CN115493839A - Return difference testing device and method for limited-angle speed reducer - Google Patents
Return difference testing device and method for limited-angle speed reducer Download PDFInfo
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- CN115493839A CN115493839A CN202211311858.0A CN202211311858A CN115493839A CN 115493839 A CN115493839 A CN 115493839A CN 202211311858 A CN202211311858 A CN 202211311858A CN 115493839 A CN115493839 A CN 115493839A
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Abstract
The invention discloses a return difference testing device and a return difference testing method for a limited-angle speed reducer, wherein the testing device comprises a driving assembly, a stroke limiting assembly, a measuring assembly and a magnetic powder brake; the output end of the driving component is connected with an input shaft of the limited-angle speed reducer; the measuring component comprises an encoder and a switching shaft, the switching shaft is connected with the encoder and completes measurement through the encoder, one end of the switching shaft is connected with an output shaft of the limited-angle speed reducer, and the other end of the switching shaft is connected with an output shaft of the magnetic powder brake; the stroke limiting assembly is mounted on an output shaft of the limited-angle speed reducer and used for limiting the rotating angle stroke. The testing method is implemented based on the device. The invention has the advantages of simple and compact structure, low cost, high automation degree, high testing efficiency and the like.
Description
Technical Field
The invention mainly relates to the technical field of testing and optimizing of speed reducers, in particular to a return difference testing device and a return difference testing method for a limited-angle speed reducer.
Background
The precision reducer transmission precision mainly comprises a transmission error and a return difference, wherein the return difference refers to a lag quantity of an output shaft on a rotating angle when an input shaft of the precision reducer is changed from a forward direction to a reverse direction. For a precise speed reducer which often needs to do reciprocating motion, the return difference can cause the positioning precision of the system to be reduced and the dynamic performance to be poor. Therefore, the backlash of the precision speed reducer is tested and analyzed, and the backlash test result is utilized to guide the design, manufacture and assembly of the speed reducer, so that the method has an important effect on improving the transmission performance of the precision speed reducer.
The output end of the reducer with limited rotation angle can only move within a limited angle range and can not be in continuous turnover. The output stroke of the speed reducer exceeds the limit due to the out-of-control driving assembly, so that the faults of tooth surface abrasion, tooth surface deformation, motion blocking, transmission failure and the like are caused, and the transmission precision of the speed reducer is seriously influenced. Therefore, compared with a speed reducer capable of continuously revolving, the return difference testing device of the limited-angle speed reducer needs to consider a stroke limiting device so as to protect the limited-angle speed reducer from continuously and smoothly transmitting motion and power in a stroke range.
In the prior art, from patents disclosed in the current speed reducer return difference testing device, patents in chinese patent applications CN113267335A, CN104062121B, CN105784351B, CN207248521U, CN212693241U, etc. all refer to speed reducers that can continuously rotate, such as RV speed reducers and precision planetary speed reducers, and do not need to consider the safety problems such as the limitation of the output stroke of the speed reducer.
The technical scheme of the above-mentioned patent adopts hysteresis curve method to obtain the return difference of the speed reducer, the method is generally used in the industrial field, and is stipulated in the national standard GB/T35089-2018 precision gear transmission device test method for robots, in the obtained hysteresis curve, the difference of the rotation angle values corresponding to +/-3% rated torque is the return difference of the test piece. The method for obtaining the return difference of the speed reducer by using the hysteresis curve belongs to a static measurement method, multi-point measurement is needed, the measurement efficiency is low, the hysteresis curve needs to be subjected to sectional fitting, and the return difference measurement precision is reduced due to the random errors of artificial factors and test data.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the return difference testing device and the return difference testing method for the limited-rotation-angle speed reducer, which have the advantages of simple and compact structure, low cost, high automation degree and high testing efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
a return difference testing device of a limited-angle speed reducer comprises a driving assembly, a stroke limiting assembly, a measuring assembly and a magnetic powder brake; the output end of the driving component is connected with an input shaft of the limited-angle speed reducer; the measuring component comprises an encoder and a switching shaft, the switching shaft is connected with the encoder and completes measurement through the encoder, one end of the switching shaft is connected with an output shaft of the limited-angle speed reducer, and the other end of the switching shaft is connected with an output shaft of the magnetic powder brake; the stroke limiting assembly is mounted on an output shaft of the limited-angle speed reducer and used for limiting the rotating angle stroke.
As a further improvement of the device of the invention: the switching shaft is connected with an inner ring of the encoder in a radial clamping mode.
As a further improvement of the device of the invention: one end of the transfer shaft is coaxially connected with an output shaft of the speed reducer with the limited rotation angle through a first elastic diaphragm coupler, and the other end of the transfer shaft is coaxially connected with an output shaft of the magnetic powder brake through a second elastic diaphragm coupler.
As a further improvement of the device of the invention: the measuring assembly further comprises an upright post and a square bearing seat, the shell of the encoder and the square bearing seat are fixed on two sides of the upright post respectively, and the transfer shaft is supported by the square bearing seat.
As a further improvement of the device of the invention: the driving assembly comprises a driving motor, a motor support and a high-rigidity coupling, the driving motor is fixed with the motor support, and an output shaft of the driving motor is coaxially connected with an input shaft of the limited-angle speed reducer through the high-rigidity coupling.
As a further improvement of the device of the invention: the encoder adopts a large hollow encoder.
As a further improvement of the device of the invention: the stroke limiting assembly comprises two oscillating rods, two stroke limiting switches and two fixed adapter plates; the two swing rods are fixed with an output shaft of the limited-rotation-angle speed reducer, the two travel limit switches are respectively fixed in the U-shaped holes of the fixed adapter plate, and the output travel of the limited-rotation-angle speed reducer is limited by adjusting the installation positions of the travel limit switches.
As a further improvement of the device of the invention: the driving assembly, the limited angle speed reducer and the magnetic powder brake are fixed on a mounting platform.
The invention further provides a testing method based on the testing device, which comprises a static testing method, wherein the static testing method is used for calculating the return difference of the testing point by controlling the stepping angle and the positive and negative rotation of the driving motor and utilizing the angle signal of the input end and the angle signal of the output end of the limited-rotation-angle reducer, so that the static testing of the return differences of a plurality of testing points of the limited-rotation-angle reducer within the stroke range of the output end is realized.
The invention further provides a testing method based on the testing device, which comprises a dynamic testing method, wherein the dynamic testing method comprises the steps of continuously operating the output end of the limited-rotation-angle speed reducer from a negative limit position to a positive limit position and then reversely operating the output end of the limited-rotation-angle speed reducer to the negative limit position by controlling the driving motor, respectively obtaining a forward transmission error curve and a reverse transmission error curve by utilizing the angle signal of the input end and the angle signal of the output end of the limited-rotation-angle speed reducer, and obtaining the difference between the reverse transmission error curve and the forward transmission error curve as the dynamic continuous return difference of the limited-rotation-angle speed reducer.
Compared with the prior art, the invention has the advantages that:
1. the return difference testing device and the testing method for the limited-rotation-angle speed reducer have the advantages of simple and compact structure, low cost, high automation degree and high testing efficiency, can solve the safety problem that the precision test of the speed reducer with limited stroke is not considered in the conventional return difference testing device, and can perform multi-point static and dynamic continuous testing on the return difference of the limited-rotation-angle speed reducer so as to solve the problems of low efficiency and complicated testing steps of the conventional return difference testing device.
2. The return difference testing device and the return difference testing method of the limited angle speed reducer can be used for accurately and automatically testing the return difference of the limited angle speed reducer, the travel limiting assembly is arranged in the return difference testing device, the travel limiting switch can be arranged according to the output limit of the speed reducer, the opening and closing of the travel limiting switch directly act on a motor driver, and the physical protection of the limited angle speed reducer can be realized.
3. The invention discloses a return difference testing device and a testing method of a limited-rotation-angle speed reducer, wherein the return difference automatic testing method comprises a static testing method and a dynamic testing method, wherein the static testing method adopts a reversal method principle, the multipoint static testing of the return difference of the speed reducer is realized by controlling a stepping angle and positive and negative rotation of a driving motor, the dynamic testing method adopts a bidirectional transmission error method principle, and the dynamic continuous return difference of the speed reducer can be obtained through the difference value of a forward transmission error and a reverse transmission error; the return difference test under the no-load condition and different load torque conditions can be carried out, and the actual application characteristics of the speed reducer are better fitted.
Drawings
FIG. 1 is a schematic diagram of the structural principle of the testing device of the present invention in a specific application example.
Fig. 2 is a schematic diagram of the installation structure of the stroke limiting assembly in a specific application example of the invention.
FIG. 3 is a schematic diagram of static backset data processing at a test point in an embodiment of the present invention.
FIG. 4 is a diagram illustrating static return difference test data in an embodiment of the present invention.
FIG. 5 is a diagram illustrating dynamic return difference test data in an embodiment of the present invention.
Illustration of the drawings:
1. mounting a platform; 2. a drive motor; 3. a motor bracket; 4. a high rigidity coupling; 5. a limited corner speed reducer; 6. a stroke limiting assembly; 601. a swing rod; 602. a travel limit switch; 603. fixing the adapter plate; 7. a first elastic diaphragm coupling; 8. a column; 9. a square bearing seat; 10. a large hollow encoder; 11. a transfer shaft; 12. a second elastic diaphragm coupling; 13. a magnetic powder brake.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "assembled," "connected," and "secured" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
As shown in fig. 1 and 2, the return difference testing device for a limited-rotation-angle speed reducer of the present invention includes: the device comprises a mounting platform 1, a driving assembly, a stroke limiting assembly 6, a measuring assembly and a magnetic powder brake 13; the output end of the driving component is connected with an input shaft of the limited angle speed reducer 5; the measuring component comprises an encoder 10 and a switching shaft 11, the switching shaft 11 is connected with the encoder 10 and completes measurement through the encoder 10, one end of the switching shaft 11 is connected with an output shaft of the limited angle speed reducer 5, and the other end of the switching shaft 11 is connected with an output shaft of the magnetic powder brake 13. The stroke limiting assembly 6 is mounted on an output shaft of the limited angle speed reducer 5 and used for limiting the rotating angular stroke. The inside of the driving motor 2 in the driving device is packaged with a coder, the angle information of the input end of the limited angle speed reducer 5 can be obtained, and the coder 10 is connected with the output end of the limited angle speed reducer 5, and the angle information of the output end can be obtained. The magnetic powder brake 13 is used for applying load torque to the limited angle speed reducer 5, and return difference testing can be performed on the limited angle speed reducer 5 under different load torques.
In a specific application example, the driving assembly comprises a driving motor 2, a motor support 3 and a high-rigidity coupling 4, the driving motor 2 is fixed with the motor support 3, and an output shaft of the driving motor 2 is coaxially connected with an input shaft of a limited-rotation-angle speed reducer 5 through the high-rigidity coupling 4.
In a specific application example, the measuring assembly further comprises a vertical column 8 and a square bearing seat 9, the housing of the encoder 10 and the square bearing seat 9 are respectively fixed on two sides of the vertical column 8, and the adapter shaft 11 is supported by the square bearing seat 9.
In a specific application example, the transfer shaft 11 is connected with an inner ring of the encoder 10 by radial clamping.
In a specific application example, one end of the transfer shaft 11 is coaxially connected with an output shaft of the limited-angle speed reducer 5 through a first elastic diaphragm coupler 7, and the other end of the transfer shaft 11 is coaxially connected with an output shaft of the magnetic powder brake 13 through a second elastic diaphragm coupler 12, so that radial, angular and axial deviations of the input shaft and the output shaft caused by installation problems can be compensated, and meanwhile, the effects of buffering impact and absorbing vibration are achieved.
In this example, the first elastic diaphragm coupling 7 and the second elastic diaphragm coupling 12 both employ high-precision elastic diaphragm couplings.
In this example, the encoder 10 selects a large hollow encoder according to actual needs.
In a specific application example, the stroke limiting assembly 6 comprises a swing rod 601, a stroke limiting switch 602 and a fixed adapter plate 603, which are two in number; the swing rods 601 are connected with an output shaft of the limited angle speed reducer 5 in a radial clamping mode, namely, the two swing rods 601 are fixedly connected with the output shaft hoop of the limited angle speed reducer 5 through screws, the two stroke limit switches 602 are respectively fixed in the U-shaped holes of the fixed adapter plate 603, and the output stroke of the limited angle speed reducer 5 can be limited by adjusting the installation positions of the stroke limit switches 602. The output signal of the travel limit switch 602 is connected with the drive controller of the drive motor 2, when the output shaft of the limited angle speed reducer 5 drives the swing rod 601 to rotate to the positive limit position or the negative limit position, the travel limit switch 602 is closed, and the drive controller is disabled in a single direction, so that the drive motor 2 cannot continuously receive a forward signal or a reverse signal and stops rotating, and the output travel of the limited angle speed reducer 5 is ensured to be within a limit range.
In a specific application example, the motor bracket 3, the limited angle reducer 5, the upright post 8 and the magnetic powder brake 13 are fixed on the same mounting platform 1. The mounting platform 1 is in this example a cast iron platform selected according to the actual need.
The invention further provides a testing method based on the testing device, which comprises a static testing method, wherein the static testing method is used for realizing multipoint static testing of return difference by controlling the stepping angle and positive and negative rotation of the driving motor 2.
As shown in fig. 3, a schematic diagram of static back difference data processing at a certain test point,in the figure, a thick dotted line is output angle information of the output end of the limited-rotation-angle speed reducer 5 when a certain test point rotates positively and negatively, and a thick solid line is a ratio of the angle information of the driving motor 2 and the reduction ratio of the limited-rotation-angle speed reducer 5, which is equivalent to converting the angle information to the output end of the limited-rotation-angle speed reducer 5. In the figure theta i1 And theta i2 Respectively representing the readings of the motor-end encoder of the drive motor 2 before and after changing the direction of rotation, theta o1 And theta o2 Are each theta i1 And theta i2 Corresponding to the reading of the time encoder 10, N is the reduction ratio of the limited angle speed reducer 5.
According to the principle of the inverse motion measurement method, the static return difference of the test point can be expressed as:
during data processing, if theta is satisfied i1 ＝θ i2 Then the calculation formula can be simplified as:
Δθ＝θ o2 -θ o1 ＝Δθ 1 +Δθ 2
driving motor 2 to rotate in forward direction through theta i1 Position and reverse through theta i1 The difference between the readings of the position and time encoder 10 is the static return difference of the test point.
The driving motor 2 drives the limited angle speed reducer 5 to rotate to the next test point, the static return difference of the next test point is measured, and the steps are repeated in a circulating mode, so that the multipoint static return difference of the limited angle speed reducer 5 in the output travel range can be obtained.
The invention further provides a testing method based on the testing device, which comprises a dynamic testing method, wherein the dynamic testing method is used for obtaining the dynamic continuous return difference of the limited-rotation-angle speed reducer 5 in the output stroke range through the difference value of the forward transmission error and the reverse transmission error. The output end of the limited angle speed reducer 5 is continuously operated from the negative limit position to the positive limit position by controlling the driving motor 2 to obtain a forward transmission error curve of the limited angle speed reducer 5 in an output stroke range, and meanwhile, the output end of the limited angle speed reducer 5 is continuously operated from the positive limit position to the negative limit position by controlling the driving motor 2 to obtain a reverse transmission error curve of the limited angle speed reducer 5 in the output stroke range.
The schematic diagram of the forward transmission error curve and the reverse transmission error curve in the output stroke range of the limited rotation angle speed reducer 5 is shown in FIG. 4. The difference between the reverse transmission error curve and the forward transmission error curve is a dynamic continuous return difference curve within the output stroke range of the limited rotation angle speed reducer 5, and fig. 5 is a schematic diagram of the dynamic continuous return difference curve within the output stroke range of the limited rotation angle speed reducer 5.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A return difference testing device of a limited-angle speed reducer is characterized by comprising a driving assembly, a stroke limiting assembly, a measuring assembly and a magnetic powder brake; the output end of the driving component is connected with an input shaft of the limited-angle speed reducer; the measuring component comprises an encoder and a switching shaft, the switching shaft is connected with the encoder and completes measurement through the encoder, one end of the switching shaft is connected with an output shaft of the limited-angle reducer, and the other end of the switching shaft is connected with an output shaft of the magnetic powder brake; the stroke limiting assembly is mounted on an output shaft of the limited-angle speed reducer and used for limiting the rotating angle stroke.
2. The return difference testing device of the limited rotation angle speed reducer according to claim 1, wherein the switching shaft is connected with an inner ring of the encoder in a radial clamping manner.
3. The return difference testing device of the limited angle speed reducer according to claim 1, wherein one end of the transfer shaft is coaxially connected with the output shaft of the limited angle speed reducer through a first elastic diaphragm coupler, and the other end of the transfer shaft is coaxially connected with the output shaft of the magnetic powder brake through a second elastic diaphragm coupler.
4. The return difference testing device of the limited angle speed reducer according to claim 1, wherein the measuring assembly further comprises an upright column and a square bearing seat, the casing of the encoder and the square bearing seat are respectively fixed on two sides of the upright column, and the adapter shaft is supported by the square bearing seat.
5. The return difference testing device of the limited rotation angle speed reducer according to any one of claims 1-4, wherein the driving assembly comprises a driving motor, a motor support and a high-rigidity coupling, the driving motor is fixed with the motor support, and an output shaft of the driving motor is coaxially connected with an input shaft of the limited rotation angle speed reducer through the high-rigidity coupling.
6. The return difference testing device of the limited-rotation-angle speed reducer according to any one of claims 1-4, wherein the encoder is a large-hollow encoder.
7. The return difference testing device of the limited-rotation-angle speed reducer according to any one of claims 1-4, wherein the stroke limiting assembly comprises two oscillating rods, two stroke limiting switches and two fixed adapter plates; the two swing rods are fixed with an output shaft of the limited-rotation-angle speed reducer, the two travel limit switches are respectively fixed in the U-shaped holes of the fixed adapter plate, and the output travel of the limited-rotation-angle speed reducer is limited by adjusting the installation positions of the travel limit switches.
8. The limited rotation angle speed reducer return difference testing device according to any one of claims 1-4, wherein the driving assembly, the limited rotation angle speed reducer and the magnetic powder brake are fixed on a mounting platform.
9. A test method based on the test device of any one of the claims 1-8 is characterized by comprising a static test method, wherein the static test method is used for realizing the static test of the return difference of a plurality of test points in the travel range of the output end of the limited-rotation-angle speed reducer by controlling the step angle and the forward and reverse rotation of the driving motor and calculating the return difference of the test points by using the angle signal of the input end and the angle signal of the output end of the limited-rotation-angle speed reducer.
10. A test method based on the test device of any one of the claims 1 to 8, characterized by comprising a dynamic test method, wherein the dynamic test method comprises the steps of controlling the driving motor to enable the output end of the limited-rotation-angle reducer to continuously run from a negative limit position to a positive limit position and then reversely run to the negative limit position, respectively obtaining a forward transmission error curve and a reverse transmission error curve by utilizing an angle signal of the input end and an angle signal of the output end of the limited-rotation-angle reducer, and obtaining the difference between the reverse transmission error curve and the forward transmission error curve as the dynamic continuous return difference of the limited-rotation-angle reducer.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117232820A (en) * | 2023-08-29 | 2023-12-15 | 大连海事大学 | Method and device for detecting maximum return error of precise planetary reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117232820A (en) * | 2023-08-29 | 2023-12-15 | 大连海事大学 | Method and device for detecting maximum return error of precise planetary reducer |
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