CN204202873U - The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error - Google Patents
The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error Download PDFInfo
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- CN204202873U CN204202873U CN201420754503.3U CN201420754503U CN204202873U CN 204202873 U CN204202873 U CN 204202873U CN 201420754503 U CN201420754503 U CN 201420754503U CN 204202873 U CN204202873 U CN 204202873U
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- speed reducer
- harmonic speed
- output shaft
- input shaft
- angular transducer
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Abstract
The utility model discloses the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, comprise worktable, spindle unit, input shaft angular transducer and output shaft angular transducer, wherein, spindle unit is fixing on the table, spindle unit is provided with drive motor, there is the precision bearing system of main shaft, and connect the reducing gear of main shaft and drive motor output shaft, the main shaft of spindle unit is connected with the input shaft of harmonic speed reducer, input shaft angular transducer is arranged on main shaft for recording the moment angle of revolution of harmonic speed reducer input shaft, output shaft angular transducer is connected the moment angle of revolution for recording harmonic speed reducer output shaft with the output shaft of harmonic speed reducer.Simple operation during the utility model application, time saving and energy saving, energy improving measurement accuracy and measurement efficiency, be convenient to analytical error source.
Description
Technical field
The utility model relates to harmonic speed reducer measuring technique, specifically the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error.
Background technology
Harmonic speed reducer is the advantage such as ratio of gear is large, compact conformation, low-profile because having, and it becomes the important drive disk assembly of military industry field and robot industry.The driving error of harmonic speed reducer and hysterisis error directly affect its result of use, are the important technology indexs of harmonic speed reducer.In order to ensure product quality, often overlap the detection all will carrying out driving error and hysterisis error before harmonic speed reducer dispatches from the factory.The method of traditional measurement harmonic speed reducer driving error and hysterisis error is substantially all adopt manual static, discontinuous measurement, harmonic speed reducer is contained on a fixed support, when surveying driving error, harmonic speed reducer input shaft is connected with an optical reading head, export termination one polyhedron (generally with 24 bodies or 36 bodies), the fixing angle of revolution (15 ° or 10 °) of output shaft is read discontinuously by a parallel light tube, then, angle of revolution corresponding to input shaft is read by optical reading head, again according to read input shaft angle of revolution with obtain driving error according to the difference of the theoretical angle of revolution of the input shaft of gear ratio calculation.Adopting aforesaid way to measure driving error generally needs more than two people to operate, a hand read head revolution of people, drive the revolution of harmonic speed reducer input shaft, and then the revolution of driver output axle, when output shaft turns over a reading time interval 15 ° or 10 ° just (another people is read by parallel light tube eyepiece), write down the reading of now optical reading head again, i.e. the angle that turns over of input shaft.The complete product of general survey (output shaft turns over 360 °, a whole circle), the hand of optical reading head is often shaking several thousand turns.The error surveying opposite side also will through same process, only survey rotating driving error and just need 2 to 3 people's manual operations 3 to 4 hours, time-consumingly to require great effort again, and output shaft measurement point limited (generally only having tens points), measurement result is not comprehensive, product error overall picture can not be reflected, also just correctly can not evaluate product quality with it.The hysterisis error traditional measurement method of harmonic speed reducer is on output shaft, fill a dial gauge, by hand read head, the backhaul difference value of certain phase place is drawn by read head and dial gauge reading, owing to installing reading trouble, measurement is wasted time and energy, generally can only survey several point in output shaft one turn, be difficult to find its maximal value and minimum value, the actual value of harmonic speed reducer backhaul difference cannot be reflected.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provide the continuous measurement system of a kind of harmonic speed reducer transmission chain error and hysterisis error, simple operation when it is for measuring harmonic speed reducer transmission chain error and hysterisis error, time saving and energy saving, energy improving measurement accuracy, and measurement efficiency can be promoted, be convenient to analytical error source.
The utility model solves the problem and is achieved through the following technical solutions: the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, comprise worktable, spindle unit, input shaft angular transducer and output shaft angular transducer, described spindle unit is fixing on the table, spindle unit is provided with drive motor, there is the precision bearing system of main shaft, and connect the reducing gear of main shaft and drive motor output shaft, the main shaft of spindle unit is connected with the input shaft of harmonic speed reducer, input shaft angular transducer is arranged on main shaft for recording the moment angle of revolution of harmonic speed reducer input shaft, output shaft angular transducer is connected the moment angle of revolution for recording harmonic speed reducer output shaft with the output shaft of harmonic speed reducer.
Further, described input shaft angular transducer and output shaft angular transducer all adopt circular raster sensor.The utility model is when embody rule, and input shaft angular transducer and output shaft angular transducer also can adopt the angular transducer of other dynamic reading.
Further, the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, also comprise input shaft shaft coupling and output shaft coupler, the main shaft of described spindle unit is connected with the input shaft of harmonic speed reducer by input shaft shaft coupling, and described output shaft angular transducer is connected with harmonic speed reducer output shaft by output shaft coupler.So, during the utility model application be convenient to main shaft to be connected with harmonic speed reducer with output shaft angular transducer.
Further, the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, also comprise the reducer stent of supporting harmonic speed reducer and the sensor stand of supporting output shaft angular transducer, described reducer stent and sensor stand are all fixing on the table.
Further, described worktable upper surface is configured with many T-slot, and described spindle unit, reducer stent and sensor stand are all fixing on the table by the positioning key embedded in T-slot.So, during the utility model application, by positioning key and T-slot precise match, be convenient to the exact position ensureing spindle unit, harmonic speed reducer and output shaft angular transducer, the measurement of the harmonic speed reducer of output shaft and the coaxial or in 90 ° distribution of input shaft and arbitrarily angled distribution can be adapted to.
Further, the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, also comprise data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, described data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor, described input shaft grating signal processing system receives the signal shaping that input shaft angular transducer gathers, data acquisition system (DAS) is reached after segmentation, output shaft grating signal processing system receives the signal shaping that output shaft angular transducer gathers, data acquisition system (DAS) is reached after segmentation, described data acquisition system (DAS) is used for the instruction of receiving computer system, and input shaft grating signal processing system and the shaping of output shaft grating signal processing system is obtained after receiving the instruction that computer system sends, signal after segmentation, and then reach computer system after collection signal is processed, described motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control to drive motor, described computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.
The method of the continuous measurement system measuring error of harmonic speed reducer transmission chain error and hysterisis error, comprises the following steps:
Step one, installation harmonic speed reducer;
Step 2, main shaft continuous rotary by drive motor drive shaft parts, harmonic speed reducer input shaft continuous rotary, by the instantaneous angle of revolution of input shaft angular transducer continuous dynamically recording harmonic speed reducer input shaft, and by the angle of revolution of output shaft angular transducer continuous dynamically recording harmonic speed reducer output shaft;
Step 3, according to harmonic speed reducer input shaft and output shaft dynamic transient angle of revolution, draw the actual instantaneous transmission ratio of harmonic speed reducer, compare with theoretical value, draw the transmission chain error of harmonic speed reducer;
Step 4, measure the transmission chain error rotated and reverse of harmonic speed reducer continuously, adopt impulse phase Comparison Method to obtain the backhaul of each phase place in harmonic speed reducer output shaft one turn poor, obtain the poor curve of continuous backhaul.Wherein, the transmission chain error of harmonic speed reducer generally represents with output shaft angle of revolution.
Further, the concrete operation step of described impulse phase Comparison Method is as follows: the corresponding angle of revolution going out the rotating of harmonic speed reducer input shaft in each phase measurement that harmonic speed reducer output shaft is identical, the difference calculating each phase place rotating angle of revolution obtains the hysterisis error value of each phase place, thus obtains hysterisis error curve.
In sum, the utility model has following beneficial effect: convenient compared with operated in accordance with conventional methods during the utility model application, time saving and energy saving, can promote and measure efficiency, sampled point is complete, the error obtained when calculating transmission chain error and hysterisis error is comprehensive, energy improving measurement accuracy, is convenient to analytical error source.
Accompanying drawing explanation
fig. 1 is the structural representation of the utility model specific embodiment;
Fig. 2 is the hardware configuration schematic diagram of the utility model specific embodiment.
Name in accompanying drawing corresponding to Reference numeral is called: 1, worktable, 2, harmonic speed reducer, 3, spindle unit, 4, reducer stent, 5, input shaft angular transducer, 6, output shaft angular transducer, 7, input shaft shaft coupling, 8, output shaft coupler, 9, sensor stand.
Embodiment
Below in conjunction with embodiment and accompanying drawing, detailed description is further done to the utility model, but embodiment of the present utility model is not limited thereto.
Embodiment 1:
As shown in Figure 1, the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, comprise worktable 1, spindle unit 3, input shaft angular transducer 5 and output shaft angular transducer 6, wherein, spindle unit 3 comprises shell, drive motor, has the precision bearing system of main shaft and connect the reducing gear of main shaft and drive motor output shaft, the shell of spindle unit 3 is fixed on worktable 1, main shaft is through shell, drive motor and reducing gear are all located in shell, and drive motor is used for drive shaft and rotates.Input shaft angular transducer 5 and the output shaft angular transducer 6 of the present embodiment all adopt circular raster sensor, and input shaft angular transducer 5 is arranged on the main shaft of spindle unit 3.
The method of the present embodiment measuring error comprises the following steps: step one, be connected with the main shaft of spindle unit 3 by the input shaft of harmonic speed reducer 2 to be measured, and output shaft connects output shaft angular transducer 6; Step 2, main shaft continuous rotary by drive motor drive shaft parts 3, by the instantaneous angle of revolution of continuous dynamically recording harmonic speed reducer 2 input shaft of input shaft angular transducer 5, and by the angle of revolution of output shaft angular transducer 6 dynamically recording harmonic speed reducer 2 output shaft continuously; Step 3, according to harmonic speed reducer 2 input shaft and output shaft dynamic transient angle of revolution, draw the actual instantaneous transmission ratio of harmonic speed reducer 2, compare with theoretical value, draw the transmission chain error of harmonic speed reducer 2; Step 4, measure the transmission chain error rotated and reverse of harmonic speed reducer 2 continuously, adopt impulse phase Comparison Method to obtain the backhaul of each phase place in harmonic speed reducer 2 output shaft one turn poor, obtain the poor curve of continuous backhaul.Wherein, the concrete operation step of impulse phase Comparison Method is as follows: the corresponding angle of revolution going out the rotating of harmonic speed reducer 2 input shaft in each phase measurement that harmonic speed reducer 2 output shaft is identical, the difference calculating each phase place rotating angle of revolution obtains the hysterisis error value of each phase place, thus obtains hysterisis error curve.The specific formula for calculation of impulse phase Comparison Method is as follows: by circumferentially spaced set n phase point of the output shaft of harmonic speed reducer 2, forward and reverse sequence are numbered 1 respectively, and 2, n-1, n, wherein, the n-th point that the 1st correspondence that forward is numbered oppositely is numbered, 2nd correspondence, (n-1)th point of oppositely numbering of forward numbering, the like, the 1st point of n-th of forward numbering then corresponding oppositely numbering, forward measurement data adopts x to represent, forward measurement data is x
1, x
2... x
n-1, x
n, reverse measurement data adopts y to represent, reverse measurement data is y
1, y
2... y
n-1, y
n, then backhaul data is: x
1-y
n, x
2-y
n-1..., x
n-1-y
2, x
n-y
1.
Embodiment 2:
The present embodiment has made following restriction further on the basis of embodiment 1: the present embodiment also comprises input shaft shaft coupling 7 and output shaft coupler 8, the main shaft of spindle unit 3 is connected with the input shaft of harmonic speed reducer 2 by input shaft shaft coupling 7, and output shaft angular transducer 6 is connected with harmonic speed reducer 2 output shaft by output shaft coupler 8.
Embodiment 3:
The present embodiment have been made and have been limited further as follows on the basis of embodiment 1 or embodiment 2: the present embodiment also comprises reducer stent 4 and sensor stand 9, reducer stent 4 and sensor stand 9 are all fixed on worktable 1, reducer stent 4 and sensor stand 9 are all configured with the pilot hole running through respective opposite end surface, harmonic speed reducer 2 and output shaft angular transducer 6 are equipped with positioning boss, harmonic speed reducer 2 is embedded in the pilot hole of speed reduction unit supporting 4 by its positioning boss, and then completes the supporting to harmonic speed reducer 4 by reducer stent 4; Output shaft angular transducer 6 is embedded in the pilot hole of sensor stand 9 by its positioning boss, and then completes the supporting to output shaft angular transducer 6 by sensor stand 9.
Embodiment 4:
The present embodiment has made following restriction further on the basis of embodiment 3: worktable 1 upper surface of the present embodiment is configured with many T-slot, and spindle unit 3, reducer stent 4 and sensor stand 9 are all fixed on worktable 1 by the positioning key embedded in T-slot.So, the present embodiment is convenient to the measurement of the harmonic speed reducer realizing output shaft and the coaxial or in 90 ° distribution of input shaft and arbitrarily angled distribution.
Embodiment 5:
As shown in Figure 2, the basis of the present embodiment any one embodiment in embodiment 1 ~ embodiment 4 is made following restriction further: the present embodiment also comprises data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, wherein, computer system is equipped with keyboard, mouse, display and printer, display provides visual operation interface, shows the output signal after computer system processor.Data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor.Input shaft grating signal processing system receives the signal of input shaft angular transducer collection and shaping, reach data acquisition system (DAS) after segmentation, and output shaft grating signal processing system receives the signal of output shaft angular transducer collection and shaping, reach data acquisition system (DAS) after segmentation.Data acquisition system (DAS) is used for the instruction of receiving computer system, and the signal obtained after receiving the instruction that computer system sends after input shaft grating signal processing system and the shaping of output shaft grating signal processing system, segmentation, and then reach computer system after collection signal is processed.Motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control through motor control module to drive motor.Computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.The present embodiment is when specifically arranging, and data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system and motor driven systems are all integrated in computer system.For the ease of carrying out analyzing and processing to signal, in the present embodiment, input shaft angle turns between sensor 5 and input shaft grating signal process disposal system, is provided with prime amplifier between output shaft angular transducer 6 and output shaft grating signal processing system.
As mentioned above, the utility model can be realized preferably.
Claims (6)
1. the continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error, it is characterized in that, comprise worktable (1), spindle unit (3), input shaft angular transducer (5) and output shaft angular transducer (6), described spindle unit (3) is fixed on worktable (1), spindle unit (3) is provided with drive motor, there is the precision bearing system of main shaft, and connect the reducing gear of main shaft and drive motor output shaft, the main shaft of spindle unit (3) is connected with the input shaft of harmonic speed reducer (2), input shaft angular transducer (5) is arranged on main shaft for recording the moment angle of revolution of harmonic speed reducer (2) input shaft, output shaft angular transducer (6) is connected the moment angle of revolution for recording harmonic speed reducer (2) output shaft with the output shaft of harmonic speed reducer (2).
2. the continuous measurement system of harmonic speed reducer transmission chain error according to claim 1 and hysterisis error, is characterized in that, described input shaft angular transducer (5) and output shaft angular transducer (6) all adopt circular raster sensor.
3. the continuous measurement system of harmonic speed reducer transmission chain error according to claim 1 and hysterisis error, it is characterized in that, also comprise input shaft shaft coupling (7) and output shaft coupler (8), the main shaft of described spindle unit (3) is connected with the input shaft of harmonic speed reducer (2) by input shaft shaft coupling (7), and described output shaft angular transducer (6) is connected with harmonic speed reducer (2) output shaft by output shaft coupler (8).
4. the continuous measurement system of harmonic speed reducer transmission chain error according to claim 1 and hysterisis error, it is characterized in that, also comprise the reducer stent (4) of supporting harmonic speed reducer (2) and the sensor stand (9) of supporting output shaft angular transducer (6), described reducer stent (4) and sensor stand (9) are all fixed on worktable (1).
5. the continuous measurement system of harmonic speed reducer transmission chain error according to claim 4 and hysterisis error, it is characterized in that, described worktable (1) upper surface is configured with many T-slot, and described spindle unit (3), reducer stent (4) and sensor stand (9) are all fixed on worktable (1) by the positioning key embedded in T-slot.
6. according to the continuous measurement system of the harmonic speed reducer transmission chain error in Claims 1 to 5 described in any one and hysterisis error, it is characterized in that, also comprise data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, described data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor, described input shaft grating signal processing system receives the signal shaping that input shaft angular transducer (5) gathers, data acquisition system (DAS) is reached after segmentation, output shaft grating signal processing system receives output shaft angular transducer (6) signal that gathers and shaping, data acquisition system (DAS) is reached after segmentation, described data acquisition system (DAS) is used for the instruction of receiving computer system, and input shaft grating signal processing system and the shaping of output shaft grating signal processing system is obtained after receiving the instruction that computer system sends, signal after segmentation, and then reach computer system after collection signal is processed, described motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control to drive motor, described computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420754503.3U CN204202873U (en) | 2014-12-05 | 2014-12-05 | The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error |
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| CN201420754503.3U CN204202873U (en) | 2014-12-05 | 2014-12-05 | The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359673A (en) * | 2014-12-05 | 2015-02-18 | 成都斯瑞工具科技有限公司 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
| CN104964820A (en) * | 2015-05-22 | 2015-10-07 | 杭州电子科技大学 | Rotary machine broken shaft fault on-line prediction method and apparatus |
| CN105865782A (en) * | 2016-06-23 | 2016-08-17 | 银川威力减速器有限公司 | Test bed and method for measuring rotation transmission precision error of RV reducer |
| CN109968402A (en) * | 2019-02-28 | 2019-07-05 | 北京镁伽机器人科技有限公司 | Backhaul gap measuring method and control method, device, system and storage medium |
| CN112051046A (en) * | 2020-09-07 | 2020-12-08 | 北京航空航天大学 | High-precision motor performance measuring device |
-
2014
- 2014-12-05 CN CN201420754503.3U patent/CN204202873U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359673A (en) * | 2014-12-05 | 2015-02-18 | 成都斯瑞工具科技有限公司 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
| CN104964820A (en) * | 2015-05-22 | 2015-10-07 | 杭州电子科技大学 | Rotary machine broken shaft fault on-line prediction method and apparatus |
| CN105865782A (en) * | 2016-06-23 | 2016-08-17 | 银川威力减速器有限公司 | Test bed and method for measuring rotation transmission precision error of RV reducer |
| CN109968402A (en) * | 2019-02-28 | 2019-07-05 | 北京镁伽机器人科技有限公司 | Backhaul gap measuring method and control method, device, system and storage medium |
| CN109968402B (en) * | 2019-02-28 | 2021-02-09 | 镁伽科技(深圳)有限公司 | Method, device and system for measuring return clearance and method, device and system for controlling return clearance and storage medium |
| CN112051046A (en) * | 2020-09-07 | 2020-12-08 | 北京航空航天大学 | High-precision motor performance measuring device |
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Granted publication date: 20150311 Termination date: 20201205 |