CN207215337U - A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment - Google Patents
A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment Download PDFInfo
- Publication number
- CN207215337U CN207215337U CN201721089787.9U CN201721089787U CN207215337U CN 207215337 U CN207215337 U CN 207215337U CN 201721089787 U CN201721089787 U CN 201721089787U CN 207215337 U CN207215337 U CN 207215337U
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- China
- Prior art keywords
- gear reducer
- harmonic gear
- harmonic
- torsional rigidity
- servo motor
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Abstract
The utility model discloses a kind of harmonic speed reducer dynamic torsional rigidity analytical equipment, including AC servo motor, the AC servo motor carries coding disk, the input axis connection that the output shaft of the AC servo motor passes through shaft coupling and harmonic gear reducer, the output shaft of the harmonic gear reducer and one end of torsion sensor are connected, and the other end of the torsion sensor is connected with torsionspring and rotary encoder disc respectively；Also include alternating current generator servo amplifier, signal generator, A/D change datas capture card, computer and coded disc counting and resolve card；By measuring the angular displacement signal of harmonic gear reducer input and output end, the loading moment signal of output end, corresponding algorithm is run, so that it may which resolving obtains the output torsional rigidity of harmonic gear reducer.
Description
Technical field
It the utility model is related to decelerator drive characteristic, and in particular to a kind of harmonic speed reducer dynamic torsional rigidity analysis dress
Put.
Background technology
Harmonic speed reducer, its harmonic drive are to transmit motion and power using the controllable elastic deformation of flexible member
, volume is little, precision is very high, but shortcoming is flexbile gear restricted lifetime, not impact resistance, and rigidity is poor compared with metalwork, and
Input speed can not be too high.
Harmonic wave drive speed reducer is mainly made up of three wave producer, flexible gear and rigid gear basic building blocks, harmonic wave
Gearing speed-reducer, it is that one kind makes flexible gear produce controlled elasticity deformation by wave producer, and is meshed with rigid gear to pass
Pass motion and the gear drive of power.
The characteristics of due to Harmonic Gears, so the torsional rigidity of output shaft is lower than RV decelerator etc., while turn round essence
Degree is also low, so to analyze the output torsional rigidity of harmonic speed reducer.
Utility model content
In order to overcome shortcoming and deficiency existing for prior art, the utility model provides a kind of harmonic speed reducer dynamic and reversed
Stiffness analysis device.
The utility model adopts the following technical scheme that：
A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment, including AC servo motor, the AC servo motor
Coding disk is carried, the output shaft of the AC servo motor passes through the input axis connection of shaft coupling and harmonic gear reducer, institute
State the output shaft of harmonic gear reducer and one end of torsion sensor connect, the other end of the torsion sensor respectively with torsion
Turn spring and rotary encoder disc connection；
Also include alternating current generator servo amplifier, signal generator, A/D change datas capture card, computer and code-disc meter
Number resolves card；
Signal generator produces sinusoidal signal and is input to alternating current generator servo amplifier driving AC servo motor, further
The output shaft rotation of harmonic gear reducer is driven, drives torsion sensor to rotate, torsionspring is produced moment of torsion, the exchange
The input of harmonic gear reducer and the angle of rotation of output end for coding disk and the rotary encoder disc detection that servomotor carries
Displacement signal, card input computer, the output of the torsion sensor detection harmonic gear reducer are resolved by coded disc counting
The torque of axle, it is input to by A/D change data capture cards in computer, the signal generator gathers with A/D change datas
Card connection.
The torsional rigidity of the torsion sensor is more than the torsional rigidity of harmonic gear reducer.
The AC servo motor is fixed on experimental bench by electric machine support, and the harmonic gear reducer passes through harmonic wave
Gear reduction unit support is fixed on experimental bench.
A kind of method of harmonic speed reducer dynamic torsional rigidity analytical equipment, comprises the following steps：
The mode of operation of first step AC servo motor is arranged to torque mode of operation, and Regulate signal generator produces sinusoidal
Ripple ripple signal, AC servo motor is driven to press the forward and reverse rotation of drive signal after alternating current generator servo amplifier；
The rotation input shaft drive connection harmonic gear reducer of second step AC servo motor, by connecting harmonic gear
After decelerator slows down, the output shaft of harmonic gear reducer just drives torsion sensor to rotate repeatedly so that torsionspring produces
The detorsion moment of resistance, the output torque signal of collection torsion sensor detection, after A/D change datas capture card carries out A/D conversions
Input computer；
The rotary encoder disc that the output shaft of the coding disk harmonic gear reduction unit of 3rd step AC servo motor drives
The input shaft of harmonic gear reducer and the rotational displacement signal of output shaft are detected respectively, it is defeated after coded disc counting resolves card
Enter to computer, handled；
4th step is according to the input shaft of the harmonic gear reducer of measurement and the rotational displacement signal of output shaft, combination ripple
The speed reducing ratio of gear reduction unit, and the dynamic torque signal of torsion sensor measurement, obtain the output of harmonic gear reducer
Torsional rigidity.
The beneficial effects of the utility model：
(1) the harmonic gear reducer dynamic torsional rigidity analytical equipment that need not specially buy, saves installation cost
With storage and the cost safeguarded；
(2) device needs only to an AC servo motor system, torque sensor and torsionspring, high-resolution code
Disk, motion control capture card and computer and signal generator can be achieved, and device is simple, easily builds；
(3) by measuring the angular displacement signal of harmonic gear reducer input and output end, the loading moment of output end
Signal, run corresponding algorithm, so that it may which resolving obtains the output torsional rigidity of harmonic gear reducer.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
With reference to embodiment and accompanying drawing, the utility model is described in further detail, but reality of the present utility model
Apply mode not limited to this.
Embodiment
As shown in figure 1, a kind of harmonic speed reducer dynamic torsional rigidity analytical equipment, including AC servo motor 2, the friendship
Flow servo motor carries coding disk 1, and the output shaft of the AC servo motor passes through shaft coupling 4 and harmonic gear reducer 5
Axis connection is inputted, the output shaft of the harmonic gear reducer is connected with one end of torsion sensor 7, the torsion sensor
The other end is connected with torsionspring 8 and rotary encoder disc 10 respectively；
The coding disk and rotary encoder disc that the AC servo motor carries are high-resolution.
AC servo motor is fixed on experimental bench by electric machine support 3, and the harmonic gear reducer passes through harmonic wave tooth
Wheel decelerator support 6 is fixed on experimental bench, and the other end of the torsionspring is fixed by torsionspring support 9.
The sinusoidal signal that signal generator 12 produces certain frequency is output to alternating current generator servo amplifier 11, and exchange is watched
The mode of operation for taking motor 2 is arranged to torque mode, and the signal driving AC servo motor 2 of such signal generator 12 is by input
Signal rotate, drive harmonic gear reducer 5 output shaft rotation, drive torsion sensor 7 rotate so that torsionspring
8 produce torsional resistance square；Selection torsional rigidity is far longer than the torsion sensor 7 of harmonic gear reducer torsional rigidity, high score
The rotary encoder disc 10 of resolution can detect the angular displacement of the output shaft of harmonic gear reducer 5；
Torsion sensor 7 detects the torque of the output shaft of harmonic gear reducer 5, passes through A/D change datas capture card 13
Computer 14 is inputted after carrying out A/D conversions；The coding disk 1 of AC servo motor 2 and high-resolution rotary encoder disc 10 are divided
Not Jian Ce the input of harmonic gear reducer 5 and the rotational displacement signal of output end, by coded disc counting resolve card 15 after
Computer 14 is input to, is handled；
According to the input of the harmonic gear reducer 5 of record and the rotational displacement signal of output end, torsion sensor 7
The output end torque signals of the harmonic gear reducer 5 detected, the speed reducing ratio of harmonic gear reducer 5 is considered further that, can be distinguished
Knowledge obtains the dynamic torsional rigidity of harmonic gear reducer 5.
In this example, AC servo motor 2 and supporting alternating current generator servo amplifier 11：Given birth to from MITSUBISHI companies
The model HC-KFS43 of production AC servo motor, its power are 400W.Incremental encoder inside servomotor is used for
Detect the corner and rotating speed of motor output shaft.The resolution ratio of encoder be 40000 pulses/turn, i.e., 0.009 degree every turn.It is supporting to watch
Take the servo-driver that drive part uses the model MR-J2S-40A from the production of MITSUBISHI companies.High-resolution is compiled
Code-disc and torsionspring 8 can be easy to commercially available high-precision rotary encoder disc.Torsion sensor 7 is from double flanges
Type dynamic torque sensor, if meet that rigidity is sufficiently large during selection, and the output torque of range and harmonic gear reducer
Scope matches.
The output shaft of AC servo motor 2 connects the input shaft of harmonic gear reducer 5 by shaft coupling 4, and harmonic gear subtracts
The output axis connection torsion sensor 7 and torsionspring 8 of fast device 5；Therefore, with the output shaft angle position of harmonic gear reducer 5
The increase of shifting, bigger in the torsional resistance square of torsionspring 8, output torque is bigger；Inputted according to harmonic gear reducer 5
The angular displacement of axle and output shaft, and the signal that torsion sensor 7 detects, can calculate the torsion of harmonic gear reducer 5
Rigidity.
The torsional rigidity of torsion sensor 7 will be far longer than the torsional rigidity of harmonic gear reducer 5, otherwise, recognize
To result can be affected.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by described
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (3)
- A kind of 1. harmonic speed reducer dynamic torsional rigidity analytical equipment, it is characterised in that including AC servo motor, the exchange Servomotor carries coding disk, and the output shaft of the AC servo motor passes through shaft coupling and the input shaft of harmonic gear reducer Connection, the output shaft of the harmonic gear reducer and one end of torsion sensor connect, the other end of the torsion sensor It is connected respectively with torsionspring and rotary encoder disc；Also include alternating current generator servo amplifier, signal generator, A/D change datas capture card, computer and coded disc counting solution Calculate card；Signal generator produces sinusoidal signal and is input to alternating current generator servo amplifier driving AC servo motor, further driving The output shaft rotation of harmonic gear reducer, drive torsion sensor to rotate, torsionspring is produced moment of torsion, the AC servo The input of harmonic gear reducer for coding disk and the rotary encoder disc detection that motor carries and the rotational displacement of output end Signal, card input computer is resolved by coded disc counting, the output shaft of the torsion sensor detection harmonic gear reducer Torque, it is input to by A/D change data capture cards in computer, the signal generator connects with A/D change datas capture card Connect.
- A kind of 2. harmonic speed reducer dynamic torsional rigidity analytical equipment according to claim 1, it is characterised in that the torsion The torsional rigidity for turning sensor is more than the torsional rigidity of harmonic gear reducer.
- A kind of 3. harmonic speed reducer dynamic torsional rigidity analytical equipment according to claim 1, it is characterised in that the friendship Flow servo motor is fixed on experimental bench by electric machine support, and the harmonic gear reducer passes through harmonic gear reducer support It is fixed on experimental bench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721089787.9U CN207215337U (en) | 2017-08-29 | 2017-08-29 | A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721089787.9U CN207215337U (en) | 2017-08-29 | 2017-08-29 | A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207215337U true CN207215337U (en) | 2018-04-10 |
Family
ID=61825354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721089787.9U Expired - Fee Related CN207215337U (en) | 2017-08-29 | 2017-08-29 | A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207215337U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN111024385A (en) * | 2019-12-25 | 2020-04-17 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
-
2017
- 2017-08-29 CN CN201721089787.9U patent/CN207215337U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN111024385A (en) * | 2019-12-25 | 2020-04-17 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
| CN111024385B (en) * | 2019-12-25 | 2022-05-06 | 航天科工智能机器人有限责任公司 | Maximum load testing device for harmonic reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20200829 |