CN113587833B - Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer - Google Patents
Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer Download PDFInfo
- Publication number
- CN113587833B CN113587833B CN202110755675.7A CN202110755675A CN113587833B CN 113587833 B CN113587833 B CN 113587833B CN 202110755675 A CN202110755675 A CN 202110755675A CN 113587833 B CN113587833 B CN 113587833B
- Authority
- CN
- China
- Prior art keywords
- sensor
- radial deformation
- harmonic reducer
- harmonic
- reducer
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Retarders (AREA)
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 the meshing movement, provide real and effective guiding parameters for the design and modification of the rigid gear tooth shape, help to improve the design precision of the rigid gear tooth shape of the harmonic speed reducer, solve the problem of partial interference between the flexible gear and the rigid gear of the harmonic speed reducer, and have important significance for designing and optimizing the rigid gear tooth shape of the harmonic speed 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 radial deformation of a flexible gear tooth of a harmonic reducer, which are suitable for guiding design and optimization of a rigid gear tooth shape of the harmonic reducer and solving the interference problem of the rigid gear and the flexible gear of the harmonic reducer.
Background
The harmonic reducer has the characteristics of large transmission ratio, high transmission precision, compact structure, strong bearing capacity and the like, so that the harmonic reducer is suitable for application scenes of 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 mainly comprises a wave generator, a rigid gear and a flexible gear. The wave generator is arranged in the flexible wheel, and the flexible wheel is expanded by the wave generator to generate deformation with the same shape as the wave generation. The long shaft part teeth of the flexible gear are contacted with and meshed with the rigid gear teeth after being installed in the wave generator, and the short shaft part teeth are separated from the rigid gear teeth. The position of the long and short axes alternates with the rotation of the wave generator. Because of extremely small tooth number difference between the rigid gear and the flexible gear, the transmission with large reduction ratio can be realized according to a transmission ratio formula i= (Zf-Zc)/Zf (Zf is the number of teeth of the flexible gear, zc is the number of teeth of the rigid gear).
The large shape change generated by the flexible wheel attaching wave generator is the basis for realizing the motion of the harmonic reducer. The radial deformation of the flexible gear directly influences the movement 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 gear teeth of the flexible gear in a motion state is the key of rigid gear tooth shape design and manufacturing error tracing.
At present, three-coordinate measurement is adopted in the means for measuring radial deformation of the flexible gear. The measuring method belongs to static measurement, the radial deformation of the gear teeth of the flexible gear of the harmonic reducer in a moving state cannot be measured, and the measuring time is long and the accuracy is not high. At present, a dynamic measurement method for measuring radial deformation of a flexible gear based on laser ranging exists, but the existing method only can measure radial deformation of a cup part of the flexible gear in a meshing motion state or radial deformation of gear teeth of the flexible gear in a non-meshing state. The method can not measure the radial deformation of the gear teeth of the flexible gear in the meshing motion state, but the radial deformation of the gear teeth of the flexible gear in the meshing motion state is a decisive parameter for determining the motion trail of the flexible gear in the meshing region, so that the meshing effect of the gear teeth of the flexible gear and the rigid gear is determined.
Disclosure of Invention
The invention aims to make up the defects of the prior art, and provides a device and a method for measuring radial deformation of flexible gear teeth of a harmonic speed reducer, which are used for measuring the radial deformation of the flexible gear teeth of the harmonic speed reducer in a meshing motion state.
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 which are fixedly arranged on a fixed base;
the motion device body part comprises an alternating current servo motor, an Oldham coupling I, a torque rotation speed sensor I, an Oldham coupling II, a harmonic reducer for specific secondary processing, a flange coupling, a torque rotation speed sensor II, an Oldham coupling III and a magnetic powder brake; the alternating current servo motor drives a torque rotating speed sensor I to rotate through a cross slide coupling II, the torque rotating speed sensor I is connected and driven with an input end of a harmonic reducer of specific secondary machining through the cross slide coupling II, the harmonic reducer of the specific secondary machining drives the torque rotating speed sensor II to rotate through a flange coupling, and the torque rotating speed sensor II drives a magnetic powder brake to rotate through a cross slide coupling III;
the parameter measurement part is positioned above the harmonic reducer of the 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 support 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 under the drive of the three-degree-of-freedom displacement table, the strokes of the x axis and the y axis are 25mm, the stroke of the z axis is 60mm, and the minimum reading of the millimeter card is 0.01mm.
The alternating current servo motor, the first Oldham coupling, the first torque rotating speed sensor, the second Oldham coupling, the harmonic reducer for specific secondary processing, the flange coupling, the second torque rotating speed sensor, the third Oldham coupling and the magnetic powder brake are concentrically connected;
the alternating current servo motor, the first torque rotating speed sensor, the harmonic speed reducer for 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 for an alternating current servo motor, a magnetic powder brake, a point laser displacement sensor and a display panel; the controller regulates the rotating speed of the alternating current servo 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 measurement of the point laser displacement sensor, drawing a radial deformation map of the flexible wheel and processing the data.
The rigid wheel of the harmonic reducer with specific secondary processing forms an observation opening through secondary cutting processing, the observation opening is in a sector shape, the centers of two arcs of the sector are both positioned on the central axis of the rigid wheel, the radius of the arc is equal to the top radius of the rigid wheel tooth and the radius of the outline of the rigid wheel respectively, the height of the sector is equal to the length of the rigid wheel tooth, and the sector corresponds to a certain central angle.
The motor fixing base, the first sensor fixing base, the speed reducer fixing base and the second sensor fixing base are connected with the fixing base through slide block nut bolts.
The point laser displacement sensor is fixed on the sensor fixing plate in a screw hole and bolt connection mode, the sensor fixing plate is fixed on the three-degree-of-freedom displacement table in a screw hole and bolt connection mode, finally, the laser displacement sensor is connected with the three-degree-of-freedom displacement table, and the laser displacement sensor realizes space movement by means of the three-degree-of-freedom displacement table.
The three-degree-of-freedom displacement table is connected with the displacement table fixing plate in a screw hole and bolt connection mode, the displacement table fixing plate is connected with the displacement table support through an angle code and a sliding block bolt combination, and the displacement table support is connected with the fixing base through a sliding block 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 width direction of the fixed base in parallel.
A method for measuring radial deformation of gear teeth of a flexible gear of a harmonic reducer comprises the following steps:
s1, supplying electric energy to an alternating current servo motor, a magnetic powder brake, a display panel and a point laser displacement sensor through a comprehensive power supply;
s2, the high-speed rotating alternating current servo motor drives a torque rotating speed sensor, a specific secondary processing harmonic reducer and a magnetic powder brake to rotate, so that a flexible gear and a rigid gear of the specific secondary processing harmonic reducer 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 on a display panel in real time, and transmitting measured data to an industrial computer and storing the measured data;
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;
s5, mapping the radial deformation of the flexible gear stored in different axial positions in the industrial computer, removing the mutation points in the graph, 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 change 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 carrying out specific secondary processing on the rigid gear of the harmonic reducer, the radial deformation of the gear teeth of the flexible gear is collected in real time by adopting the point laser displacement sensor to detect the observation gap, and the sensor is axially moved by utilizing the three-degree-of-freedom displacement table 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, there are also the following advantages:
(1) The invention can measure and obtain the real radial deformation of the flexible gear in 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 realize the working conditions of different rotating speeds, and can easily control the alternating current servo motor to move in different motion laws, such as uniform motion, variable speed motion and the like;
(3) The magnetic powder brake has a wider torque range, can provide loads of different working conditions, and helps to measure radial deformation of gear teeth of the flexible gear under different load conditions;
(4) The torque rotation speed sensor can measure the actual rotation speed and the actual torque in the running process of equipment, can be compared with the input rotation speed of an alternating current servo motor and the input torque of a magnetic powder brake, and helps to improve the accuracy of the input working condition.
Drawings
FIG. 1 is a schematic diagram of a device for measuring radial deformation of gear teeth of a flexible gear of a harmonic reducer;
FIG. 2 is a left side view of a harmonic reducer flexspline tooth radial deformation measuring device of the present invention;
FIG. 3 is a top view of a harmonic reducer flexspline tooth radial deflection measurement device of the present invention;
FIG. 4 is an exploded view of the motion mechanism of the device for measuring radial deformation of gear teeth of the flexspline of the harmonic reducer;
FIG. 5 is an exploded view of a harmonic reducer of a particular secondary operation of the device for measuring radial deflection of a flexspline tooth of the harmonic reducer of the present invention;
FIG. 6 is a side view of a reducer fixing base of a device for measuring radial deformation of gear teeth of a flexible gear of a harmonic reducer according to the present invention;
FIG. 7 is a side view of a displacement table bracket of a harmonic reducer flexspline tooth radial deformation measuring device of the present invention;
FIG. 8 is a side view of a sensing component of a harmonic reducer flexspline tooth radial deflection measurement device of 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.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and detailed description. It should be emphasized that the following description is merely exemplary in nature and is in no way intended to limit the scope of the invention or its applications.
Examples
As shown in fig. 1 to 8, a harmonic reducer flexspline tooth radial deformation measuring device comprises a moving device body part and a parameter measuring part which are fixedly arranged on a fixed base; each of which is described in detail below.
Motion 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 rotating speed sensor 5 is driven to rotate through a first Oldham coupling 4, the first torque rotating speed sensor 5 drives a harmonic reducer 9 for specific secondary machining to rotate through a second Oldham coupling 7, the harmonic reducer 9 for specific secondary machining drives a second torque rotating speed sensor 16 to rotate through a flange coupling, and the second torque rotating speed sensor 16 drives a magnetic powder brake 19 to rotate through a third Oldham coupling 18; the motor fixing base 3 is positioned in the middle of the width direction of the fixing base 1, the distance between the length direction and the port of the fixing base 1 is 200mm, the bottom surface of the motor fixing base 3 coincides with the upper surface of the fixing base 1, 2 sliding block nut bolt combination arrays which are uniformly distributed at a distance of 200mm in the transverse direction and 2M 20 sliding block nut bolt combination arrays which are uniformly distributed at a distance of 100mm in the longitudinal direction 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 uniformly 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 the first cross slide block coupler 4, the three are concentric, the first torque rotating speed sensor 5 is fixed on the first sensor fixing base 6 through 4 square uniformly distributed bolts with the interval of 100mm, the first sensor fixing base 6 is fixed on the middle part of the fixing base 1 in the width direction through 4 square uniformly distributed slide block nut bolt array combinations with the interval of 200mm, and the distance between the length direction and the port of the fixing base is 500mm; the input end of the harmonic reducer 9 subjected to specific secondary processing is connected with the torque rotation speed sensor I5 through the Oldham coupling II 7, the harmonic reducer 9 subjected to specific secondary processing is concentric with the torque rotation speed sensor I5, the harmonic reducer 9 subjected to specific secondary processing is fixed in the middle of the upper end of the reducer fixing base 8 through a 360-degree bolt screw hole array combination with the radius of 80mm, the reducer fixing base 8 is positioned in the middle of the width direction of the fixing base 1, the length direction is 800mm away from a port of the fixing base 1, the bottom surface of the reducer fixing base 8 coincides with the upper surface of the fixing base 1, 2 sliding block nut bolt combination arrays are uniformly distributed at the distance of 200mm transversely, and 2M 20 sliding block nut bolt combination arrays are uniformly distributed at the distance of 100mm longitudinally and are fixed on the fixing base 1; the second torque rotating speed sensor 16 is connected with the output end of the harmonic reducer 9 of the specific secondary machining through a flange coupler 15, the torque rotating speed sensor 16 is concentric with the output end of the harmonic reducer 9, the second torque rotating speed sensor 16 is fixed on the second sensor fixing base 17 through 4 square uniformly distributed bolts with the interval of 100mm, the second sensor fixing base 17 is fixed on the middle part of the fixing base 1 in the width direction through 4 square uniformly distributed slide block nut bolt array combinations with the interval of 200mm, and the distance between the length direction and the fixing base 1 port is 1000mm; the magnetic powder brake 19 is connected with the torque rotation speed sensor II through the cross slide coupling III 18, the magnetic powder brake 19 is positioned in the middle of the width direction of the fixed base 1, the distance between the length direction and the port of the fixed base 1 is 1500mm, the bottom of the magnetic powder brake 19 coincides with the upper surface of the fixed base 1, 2 magnetic powder brakes are uniformly distributed at a distance of 500mm in the transverse direction, and 2M 20 slide nut bolt combination arrays are uniformly distributed at a distance of 200mm in the longitudinal direction and are fixed on the fixed base 1; 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 condition of the measured harmonic speed reducer reaches an ideal standard, and finally the accuracy of a measurement result is ensured. The method has the function of detecting whether the actual rotating speed of the input end of the harmonic speed 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 speed reducer is identical with the directional torque input by the magnetic powder brake or not. Two torque rotation speed sensor embodiments: after the comprehensive power supply is started, the torque and rotation speed sensor enters a working state, and the torque and rotation speed sensor feeds back real-time torque and rotation speed parameters of the input end and the output end of the harmonic speed reducer in real time through a display screen of an industrial computer.
The rigid gear 94 of the harmonic reducer 9 subjected to specific secondary processing is concentrically and fixedly arranged in the flexible gear 93, and is connected with the roller bearing 95 through a bolt screw hole, the rotating wave generator 91 enables the flexible gear 93 to circularly and periodically deform through the flexible gear bearing 92, and the flexible gear 93 adopts the external teeth of the flexible gear 93 to be meshed with the internal teeth of the rigid gear 94, so that the periodic deformation is converted into periodic motion and high transmission ratio; the rigid wheel 94 is formed into an observation opening 96 with a specific shape through secondary cutting, the observation opening 96 is in a sector shape, the centers of two arc lines of the sector shape are both positioned on the central axis of the rigid wheel, the radius is equal to the top circle radius of the rigid wheel tooth and the radius of the outer contour of the rigid wheel respectively, the height of the sector shape is equal to the length of the rigid wheel tooth, and the degree of the central angle corresponding to the sector shape is 27.5 degrees.
Measuring device part: the displacement table bracket 11 comprises a first fixed bracket plate 111 and a second fixed bracket plate 112, the first fixed bracket plate 111 and the second fixed bracket plate 112 are symmetrically arranged in the middle of the width direction of the fixed base 1 in parallel, the distance between the first fixed bracket plate 111 and the second fixed bracket plate 112 in the width direction is 600mm, and the center of the two bracket plates is 1000mm away from the port of the fixed base 1 in the length direction; the first fixed support plate 111 and the second fixed support plate 112 are H-shaped, and aluminum frames 113 with the length of 600mm are connected to the bottoms of the first fixed support plate 111 and the second fixed support plate 112; the three-degree-of-freedom displacement table 13 is formed by connecting displacement tables in three different displacement directions, namely a first displacement table 131, a second displacement table 132 and a third displacement table 133, wherein the bottom of the three-degree-of-freedom displacement table 13 is fixed at the central position of a displacement table fixing plate 14 through 4 square uniformly distributed bolt hole array combinations with the interval of 50mm, and the displacement table fixing plate 14 is fixed on a first fixed support plate 111 and a second fixed support plate 112 through 2 sliding block nut bolt array combinations which are uniformly distributed at the distance of 580mm transversely and 2M 8 which are uniformly distributed at the longitudinal direction of 80 mm; the point laser displacement sensor 10 is fixed at one end of the sensor fixing plate 12 through 4 square uniformly distributed bolt screw hole array combinations with the interval of 80mm, and the sensor fixing plate 12 is fixed on the displacement platform I131 through 4 square uniformly distributed bolt screw hole array combinations with the interval of 80 mm.
In the embodiment, the AC servo motor 2 is a NIDEC, the model is MH401N2LN07, the rated power is 400W, the rated rotating speed is 3000r/min, and the speed response frequency is 200KHz; the first torque rotating speed sensor 5 and the second torque rotating speed sensor 16 are ZJ-A torque rotating speed sensors of Jiangsu lan diamond mechanical and electrical technology limited company, the model of the sensors is ZJ-20A, the torque measuring range is 20 N.m, the rotating speed measuring range is 6000r/min, and the accuracy grade is +/-0.2%; the harmonic reducer 9 for the specific secondary processing is processed based on the 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 selected from FZ1000J/Y magnetic powder brake of Jiangsu lan diamond mechanical and electrical science and technology Co., ltd, the rated torque is 1000 N.m, the slip power is 20kW, the exciting current is 2.5A, and the weight is 215kg; zolix brand is selected for the first displacement table 131 and the second displacement table 132, the model is PSM25A-65CZ, the stroke is 25mm, BOCIC brand is selected for the third displacement table 133, the model is VTS102, the resolution is 0.01mm, the load is 20kg, and the stroke is 60mm; the point laser displacement sensor 10 is a Kernel LK-H025 laser displacement sensor, the measuring distance is + -3 mm, the reference distance is 20mm, and the linearity is + -0.02%; the display panel 22 is selected from the LK-HD500 of Kidney, 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 the flexible gear teeth of the harmonic reducer specifically comprises the following steps:
the first step is to turn on the switch of the integrated power supply 20, set the sampling frequency of the point laser displacement sensor 10 and keep the sampling frequency in a working state continuously, and adjust the three-degree-of-freedom displacement table 13 to enable the measuring point of the point laser displacement sensor 10 to be level with the rightmost end of the observation notch 96 of the harmonic reducer 9 for specific secondary processing;
the second step adjusts the central axis of the harmonic reducer 9, which is subjected to specific secondary processing, by the laser displacement sensor 10;
the third step of controlling the servo motor 2 to rotate for 50 circles by the controller 21, reading the return parameters of the point laser displacement sensor 10 from the industrial computer 23, and drawing a flexible wheel radial deformation map;
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 of the specific secondary processing;
fifth, repeating the third and fourth steps until the point laser displacement sensor 10 moves to the leftmost end of the observation opening 96;
and step six, optimizing the radial deformation map of the flexible gear by using an industrial computer 23, and extracting to obtain the 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 embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various equivalent changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (10)
1. The utility model provides a harmonic speed reducer flexspline teeth radial deformation volume measuring device which characterized in that: comprises a motion device body part and a parameter measuring part which are fixedly arranged on a fixed base;
the motion device body part comprises an alternating current servo motor, an Oldham coupling I, a torque rotation speed sensor I, an Oldham coupling II, a harmonic reducer, a flange coupling, a torque rotation speed sensor II, an Oldham coupling III and a magnetic powder brake; the first alternating current servo motor drives the first torque rotating speed sensor to rotate through the first Oldham coupling, the first torque rotating speed sensor is connected with the input end of the harmonic reducer through the second Oldham coupling and is driven, the harmonic reducer drives the second torque rotating speed sensor to rotate through the flange coupling, and the second torque rotating speed sensor drives the magnetic powder brake to rotate through the third Oldham coupling;
the parameter measurement 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 support is fixed on the fixed base; the laser displacement sensor can respectively move along the x axis, the y axis and the z axis of the fixed base under the drive of the three-degree-of-freedom displacement table;
the point laser displacement sensor is used for collecting radial deformation of the gear teeth of the flexible gear in real time through the observation notch, and the three-degree-of-freedom displacement table enables the point laser displacement sensor to move along the axial direction so as to measure the radial deformation of different gear tooth positions of the flexible gear, so that the radial deformation measurement of the gear teeth of the flexible gear under the meshing motion state of the harmonic reducer is realized.
2. The harmonic reducer flexspline tooth radial deformation measuring device of claim 1, wherein: the alternating current servo motor, the first Oldham coupling, the first torque rotating speed sensor, the second Oldham coupling, the harmonic reducer, the flange coupling, the second torque rotating speed sensor, the third Oldham coupling and the magnetic powder brake are concentrically connected.
3. The harmonic reducer flexspline tooth radial deformation measuring device of 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 speed reducer fixed base and a second sensor fixed base respectively; the magnetic powder brake is connected with the fixed base.
4. The harmonic reducer flexspline tooth radial deformation measuring device of claim 1, wherein: the system also comprises a comprehensive power supply, a controller, a display panel and an industrial computer; wherein:
the comprehensive power supply supplies electric energy for an alternating current servo motor, a magnetic powder brake, a point laser displacement sensor and a display panel; the controller regulates the rotating speed of the alternating current servo 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 measurement of the point laser displacement sensor, drawing a radial deformation map of the flexible wheel and processing the data.
5. The harmonic reducer flexspline tooth radial deformation measuring device of claim 1, wherein: the rigid gear of the harmonic reducer is provided with an observation opening formed by secondary cutting, the shape of the observation opening is a sector, the centers of two arcs of the sector are both positioned on the central axis of the rigid gear, the radius of the sector is equal to the top radius of the rigid gear and the radius of the outline of the rigid gear respectively, the height of the sector is equal to the length of the rigid gear, and the sector corresponds to a certain central angle.
6. A harmonic reducer flexspline tooth radial deformation measuring device according to claim 3, characterized in that: the motor fixing base, the first sensor fixing base, the speed reducer fixing base and the second sensor fixing base are connected with the fixing base through slide block nut bolts.
7. The harmonic reducer flexspline tooth radial deformation measuring device of claim 1, wherein: the point laser displacement sensor is fixed on the sensor fixing plate in a screw hole and bolt connection mode, the sensor fixing plate is fixed on the three-degree-of-freedom displacement table in a screw hole and bolt connection mode, finally, the laser displacement sensor is connected with the three-degree-of-freedom displacement table, and the laser displacement sensor realizes space movement by means of the three-degree-of-freedom displacement table.
8. The harmonic reducer flexspline tooth radial deformation measuring device of claim 7, wherein: the three-degree-of-freedom displacement table is connected with the displacement table fixing plate in a screw hole and bolt connection mode, the displacement table fixing plate is connected with the displacement table support through an angle code and a sliding block bolt combination, and the displacement table support is connected with the fixing base through a sliding block nut bolt.
9. The harmonic reducer flexspline tooth radial deformation measuring device of 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 width direction of the fixed base in parallel.
10. A method for measuring radial deformation of gear teeth of a flexible gear of a harmonic reducer is characterized by comprising the following steps of: the method for measuring the radial deformation of the flexible gear teeth of the harmonic speed reducer by using the device for measuring the radial deformation of the flexible gear teeth of the harmonic speed reducer according to claim 1 comprises the following steps:
s1, supplying electric energy to an alternating current servo motor, a magnetic powder brake, a display panel and a point laser displacement sensor through a comprehensive power supply; adjusting the three-degree-of-freedom displacement table to enable the measuring point of the point laser displacement sensor to be level with one end of the observation opening of the harmonic reducer;
s2, adjusting the point laser displacement sensor to enable laser of the point laser displacement sensor to pass through the central axis of the harmonic reducer;
s3, the high-speed rotating alternating current servo motor drives the torque rotating speed sensor I, the harmonic speed reducer, the torque rotating speed sensor II and the magnetic powder brake to rotate, so that the flexible gear and the rigid gear of the harmonic speed reducer perform periodic meshing motion;
s4, measuring radial deformation of the flexible gear of the harmonic reducer 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 measured data to an industrial computer and storing the measured data;
s5, moving the point laser displacement sensor along the axis of the harmonic reducer to a set distance along the direction of the other end of the observation gap so as to sequentially measure radial deformation of the flexible gear at different axial positions along the axis direction of the harmonic reducer, and storing data in an industrial computer;
s6, repeating the steps S3 and S4 until the point laser displacement sensor moves to the other end of the observation gap; mapping the radial deformation of the flexible gear stored in different axial positions in an industrial computer, removing abrupt points in the graph, 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 change size of the radial deformation of the flexible gear at different positions along the central axis direction of the harmonic reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110755675.7A CN113587833B (en) | 2021-07-05 | 2021-07-05 | Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110755675.7A CN113587833B (en) | 2021-07-05 | 2021-07-05 | Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113587833A CN113587833A (en) | 2021-11-02 |
| CN113587833B true CN113587833B (en) | 2023-08-11 |
Family
ID=78245873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110755675.7A Active CN113587833B (en) | 2021-07-05 | 2021-07-05 | Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113587833B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115615373B (en) * | 2022-12-19 | 2023-04-28 | 山东九博智能装备有限公司 | Harmonic gear radial runout detection device, detection method and control method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2509636A1 (en) * | 1981-07-15 | 1983-01-21 | Inst Po Metalloznanie I Tekno | EXPLOSIVE DEFORMATION MACHINE |
| JPH0972388A (en) * | 1995-09-05 | 1997-03-18 | Sumitomo Heavy Ind Ltd | Worm reduction gear |
| CN2641917Y (en) * | 2003-09-02 | 2004-09-15 | 辛洪兵 | Harmonic dynamo |
| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
| CN106338393A (en) * | 2016-08-25 | 2017-01-18 | 浙江双环传动机械股份有限公司 | Speed reducer transmission efficiency test system |
| CN106370424A (en) * | 2016-12-02 | 2017-02-01 | 江苏理工学院 | Testing device for testing dynamic performance of various models of RV speed reducers |
| CN207318087U (en) * | 2017-09-08 | 2018-05-04 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| KR101989556B1 (en) * | 2017-12-11 | 2019-06-14 | 주식회사 세원정공 | Cowl cross assembly welding apparatus |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
| CN111811412A (en) * | 2020-07-31 | 2020-10-23 | 江苏金恒信息科技股份有限公司 | A open shoulder central positioning device for panel tensile sample |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
-
2021
- 2021-07-05 CN CN202110755675.7A patent/CN113587833B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2509636A1 (en) * | 1981-07-15 | 1983-01-21 | Inst Po Metalloznanie I Tekno | EXPLOSIVE DEFORMATION MACHINE |
| JPH0972388A (en) * | 1995-09-05 | 1997-03-18 | Sumitomo Heavy Ind Ltd | Worm reduction gear |
| CN2641917Y (en) * | 2003-09-02 | 2004-09-15 | 辛洪兵 | Harmonic dynamo |
| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
| CN106338393A (en) * | 2016-08-25 | 2017-01-18 | 浙江双环传动机械股份有限公司 | Speed reducer transmission efficiency test system |
| CN106370424A (en) * | 2016-12-02 | 2017-02-01 | 江苏理工学院 | Testing device for testing dynamic performance of various models of RV speed reducers |
| CN207318087U (en) * | 2017-09-08 | 2018-05-04 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| KR101989556B1 (en) * | 2017-12-11 | 2019-06-14 | 주식회사 세원정공 | Cowl cross assembly welding apparatus |
| CN110986813A (en) * | 2019-12-11 | 2020-04-10 | 北京工业大学 | Radial deformation measurement system for harmonic reducer flexible gear |
| CN111811412A (en) * | 2020-07-31 | 2020-10-23 | 江苏金恒信息科技股份有限公司 | A open shoulder central positioning device for panel tensile sample |
| CN112326233A (en) * | 2020-11-27 | 2021-02-05 | 北京工业大学 | Harmonic reducer comprehensive performance test bed |
Non-Patent Citations (1)
| Title |
|---|
| 钱隆，冯平法，张建富，吴志军，郁鼎文.机床整机性能仿真分析的模型简化方法研究.制造技术与机床.2016,(第9期),71-76. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113587833A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111307451B (en) | Precision-loaded RV reducer performance detection device and method | |
| US20230250501A1 (en) | Robot machining system and control method for ultrasonic surface rolling process of aircraft engine blade | |
| CN106125774B (en) | Double-shaft synchronous motion control device and method based on laser displacement sensor feedback | |
| CN203981405U (en) | A kind of servomotor and harmonic wave speed reducing machine comprehensive test platform | |
| CN104075890A (en) | Comprehensive servo motor and harmonic speed reducer testing platform | |
| CN113587833B (en) | Device and method for measuring radial deformation of gear teeth of flexible gear of harmonic speed reducer | |
| CN106525412A (en) | Overall performance detection platform for rotary table part and detection method thereof | |
| CN101598631A (en) | Electromechanical dynamic loading device for reducer | |
| CN105738105A (en) | Large-torque large-deflection-angle universal coupling testing stand | |
| CN107238497B (en) | Horizontal reciprocating rotary speed reducer product comprehensive test testboard | |
| CN105928479B (en) | A kind of cartridge type part outer diameter on-line measuring device in spinning process | |
| CN110986813A (en) | Radial deformation measurement system for harmonic reducer flexible gear | |
| CN101852590B (en) | Tubular column type instrument board framework visual detection positioning device of automobile | |
| CN104269191B (en) | The parallel institution that Hydrauservo System and piezoelectric ceramic actuator drive jointly | |
| CN215218056U (en) | RV reduction gear capability test device based on arm | |
| CN212539654U (en) | Electronic jar capability test platform | |
| CN116413027A (en) | Comprehensive performance test platform for planetary roller screw and planetary reducer | |
| CN109129427B (en) | Plane parallel mechanism device driven by double five-rod mechanism and control method | |
| CN101046420A (en) | On-line detection process of transfer torque mechanical press PFC requires | |
| Lu et al. | A new position detection and status monitoring system for joint of SCARA | |
| CN116146686A (en) | End-engaged harmonic reducer with adjustable backlash and rigidity, test bed and application thereof | |
| CN212320969U (en) | Electronic jar efficiency test device | |
| KR20220151922A (en) | Performance test apparatus of flexspline | |
| CN201672906U (en) | Automobile column type dashboard framework vision detection positioning device | |
| CN207027492U (en) | The redundancy plane parallel mechanism control device of combination drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |