CN113587833A - Device and method for measuring radial deformation of flexible gear teeth of harmonic reducer - Google Patents
Device and method for measuring radial deformation of flexible gear teeth of harmonic reducer Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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Abstract
The invention discloses a device and a method for measuring radial deformation of flexible gear teeth of a harmonic reducer. The method can measure the real radial deformation of the flexible gear during meshing motion, provides real and effective guide parameters for the design and modification of the tooth form of the rigid gear, helps to improve the tooth form design precision of the rigid gear of the harmonic reducer, solves the problem of partial interference between the flexible gear and the rigid gear of the harmonic reducer, and has important significance for designing and optimizing the tooth form of the rigid gear of the harmonic reducer.
Description
Technical Field
The invention relates to the technical field of detection and design of gear tooth profiles of harmonic reducers, in particular to a device and a method for measuring the radial deformation of gear teeth of a flexible gear of a harmonic reducer.
Background
The harmonic reducer has the characteristics of large transmission ratio, high transmission precision, compact structure, strong bearing capacity and the like, is suitable for application scenes with high precision, high load and small installation space, and is widely applied to the fields of aerospace, industrial robots and the like at present. The harmonic reducer is mainly composed of a wave generator, a rigid gear and a flexible gear. The wave generator is arranged in the flexible gear, and the flexible gear is expanded by the wave generator to generate deformation with the same shape as the wave. The partial teeth of the long shaft part of the flexible gear are contacted and meshed with the teeth of the rigid gear after being installed in the wave generator, and the partial teeth of the short shaft part are separated from the teeth of the rigid gear. The positions of the major and minor axes alternate with the rotation of the wave generator. Because of the extremely small difference of the number of teeth between the rigid gear and the flexible gear, the transmission with large reduction ratio can be realized according to the transmission ratio formula i ═ Zf-Zc)/Zf (Zf is the number of teeth of the flexible gear, and Zc is the number of teeth of the rigid gear).
The large shape change generated by the flexible gear fit wave generator is the basis for realizing the movement of the harmonic reducer. The radial deformation of the flexible gear directly influences the motion track of the flexible gear, and further influences the contact between the flexible gear and the rigid gear. The accurate measurement of the radial deformation of the flexible gear teeth in the motion state is the key of tracing the tooth shape design and the manufacturing error of the rigid gear.
At present, three-coordinate measurement is mostly adopted for measuring the radial deformation of the flexible gear. The measuring method belongs to static measurement, cannot measure the radial deformation of the flexible gear teeth of the harmonic reducer in a motion state, and has long measuring time and low accuracy. At present, a dynamic measurement method for measuring the radial deformation of a flexible gear based on laser ranging is available, but the existing method can only measure the radial deformation of a cup part of the flexible gear in a meshing motion state or the radial deformation of a gear tooth of the flexible gear in a non-meshing state. The method cannot measure the radial deformation of the flexible gear teeth in the meshing motion state, and the radial deformation of the flexible gear teeth in the meshing motion state is a decisive parameter for determining the motion track of the flexible gear in the meshing area, so that the meshing effect of the flexible gear teeth and the rigid gear teeth is determined.
Disclosure of Invention
The invention aims to make up for the defects of the prior art, and provides a device and a method for measuring the radial deformation of the flexible gear teeth of a harmonic reducer, so that the radial deformation of the flexible gear teeth of the harmonic reducer in a meshing motion state can be measured.
The invention is realized by the following technical scheme:
a harmonic reducer flexible gear tooth radial deformation measuring device comprises a moving device body part and a parameter measuring part, wherein the moving device body part and the parameter measuring part are fixedly arranged on a fixed base;
the body part of the motion device comprises an alternating current servo motor, a first crosshead shoe coupler, a first torque and rotating speed sensor, a second crosshead shoe coupler, a harmonic reducer subjected to specific secondary processing, a flange coupler, a second torque and rotating speed sensor, a third crosshead shoe coupler and a magnetic powder brake; the alternating current servo motor drives the first torque and speed sensor to rotate through the first crosshead shoe coupler, the first torque and speed sensor is connected with and drives the input end of the specific secondary processing harmonic reducer through the second crosshead shoe coupler, the specific secondary processing harmonic reducer drives the second torque and speed sensor to rotate through the flange coupler, and the second torque and speed sensor drives the magnetic powder brake to rotate through the third crosshead shoe coupler;
the parameter measuring part is positioned above the harmonic reducer for specific secondary processing and comprises a point laser displacement sensor, a sensor fixing plate, a three-degree-of-freedom displacement table, a displacement table fixing plate and a displacement table bracket, wherein the point laser displacement sensor is fixed on the three-degree-of-freedom displacement table through the sensor fixing plate; the three-degree-of-freedom displacement table is fixed on the displacement table bracket through the displacement table fixing plate; the displacement table bracket is fixed on the fixed base; the laser displacement sensor can move along an x axis, a y axis and a z axis of the fixed base respectively under the driving of the three-degree-of-freedom displacement platform, the direction strokes of the x axis and the y axis are both 25mm, the direction stroke of the z axis is 60mm, and the minimum reading of a centimeter card is 0.01 mm.
The servo alternating current motor, the first crosshead shoe coupler, the first torque and rotating speed sensor, the second crosshead shoe coupler, the harmonic reducer subjected to specific secondary processing, the flange coupler, the second torque and rotating speed sensor, the third crosshead shoe coupler and the magnetic powder brake are concentrically connected;
the alternating current servo motor, the first torque rotating speed sensor, the harmonic speed reducer subjected to specific secondary processing and the second torque rotating speed sensor are fixedly arranged on the fixed base through a motor fixed base, a first sensor fixed base, a speed reducer fixed base and a second sensor fixed base respectively; the magnetic powder brake is connected with the fixed base.
The system also comprises a comprehensive power supply, a controller, a display panel and an industrial computer;
the integrated power supply supplies electric energy to the servo alternating current motor, the magnetic powder brake, the point laser displacement sensor and the display panel; the controller adjusts the rotating speed of the servo alternating current motor and controls the braking load of the magnetic powder brake; the display panel is used for displaying the measurement data of the point laser displacement sensor in real time; the industrial computer is used for storing data obtained by measuring the point laser displacement sensor, drawing a radial deformation map of the flexible gear and processing the data.
The steel wheel of the harmonic reducer subjected to the specific secondary processing is processed through secondary cutting to form an observation opening, the observation opening is shaped like a sector, the centers of two arcs of the sector are located on the central axis of the steel wheel, the radii of the two arcs are respectively equal to the radius of an addendum circle of the steel wheel and the radius of an outer contour of the steel wheel, the height of the sector is equal to the length of the steel wheel, and the sector corresponds to a certain central angle.
The motor fixing base, the sensor fixing base I, the speed reducer fixing base and the sensor fixing base II are connected with the fixing base through sliding block nuts and bolts.
The point laser displacement sensor is fixed on the sensor fixing plate in a screw bolt connection mode, the sensor fixing plate is fixed on the three-degree-of-freedom displacement table in a screw bolt connection mode, finally, the laser displacement sensor is connected with the three-degree-of-freedom displacement table, and the laser displacement sensor moves in space by means of the three-degree-of-freedom displacement table.
The three-degree-of-freedom displacement platform is connected with a displacement platform fixing plate in a screw bolt connection mode, the displacement platform fixing plate is connected with a displacement platform support through an angle code and a slider bolt combination, and the displacement platform support is connected with a fixed base through a slider nut bolt.
The displacement table support comprises a first fixed support plate and a second fixed support plate which are symmetrically arranged in the middle of the fixed base in the width direction in parallel.
A method for measuring radial deformation of a flexible gear tooth of a harmonic reducer comprises the following steps:
s1, supplying electric energy to the servo alternating current motor, the magnetic powder brake, the display panel and the point laser displacement sensor through a comprehensive power supply;
s2, driving a torque and rotating speed sensor, a specific secondary-processing harmonic reducer and a magnetic powder brake to rotate by the high-speed rotating alternating current servo motor, and enabling a flexible gear and a rigid gear of the specific secondary-processing harmonic reducer to perform periodic meshing motion;
s3, measuring the radial deformation of the flexible gear of the harmonic reducer subjected to specific secondary processing in real time by the point laser displacement sensor, displaying the radial deformation of the flexible gear measured by the point laser displacement sensor in real time by the display panel, and transmitting the measured data to the industrial computer for storage;
s4, sequentially measuring radial deformation of the flexible gear at different axial positions along the axial direction of the harmonic reducer subjected to specific secondary processing, and storing data in an industrial computer;
and S5, mapping the radial deformation of the flexible gear stored in different axial positions in the industrial computer, removing the catastrophe points in the map, obtaining the maximum value of the radial deformation of the flexible gear at different axial positions from the optimized map, and finally obtaining the change rule and the size of the radial deformation of the flexible gear at different positions along the central axis direction of the harmonic reducer.
The invention has the advantages that: according to the invention, the observation gap is formed by performing specific secondary processing on the rigid gear of the harmonic reducer, the point laser displacement sensor is adopted to probe into the observation gap to acquire the radial deformation of the gear teeth of the flexible gear in real time, and the three-degree-of-freedom displacement table is utilized to enable the sensor to move axially so as to measure the radial deformation of different gear teeth of the flexible gear, so that the measurement of the radial deformation of the gear teeth of the flexible gear in the meshing motion state of the harmonic reducer is realized.
In some embodiments, the following advantages are also provided:
(1) the method can measure and obtain the real radial deformation of the flexible gear under the motion state of the harmonic reducer, and the measurement result is reliable;
(2) the alternating current servo motor has a wider rotating speed range, can provide different rotating speed working conditions, and can easily control the alternating current servo motor to move according to different motion rules, such as uniform motion, variable motion and the like;
(3) the magnetic powder brake has a wider torque range, can provide loads under different working conditions, and helps measure the radial deformation of the flexible gear teeth under different load conditions;
(4) the torque and rotation speed sensor can measure the actual rotation speed and the actual torque in the operation process of equipment, can form contrast with the input rotation speed of the alternating current servo motor and the input torque of the magnetic powder brake, and helps to improve the accuracy of input working conditions.
Drawings
FIG. 1 is a schematic structural diagram of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 2 is a left side view of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 3 is a top view of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 4 is an exploded view of the kinematic mechanism of the device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 5 is an exploded view of a harmonic reducer of a specific secondary machining of a device for measuring the radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 6 is a side view of a reducer fixing base of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 7 is a side view of a displacement table support of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 8 is a side view of a detecting member of a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention;
FIG. 9 is a flow chart of a method for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
Examples
As shown in fig. 1 to 8, a device for measuring radial deformation of a flexible gear tooth of a harmonic reducer comprises a moving device body part fixedly mounted on a fixed base and a parameter measuring part; each of which is described in detail below.
The exercise device body portion: the alternating current servo motor 2 is fixedly arranged on a motor fixing base 3 fixed on the fixing base 1, a first torque and speed sensor 5 is driven to rotate through a first crosshead shoe coupling 4, the first torque and speed sensor 5 drives a second specific secondary processed harmonic speed reducer 9 to rotate through a second crosshead shoe coupling 7, the second specific secondary processed harmonic speed reducer 9 drives a second torque and speed sensor 16 to rotate through a flange coupling, and the second torque and speed sensor 16 drives a magnetic powder brake 19 to rotate through a third crosshead shoe coupling 18; the motor fixing base 3 is positioned in the middle of the fixing base 1 in the width direction, the distance from the length direction to the port of the fixing base 1 is 200mm, the bottom surface of the motor fixing base 3 is overlapped with the upper surface of the fixing base 1, 2 sliding block nut and bolt combination arrays of M20 are transversely uniformly distributed at a distance of 200mm and longitudinally uniformly distributed at a distance of 100mm, and are fixed on the fixing base 1; the alternating current servo motor 2 is fixed at the center of the upper end of the motor fixing base 3 through 4 square evenly distributed bolts with the interval of 80 mm; the first torque rotating speed sensor 5 is connected with the alternating current servo motor 2 through a first crosshead shoe coupling 4 and is concentric with the first crosshead shoe coupling 4, the first torque rotating speed sensor 5 is fixed on a first sensor fixing base 6 through 4 square uniformly distributed bolts with the spacing of 100mm, the first sensor fixing base 6 is fixed in the middle of the fixing base 1 in the width direction through 4 square uniformly distributed slide block nut bolt arrays with the spacing of 200mm, and the distance from the fixing base port in the length direction is 500 mm; the input end of a harmonic reducer 9 subjected to specific secondary processing is connected with a first torque and speed sensor 5 through a cross-sliding block coupling II 7, the three parts are concentric, the harmonic reducer 9 subjected to specific secondary processing is fixed in the middle of the upper end of a reducer fixing base 8 through a 360-degree bolt and screw hole array combination with the radius of 80mm, the reducer fixing base 8 is located in the middle of the width direction of a fixing base 1, the distance from the length direction to the port of the fixing base 1 is 800mm, the bottom surface of the reducer fixing base 8 is overlapped with the upper surface of the fixing base 1, 2 sliding block nut and bolt combination arrays of M20 are uniformly distributed in the transverse direction at the distance of 200mm, and 2 sliding block nut and bolt combination arrays are uniformly distributed in the longitudinal direction at the distance of 100mm and are fixed on the fixing base 1; a second torque and speed sensor 16 is connected with the output end of the harmonic reducer 9 of the specific secondary processing through a flange coupling 15, the three are concentric, the second torque and speed sensor 16 is fixed on a second sensor fixing base 17 through 4 square uniformly distributed bolts with the interval of 100mm, the second sensor fixing base 17 is fixed in the middle of the fixing base 1 in the width direction through 4 square uniformly distributed slider nut bolt arrays with the interval of 200mm, and the distance from the fixing base 1 in the length direction is 1000 mm; the magnetic powder brake 19 is connected with the second torque and rotation speed sensor 16 through the third Oldham coupling 18, the magnetic powder brake 19 is positioned in the middle of the fixed base 1 in the width direction, the distance from the length direction to the port of the fixed base 1 is 1500mm, the bottom of the magnetic powder brake 19 is superposed with the upper surface of the fixed base 1, 2 magnetic powder brakes are transversely and uniformly distributed at a distance of 500mm, and 2 magnetic powder brakes are longitudinally and uniformly distributed at a distance of 200mm and are fixed on the fixed base 1 through M20 slide block nut-bolt combined arrays; the magnetic particle brake 19 can be used to simulate different loads.
The torque and rotation speed sensor is arranged to ensure that the input working condition of the harmonic reducer to be measured reaches an ideal standard and finally ensure the accuracy of the measurement result. The method has the functions of detecting whether the actual rotating speed of the input end of the harmonic reducer is consistent with the output rotating speed of the servo motor or not and detecting whether the torque of the output end of the harmonic reducer is the same as the direction torque input by the magnetic powder brake or not. Two torque-speed sensor embodiments: after the comprehensive power supply is started, the torque and rotation speed sensor enters a working state and feeds back real-time torque and rotation speed parameters of the input end and the output end of the harmonic reducer in real time through a display screen of the industrial computer.
A rigid gear 94 of the harmonic reducer 9 which is processed for the specific second time is concentrically and fixedly arranged in the rigid gear 94 and is connected with a roller bearing 95 through a bolt screw hole, a rotary wave generator 91 enables a flexible gear 93 to generate cyclic periodic deformation through a flexible gear bearing 92, and the flexible gear 93 adopts the external teeth of the flexible gear to be meshed with the internal teeth of the rigid gear 94, so that the cyclic deformation is converted into periodic motion and high transmission ratio; the rigid wheel 94 is processed by secondary cutting to form an observation notch 96 with a specific shape, the observation notch 96 is shaped like a sector, the centers of two arcs of the sector are both positioned on the central axis of the rigid wheel, the radii of the two arcs of the sector are respectively equal to the radius of the addendum circle of the rigid wheel and the radius of the outer contour of the rigid wheel, the height of the sector is equal to the length of the gear of the rigid wheel, and the degree of the central angle corresponding to the sector is 27.5 degrees.
A measuring device portion: the displacement table support 11 comprises a first fixed support plate 111 and a second fixed support plate 112, the first fixed support plate 111 and the second fixed support plate 112 are symmetrically arranged in the middle of the fixed base 1 in the width direction in parallel, the distance between the first fixed support plate 111 and the second fixed support plate 112 in the width direction is 600mm, and the distance between the centers of the two support plates in the length direction is 1000mm from the port of the fixed base 1; the first fixed support plate 111 and the second fixed support plate 112 are both H-shaped, and the bottoms of the first fixed support plate 111 and the second fixed support plate 112 are both connected with an aluminum-shaped frame 113 with the length of 600 mm; the three-degree-of-freedom displacement table 13 is formed by connecting three displacement tables in different displacement directions, namely a first displacement table 131, a second displacement table 132 and a third displacement table 133, the bottom of the three-degree-of-freedom displacement table 13 is fixed at the center position of a displacement table fixing plate 14 through 4 square uniformly distributed bolt and screw hole array combinations with the interval of 50mm, the displacement table fixing plate 14 is fixed on a first fixed support plate 111 and a second fixed support plate 112 through 2M 8 slide block nut and bolt array combinations with the distance of 580mm uniformly distributed in the transverse direction and the distance of 80mm uniformly distributed in the longitudinal direction; the point laser displacement sensor 10 is fixed at one end of a sensor fixing plate 12 through 4 square uniformly distributed bolt and screw hole array combinations with the interval of 80mm, and the sensor fixing plate 12 is fixed on a displacement table 131 through 4 square uniformly distributed bolt and screw hole array combinations with the interval of 80 mm.
In the embodiment, the alternating current servo motor 2 is NIDEC (NIDEC) brand with the model number of MH401N2LN07, the rated power of 400W, the rated rotating speed of 3000r/min and the speed response frequency of 200 KHz; the first torque rotating speed sensor 5 and the second torque rotating speed sensor 16 are ZJ-A type torque rotating speed sensors of Jiangsu Lanling electromechanical technology limited, the type of the sensors is ZJ-20A, the torque range is 20 N.m, the rotating speed range is 6000r/min, and the accuracy grade is +/-0.2%; the harmonic reducer 9 subjected to the specific secondary machining is obtained by machining based on an FS-25-50 harmonic reducer of the International precision group, and the reduction ratio of the FS-25-50 harmonic reducer is 50; the magnetic powder brake 19 is an FZ1000J/Y magnetic powder brake of Jiangsu Lanling electromechanical technology limited, the rated torque is 1000 N.m, the slip power is 20kW, the excitation current is 2.5A, and the weight is 215 kg; the first displacement table 131 and the second displacement table 132 are Zolix cards, the models of the two displacement tables are PSM25A-65CZ, the stroke is 25mm, the third displacement table 133 is BOCIC cards, the model is VTS102, the resolution is 0.01mm, the load is 20kg, and the stroke is 60 mm; the point laser displacement sensor 10 is an LK-H025 laser displacement sensor of Keynes, the measuring distance is +/-3 mm, the reference distance is 20mm, and the linearity is +/-0.02%; the display panel 22 is LK-HD500 of Keynes, and the minimum display module is 0.001 μm.
As shown in fig. 9, the application method of the device for measuring radial deformation of a flexible gear tooth of a harmonic reducer of the present invention specifically includes the following steps:
firstly, turning on a switch of a comprehensive power supply 20, setting the sampling frequency of a point laser displacement sensor 10, continuously keeping the sampling frequency in a working state, and adjusting a three-degree-of-freedom displacement table 13 to enable the measuring point of the point laser displacement sensor 10 to be flush with the rightmost end of an observation gap 96 of a specific secondary-processed harmonic reducer 9;
secondly, adjusting a point laser displacement sensor 10 to enable laser to pass through the central axis of the harmonic reducer 9 subjected to specific secondary processing;
thirdly, the controller 21 controls the servo motor 2 to rotate for 50 circles, reads the return parameters of the point laser displacement sensor 10 from the industrial computer 23, and draws a radial deformation map of the flexible wheel;
fourthly, moving the point laser displacement sensor 10 to the left end of the observation gap 96 by 0.5mm along the axis of the harmonic reducer 9 which is processed for the specific second time;
fifthly, repeating the third step and the fourth step until the point laser displacement sensor 10 moves to the leftmost end of the observation opening 96;
and sixthly, optimizing the radial deformation map of the flexible gear by using an industrial computer 23, and extracting to obtain radial deformation of the gear teeth of the flexible gear along different axial sections of the harmonic reducer 9 subjected to specific secondary processing.
Although patentable embodiments of the invention have been shown and described, it will be appreciated by those skilled in the art that various equivalent changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a harmonic speed reducer ware flexbile gear teeth of a cogwheel radial deformation measuring device which characterized in that: comprises a body part of the sports device fixedly arranged on a fixed base and a parameter measuring part;
the body part of the motion device comprises an alternating current servo motor, an Oldham coupling I, a torque and rotating speed sensor I, an Oldham coupling II, a harmonic reducer, a flange coupling, a torque and rotating speed sensor II, an Oldham coupling III and a magnetic powder brake; an observation opening is formed in a rigid wheel of the harmonic speed reducer, the alternating current servo motor drives a first torque and speed sensor to rotate through a first crosshead shoe coupler, the first torque and speed sensor is connected with and drives the input end of the harmonic speed reducer through a second crosshead shoe coupler, the harmonic speed reducer drives a second torque and speed sensor to rotate through a flange coupler, and the second torque and speed sensor drives a magnetic powder brake to rotate through a third crosshead shoe coupler;
the parameter measuring part is positioned above the harmonic reducer and comprises a point laser displacement sensor, a sensor fixing plate, a three-degree-of-freedom displacement table, a displacement table fixing plate and a displacement table bracket, wherein the point laser displacement sensor is fixed on the three-degree-of-freedom displacement table through the sensor fixing plate; the three-degree-of-freedom displacement table is fixed on the displacement table bracket through the displacement table fixing plate; the displacement table bracket is fixed on the fixed base; the laser displacement sensor can move along the x axis, the y axis and the z axis of the fixed base respectively under the drive of the three-degree-of-freedom displacement platform.
2. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the servo alternating current motor, the first crosshead shoe coupler, the first torque and rotating speed sensor, the second crosshead shoe coupler, the harmonic reducer, the flange coupler, the second torque and rotating speed sensor, the third crosshead shoe coupler and the magnetic powder brake are concentrically connected.
3. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the alternating current servo motor, the first torque rotating speed sensor, the harmonic speed reducer and the second torque rotating speed sensor are fixedly arranged on the fixed base through a motor fixed base, a first sensor fixed base, a first speed reducer fixed base and a second sensor fixed base respectively; the magnetic powder brake is connected with the fixed base.
4. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the system also comprises a comprehensive power supply, a controller, a display panel and an industrial computer; wherein:
the integrated power supply supplies electric energy to the servo alternating current motor, the magnetic powder brake, the point laser displacement sensor and the display panel; the controller adjusts the rotating speed of the servo alternating current motor and controls the braking load of the magnetic powder brake; the display panel is used for displaying the measurement data of the point laser displacement sensor in real time; the industrial computer is used for storing data obtained by measuring the point laser displacement sensor, drawing a radial deformation map of the flexible gear and processing the data.
5. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the rigid wheel of the harmonic reducer is provided with an observation opening formed by secondary cutting, the observation opening is shaped like a sector, the centers of two arcs of the sector are located on the central axis of the rigid wheel, the radiuses of the two arcs are respectively equal to the radius of an addendum circle of the rigid wheel and the radius of an outer contour of the rigid wheel, the height of the sector is equal to the length of a gear of the rigid wheel, and the sector corresponds to a certain central angle.
6. The device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to claim 3, wherein: the motor fixing base, the sensor fixing base I, the speed reducer fixing base and the sensor fixing base II are connected with the fixing base through sliding block nuts and bolts.
7. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the point laser displacement sensor is fixed on the sensor fixing plate in a screw bolt connection mode, the sensor fixing plate is fixed on the three-degree-of-freedom displacement table in a screw bolt connection mode, finally, the laser displacement sensor is connected with the three-degree-of-freedom displacement table, and the laser displacement sensor moves in space by means of the three-degree-of-freedom displacement table.
8. The device for measuring radial deformation of a flexible gear tooth of a harmonic reducer according to claim 7, wherein: the three-degree-of-freedom displacement platform is connected with a displacement platform fixing plate in a screw bolt connection mode, the displacement platform fixing plate is connected with a displacement platform support through an angle code and a slider bolt combination, and the displacement platform support is connected with a fixed base through a slider nut bolt.
9. The device for measuring the radial deformation of the gear teeth of the flexible gear of the harmonic reducer according to claim 1, wherein: the displacement table support comprises a first fixed support plate and a second fixed support plate which are symmetrically arranged in the middle of the fixed base in the width direction in parallel.
10. A method for measuring radial deformation of a flexible gear tooth of a harmonic reducer is characterized by comprising the following steps: the method comprises the following steps:
s1, supplying electric energy to the servo alternating current motor, the magnetic powder brake, the display panel and the point laser displacement sensor through a comprehensive power supply;
s2, driving a torque rotating speed sensor, a harmonic reducer and a magnetic powder brake to rotate by the high-speed rotating alternating current servo motor, and enabling a flexible gear and a rigid gear of the harmonic reducer to perform periodic meshing motion;
s3, the point laser displacement sensor measures radial deformation of the flexible gear of the harmonic reducer in real time, the display panel displays the radial deformation of the flexible gear measured by the point laser displacement sensor in real time, and measured data are transmitted to an industrial computer and stored;
s4, sequentially measuring radial deformation of the flexible gear at different axial positions along the axial direction of the harmonic reducer, and storing data in an industrial computer;
and S5, mapping the radial deformation of the flexible gear stored in different axial positions in the industrial computer, removing the catastrophe points in the map, obtaining the maximum value of the radial deformation of the flexible gear at different axial positions from the optimized map, and finally obtaining the change rule and the size of the radial deformation of the flexible gear at different positions along the central axis direction of the harmonic reducer.
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| CN115615373A (en) * | 2022-12-19 | 2023-01-17 | 山东九博智能装备有限公司 | Harmonic gear radial runout detection device, detection method and control method |
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