed end (7) of the detector and the external spline of the measuring shaft (4) at the high-speed end of the angle calibrator (8) is an array m, wherein m is { m ═ m }0,m1,…,mk,…,mN}＝{p0-p0,p1-p0,…,pk-p0,…,pN-p0The difference between the circular grating angular position of the low-speed end (9) of the detector and the circular grating angular position of the angle calibrator (8) is an array q, and q is { q ═ q }0,q1,…,qk,…,qN}＝{a0-c0,a1-c1,…,ak-ck,…,aN-cNThe spline in the measuring shaft of the low-speed end (9) of the detector and the angle calibrator (8)The meshing error of the external spline of the low-speed end measuring shaft (6) is an array n, and n is { n ═ n0,n1,…,nk,…,nN}＝{q0-q0,q1-q0,…,qk-q0,…,qN-q0Where k is 0,1, …, N;
step 1-5, changing calibration conditions: change the driving speed to ViWhere I is 1,2, …, I represents the number of drive speeds required for the test, or changes the loading torque to MjWherein J is 1,2, …, J represents the number of driving speed loading torques required by the test; repeating the steps 1-4, and calculating to obtain an array m of spline meshing errors between the high-speed end (7) of the detector and the angle calibrator (8) at the momentHigh-speed terminal，mHigh-speed terminal＝{mijI ═ 1,2, …, I; j ═ 1,2, …, J }, where m isij＝{mij0,mij1,…,mijk,…,mijNThe spline meshing error between the low-speed end (9) of the detector and the angle calibrator (8) is an array group nLow speed end，nLow speed end＝{nijI ═ 1,2, …, I; j ═ 1,2, …, J }, where n isij＝{nij0,nij1,…,nijk,…,nijNAnd obtaining an error distribution table;
step 2 error compensation
Step 2-1, disassembling a combined shaft of the angle calibrator (8), inserting a high-speed end measuring shaft (4) and a low-speed end measuring shaft (6) used in calibration into a speed reducer as connecting pieces, then installing the speed reducer to be tested and a connector into a detector, ensuring that the installation phase of a spline is the same as the installation phase of the initial spline in the step 1-1, and pressing a shell (1) of the speed reducer and the connector;
step 2-2, selecting corresponding error numbers in the error distribution table according to the driving speed and the loading torque required by the detected speed reducer detection items, fitting an error curve by taking (the collected angular positions corresponding to the error numbers and the error numbers) as calibration points, and obtaining a high-speed end error equation under the set loading speed and the set loading torque
And low speed end error equation
Wherein, thetaHeight ofIndicating high speed end angular position, thetaIs low inIndicating the angular position of the low-speed tip,
indicating a value of the meshing error corresponding to the high speed end angular position value,
representing a meshing error value corresponding to the low-speed end angle position value;
step 2-3, calculating the error equation of the high-speed end
Substituting the angular position corresponding relation into the high-speed end circular grating for compensation to obtain the angular position value after the high-speed end compensation
And/or, error-correcting the low-speed end
Substituting the angular position corresponding relation into the low-speed end circular grating for compensation to obtain the angular position value of the low-speed end after compensation
2. The method for compensating the angle measurement error of the angle calibrator (8) of the speed reducer detector according to claim 1, wherein in step 1-1, the upper end surface of the adapter housing (1) of the angle calibrator (8) and the high-speed end (7) of the detector are pressed and positioned through a seam allowance, and the lower end surface of the adapter housing and the low-speed end (9) of the detector are pressed and positioned through a seam allowance.
3. Method for compensation of angular error of a reducer tester angular calibrator (8) according to claim 1, characterized in that the accuracy of the circular grating angular measurement system (2) is higher than the angular measurement system accuracy used for the high speed (7) and low speed (9) sides of the tester.
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