CN113029563B - A method for compensating angle measurement error of angle calibrator of reducer detector - Google Patents

Abstract

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 as compensation values to compensate the circular grating angle measuring system of the reducer detector.

Description

A method for compensating angle measurement error of angle calibrator of reducer detector

technical field

The invention relates to the calibration and compensation of the angle measurement error of the precision reducer, in particular to a method for compensating the angle measurement error introduced by the compensating reducer detector due to the spline connection between the shaft system and the input and output ends of the reducer.

Background technique

As a transmission device, the reducer has a wide range of applications in the field of machinery and automation. As a joint device of an industrial robot, its transmission error, transmission efficiency, torsional stiffness and other performance parameters will affect the service life and working performance of the robot. At present, the existing reducer detectors generally adopt the method of arranging multi-stage components in series, that is, the angle, torque sensor, loading drive motor and other equipment are connected in series at the output and input ends of the reducer under test. Among them, the angle sensor generally adopts the circular grating angle measuring system, which cannot be guaranteed to be directly connected to the measured reducer in the actual use process. Therefore, the angle measuring value of the circular grating cannot directly represent the actual output and input shaft parameters of the reducer. corner value.

In order to realize the rapid replacement of the measured reducer and improve the installation efficiency, the high and low speed ends of the reducer measuring instrument and the input and output shafts of the reducer need to be connected in the form of splines. In the meshing process, the spline is affected by factors such as loading torque, spline tooth shape, material stiffness, etc., which will inevitably deform, introduce angle measurement errors, and then affect the angle measurement accuracy of the reducer detector. In addition, there are differences in different spline processing methods and processing accuracy. During the processing of internal and external splines, even if the same method is used to process splines, it cannot guarantee that the shape of each tooth is the same, and its meshing characteristics and error curves are also different. It will be different, and it is not reasonable to use the angle measurement error introduced by the meshing process of the two splines to represent the angle measurement error of all splines. The angle measurement error caused by the key engagement is compensated.

At present, the existing reducer detector lacks a method for compensating the angle measurement error during the spline meshing process. The angle calibration device and calibration method can only compensate for the spline gap. If the uncompensated circular grating angle measurement value is directly used as the reducer The input and output angle values and the calculated performance parameters of the reducer are inaccurate. Therefore, an angle measurement error compensation method for the angle calibrator of the reducer detector is urgently needed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide a compensation method suitable for compensating the angle measurement error existing in the spline meshing process, especially suitable for a precision reducer detector. The invention can simulate the actual working condition of the reducer, realize the measurement of the angle measurement error during the meshing process between the reducer detector and the splines of the input and output shafts of the reducer, and compensate the angle measurement error, thereby improving the accuracy of the reducer measuring instrument. Angle measurement accuracy.

The technical scheme adopted by the present invention is: a method for compensating the angle measurement error of the angle calibrator of a reducer detector, the angle calibrator comprises an adapter shell, a circular grating angle measurement system and a combined shaft; the adapter element The casing is positioned and connected to the high-speed end of the detector and the end face of the low-speed end of the detector; the combined shaft includes a high-speed end measurement shaft, a rigid shaft and a low-speed end measurement shaft that are detachably connected in sequence, and the external spline of the high-speed end measurement shaft can be It is connected with the inner spline of the measuring shaft at the high-speed end of the detector, and the outer spline of the measuring shaft at the low-speed end can be connected with the inner spline of the measuring shaft at the low-speed end of the detector; The grating is consolidated with the rigid shaft; it is characterized in that, the angle measurement error compensation method comprises the following steps:

Step 1, Error Calibration

Step 1-1, install the angle calibrator: place the angle calibrator between the high-speed end of the detector and the low-speed end of the detector, with the upper and lower parts of the adapter shell of the angle calibrator. The end faces are respectively connected with the high-speed end of the detector and the low-speed end of the detector, and the outer splines of the measuring shaft of the high-speed end of the angle calibrator are connected with the inner splines of the measuring shaft of the high-speed end of the detector, so that the The outer splines of the low-speed end measurement shaft are connected with the inner splines of the measurement shaft of the low-speed end of the detector, so that the measurement shaft of the low-speed end of the detector, the combined shaft of the angle calibrator and the measurement of the high-speed end of the detector are connected. The shaft forms a measuring shaft system, and at the same time, the spline installation phase in this installation state is recorded;

Step 1-2, eliminating unilateral clearance: the motor at the low-speed end of the detector drives the measurement shaft system to rotate, so that the spline clearance is only formed by the unilateral contact of the spline;

Step 1-3, the test method of the simulated reducer: the high-speed end of the detector is set to the speed mode, the low-speed end of the detector is set to the torque mode, and the input speed at this time is recorded as V ₁ , and the torque is M ₁ ;

Steps 1-4, speed and torque loading: after the speed and torque loading of the reducer detector are stable, take the circular grating reading of the angle calibrator as the benchmark, in one rotation cycle, at 360°/N intervals, while Simultaneously collect and record the readings of the inner circular grating of the angle calibrator, the high-speed end of the detector and the low-speed end of the detector;

Denote the angular position of the circular grating of the angle calibrator as the array a, a={a ₀ , a ₁ ,..., _ak ,...,a _N }, a _k is the angle calibration when the acquisition angle position k×360°/N The circular grating angular position of the detector, the circular grating angular position corresponding to the high-speed end of the detector is an array b, b={b ₀ , b ₁ ,...,b _k ,...,b _N }, b _k is the acquisition angle position k× The angular position of the circular grating at the high-speed end of the detector when 360°/N corresponds to the angular position of the circular grating at the low-speed end of the detector is an array c, c={c ₀ ,c ₁ ,…,c _k ,…,c _N }, c _k is the angular position of the circular grating at the low-speed end of the detector when the acquisition angular position is k×360°/N, then the difference between the angular position of the circular grating at the high-speed end of the detector and the angular position of the circular grating of the angle calibrator is an array p, p= {p ₀ ,p ₁ ,...,p _k ,...,p _N }={a ₀ -b ₀ ,a ₁ -b ₁ ,...,a _k -b _k ,...,a _N -b _N }, the The meshing error between the inner splines of the measuring shaft at the high-speed end of the detector and the outer splines of the measuring shaft at the high-speed end of the angle calibrator is an array m, m={m ₀ , m ₁ ,…,m _k ,…,m _N }= {p ₀ -p ₀ , p ₁ -p ₀ ,...,p _k -p ₀ ,...,p _N -p ₀ }, the circular grating angle position of the low-speed end of the detector and the circular grating angle of the angle calibrator The position difference is an array q, q={q ₀ ,q ₁ ,...,q _k ,...,q _N }={a ₀ -c ₀ ,a ₁ -c ₁ ,...,a _k -c _k ,...,a _N -c _N }, the meshing error between the inner splines of the measuring shaft at the low speed end of the detector and the outer splines of the measuring shaft at the low speed end of the angle calibrator is an array n, n={n ₀ ,n ₁ ,...,n _k ,...,n _N }={q ₀ -q ₀ ,q ₁ -q ₀ ,...,q _k -q ₀ ,...,q _N -q ₀ }, where k=0,1,...,N;

Step 1-5, change the calibration conditions: change the driving speed to V _i , where i=1,2,...,I, where I represents the number of driving speeds required for the test, or change the loading torque to M _j , where j =1,2,...,J,J represents the number of driving speed loading torque required for the test; repeat steps 1-4, and calculate the spline meshing between the high-speed end of the detector and the angle calibrator at this time The error is the high-speed end of the array m, the high- _{speed end} of m={m _ij , i=1,2,…,I; j=1,2,…,J}, where m _ij ={m _ij0 ,m _ij1 ,…, m _ijk ,...,m _ijN }, the spline meshing error between the low-speed end of the detector and the angle calibrator is the group n _{low-speed end} , n _{low-speed end} ={n _ij ,i=1,2,... ,I; j=1,2,...,J}, where n _ij ={n _ij0 ,n _ij1 ,...,n _ijk ,...,n _ijN }, and get the error distribution table;

Step 2 Error Compensation

Step 2-1, disassemble the combined shaft of the angle calibrator, insert the measuring shaft of the high-speed end and the measuring shaft of the low-speed end used in the calibration into the reducer as connectors, and then put the reducer to be tested and the adapter into the detector , at this time, it is necessary to ensure that the spline installation phase is the same as the initial spline installation phase in step 1-1, and press the reducer and adapter shell;

和低速端误差方程

其中，θ_高表示高速端角位置，θ_低表示低速端角位置，φ_高表示高速端角位置值对应的啮合误差值，

表示低速端角位置值对应的啮合误差值；Step 2-2, select the corresponding error number in the error distribution table according to the driving speed and loading torque required by the test item of the reducer under test, and use (the collection angle position corresponding to the error number, the error number) as the calibration point to fit the error curve to obtain the high-speed end error equation under the set loading speed and loading torque

and the low-speed side error equation

Among them, θ _high represents the high-speed end angular position, θ _low represents the low-speed end angular position, φ _high represents the meshing error value corresponding to the high-speed end angular position value,

Indicates the meshing error value corresponding to the angular position value of the low-speed end;

根据角位置对应关系代入高速端圆光栅进行补偿，得到高速端补偿后的角位置值

和/或，将低速端误差方

根据角位置对应关系代入低速端圆光栅进行补偿，得到低速端补偿后的角位置值

Step 2-3, the high-speed side error equation

According to the corresponding relationship of the angular position, the high-speed end circular grating is substituted for compensation, and the angular position value after the high-speed end compensation is obtained.

and/or, square the low-speed side error

According to the corresponding relationship of the angular position, the low-speed end circular grating is substituted for compensation, and the angular position value after the low-speed end compensation is obtained.

Further, in step 1-1, the upper end face of the adapter shell of the angle calibrator and the high-speed end of the detector are positioned and pressed through a stop, and the lower end face and the low-speed end of the detector are pressed together. Compression through the spigot positioning.

Further, the accuracy of the circular grating angle measuring system is higher than the accuracy of the angle measuring system used at the high-speed end and the low-speed end of the detector.

The beneficial effects of the present invention are as follows: in the method for calibrating and compensating the angle measurement error in the spline meshing process disclosed by the present invention, the combined shaft of the core component adopts a detachable high-speed end measurement shaft, a low-speed end measurement shaft and a rigid shaft connected in a manner, which can be It is equivalent to a reducer with a reduction ratio of 1, so as to simulate the actual operation of the measured reducer, and to measure the angle error in the process of the spline meshing between the high-speed end of the reducer measuring instrument and the angle calibrator, and the angle calibrator and the low-speed end. Measure and select the compensation value according to the speed and loading torque required in the measurement process of different types of reducers, and compensate the angle measurement value of the circular grating, which makes up for the deficiency that the current angle calibration device and calibration method can only compensate for the spline gap. The angle measurement accuracy of the precision reducer detector is further improved.

Description of drawings

Fig. 1: the structural appearance diagram of the angle calibrator of the present invention;

Figure 2: a schematic cross-sectional view of the structural composition of the angle calibrator of the present invention;

3 is a schematic view of the working of the angle calibrator of the present invention.

Attached notes:

1——The shell of the adapter; 2——The angle measuring system of the circular grating;

3——Bearing; 4——Measurement shaft at high speed end;

5——Rigid shaft; 6——Measurement shaft at low speed end;

7——High-speed end of the detector; 8——Angle calibrator;

9 - The low-speed end of the detector.

Detailed ways

In order to further understand the content of the invention, features and effects of the present invention, the following embodiments are exemplified and described in detail with the accompanying drawings as follows:

For the specific structure of the angle calibrator 8 involved in the present invention, reference may be made to the invention patent with publication number CN 111121669 A "A Multifunctional Angle Calibration Device and Method for a Precision Reducer Detector".

As shown in FIGS. 1 to 3 , the angle calibrator 8 includes an adapter housing 1 , a circular grating angle measuring system 2 , a bearing 3 and a combined shaft. The adapter shell 1 can be positioned and connected with the end faces of the high-speed end 7 of the detector and the low-speed end 9 of the detector, wherein the upper end face of the adapter shell 1 of the device and the high-speed end of the measuring instrument are positioned through a stop. Compression, the lower end face and the low-speed end of the measuring instrument are positioned and compressed through the spigot. The combined shaft includes a high-speed end measurement shaft 4, a rigid shaft 5 and a low-speed end measurement shaft 6 that are detachably connected in turn. The splines are connected, and the outer splines of the low-speed end measuring shaft 6 can be connected with the inner splines of the measuring shaft of the low-speed end 9 of the detector; the high-speed end measuring shaft 4, the low-speed end measuring shaft 6 and the reducer The connecting shafts used for detection are the same and can be replaced with each other. The inner ring of the bearing 3 is connected with the rigid shaft 5, and the outer ring is connected with the adapter shell 1; the circular grating of the circular grating angle measuring system 2 is consolidated with the rigid shaft 5; the circular grating The accuracy of the grating angle measuring system 2 is higher than the accuracy of the angle measuring system used by the high-speed end 7 of the detector and the low-speed end 9 of the detector; the circular grating angle measuring system 2 includes two diametrically installed circular grating reading heads .

A method for compensating the angle measurement error of the angle calibrator 8 of the reducer detector is particularly suitable for compensating the angle measurement error of the reducer detector caused by the spline connection between the shaft system and the input and output ends of the reducer. The angle measurement error compensation method includes the following steps:

(1) Calibration for high-speed end meshing error

Step 1, Error Calibration

Step 1-1, install the angle calibrator 8: place the angle calibrator 8 between the high-speed end 7 of the detector and the low-speed end 9 of the detector, the adapter of the angle calibrator 8 After the upper and lower end surfaces of the housing 1 are respectively positioned with the high-speed end 7 of the detector and the low-speed end 9 of the detector, the pressing device presses the adapter housing 1 of the angle calibrator 8, and the angle The external splines of the high-speed end measuring shaft 4 of the calibrator 8 are connected with the internal splines of the measuring shaft of the high-speed end 7 of the detector, and the external splines of the low-speed end measuring shaft 6 are connected to the low-speed end 9 of the detector. The splines in the measuring shaft are connected, 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 shaft system, and at the same time, record the installation The spline installation phase in the state.

Step 1-2, eliminating unilateral clearance: the motor at the low-speed end 9 of the detector drives the measuring shaft to rotate, so that the spline clearance is only formed by the unilateral contact of the spline.

Steps 1-3, the test method of the simulated reducer: the output and input ends of the reducer detector are set to different loading modes, the high-speed end 7 of the detector is set to the speed mode, and the low-speed end 9 of the detector is set to the torque mode , and record the input speed as V ₁ and the torque as M ₁ .

Step 1-4, speed and torque loading: after the speed and torque loading of the reducer detector are stable, take the circular grating reading of the angle calibrator 8 as the benchmark, within one rotation period (0°～360°), use 360°/N is an interval, and the readings of the inner circular gratings of the angle calibrator 8, the high-speed end 7 of the detector and the low-speed end 9 of the detector are simultaneously collected and recorded simultaneously.

Denote the angular position of the circular grating of the angle calibrator 8 as an array a, a={a ₀ , a ₁ ,..., _ak ,...,a _N }, a _k is the angle when the angle of acquisition is k×360°/N The angular position of the circular grating of the calibrator 8, corresponding to the angular position of the circular grating of the high-speed end 7 of the detector, is an array b, b={b ₀ , b ₁ ,...,b _k ,...,b _N }, where b _k is the acquisition When the angular position is k×360°/N, the angular position of the circular grating of the high-speed end 7 of the detector, then the difference between the angular position of the circular grating of the high-speed end 7 of the detector and the angular position of the circular grating of the angle calibrator 8 is an array p, p={p ₀ ,p ₁ ,...,p _k ,...,p _N }=ab={a ₀ -b ₀ ,a ₁ -b ₁ ,..., _ak -b _k ,...,a _N -b _N }, the meshing error between the inner splines of the measuring shaft of the high-speed end 7 of the detector and the outer splines of the measuring shaft 4 of the high-speed end of the angle calibrator 8 is an array m, m={m ₀ , m ₁ ,...,m _k ,...,m _N }=pp ₀ ={p ₀ -p ₀ ,p ₁ -p ₀ ,...,p _k -p ₀ ,...,p _N -p ₀ }, where k=0,1,... , N, and the obtained data are listed in Table 1.

Table 1 Detector high-speed end 7 meshing error list

Step 1-5, change the calibration conditions: change the driving speed to V _i , where i=1,2,...,I, where I represents the number of driving speeds required for the test, or change the loading torque to M _j , where j =1,2,...,J,J represents the number of required driving speed load torques. Steps 1-4 are repeated, and it is calculated that the spline meshing error between the high-speed end 7 of the detector and the angle calibrator 8 is the _{high-speed end} of the array m, where m _{high-speed end} ={m _ij , i=1,2 ,…,I; j=1,2,…,J}, where m _ij ={m _ij0 ,m _ij1 ,…,m _ijk ,…,m _ijN }, and the error distribution table of the high-speed end is obtained as shown in Table 2 Show.

Table 2 High-speed side error distribution table

Step 2 Error Compensation

Step 2-1, disassemble the combined shaft of the angle calibrator 8, insert the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 used for calibration into the reducer as connectors, and then install the reducer to be measured and the adapter. At this time, it is necessary to ensure that the spline installation phase is the same as the initial spline installation phase in step 1-1, and press the reducer and adapter shell 1.

其中，θ_高表示高速端角位置，

表示高速端角位置值对应的啮合误差值。Step 2-2, select the corresponding error number in the error distribution table according to the driving speed and loading torque required by the test item of the reducer under test, and use (the collection angle position corresponding to the error number, the error number) as the calibration point to fit the error curve to obtain the high-speed end error equation under the set loading speed and loading torque

Among them, θ _high represents the angular position of the high-speed end,

Indicates the meshing error value corresponding to the angular position value of the high-speed end.

根据角位置对应关系代入高速端圆光栅进行补偿，得到高速端补偿后的角位置值

Step 2-3, the high-speed side error equation

According to the corresponding relationship of the angular position, the high-speed end circular grating is substituted for compensation, and the angular position value after the high-speed end compensation is obtained.

(2) Calibration of meshing error at low speed end

Step A, Error Calibration

Step A-1, install the angle calibrator 8: place the angle calibrator 8 between the high-speed end 7 of the detector and the low-speed end 9 of the detector, the adapter of the angle calibrator 8 After the upper and lower end surfaces of the housing 1 are respectively positioned with the high-speed end 7 of the detector and the low-speed end 9 of the detector, the pressing device presses the adapter housing 1 of the angle calibrator 8, and the angle The external splines of the high-speed end measuring shaft 4 of the calibrator 8 are connected with the internal splines of the measuring shaft of the high-speed end 7 of the detector, and the external splines of the low-speed end measuring shaft 6 are connected to the low-speed end 9 of the detector. The splines in the measuring shaft are connected, 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 shaft system, and at the same time, record the installation The spline installation phase in the state.

Step A-2, eliminating unilateral gap: the motor of the low-speed end 9 of the detector drives the measuring shaft to rotate, so that the spline gap is only formed by the unilateral contact of the spline.

Step A-3, the test method of the simulated reducer: the high-speed end 7 of the detector is set to the speed mode, the low-speed end 9 of the detector is set to the torque mode, and the input speed of the record at this time is V ₁ , and the torque is M ₁ .

Step A-4, speed and torque loading: after the speed and torque loading of the speed reducer detector are stable, take the circular grating reading of the angle calibrator 8 as the benchmark, within one rotation period (0°～360°), use 360°/N is an interval, and the readings of the inner circular gratings of the angle calibrator 8, the high-speed end 7 of the detector and the low-speed end 9 of the detector are simultaneously collected and recorded simultaneously.

Denote the angular position of the circular grating of the angle calibrator 8 as an array a, a={a ₀ , a ₁ ,..., _ak ,...,a _N }, a _k is the angle when the angle of acquisition is k×360°/N The circular grating angular position of the calibrator 8, corresponding to the circular grating angular position of the low-speed end 9 of the detector, is an array c, c={c ₀ , c ₁ ,...,c _k ,...,c _N }, c _k is the acquisition When the angular position is k×360°/N, the angular position of the circular grating of the low-speed end 9 of the detector, then the difference between the angular position of the circular grating of the low-speed end 9 of the detector and the angular position of the circular grating of the angle calibrator 8 is the array q, q={q ₀ ,q ₁ ,...,q _k ,...,q _N }=ac={a ₀ -c ₀ ,a ₁ -c ₁ ,..., _ak -c _k ,...,a _N -c _N }, the meshing error between the inner splines of the measuring shaft of the low-speed end 9 of the detector and the outer splines of the measuring shaft 6 of the low-speed end of the angle calibrator 8 is an array n, n={n ₀ ,n ₁ ,...,n _k ,...,n _N }=qq ₀ ={q ₀ -q ₀ ,q ₁ -q ₀ ,...,q _k -q ₀ ,...,q _N -q ₀ }, where k=0,1,... , N, and the obtained data are listed in Table 3.

Table 3 Low-speed end meshing error list

Step A-5, change the calibration conditions: change the driving speed to V _i , where i=1,2,...,I, where I represents the number of driving speeds required for the test, or change the loading torque to M _j , where j =1,2,...,J,J represents the number of required driving speed load torques. Steps 1-4 are repeated, and it is calculated that the spline meshing error between the low-speed end 9 of the detector and the angle calibrator 8 is the _{low-speed end} of the group n, where n _{low-speed end} ={n _ij , i=1, 2,…,I; j=1,2,…,J}, where n _ij ={n _ij0 ,n _ij1 ,…,n _ijk ,…,n _ijN }, and the low-speed end error distribution table is obtained as shown in Table 4 shown.

Table 4 Low-speed end error distribution table

Step B Error Compensation

Step B-1, disassemble the combined shaft of the angle calibrator 8, insert the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 used in the calibration into the reducer as connectors, and then install the reducer to be measured and the adapter. At this time, it is necessary to ensure that the spline installation phase is the same as the initial spline installation phase in step 1-1, and press the reducer and adapter shell 1.

其中，θ_低表示低速端角位置，

表示低速端角位置值对应的啮合误差值。Step B-2, select the corresponding error number in the error distribution table according to the driving speed and loading torque required by the test item of the reducer to be tested, and use (the collection angle position corresponding to the error number, the error number) as the calibration point to fit the error curve to obtain the low-speed end error equation under the set loading speed and loading torque

Among them, θ _low represents the low-speed end angular position,

Indicates the meshing error value corresponding to the low-speed end angular position value.

根据角位置对应关系代入低速端圆光栅进行补偿，得到低速端补偿后的角位置值

Step B-3, convert the low-speed end error equation

According to the corresponding relationship of the angular position, the low-speed end circular grating is substituted for compensation, and the angular position value after the low-speed end compensation is obtained.

The rigid bar in the combined shaft of the present invention is equivalent to a reducer with a reduction ratio of 1, and no transmission error is introduced, and the high-speed end measuring shaft 4 and the low-speed end measuring shaft 6 at both ends are also used in the measurement process of the reducer comprehensive measuring instrument. The connecting shafts are used as the input and output shafts of the tested reducer respectively. Therefore, the present invention can simulate the actual operation of the tested reducer, and measure the angle measurement error existing in the spline meshing process between the high-speed end 7 of the detector and the angle calibrator 8, and the angle calibrator 8 and the low-speed end 9 of the detector. And select the compensation value according to the speed and loading torque required in the measurement process of different types of reducers to compensate the circular grating angle measuring system 2 of the 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-mentioned specific embodiments. Under the inspiration of the present invention, without departing from the spirit of the present invention and the protection scope of the claims, personnel can also make many forms, which all fall within the protection scope of the present invention.

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; the 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, an external spline of a high-speed end measuring shaft (4) of the angle calibrator (8) is connected with an internal spline of a measuring shaft of a high-speed end (7) of the detector, an external spline of a low-speed end measuring shaft (6) is connected with an internal spline of a measuring shaft of a 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;

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 V ₁ Torque of M ₁ ；

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 angular position of the circular grating of the angle calibrator (8) is recorded as an array a, a ═ a [ a ] ₀ ,a ₁ ,…,a _k ,…,a _N }，a _k In order to acquire the angular position of the circular grating of the angular calibrator (8) when the angular position is kx360 DEG/N, the angular position of the circular grating corresponding to the high-speed end (7) of the detector is an array b, and b is { b ═ b } ₀ ,b ₁ ,…,b _k ,…,b _N }，b _k In order to acquire the angular position of the circular grating of the high-speed end (7) of the detector when the angular position is kx360 DEG/N, the angular position of the circular grating corresponding to the low-speed end (9) of the detector is an array c, and c is { c ═ c } c ₀ ,c ₁ ,…,c _k ,…,c _N }，c _k In 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 } ₀ ,p ₁ ,…,p _k ,…,p _N }＝{a ₀ -b ₀ ,a ₁ -b ₁ ,…,a _k -b _k ,…,a _N -b _N And the meshing error between the measuring shaft internal spline of the high-speed end (7) of the detector and the high-speed end measuring shaft (4) external spline of the angle calibrator (8) is an array m, wherein m is { m } ₀ ,m ₁ ,…,m _k ,…,m _N }＝{p ₀ -p ₀ ,p ₁ -p ₀ ,…,p _k -p ₀ ,…,p _N -p ₀ 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, and q is { q ═ q } ₀ ,q ₁ ,…,q _k ,…,q _N }＝{a ₀ -c ₀ ,a ₁ -c ₁ ,…,a _k -c _k ,…,a _N -c _N And the meshing error of the measuring shaft internal spline of the low-speed end (9) of the detector and the measuring shaft external spline of the low-speed end (6) of the angle calibrator (8) is an array n, wherein n is { n ═ n } ₀ ,n ₁ ,…,n _k ,…,n _N }＝{q ₀ -q ₀ ,q ₁ -q ₀ ,…,q _k -q ₀ ,…,q _N -q ₀ Where k is 0,1, …, N;

step 1-5, changing calibration conditions: change the driving speed to V _i Where I is 1,2, …, I represents the number of drive speeds required for the test, or changes the loading torque to M _j Wherein 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 spline meshing error between the high-speed end (7) of the detector and the angle calibrator (8) at the momentThe difference is an array m _{High-speed terminal} ，m _{High-speed terminal} ＝{m _ij I is 1,2, …, I; j ═ 1,2, …, J }, where m is _ij ＝{m _ij0 ,m _ij1 ,…,m _ijk ,…,m _ijN The spline meshing error between the low-speed end (9) of the detector and the angle calibrator (8) is an array n _{Low speed end} ，n _{Low speed end} ＝{n _ij I is 1,2, …, I; j ═ 1,2, …, J }, where n is _ij ＝{n _ij0 ,n _ij1 ,…,n _ijk ,…,n _ijN And 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 during calibration into a speed reducer as connecting pieces, then installing the speed reducer to be tested and a changeover part 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 compressing a shell (1) of the speed reducer and the changeover part;

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 item, fitting an error curve by taking (the acquisition angular position corresponding to the error number and the error number) as a calibration point, 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, theta _{High (a)} Indicating the high speed end angular position, θ _{Is low with} Indicating the angular position of the end at low speed,

indicating the value of the meshing error corresponding to the value of the angular position of the high speed end,

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 compensated at the high-speed end

And/or, the low-speed end error is squared

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 positioned and pressed through a seam allowance, and the lower end surface of the adapter housing and the low-speed end (9) of the detector are positioned and pressed 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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