CN115615373A - Harmonic gear radial runout detection device, detection method and control method - Google Patents
Harmonic gear radial runout detection device, detection method and control method Download PDFInfo
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- CN115615373A CN115615373A CN202211628959.0A CN202211628959A CN115615373A CN 115615373 A CN115615373 A CN 115615373A CN 202211628959 A CN202211628959 A CN 202211628959A CN 115615373 A CN115615373 A CN 115615373A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention relates to the technical field of automatic detection, in particular to a harmonic gear radial run-out detection device, a detection method and a control method. The harmonic gear is rotated, and the teeth thereof rotate along an elliptical locus. The servo motor drives the drive gear to rotate by one tooth. The measuring cylinder drives the measuring column, the tooth socket with the harmonic gear facing upwards is placed in the cylindrical surface of the measuring column, the cylindrical surface of the measuring column compresses the two tooth sides of the tooth socket with the harmonic gear positioned at the end of the oval long shaft, the cylindrical surface of the measuring column is pressed on the displacement sensor detection contact, and the displacement sensor detects a displacement value and is used for judging whether the harmonic gear is qualified or not. The invention can bend the tooth part of the harmonic gear into the curvature radius when in use, can automatically measure the jumping deviation of the tooth part, can automatically judge whether the tooth part is qualified or not, prevent unqualified harmonic gears from flowing into a harmonic reducer production line, prolong the service life of the harmonic reducer, prevent the unqualified harmonic reducer from entering the market and improve the product quality; the manual work is replaced, the production efficiency is improved, and the detection quality is improved.
Description
Technical Field
The invention relates to the technical field of automatic detection, in particular to a gear detection device, and specifically relates to a harmonic gear radial runout detection device, a detection method and a control method.
Background
The harmonic reducer mainly comprises a wave generator, a harmonic gear, a flexible bearing and a rigid gear; the harmonic gear is a thin-wall gear capable of generating elastic deformation, is cup-shaped and is divided into a tooth part, a flexible connecting cylinder and a bottom part; wherein the bottom is a rigid circular ring, and the center is provided with a positioning hole; the tooth part is a flexible gear with an inner hole in the middle, the rim and the bottom of one side of the tooth part are connected through a flexible connecting cylinder, and the other side of the tooth part is a cup-shaped opening; when in work, the flexible bearing enables the harmonic gear to generate controllable elastic deformation; the wave generator is provided with an oval shaft, the shape of the inner ring of the flexible bearing is fixed, the flexible bearing is provided with an oval hole, the oval shaft is matched with the oval hole, an oval steel ball raceway is arranged between the inner ring and the outer ring of the flexible bearing, and the outer ring of the flexible bearing is restrained by the oval steel ball raceway to be changed into an oval shape; an inner hole of the tooth part of the harmonic gear is matched with an oval outer ring of the flexible bearing, so that the tooth part of the harmonic gear is oval; the wave generator is equipped with a flexible bearing to make the harmonic gear generate controllable elastic deformation and mesh with the rigid gear to transmit motion and power. The transmission mechanism has the advantages of large transmission speed ratio, high bearing capacity, high transmission precision, high transmission efficiency, stable motion, simple structure, convenient installation and small volume, so the transmission mechanism is widely used in various industries, such as intelligent robots, spaceflight, war industry, hoisting machinery and the like.
Because the gear part material of the harmonic gear is flexible, accurate clamping is difficult, elastic deformation is easy to occur in machining, cutter back-off phenomenon is easy to occur in cutting, the clamping force is relieved after machining, the springback phenomenon occurs, the size deviation of each position is easy to cause, the form and position tolerance is difficult to control, the purchased harmonic gears are detected one by one, and unqualified harmonic gears are prevented from flowing into a production line.
Unqualified harmonic gears are mainly represented by the tooth runout deviation, if the wall thickness is too thick and the gear teeth are too thick, the gear teeth and the rigid gear are extruded seriously during meshing, a larger driving force is often needed, larger noise is generated, heat is generated, and the service life is shortened; if the wall thickness is too thin and the gear teeth are too thin, the backlash between the gear teeth and the rigid gear is larger during meshing, and the transmission ratio is not accurate; these deviations tend to manifest themselves in large tooth runout deviations. The wall thickness of the harmonic gear refers to the thickness between the tooth root round surface of the tooth part and the surface of the inner hole. Few studies have been made to date on devices capable of automatically detecting harmonic gears.
At present, a measuring column and a universal measuring tool are used together manually for detection, the measuring column is embedded into a tooth socket, under the condition that the required curvature is not simulated, a vernier caliper is used for measuring the distance between one side of the measuring column, which is back to the tooth socket, and the surface of an inner hole of a tooth part, and the distance is used as a judging parameter, so that the curvature in the use state is difficult to simulate, the detection is often inaccurate, unqualified harmonic gears flow into a harmonic reducer production line, and the product quality is influenced; the detection quality is low, the detection subjectivity is strong, the detection result is different from person to person, and the detection efficiency is low.
Disclosure of Invention
The invention provides a radial runout detection device, a detection method and a control method for a harmonic gear, aiming at the defects in the prior art, the invention can bend the tooth part of the harmonic gear into the curvature radius when in use, can automatically measure the runout deviation of the tooth part, can automatically judge whether the tooth part is qualified or not, prevent unqualified harmonic gear from flowing into a harmonic reducer production line, prolong the service life of the harmonic reducer, prevent the unqualified harmonic reducer from entering the market and improve the product quality; the manual work is replaced, the production efficiency is improved, and the detection quality is improved.
In order to achieve the purpose, the invention provides the following technical scheme:
a harmonic gear radial runout detection device comprises a double-roller assembly, a measuring column assembly and a rack; the double-roller assembly comprises an upper roller, a lower roller, a roller bracket and a displacement sensor; the upper roller and the lower roller are respectively connected with the roller bracket through a revolute pair, the upper roller is arranged right above the lower roller, and the axial leads of the upper roller and the lower roller are parallel and are arranged along the front-back direction; the displacement sensor is fixedly connected with the roller bracket; the detection contact of the displacement sensor faces upwards; the roller wheel bracket is fixedly connected with the rack;
the measuring column assembly comprises a measuring column and a measuring cylinder; the measuring cylinder comprises a measuring cylinder body and a measuring cylinder piston rod; the measuring cylinder body is fixedly connected with the frame; the measuring column is fixedly connected with a measuring cylinder piston rod; the piston rod of the measuring cylinder extends downwards; the measuring columns are arranged along the front-back horizontal direction; the measuring column is arranged above the axial lead of the upper roller, and the detection contact of the displacement sensor is arranged right below the measuring column.
The opening of the harmonic gear faces forwards, the tooth part is sleeved on the upper roller and the lower roller at the same time, the tooth part of the harmonic gear is supported into an oval shape under the combined action of the upper roller and the lower roller, the shape of the oval shape supported in the harmonic reducer is the same as that of the oval shape supported in the harmonic reducer, the reference circle of the harmonic gear is an oval, the long axis of the oval reference circle of the harmonic gear is in the vertical direction, and the length of the long axis is equal to the reference circle diameter of the rigid gear meshed with the harmonic reducer.
The invention also includes a gear support assembly; the gear supporting assembly comprises a translation seat, a rotating seat, two translation guide rods, a translation guide seat and a set screw; the translation guide seat is fixedly connected with the rack; the two translation guide rods are respectively connected with the translation guide bases in a sliding manner; the translation seat is fixedly connected with the translation guide rod, and the translation seat translates along the front-back direction; the rotating seat is connected with the translation seat through a rotating pair, and the rotating axis of the rotating seat is arranged along the front-back direction; the front end of the rotating seat is fixedly connected with the bottom of the harmonic gear through a positioning hole, and the tooth part of the harmonic gear, namely the opening position of the cup shape, faces forwards. The axis of the positioning hole and the center point of the elliptic reference circle of the harmonic gear are respectively superposed with the axis of rotation of the rotating base.
The invention also includes a drive assembly; the driving assembly comprises a driving gear, a servo motor and a lifting cylinder; the lifting cylinder comprises a lifting cylinder body and a lifting cylinder piston rod; the lifting cylinder body is fixedly connected with the frame; a flange of the servo motor is fixedly connected with a lifting cylinder piston rod; the driving gear is fixedly connected with an output shaft of the servo motor; the output shaft of the servo motor is arranged along the front-back direction; the driving gear is positioned right below the lower roller; when the lifting cylinder lifts the combination of the driving gear and the servo motor upwards to the uppermost end of the stroke, the driving gear is meshed with the lowest point of the harmonic gear; the servo motor drives the driving gear to rotate by one tooth each time, so as to drive the harmonic gear to rotate by one tooth, and a certain tooth groove of the harmonic gear faces upwards at the end of rotation, so that the tooth groove can be measured conveniently.
The invention also includes standard high columns; the roller wheel bracket is provided with a first positioning surface facing upwards; the standard high column is placed on the first positioning surface and below the measuring column, and when no harmonic gear is installed, the measuring cylinder drives the measuring column to move downwards and is abutted to the upper surface of the standard high column to be forcedly stopped; at the moment, the measuring column presses a detection contact of the displacement sensor, the reading of the displacement sensor is defined as 0, and the position of the measuring column is the standard correct position; if the column is shifted up, it reads negative in millimeters, and if the column is shifted down, it reads positive.
After the harmonic gear is installed, a standard high column is not placed any more, the cylindrical surface of the measuring column is placed into the tooth socket with the harmonic gear facing upwards, if the measuring column is only contacted with one tooth side of the measuring column, the contact point is contacted in the inclined direction, so the measuring column can push the harmonic gear to rotate along the elliptical track, the tooth part rotates along the elliptical raceway in a deformation mode until the measuring column is also contacted with the other tooth side of the tooth socket, the harmonic gear is forced to stop, the measuring column decomposes the downward pressure of the harmonic gear into vertical positive pressure acting on the two tooth sides, the highest point of the upper roller generates vertical upward positive pressure on the highest point of the inner hole of the tooth part, the lowest point of the lower roller generates vertical downward positive pressure on the lowest point of the inner hole of the tooth part, and the harmonic gear is stressed to be balanced and stationary. At this moment, the cylindrical surface of the measuring column is pressed on a detection contact of the displacement sensor, the displacement sensor detects a displacement value, namely the radial runout deviation of the harmonic gear, the value is a comprehensive index of the thickness error of the two tooth sides and the wall thickness error, any one of the three has larger deviation and can be shown from the value, and the value can be used for judging whether the harmonic gear is qualified or not.
The invention also comprises a PLC controller, wherein the measuring cylinder, the displacement sensor and the servo motor are respectively and electrically connected with the PLC controller.
The working process of the present invention is as such.
1. Placing a standard high column on the first positioning surface and below the measuring column, driving the measuring column to move downwards by the measuring cylinder, and forcedly stopping the measuring column after the measuring column is abutted against the upper surface of the standard high column; the measuring column presses the detection contact of the displacement sensor, and the reading of the displacement sensor is defined as 0. And (5) the driving quantity column of the measuring cylinder moves upwards and horizontally to leave the standard high column, and the standard high column is taken away.
2. The tooth part of the harmonic gear faces forwards and the bottom of the harmonic gear faces backwards, so that the front end of the rotating seat is fixedly connected with the bottom of the harmonic gear through the positioning hole.
3. The left side and the right side of the tooth part of the harmonic gear are pinched to be changed into an oval shape with long vertical direction and narrow horizontal direction, the tooth part of the harmonic gear is sleeved on the upper roller and the lower roller by pushing forwards, the translation guide rod is translated and slid in the translation guide seat, the highest point of the upper roller is tangent to the highest point of the inner hole of the tooth part of the harmonic gear, and the lowest point of the lower roller is tangent to the lowest point of the inner hole of the tooth part of the harmonic gear. The translation guide rod is fixed through a set screw, so that the front position and the rear position of the harmonic gear are fixed.
4. And the teeth of the rotating harmonic gear rotate along an elliptical track, so that one tooth groove faces downwards.
5. After the drive assembly is initialized, the drive gear always has one tooth facing directly upward. The lifting cylinder drives the combination of the driving gear and the servo motor to ascend, and the upward teeth of the driving gear are meshed with the downward tooth grooves of the tooth parts of the harmonic gears. The number of teeth of the harmonic gear is even, and at the moment, one tooth groove of the harmonic gear is just upward.
6. The measuring cylinder drives the measuring column to move downwards, the cylindrical surface of the measuring column is placed into the tooth socket with the harmonic gear facing upwards, if the measuring column is only contacted with one tooth side of the measuring column, the contact point is contacted in an inclined direction, so the measuring column can push the harmonic gear to rotate, the tooth part deforms and rotates along the elliptical raceway until the measuring column is also contacted with the other tooth side of the tooth socket, the harmonic gear is forced to stop, the downward pressure of the measuring column on the harmonic gear can be decomposed into vertical positive pressure acting on the two tooth sides, the highest point of the upper roller generates vertical upward positive pressure on the highest point of an inner hole of the tooth part, the lowest point of the lower roller generates vertical downward positive pressure on the lowest point of the inner hole of the tooth part, and the harmonic gear is balanced in stress. At this moment, the cylindrical surface of the measuring column is pressed on a detection contact of the displacement sensor, the displacement sensor detects a displacement value, namely the radial runout deviation of the harmonic gear, the value is a comprehensive index of the thickness error of the two tooth sides and the wall thickness error, any one of the three has larger deviation and can be shown from the value, and the value can be used for judging whether the harmonic gear is qualified or not.
7. The measuring cylinder drives the column to translate upward away from the tooth slot.
8. The servo motor drives the drive gear to rotate by one tooth, the drive gear has 30 teeth, and the drive gear rotates by one tooth after 12 degrees. Accordingly, the next tooth slot immediately following the harmonic gear turns upward.
And (6) repeating the steps 6 to 8 for 48 times to complete the detection of all tooth sockets.
9. And (6) judging data. If all the collected data are in the range of [ -0.01,0.03] mm, the tooth runout deviation of the harmonic gear is qualified, otherwise, if one data exceeds the range, the harmonic gear is judged to be unqualified.
A harmonic gear radial run-out detection device can also use a second technical scheme, namely, a double-roller assembly is replaced by a flexible bearing assembly; the flexible bearing assembly comprises a flexible bearing, an elliptical shaft and a flexible bearing support; the axial lead of elliptical shaft and the axial lead coincidence that rotates the seat, the oval major axis of cross section of elliptical shaft sets up along vertical direction from top to bottom, flexible bearing's inner circle and elliptical shaft fixed connection, be oval track between flexible bearing's outer lane and the inner circle, there is the ball inside, harmonic gear tooth portion hole and flexible bearing's outer lane fixed coordination, harmonic gear rotates, drives flexible bearing's outer lane and rotates, and harmonic gear tooth partial degree circle keeps for the ellipse pitch circle always.
And a second positioning surface is arranged on the flexible bearing support, faces upwards, is positioned under the measuring column and is used for placing the standard high column.
The other structures, functions and beneficial effects which are not mentioned are the same as those of the first technical scheme.
For the same harmonic gear with the modulus of 2 and the tooth number of 48, the first technical scheme and the second technical scheme are respectively used for detection, and when the downward thrust of a measuring cylinder is 10-30N, the results are compared and almost have no difference; the difference can be seen only when the force exceeds 40 newtons, the measured value of the first technical scheme is biased to positive deviation, the curvature radius of the upper roller is smaller than that of the flexible bearing outer ring, and the wall of the harmonic gear tooth part is easier to bend and deform when the force is large.
The installation mode of the harmonic gear in the second technical scheme is almost the same as the use condition of the harmonic gear in the harmonic speed reducer, the measurement result is closer to the actual use condition, and the reliability of the measurement data is higher.
However, in comparison, the second technical solution is time-consuming and inconvenient to operate to disassemble the harmonic gear and the flexible bearing outer ring, while the first technical solution is time-saving and convenient to disassemble the harmonic gear and the flexible bearing outer ring, so the first technical solution is preferred.
The invention also comprises a detection method of the technical scheme, namely a detection method of the harmonic gear radial runout detection device, which comprises the following steps:
ST1, rotatably fixing the bottom of the harmonic gear, and freely rotating the harmonic gear around the axis of the harmonic gear;
s2, supporting the tooth part of the harmonic gear into an oval shape by using two smooth cambered surfaces, wherein two supporting points are arranged at the positions corresponding to two end points of the long axis of the oval shape, and the smooth cambered surfaces are tangent to the surface of the inner hole of the tooth part;
ST3, rotating the harmonic gear to make one tooth space at the end of the ellipse long shaft;
the axial lead of the measuring column is vertically intersected with the extension line of the long axis of the ellipse, the cylindrical surface of the measuring column compresses the harmonic gear and is positioned on two tooth sides of the tooth socket at the end of the long axis of the ellipse, and the cylindrical surface of the measuring column is simultaneously contacted with the two tooth sides of the tooth socket;
and ST5, measuring the displacement value of the measuring column along the direction of the long axis of the ellipse, taking the displacement value as a parameter for evaluating the radial runout deviation of the harmonic gear, comparing the displacement value with a preset interval range, and judging whether the harmonic gear is qualified or not.
The invention also comprises a control method of the technical scheme, namely a control method of the harmonic gear radial runout detection device, which comprises the following steps:
s1, a lifting cylinder drives a combination of a driving gear and a servo motor to ascend, and the driving gear is meshed with a harmonic gear;
s2, defining a tooth number variable i, wherein i is an integer, and i =0;
s3, measuring the downward translation of the cylinder driving quantity column;
s4, detecting a displacement value by a displacement sensor and continuously collecting for 3 seconds;
s5, measuring the upward translation of the cylinder driving quantity column, calculating and obtaining the maximum value of displacement values acquired in the circulation at the same time, and storing the maximum value as the jumping deviation value of the tooth socket being detected;
s6, the servo motor drives the driving gear to rotate by one tooth;
S7.i=i+1；
s8, judging whether i is greater than 48, and if not, jumping to the step S3; if yes, the loop is terminated, and step S9 is executed;
s9, the lifting cylinder drives the combination of the driving gear and the servo motor to descend, and the driving gear leaves the harmonic gear;
s10, judging whether all the jumping deviation values are within the range of [ -0.01,0.03], if so, judging that the harmonic gear is qualified, otherwise, judging that the harmonic gear is unqualified.
The invention has the beneficial effects that: the curvature radius of the teeth of the harmonic gear can be bent to be in a use state, the jumping deviation of the teeth can be automatically measured, whether the teeth are qualified or not can be automatically judged, unqualified harmonic gears are prevented from flowing into a harmonic reducer production line, the service life of the harmonic reducer is prolonged, unqualified harmonic reducers are prevented from entering the market, and the product quality is improved; the manual work is replaced, the production efficiency is improved, and the detection quality is improved.
Drawings
FIG. 1 is a schematic three-dimensional structure of example 1 of the present invention;
FIG. 2 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is an enlarged view at B in FIG. 2;
FIG. 4 is a schematic three-dimensional structure of a double roller assembly;
FIG. 5 is a schematic three-dimensional structure of a gauge assembly;
FIG. 6 is a schematic three-dimensional structure of the gear support assembly;
FIG. 7 is a schematic three-dimensional structure of a drive assembly;
FIG. 8 is an enlarged view taken at K in FIG. 1, with the harmonic gear not installed and with the standard tall column in place;
FIG. 9 is a schematic view showing the control relationship of the control system according to embodiment 1 of the present invention;
FIG. 10 is a schematic three-dimensional structure of example 2 of the present invention;
FIG. 11 is a schematic three-dimensional structure of a compliant bearing assembly;
FIG. 12 is an enlarged view at N of FIG. 10, with the harmonic gear not installed and with the standard tall column in place;
FIG. 13 is a graph of run out deviation as a function of gear tooth number for either example 1 or example 2;
FIG. 14 is a schematic process flow chart of the control method of embodiment 4 of the present invention.
In the figure:
1-harmonic gear; 11-a tooth portion; 12-a flexible connector; 13-bottom; 14-positioning holes; 15-oval pitch circle; 16-equivalent reference circle; 2-double roller assembly; 21-upper roller; 22-lower roller; 23-a roller bracket; 231-a first location face; 24-a displacement sensor; 3-a measuring column assembly; 31-measuring column; 32-a measuring cylinder; 321-measuring the cylinder block; 322-measuring the cylinder piston rod; 4-a gear support assembly; 41-a translation seat; 42-a rotating seat; 43-a translation guide; 44-a translation guide seat; 45-set screws; 5-a drive assembly; 51-a drive gear; 52-a servo motor; 53-lifting cylinder; 531-lift cylinder block; 532-lifting cylinder piston rod; 6-a frame; 7-standard high column; 8-a flexible bearing assembly; 81-compliant bearings; 82-elliptical axis; 83-flexible bearing support; 831-second positioning surface.
Detailed Description
The technical solutions in the present invention will be clearly and completely described below with reference to the embodiments and the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
the measuring column assembly 3 comprises a measuring column 31 and a measuring cylinder 32; the measuring cylinder 32 comprises a measuring cylinder body 321 and a measuring cylinder piston rod 322; the measuring cylinder body 321 is fixedly connected with the frame 6; the measuring column 31 is fixedly connected with a measuring cylinder piston rod 322; the piston rod 322 of the measuring cylinder extends downwards; the measuring column 31 is arranged along the front-rear horizontal direction; the measuring column 31 is arranged above the axial lead of the upper roller 21, and the detection contact of the displacement sensor 24 is arranged right below the measuring column 31.
The opening of the harmonic gear 1 faces forwards, the tooth part 11 is sleeved on the upper roller 21 and the lower roller 22 at the same time, the tooth part 11 of the harmonic gear 1 is supported into an oval shape under the combined action of the upper roller 21 and the lower roller 22, the oval shape is the same as the oval shape supported in the harmonic reducer, the reference circle of the harmonic gear 1 is an oval, the long axis of the oval reference circle 15 of the harmonic gear 1 is in the vertical direction, and the length of the long axis is equal to the reference circle diameter of the rigid gear meshed with the harmonic reducer.
The present embodiment further comprises a gear support assembly 4; the gear support assembly 4 comprises a translation seat 41, a rotation seat 42, two translation guide rods 43, a translation guide seat 44 and a set screw 45; the translation guide seat 44 is fixedly connected with the frame 6; the two translation guide rods 43 are respectively connected with the translation guide seats 44 in a sliding manner; the translation seat 41 is fixedly connected with the translation guide rod 43, and the translation seat 41 translates along the front-back direction; the rotating seat 42 is connected with the translation seat 41 through a rotating pair, and the rotating axis of the rotating seat 42 is arranged along the front-back direction; the front end of the rotating seat 42 is fixedly connected with the bottom of the harmonic gear 1 through the positioning hole 14, and the tooth part 11 of the harmonic gear 1, namely the cup-shaped opening position faces forwards. The axis of the positioning hole 14 and the center of the oval reference circle 15 of the harmonic gear 1 coincide with the axis of rotation of the rotary base 42, respectively.
The present embodiment further comprises a drive assembly 5; the driving assembly 5 comprises a driving gear 51, a servo motor 52 and a lifting cylinder 53; the lifting cylinder 53 comprises a lifting cylinder body 531 and a lifting cylinder piston rod 532; the lifting cylinder body 531 is fixedly connected with the frame 6; the flange of the servo motor 52 is fixedly connected with a lifting cylinder piston rod 532; the driving gear 51 is fixedly connected with an output shaft of the servo motor 52; the output shaft of the servo motor 52 is arranged along the front-back direction; the driving gear 51 is positioned right below the lower roller 22; when the lifting cylinder 53 lifts the combination of the driving gear 51 and the servo motor 52 upwards to the uppermost end of the stroke, the driving gear 51 is meshed with the lowest point of the harmonic gear 1; the servo motor 52 drives the driving gear 51 to rotate one tooth at a time, so as to drive the harmonic gear 1 to rotate one tooth, and a certain tooth slot of the harmonic gear 1 is always upward at the end of the rotation, so that the tooth slot is convenient to measure.
The present embodiment also includes a standard tall column 7; the roller bracket 23 is provided with a first positioning surface 231 facing upwards; the standard high column 7 is placed on the first positioning surface 231 and below the measuring column 31, and when the harmonic gear 1 is not installed, the measuring cylinder 32 drives the measuring column 31 to move downwards and to be forcedly stopped after colliding against the upper surface of the standard high column 7; at this time, the measuring column 31 presses the detection contact of the displacement sensor 24, the reading of the displacement sensor 24 is defined as 0, and the position of the measuring column 31 is the standard correct position; if the column 31 is shifted upwards, it will read negative numbers in millimeters, and if the column 31 is shifted downwards, it will read positive numbers.
The module of the harmonic gear 1 detected in the present embodiment is m =2, and the number of teeth is Z1=48; the module of the rigid gear engaged with the harmonic reducer in the harmonic reducer is m =2, the number of teeth is Z2=50, and the rigid gear is an internal gear; both have a displacement coefficient of 0. When the two gears are meshed, the tooth part of the harmonic gear 1 is deformed into an oval shape, the long axis of the oval reference circle 15 of the harmonic gear 1 is equal to the reference circle diameter of the rigid gear meshed with the oval reference circle, namely, the long axis 2a = m + z2= 2+ 50=100 mm; the perimeter of the oval reference circle 15 before and after deformation is unchanged, and the perimeter of the circular harmonic gear 1 before tooth deformation is c = m × Z1 × pi =2 × 48 × 3.1416=301.59 mm; the circumference when deformed into an ellipse is L =2 × pi × b +4 × a-b) =2 × 3.1416 × b +4 × 50-b; l = c, from which b =45.96 mm is calculated;
the length of a short shaft of the elliptic reference circle is 2b =91.92 mm, and at the position corresponding to the short shaft, the tooth tops of the rigid gear and the tooth tops of the harmonic gears 1 do not interfere with each other in rotation; the curvature radius at the vertex of the long shaft is R = b ^2/a =45.96^2/50=42.246 mm, the meshing equivalent of the harmonic gear 1 and the rigid gear is that a rigid external gear with the radius of R =42.246 mm, namely the diameter of an equivalent reference circle 16 d3=84.492 mm is meshed with the rigid gear, and the instantaneous working parameters of the harmonic gear 1 at the endpoint of the long shaft are the same as the working parameters of the equivalent gear to work normally; therefore, when evaluating parameters at the moment of meshing of the harmonic gear 1, the equivalent gear with the diameter d3=84.492 mm of the equivalent reference circle 16 is referred to; the number of equivalent gear teeth is Z3= d3/m =84.492/2 =42.246; the equivalent reference circle 16 is inscribed in the uppermost point of the reference ellipse of the harmonic gear 1. A detection method for judging the radial runout of the harmonic gear 1 cannot be found in a general tool book, but a detection method for judging the radial runout of a standard gear can be easily found, for example, a chapter of description exists in a mechanical design manual; after finding the equivalent gear, reference can be made to the theory of measuring radial run-out described in the relevant section of the handbook of mechanical design.
According to the calculation method of the diameter of the measuring column indicated in volume 3, page 14-70 and table 14-1-39 of the fifth edition mechanical design manual published by the chemical industry press, which is mainly compiled, standard gears, inner meshing outer straight gears and 20 degrees of pressure angle are checked on page 14-1-28 of the manual, and when a curve is read, the value of dp/m is 1.67, the diameter of the measuring column is 1.67 m =1.67 x 2=3.3 mm, and the measuring column with the diameter of dp =3.3 mm is embedded between certain tooth grooves, the contact point of the measuring column and the tooth side is closest to an equivalent reference circle 16.
In the tables 14-1-39, the pressure angle α of the circle in which the center of the measuring cylinder (sphere) is located M Close to the pressure angle alpha on the pitch circle, alpha is calculated M The formula corresponding to the straight gear is as follows:
inv(α M )=inv(α)+dp/(m*Z3*cos(α))-π/（2*Z3）
in the formula:
inv () -involute function whose values can be found in volume 3, pages 14-50, tables 14-1-24 of the above-mentioned handbook of mechanical design;
α M the pressure angle of the circle in which the centre of the column (sphere) is located, in degrees;
dp-gauge column diameter, dp =3.3 mm;
m-gear module, m =2;
z3-equivalent number of teeth of the gear, Z3=42.246;
α — pressure angle of reference gear reference circle position, α =20 °;
substituting known data into the above equation:
inv(α M )=inv(20°)+3.3/(2*42.246*cos(20°))-π/（2*42.246）
looking up the tables 14-1-24 yields: inv (20 °) =0.014904;
calculating to obtain: inv (alpha) M )=0.019285；
Looking up the table 14-1-24 to obtain: alpha is alpha M =21°43.587’；
Calculating the measuring distance M of the measuring column according to even teeth;
M=(m*Z3*cos(α))/cos(α M )+dp
= (2 × 42.246 × cos (20 °))/cos (21 ° 43.587') +3.3 mm
=88.768 mm;
m/2=44.384 mm;
h=M/2+e-dp；
wherein e is the vertical distance between the center of the equivalent reference circle 16 of the equivalent gear and the center of the elliptical reference circle 15, and since the equivalent reference circle 16 and the elliptical reference circle 15 are tangent at the highest point, the two points are vertically arranged, and e = a-d3/2;
h is the vertical distance between the lower quadrant point of the measuring column 31 and the horizontal plane at the center of the oval reference circle 15;
h = M/2 a-d3/2-dp =44.384+50-84.492/2-3.3=48.838 mm;
the first positioning plane 231 is coincident with the horizontal plane at the center of the oval reference circle 15, so that the basic condition for accurately measuring the radial run-out is only met if the height of the standard high column 7 is equal to 48.838 mm, the height of the measuring column 31 is accurately controlled to be 48.838 +/-0.001 mm, and the zero point of the displacement sensor 24 is calibrated by using the measuring column 31.
After the upper harmonic gear 1 is installed, the standard high column 7 is not placed any more, the cylindrical surface of the measuring column 31 is placed in the tooth socket with the harmonic gear 1 facing upward, if the measuring column 31 is only contacted with one tooth side, the contact point is contacted in the inclined direction, so the measuring column 31 can push the harmonic gear 1 to rotate along the elliptical orbit, the tooth part rotates along the elliptical raceway in a deformation manner until the measuring column 31 is also contacted with the other tooth side of the tooth socket, the harmonic gear 1 is forced to stop, the downward pressure of the measuring column 31 on the harmonic gear 1 is decomposed into vertical positive pressure acting in the inclined direction on the two tooth sides, the highest point of the upper roller 21 generates vertical upward positive pressure on the highest point of the inner hole of the tooth part, the lowest point of the lower roller 22 generates vertical downward positive pressure on the lowest point of the inner hole of the tooth part, and the harmonic gear 1 is balanced and stationary. At this time, the cylindrical surface of the measuring column 31 is pressed on a detection contact of the displacement sensor 24, the displacement sensor 24 detects a displacement value, namely, the radial runout deviation of the harmonic gear, the value is a comprehensive index of the thickness error of the two tooth sides and the wall thickness error, any one of the three has larger deviation and can be expressed from the value, and the value can be used for judging whether the harmonic gear 1 is qualified or not.
The mechanical design handbook, volume 3, pages 14 to 119, section 6.18, describes a method for measuring the radial runout, in which a measuring column is placed in the tooth gap, the side of the measuring column facing away from the tooth gap is measured, and the measurement results are used to evaluate the radial runout of the tooth. The operation steps are convenient depending on manual operation, the measuring column is placed firstly, the measuring table is used for measuring secondly, and the operation steps are carried out in two steps; however, automated measurements are complicated and two motions are driven by two driving elements. In the embodiment, the method for measuring the using quantity column is referred, and the improvement is made on the basis, the displacement sensor 24 is arranged under the quantity column, the measurement is also completed by the displacement sensor 24 when the quantity column is downwards, two functions of placing the quantity column 31 and measuring can be completed only by one driving element, namely the measuring cylinder 32, so that one driving element is saved, the structure is simplified, the operation steps are simplified, and the reliability is improved.
The embodiment further comprises a PLC controller, and the measuring cylinder 32, the displacement sensor 24 and the servo motor 52 are electrically connected with the PLC controller respectively.
The working process of this embodiment is such.
1. The standard high column 7 is placed on the first positioning surface 231 and below the measuring column 31, the measuring cylinder 32 drives the measuring column 31 to move downwards, and the measuring column 31 is pressed to stop after abutting against the upper surface of the standard high column 7; the measuring cylinder 31 is pressed against the sensing contact of the displacement sensor 24, and the reading of the displacement sensor 24 is defined as 0. The measuring cylinder 32 drives the measuring column 31 to move upwards and move away from the standard high column 7, and the standard high column 7 is taken away.
2. The tooth part of the harmonic gear 1 faces forward and the bottom faces backward, so that the front end of the rotating seat 42 is fixedly connected with the bottom of the harmonic gear 1 through the positioning hole 14.
3. The left side and the right side of the tooth part of the harmonic gear 1 are pinched to be changed into an oval shape with long vertical direction and narrow horizontal direction, the harmonic gear 1 is pushed forwards, the translation guide rod 43 is in translation sliding in the translation guide seat 44, the tooth part of the harmonic gear 1 is sleeved on the upper roller 21 and the lower roller 22, the highest point of the upper roller 21 is tangent to the highest point of the inner hole of the tooth part of the harmonic gear 1, and the lowest point of the lower roller 22 is tangent to the lowest point of the inner hole of the tooth part of the harmonic gear 1. The translation guide rod 43 is fixed by the set screw 45, and the front and rear positions of the harmonic gear 1 are fixed.
4. The harmonic gear 1 is rotated with its tooth portions rotated along an elliptical trajectory with one of the tooth grooves facing downward.
5. After initialization of the drive assembly 5, the drive gear 51 always has one tooth facing directly upwards. The lifting cylinder 53 drives the combination of the driving gear 51 and the servo motor 52 to ascend, and the driving gear 51 is just meshed with the tooth grooves of the harmonic gear 1 with the tooth parts facing downwards. The number of teeth of the harmonic gear 1 is even, and at the moment, one tooth groove of the harmonic gear 1 faces upwards.
6. The measuring cylinder 32 drives the measuring column 31 to move downwards, the cylindrical surface of the measuring column 31 is placed in the tooth socket with the harmonic gear 1 facing upwards, if the measuring column 31 is only contacted with one tooth side of the measuring column, the contact point is contacted in an inclined direction, so the measuring column 31 can push the harmonic gear 1 to rotate, the tooth part deforms and rotates along the elliptical raceway until the measuring column 31 is also contacted with the other tooth side of the tooth socket, the harmonic gear 1 is forced to stop, the downward pressure of the measuring column 31 on the harmonic gear 1 can be decomposed into vertical positive pressure acting on the two tooth sides, the highest point of the upper roller 21 generates vertical upward positive pressure on the highest point of the inner hole of the tooth part, the lowest point of the lower roller 22 generates vertical downward positive pressure on the lowest point of the inner hole of the tooth part, and the stress on the harmonic gear 1 is balanced. At this time, the cylindrical surface of the measuring column 31 is pressed on a detection contact of the displacement sensor 24, the displacement sensor 24 detects a displacement value, namely, the radial runout deviation of the harmonic gear, the value is a comprehensive index of the thickness error of the two tooth sides and the wall thickness error, any one of the three has larger deviation and can be expressed from the value, and the value can be used for judging whether the harmonic gear 1 is qualified or not.
7. The measuring cylinder 32 drives the measuring cylinder 31 to translate upwards away from the tooth slot.
8. The servo motor 52 drives the drive gear 51 through one tooth, and the drive gear 51 has a total of 30 teeth, one tooth for each 12 degrees rotation. Accordingly, the next tooth slot immediately following the harmonic gear 1 turns upward.
And (6) repeating the steps 6 to 8 for 48 times to finish the detection of all tooth grooves.
9. And (6) judging data. If all the collected data are in the range of [ -0.01,0.03] mm, the tooth runout deviation of the harmonic gear 1 is qualified, otherwise, if only one data is beyond the range, the gear is judged to be unqualified.
And a second positioning surface 831 is arranged on the flexible bearing support 83, and the second positioning surface 831 faces upwards and is positioned right below the measuring column 31 for placing the standard high column 7.
The other structures, functions and advantageous effects not mentioned are the same as those of embodiment 1.
For the same harmonic gear 1 with the modulus of 2 and the tooth number of 48, the results are almost different when the downward thrust of the measuring cylinder is 10N by respectively using the detection of the embodiment 1 and the detection of the embodiment 2; the difference can be seen only when the force exceeds 40 newtons, the numerical value measured in the embodiment 1 is biased to positive deviation, the curvature radius of the upper roller 21 is smaller than that of the outer ring of the flexible bearing 81, and the wall of the tooth part of the harmonic gear 1 is easier to bend and deform when the force is larger; a rectangular coordinate system is established with the gear tooth number as the abscissa and the runout deviation as the ordinate, and the detection result is plotted in the coordinate system, as shown in fig. 12.
The installation mode of the harmonic gear 1 in embodiment 2 is almost the same as the use state thereof in the harmonic reducer, the measurement result is closer to the actual use state, and the reliability of the measurement data is higher.
However, in comparison, the disassembly of the harmonic gear 1 and the outer ring of the compliant bearing 81 in embodiment 2 is time-consuming and inconvenient, while the disassembly of the harmonic gear 1 and the outer ring of the compliant bearing 81 in embodiment 1 is time-saving and convenient, so embodiment 1 is preferred.
Embodiment 3, a detection method of a harmonic gear radial runout detection apparatus, includes the steps of:
ST1, rotatably fixing the bottom 13 of the harmonic gear 1, and freely rotating the harmonic gear 1 around the self axial lead;
s2, supporting a tooth part of the harmonic gear 1 into an oval shape by using two smooth cambered surfaces, wherein two supporting points are arranged at the positions corresponding to two end points of a long axis of the oval shape, and the smooth cambered surfaces are tangent to the surface of an inner hole of the tooth part;
ST3, rotating the harmonic gear 1 to enable one of the tooth grooves to be positioned at the end of the oval long shaft;
ST4, the axial lead of the measuring column 31 is vertically crossed with the extension line of the ellipse long axis, the cylindrical surface of the measuring column 31 compresses the harmonic gear 1 to be positioned at two tooth sides of the tooth socket at the ellipse long axis end, and the cylindrical surface of the measuring column 31 is simultaneously contacted with the two tooth sides of the tooth socket;
and ST5, measuring the displacement value of the measuring column 31 along the long axis direction of the ellipse, taking the displacement value as a parameter for evaluating the radial runout deviation of the harmonic gear 1, comparing the displacement value with a preset interval range, and judging whether the harmonic gear 1 is qualified or not.
Embodiment 4, a control method of a harmonic gear radial run-out detection apparatus, comprising the steps of:
s1, a lifting cylinder 53 drives a combination of a driving gear 51 and a servo motor 52 to ascend, and the driving gear 51 is meshed with a harmonic gear 1;
s2, defining a tooth number variable i, wherein i is an integer, and i =0;
s3, the measuring cylinder 32 drives the measuring column 31 to move downwards;
s4, detecting a displacement value and continuously collecting for 3 seconds by using a displacement sensor 24;
s5, the measuring cylinder 32 drives the measuring column 31 to move upwards in a translation mode, and meanwhile, the maximum value of displacement values collected in the circulation is calculated and obtained and stored to be used as a jumping deviation value of the tooth socket being detected;
s6, the servo motor 52 drives the driving gear 51 to rotate by one tooth;
S7.i=i+1；
s8, judging whether i is greater than 48, and if not, jumping to the step S3; if yes, the loop is terminated, and step S9 is executed;
s9, the lifting cylinder 53 drives the combination of the driving gear 51 and the servo motor 52 to descend, and the driving gear 51 leaves the harmonic gear 1;
s10, judging whether all the jumping deviation values are within the range of [ -0.01,0.03], if so, judging that the harmonic gear 1 is qualified, otherwise, judging that the harmonic gear 1 is unqualified.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the present invention and its equivalent technology, it is intended that the present invention also encompass such modifications and variations.
Claims (10)
1. A harmonic gear radial runout detection device comprises a double-roller assembly (2), a measuring column assembly (3) and a rack (6); the method is characterized in that: the double-roller assembly (2) comprises an upper roller (21), a lower roller (22), a roller bracket (23) and a displacement sensor (24); the upper roller (21) and the lower roller (22) are respectively connected with the roller bracket (23) through revolute pairs, the upper roller (21) is arranged right above the lower roller (22), and the axial leads of the upper roller (21) and the lower roller (22) are parallel and are arranged along the front-back direction; the displacement sensor (24) is fixedly connected with the roller bracket (23); the detection contact of the displacement sensor (24) faces upwards; the roller bracket (23) is fixedly connected with the rack (6);
the measuring column assembly (3) comprises a measuring column (31) and a measuring cylinder (32); the measuring cylinder (32) comprises a measuring cylinder body (321) and a measuring cylinder piston rod (322); the measuring cylinder body (321) is fixedly connected with the frame (6); the measuring column (31) is fixedly connected with a measuring cylinder piston rod (322); the piston rod (322) of the measuring cylinder extends downwards; the measuring column (31) is arranged along the front-back horizontal direction; the measuring column (31) is arranged above the axial lead of the upper roller (21), and the detection contact of the displacement sensor (24) is arranged right below the measuring column (31).
2. A harmonic gear radial runout detecting apparatus as set forth in claim 1, wherein: also comprises a gear supporting component (4); the gear supporting assembly (4) comprises a translation seat (41), a rotating seat (42), two translation guide rods (43), a translation guide seat (44) and a set screw (45); the translation guide seat (44) is fixedly connected with the frame (6); the two translation guide rods (43) are respectively connected with the translation guide seat (44) in a sliding manner; the translation seat (41) is fixedly connected with the translation guide rod (43), and the translation seat (41) translates along the front-back direction; the rotating seat (42) is connected with the translation seat (41) through a rotating pair, and the rotating axis of the rotating seat (42) is arranged along the front-back direction; the front end of the rotating seat (42) is fixedly connected with the bottom of the harmonic gear (1) through a positioning hole (14), and a tooth part (11) of the harmonic gear (1) faces forwards; the axial lead of the positioning hole (14) and the central point of the elliptic reference circle (15) of the harmonic gear (1) are respectively superposed with the rotating axial lead of the rotating seat (42).
3. A harmonic gear runout detecting apparatus as claimed in claim 2, wherein: also comprises a drive assembly (5); the driving assembly (5) comprises a driving gear (51), a servo motor (52) and a lifting cylinder (53); the lifting cylinder (53) comprises a lifting cylinder body (531) and a lifting cylinder piston rod (532); the lifting cylinder body (531) is fixedly connected with the frame (6); a flange of the servo motor (52) is fixedly connected with a lifting cylinder piston rod (532); the driving gear (51) is fixedly connected with an output shaft of the servo motor (52); the output shaft of the servo motor (52) is arranged along the front-back direction; the driving gear (51) is positioned right below the lower roller (22); when the lifting cylinder (53) lifts the combination of the driving gear (51) and the servo motor (52) upwards to the uppermost end of the stroke, the driving gear (51) is meshed with the lowest point of the harmonic gear (1).
4. A harmonic gear runout detecting apparatus as claimed in claim 3, wherein: also comprises a standard high column (7); a first positioning surface (231) facing upwards is arranged on the roller wheel bracket (23); the standard high column (7) is placed on the first positioning surface (231) and below the measuring column (31), and the measuring cylinder (32) drives the measuring column (31) to move downwards and is forced to stop after abutting against the upper surface of the standard high column (7); at the moment, the measuring column (31) presses a detection contact of the displacement sensor (24), and the reading of the displacement sensor (24) is defined as 0; if the column (31) is shifted upwards, its reading is negative, and if the column (31) is shifted downwards, its reading is positive.
5. A harmonic gear runout detecting apparatus as claimed in claim 4, wherein: the device is characterized by further comprising a PLC (programmable logic controller), wherein the measuring cylinder (32), the displacement sensor (24) and the servo motor (52) are electrically connected with the PLC respectively.
6. A harmonic gear runout detecting apparatus as claimed in claim 5, wherein: the double-roller component (2) is replaced by a flexible bearing component (8); the flexible bearing assembly (8) comprises a flexible bearing (81), an elliptical shaft (82) and a flexible bearing support (83); the axial lead of elliptical shaft (82) and the axial lead coincidence of rotating seat (42), the oval major axis of cross section of elliptical shaft (82) sets up along vertical direction from top to bottom, the inner circle and elliptical shaft (82) fixed connection of flexible bearing (81), be oval track between the outer lane of flexible bearing (81) and the inner circle, there is the ball the inside, tooth portion (11) hole of harmonic gear (1) and the outer lane fixed coordination of flexible bearing (81), harmonic gear (1) rotate, drive the outer lane rotation of flexible bearing (81), and the tooth portion reference circle of harmonic gear (1) keeps for ellipse shape reference circle (15).
7. A harmonic gear radial runout detecting apparatus as set forth in claim 6, wherein: be equipped with second locating surface (831) on flexible bearing support (83), second locating surface (831) up is located measuring post (31) under for place standard high post (7).
8. A harmonic gear radial run-out detecting apparatus as defined in any one of claims 1 to 7, wherein: for the harmonic gear (1) with a module of 2, the downward thrust of the measuring cylinder is 10 newtons to 30 newtons.
9. A detection method of the harmonic gear radial run-out detection apparatus as claimed in claim 5, 6 or 7, comprising the steps of:
ST1, rotatably fixing the bottom (13) of the harmonic gear (1), and freely rotating the harmonic gear (1) around the axis of the harmonic gear;
s2, supporting a tooth part of the harmonic gear (1) into an oval shape by using two smooth arc surfaces, wherein two supporting points are arranged at the positions corresponding to two end points of the long axis of the oval shape, and the smooth arc surfaces are tangent to the surface of an inner hole of the tooth part;
ST3, rotating the harmonic gear (1) to enable one of the tooth grooves to be positioned at the end of the elliptic long shaft;
ST4, the axial lead of the measuring column (31) is vertically crossed with the extension line of the ellipse long axis, the axial lead of the measuring column (31) is parallel to the axial lead of the harmonic gear (1), the cylindrical surface of the measuring column (31) compresses the harmonic gear (1) to be positioned at two tooth sides of a tooth socket at the end of the ellipse long axis, and the cylindrical surface of the measuring column (31) is simultaneously contacted with the two tooth sides of the tooth socket;
and ST5, measuring the displacement value of the measuring column (31) along the direction of the long axis of the ellipse, taking the displacement value as a parameter for evaluating the radial runout deviation of the harmonic gear (1), comparing the displacement value with a preset interval range, and judging whether the harmonic gear (1) is qualified or not.
10. A control method of the harmonic gear radial run-out detecting apparatus according to claim 5, 6 or 7, comprising the steps of:
s1, a lifting cylinder (53) drives a combination of a driving gear (51) and a servo motor (52) to ascend, and the driving gear (51) is meshed with a harmonic gear (1);
s2, defining a tooth number variable i, wherein i is an integer, and i =0;
s3, the measuring cylinder (32) drives the quantity column (31) to move downwards;
s4, detecting a displacement value by a displacement sensor (24) and continuously acquiring for 3 seconds;
s5, the driving quantity column (31) of the measuring cylinder (32) moves upwards in a translation mode, and meanwhile the maximum value of displacement values collected in the circulation is calculated and obtained and stored to be used as a jumping deviation value of the tooth socket being detected;
s6, the servo motor (52) drives the driving gear (51) to rotate by one tooth;
S7.i=i+1；
s8, judging whether i is greater than 48, and if not, jumping to the step S3; if yes, the loop is terminated, and step S9 is executed;
s9, a lifting cylinder (53) drives the combination of the driving gear (51) and the servo motor (52) to descend, and the driving gear (51) leaves the harmonic gear (1);
s10, judging whether all the jumping deviation values are within the range of (-0.01, 0.03), if so, judging the harmonic gear (1) to be qualified, otherwise, judging the harmonic gear (1) to be unqualified.
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