CN113109046A - Harmonic reducer rigidity detection device and detection method - Google Patents

Harmonic reducer rigidity detection device and detection method Download PDF

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Publication number
CN113109046A
CN113109046A CN202110365556.0A CN202110365556A CN113109046A CN 113109046 A CN113109046 A CN 113109046A CN 202110365556 A CN202110365556 A CN 202110365556A CN 113109046 A CN113109046 A CN 113109046A
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CN
China
Prior art keywords
harmonic reducer
measuring rod
range finder
laser range
target center
Prior art date
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Pending
Application number
CN202110365556.0A
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Chinese (zh)
Inventor
王建华
张雪洋
杨聪彬
郭庆旭
张涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
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Beijing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CN202110365556.0A priority Critical patent/CN113109046A/en
Publication of CN113109046A publication Critical patent/CN113109046A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • G01M13/025Test-benches with rotational drive means and loading means; Load or drive simulation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements

Abstract

The invention discloses a device and a method for detecting the rigidity of a harmonic reducer, wherein the device comprises a harmonic reducer support arranged on a base, the input end of the harmonic reducer is fixed, the output end of the harmonic reducer is connected with a measuring rod through an output flange, and torque is applied to two ends of the measuring rod; the laser range finder support is arranged on the X slide rail of the base, the light spot is positioned at the target center of the end of the measuring rod by adjusting the laser range finder, the torques are applied to the two ends of the measuring rod, and the displacement changes at the two ends of the measuring rod are detected by the laser range finder. According to the method, the corresponding relation between the input torque and the target center displacement is established, the corresponding relation between the torsional rotation angle of the harmonic reducer and the target center displacement change of the measuring rod is established, the rotation angles of the harmonic reducer with different input torques are obtained, and further the rigidity curve of the harmonic reducer is drawn. The invention has simple structure and lower manufacturing cost; has good interchangeability.

Description

Harmonic reducer rigidity detection device and detection method
Technical Field
The invention relates to the field of rigidity measurement, in particular to a device and a method for detecting rigidity of a harmonic drive speed reducer.
Background
The harmonic reducer is a core element of a robot joint, and a flexible gear and a rigid gear of the harmonic reducer are in meshing transmission, so that the harmonic reducer has the advantages of small volume, high rotation ratio, large bearing capacity, high transmission precision and the like. The problems of unstable transmission, time-varying rigidity, forced vibration and the like exist in the harmonic transmission process, but the transmission process of the harmonic reducer is very complicated due to the large deformation of the flexible gear, so the structure and the performance are further optimized by researching the integral meshing rigidity of the harmonic reducer. In the present stage, high-performance and expensive devices such as a circular grating are generally adopted for measuring the rigidity, so that the manufacturing difficulty and the manufacturing cost are greatly increased.
Disclosure of Invention
The purpose of the invention is: the meshing stiffness curve of harmonic speed reduction is obtained, and the device and the method for detecting the meshing stiffness of the harmonic speed reducer are provided by establishing a corresponding relation between different applied torques and displacement changes measured by a laser range finder.
The technical scheme adopted by the invention is as follows:
a detection device for the meshing rigidity of a harmonic reducer comprises a harmonic reducer supporting seat arranged on a base, wherein the harmonic reducer is fixed through the supporting seat, and the input end of the harmonic reducer is fixed through an input flange; the output end is connected with the measuring rod through an output flange and is fixed through a positioning pin; the laser range finder is fixed on a Y-axis ball screw on a sensor support, the sensor support is installed on a base X-axis slide rail, and a light spot is positioned at a target center on the measuring rod by adjusting the laser range finder left and right.
And weight plates for loading weights are arranged at two ends of the measuring rod, a target center position is arranged at the port of the measuring rod, a distance from the center of the output shaft of the harmonic reducer is a, and the output end of the harmonic reducer is applied with the torque of N x a by applying different weights N on the weight plates.
The distance measuring precision of the laser range finder reaches the micron level, and the laser range finder is horizontally fixed on the base through the bracket; the measuring rod has good rigidity and is not easy to overlong.
The input end fixing device comprises an input flange and a fixing block, and the input end of the harmonic reducer is connected with the fixing block through the input flange.
A method for detecting meshing stiffness of a harmonic reducer comprises the following steps:
1. the harmonic wave is installed on the supporting seat in a speed reducing mode, the measuring rod is connected, and the measuring rod is made to be horizontal by adjusting the position of the measuring rod; the laser range finder moves in the Y-axis direction, and collected data are unchanged, so that the leveling of the measuring rod is realized; and adjusting the laser range finder to enable the light spot to be positioned at the target center position.
2. Recording the current laser range finder data as x0Sequentially adding weights into the left weight tray, and recording the position of the laser range finder; and then, sequentially obtaining the weights and recording the corresponding data of the laser range finder. And (3) acquiring data for 10 times every time a weight is added or reduced, and recording the data as the average value of the data for 10 times.
3. And (4) sequentially adding weights into the right weight tray, and repeating the steps.
4. Establishing a corresponding relation between torque and target center displacement change and a corresponding relation between target center displacement change and a central shaft rotation angle of a harmonic reducer; and establishing a corresponding relation between the input torque and the rotation angle of the harmonic reducer, and drawing a rigidity curve of the harmonic reducer.
Processing and fitting the data through the data acquired in the steps 2 and 3, and establishing a response relation between the displacement change delta and the applied torque N: Δ ═ f (n). The target center is r mm away from the rotation central shaft of the harmonic reducer, and the corresponding relation of the rotation of the target center to the arc angle theta is as follows: further, the corresponding relation between the input torque and the steering angle can be obtained as follows:
the invention has the advantages and positive effects that: according to the method, the displacement change under different torques is obtained by establishing the corresponding relation between the applied torque and the laser range finder, so that the relation between the displacement change and a corner is further obtained, and the rigidity curve of the harmonic reducer is drawn; the structure is simple, and the cost is low; the device has good interchangeability, and can measure the meshing rigidity of harmonic reducers of different models only by replacing the reducer tool.
Description of the drawings:
FIG. 1 shows a device for detecting meshing stiffness of a harmonic reducer. (a) Is a detailed view of the harmonic reducer and the measuring rod. (b) Is a detailed mounting diagram of the positioning pin and the weight tray.
Fig. 2 shows a diagram of the construction of the measuring rod.
FIG. 3 is a flow chart of a method for detecting the meshing stiffness of the harmonic reducer.
The device comprises a base 1, a laser range finder support 2, a fine adjustment bolt 3, a laser range finder 4, a harmonic reducer support 5, a harmonic reducer 6, a measuring rod 7, a harmonic reducer input shaft fixing device 8, an output flange 9, a positioning pin 10, a scale pan 11 and a target center 12.
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:
as shown in fig. 1, a device for detecting meshing stiffness of a harmonic reducer comprises a harmonic reducer support base 5 mounted on a base 1, a harmonic reducer 6 fixed by the support base 5, and a harmonic reducer input end fixed by a fixing device 8; the output end is connected with the measuring rod 7 through an output flange 9 and is fixed through a positioning pin 10; the laser range finder 4 is fixed on a Y-axis ball screw on the sensor support 2, the sensor support 2 is installed on an X-axis slide rail of the base 1, and a light spot is positioned at a target center 12 on the measuring rod by adjusting the laser range finder left and right through the fine adjustment knob 3.
The two ends of the measuring rod are provided with weight plates 11 for loading weights, a target 12 is arranged at the port of the measuring rod, a distance from the center of the output shaft of the harmonic reducer is a, and the output end of the harmonic reducer is applied with the torque of NaA by applying different weights N on the weight plates.
The distance measuring precision of the laser range finder reaches the micron level, and the laser range finder is horizontally fixed on the base through the bracket; the measuring rod has good rigidity and is not easy to overlong.
The input end fixing device comprises an input flange and a fixing block, and the input end of the harmonic reducer is connected with the fixing block through the input flange.
A method for detecting meshing stiffness of a harmonic reducer comprises the following steps:
1. the harmonic wave is installed on the supporting seat in a speed reducing mode, the measuring rod is connected, and the measuring rod is made to be horizontal by adjusting the position of the measuring rod; the laser range finder moves in the Y-axis direction, and collected data are unchanged, so that the leveling of the measuring rod is realized; and adjusting the laser range finder to enable the light spot to be positioned at the target center position.
2. Recording the current laser range finder data as x0Sequentially adding weights into the left weight tray, and recording the position of the laser range finder; and then, sequentially obtaining the weights and recording the corresponding data of the laser range finder. And (3) acquiring data for 10 times every time a weight is added or reduced, and recording the data as the average value of the data for 10 times.
3. And (4) sequentially adding weights into the right weight tray, and repeating the steps.
4. Establishing a corresponding relation between torque and target center displacement change and a corresponding relation between target center displacement change and a central shaft rotation angle of a harmonic reducer; and establishing a corresponding relation between the input torque and the rotation angle of the harmonic reducer, and drawing a rigidity curve of the harmonic reducer.
Processing and fitting the data through the data acquired in the steps 2 and 3, and establishing a response relation between the displacement change delta and the applied torque N: Δ ═ f (n). The target center is r mm away from the rotation central shaft of the harmonic reducer, and the corresponding relation of the rotation of the target center to the arc angle theta is as follows: further, the corresponding relation between the input torque and the steering angle can be obtained as follows:
the invention has the advantages and positive effects that: according to the method, the displacement change under different torques is obtained by establishing the corresponding relation between the applied torque and the laser range finder, so that the relation between the displacement change and a corner is further obtained, and the rigidity curve of the harmonic reducer is drawn; the structure is simple, and the cost is low; the device has good interchangeability, and can measure the meshing rigidity of harmonic reducers of different models only by replacing the reducer tool.

Claims (3)

1. A detection device for the meshing rigidity of a harmonic reducer comprises a harmonic reducer supporting seat arranged on a base, wherein the harmonic reducer is fixed through the supporting seat, and the input end of the harmonic reducer is fixed through an input flange; the output end is connected with the measuring rod through an output flange and is fixed through a positioning pin; the laser range finder is fixed on a Y-axis ball screw on a sensor support, the sensor support is arranged on a base X-axis slide rail, and light spots of the laser range finder are positioned at a target center on the measuring rod through left and right adjustment;
the two ends of the measuring rod are provided with weight plates for loading weights, the end opening of the measuring rod is provided with a target center position, the distance from the center of the output shaft of the harmonic reducer is a, and different weights N are applied to the weight plates so as to apply the torque of NaA to the output end of the harmonic reducer;
the input end fixing device comprises an input flange and a fixing block, and the input end of the harmonic reducer is connected with the fixing block through the input flange.
2. The method for detecting the meshing stiffness of the harmonic reducer by using the device of claim 1 comprises the following steps:
a. the harmonic wave is installed on the supporting seat in a speed reducing mode, the measuring rod is connected, and the measuring rod is made to be horizontal by adjusting the position of the measuring rod; the laser range finder moves in the Y-axis direction, and collected data are unchanged, so that the leveling of the measuring rod is realized; adjusting the laser range finder to enable the light spot to be located at the position of the target center;
b. recording the current laser range finder data as x0Sequentially adding weights into the left weight tray, and recording the position of the laser range finder; sequentially acquiring weights and recording corresponding data of the laser range finder; collecting data for 10 times when adding or reducing one weight, and recording the data as the mean value of the data for 10 times;
c. sequentially adding weights into the right weight tray, and repeating the steps;
d. establishing a corresponding relation between torque and target center displacement change and a corresponding relation between target center displacement change and a central shaft rotation angle of a harmonic reducer; and establishing a corresponding relation between the input torque and the rotation angle of the harmonic reducer, and drawing a rigidity curve of the harmonic reducer.
3. The method for detecting the meshing stiffness of the harmonic reducer according to claim 2, wherein the data collected in the step b.c are processed and fitted to establish a response relation between the displacement change delta and the applied torque N: Δ ═ f (n); the target center is r mm away from the rotation central shaft of the harmonic reducer, and the corresponding relation of the rotation of the target center to the arc angle theta is as follows:further, the corresponding relation between the input torque and the steering angle is obtained as follows:
CN202110365556.0A 2021-04-06 2021-04-06 Harmonic reducer rigidity detection device and detection method Pending CN113109046A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110365556.0A CN113109046A (en) 2021-04-06 2021-04-06 Harmonic reducer rigidity detection device and detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110365556.0A CN113109046A (en) 2021-04-06 2021-04-06 Harmonic reducer rigidity detection device and detection method

Publications (1)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203053690U (en) * 2013-01-16 2013-07-10 昆明理工大学 Right angle steel pipe scaffold fastener torsion rigidity performance test experiment device
CN103776628A (en) * 2014-01-15 2014-05-07 天津大学 Reducer torsional rigidity and idle running error test experiment table and test method thereof
CN105823456A (en) * 2016-05-03 2016-08-03 华中科技大学 Support shaft bending gap and rigidity automatic measuring device and measuring method thereof
CN106644455A (en) * 2015-10-30 2017-05-10 江苏联合传动设备有限公司 Robot joint reducer overturning stiffness test system based on laser measurement
CN110987423A (en) * 2019-12-26 2020-04-10 中科新松有限公司 Static test method and test platform for rigidity of harmonic speed reducer
CN111380681A (en) * 2020-04-22 2020-07-07 大连理工大学 Harmonic gear transmission return difference measuring device and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203053690U (en) * 2013-01-16 2013-07-10 昆明理工大学 Right angle steel pipe scaffold fastener torsion rigidity performance test experiment device
CN103776628A (en) * 2014-01-15 2014-05-07 天津大学 Reducer torsional rigidity and idle running error test experiment table and test method thereof
CN106644455A (en) * 2015-10-30 2017-05-10 江苏联合传动设备有限公司 Robot joint reducer overturning stiffness test system based on laser measurement
CN105823456A (en) * 2016-05-03 2016-08-03 华中科技大学 Support shaft bending gap and rigidity automatic measuring device and measuring method thereof
CN110987423A (en) * 2019-12-26 2020-04-10 中科新松有限公司 Static test method and test platform for rigidity of harmonic speed reducer
CN111380681A (en) * 2020-04-22 2020-07-07 大连理工大学 Harmonic gear transmission return difference measuring device and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
吕勇等: "精密谐波齿轮输入轴扭转刚度和迟滞测试", 《合肥工业大学学报(自然科学版)》 *

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