CN216815927U - Torsional rigidity self-measuring system of precision speed reducer comprehensive performance detector - Google Patents
Torsional rigidity self-measuring system of precision speed reducer comprehensive performance detector Download PDFInfo
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Abstract
The utility model discloses a torsional rigidity self-measuring system of a precision speed reducer comprehensive performance detector, which comprises a torsional rigidity self-measuring auxiliary device, wherein the torsional rigidity self-measuring auxiliary device comprises a top cover, a high-speed end barrel, an intermediate disc, a low-speed end barrel, a base, a high-speed end spline disc fixing block, a high-speed end spline disc, a low-speed end spline disc fixing block and a low-speed end spline disc; the high-speed end spline disc fixing block is fixedly connected with the intermediate disc, one end of the high-speed end spline disc is fixedly connected with the high-speed end spline disc fixing block, and the other end of the high-speed end spline disc fixing block can be connected with a high-speed end measuring shaft system of the detector; the low-speed end spline disc fixing block is fixedly connected with the middle disc, one end of the low-speed end spline disc is fixedly connected with the low-speed end spline disc fixing block, and the other end of the low-speed end spline disc can be connected with a low-speed end measuring shafting of the detector. The utility model can compensate the torsion angle data influenced by the deformation of the shafting of the detector in the process of measuring the torsional rigidity of the speed reducer, thereby obtaining more accurate torsional rigidity of the speed reducer to be measured.
Description
Technical Field
The utility model relates to the measurement of torsional rigidity of a detector, in particular to a torsional rigidity self-measuring system of a precision speed reducer comprehensive performance detector, which is used for realizing the torsional rigidity measurement of the precision speed reducer comprehensive performance detector and the automatic compensation of the torsional rigidity measurement error of a tested speed reducer.
Background
The reducer is widely applied to the mechanical and automatic fields as a transmission device. In particular, in the field of robots, a high-precision speed reducer is a key component of a robot motion transmission system, and the performance of the high-precision speed reducer directly affects the motion precision and efficiency of the whole robot transmission system, so that the performance detection of the high-precision speed reducer has an important influence on the development of a robot and the development of the whole manufacturing equipment industry. In order to detect the performance of the precision speed reducer, a precision speed reducer comprehensive performance detector is specially designed to detect the speed reducer parameters so as to ensure that the produced and sold speed reducer meets the corresponding performance parameter indexes.
The comprehensive performance detector of the precision speed reducer adopts a mode of arranging multi-stage parts in series. The torque sensor and the circular grating are core components of the detector as a serial link, and the measured torque value and angle value are important physical quantities representing the performance of the speed reducer. The torsional rigidity is used as an important index of the speed reducer, and the conventional measuring method is to directly measure the torsional angle under specific torque by using a torque sensor and a circular grating. However, the torque sensor and the circular grating in the detector are not directly connected with the reducer to be detected, and a transmission chain exists among the torque sensor, the circular grating and the reducer to be detected, which may cause the deformation of a shaft system of the detector to be detected by the circular grating and recorded as the deformation of the reducer in the torsional rigidity measurement, thereby causing the deviation between the actual deformation of the reducer and the reading value of the circular grating, and thus the torsional rigidity of the detector needs to be self-measured, thereby automatically compensating the torsional rigidity measurement error of the reducer.
SUMMERY OF THE UTILITY MODEL
The utility model provides a torsional rigidity self-measuring system of a precision speed reducer comprehensive performance detector, aiming at solving the problem of accurate measurement of torsional rigidity of a detected speed reducer. The system can conveniently measure and obtain the comprehensive torsional deformation of the detector under the action of the working torque load, thereby using the compensation method for the torsional rigidity measurement error of the speed reducer to compensate the torsional angle data influenced by the deformation of the shafting of the detector in the process of measuring the torsional rigidity of the speed reducer, and further obtaining more accurate torsional rigidity of the speed reducer to be measured.
The technical scheme adopted by the utility model is as follows: the utility model provides a torsional rigidity self-measuring system of precision reduction gear comprehensive properties detector, torsional rigidity self-measuring system includes torsional rigidity self-measuring auxiliary device, torsional rigidity self-measuring auxiliary device includes that from top to bottom connects gradually: the device comprises a top cover, a high-speed end barrel, a middle disc, a low-speed end barrel and a base;
the torsional rigidity self-measurement assisting device further includes:
the high-speed end spline disc fixing block is arranged in the high-speed end barrel and is fixedly connected with the intermediate disc;
the high-speed end spline disc comprises a first end and a second end which are opposite, the first end of the high-speed end spline disc is fixedly connected with the high-speed end spline disc fixing block, and the second end of the high-speed end spline disc can be connected with a high-speed end measuring shafting of the detector through a spline;
the low-speed end spline disc fixing block is arranged in the low-speed end barrel and is fixedly connected with the intermediate disc; and the number of the first and second groups,
the low-speed end spline disc comprises a first end and a second end which are opposite, the first end of the low-speed end spline disc is fixedly connected with the low-speed end spline disc fixing block, and the second end of the low-speed end spline disc can be connected with a low-speed end measuring shafting of the detector through splines.
Furthermore, the torsional rigidity self-measurement system also comprises a torsional rigidity self-measurement control system, and data obtained by measurement of the high-speed end torque sensor, the high-speed end circular grating angle sensor, the low-speed end torque sensor and the low-speed end circular grating angle sensor on the detector are all transmitted to the torsional rigidity self-measurement control system.
The utility model has the beneficial effects that: the utility model solves the problem of inaccurate measurement of the torsional rigidity of the speed reducer caused by the deformation of the shafting of the detector. The comprehensive torque-torsion angle data is obtained by measuring the torsion angle of the shafting of the detector under the specific torque, so that the measurement result of the torsional rigidity of the speed reducer is compensated, and the accurate measurement of the torsional rigidity of the tested speed reducer is ensured.
Drawings
FIG. 1: the utility model discloses a structural schematic diagram of a torsional rigidity self-measuring system;
FIG. 2: the utility model discloses a structural schematic diagram of a torsional rigidity self-measurement auxiliary device;
FIG. 3: the utility model discloses a structural schematic diagram of a high-speed end spline disc fixing block;
FIG. 4: the utility model discloses a structural schematic diagram of a low-speed end spline disc fixing block.
The attached drawings are marked as follows:
1-high speed end motor; 2-high speed end barrel-shaped rack;
3-high-speed end measuring shafting; 4-torsional rigidity self-measurement auxiliary device;
41-Top cover; 42-high speed end bucket;
43-intermediate disk; 44-low speed end bucket;
45-base; 46-high speed end spline disc fixing block;
47-high speed end spline disk; 48-fixing block of low-speed end spline disc;
49-low speed end spline disk; 5-low speed end barrel-shaped rack;
6-low speed end measuring shafting; 7-low-speed end motor;
and 8, self-measuring torsional rigidity control system.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in fig. 1 to 4, a torsional rigidity self-measuring system of a precision reducer comprehensive performance detector, wherein the related detector is in the prior art and comprises a high-speed end and a low-speed end, the high-speed end comprises a high-speed end motor 1, a high-speed end barrel-shaped rack 2, a high-speed end measuring shafting 3 (comprising a high-speed end torque sensor and a high-speed end circular grating angle sensor) and the like, and the low-speed end comprises a low-speed end barrel-shaped rack 5, a low-speed end measuring shafting 6 (comprising a low-speed end torque sensor and a low-speed end circular grating angle sensor), a low-speed end motor 7 and the like.
The torsional rigidity self-measuring system comprises a torsional rigidity self-measuring auxiliary device 4 and a torsional rigidity self-measuring control system 8. The torsional rigidity self-measuring system utilizes the original high-speed end measuring shafting 3 and low-speed end measuring shafting 6 of the detector, and realizes the isolation of the high-speed end measuring shafting 3 and the low-speed end measuring shafting 6 of the detector through the torsional rigidity self-measuring auxiliary device 4, thereby forming a moment closed structure of the respective torsional rigidity self-measuring system. The torsional rigidity self-measurement auxiliary device 4 is connected with a high-speed end measurement shafting 3 and a low-speed end measurement shafting 6 of the detector, is positioned between the high-speed end and the low-speed end of the detector, and is respectively positioned and pressed with the high-speed end barrel-shaped rack 2 and the low-speed end barrel-shaped rack 5 through rabbets to replace a tested speed reducer. The torsional rigidity self-measurement control system 8 is started, the high-speed end motor 1 and the low-speed end motor 7 are used for loading respectively, and the comprehensive torque-torsional angle data of the whole high-speed end part and the low-speed end part can be obtained through measurement of an original angle measurement system (comprising a high-speed end circular grating angle sensor and a low-speed end circular grating angle sensor) and a torque measurement system (comprising a high-speed end torque sensor and a low-speed end torque sensor) of the detector respectively, and the data reflects the comprehensive torsional deformation of the detector under the action of a working load in the measurement process. After the torsional rigidity of the precision reducer comprehensive performance detector is measured, comprehensive 'torque-torsional angle data' is introduced into an error compensation system of the detector, and the comprehensive 'torque-torsional angle data' is deducted from a measured data result of the detector in the process of actually measuring the torsional rigidity of the reducer. The whole self-testing and compensating process realizes the self-torsion rigidity measurement of the detector and the automatic compensation of the measurement error compensation of the torsion rigidity of the speed reducer.
Wherein, torsional rigidity is from measuring auxiliary device 4 and including connecting gradually from top to bottom: the self-measuring torsion rigidity auxiliary device 4 comprises a top cover 41, a high-speed end barrel 42, an intermediate disk 43, a low-speed end barrel 44 and a base 45, and further comprises a high-speed end spline disk fixing block 46, a high-speed end spline disk 47, a low-speed end spline disk fixing block 48 and a low-speed end spline disk 49. The high-speed end spline disc fixing block 46 is arranged in the high-speed end barrel 42, and the high-speed end spline disc fixing block 46 is fixedly connected with the intermediate disc 43; the high-speed end spline disc 47 comprises a first end and a second end which are opposite, the first end of the high-speed end spline disc 47 is fixedly connected with the high-speed end spline disc fixing block 46, the second end of the high-speed end spline disc 47 can be connected with the high-speed end measuring shafting 3 of the detector through splines, and the second end of the high-speed end spline disc 47 is provided with an external spline which is in matched connection with the internal spline of the high-speed end measuring shafting 3. The low-speed end spline disc fixing block 48 is arranged in the low-speed end barrel 44, and the low-speed end spline disc fixing block 48 is fixedly connected with the intermediate disc 43; the low-speed end spline disc 49 comprises a first end and a second end which are opposite, the first end of the low-speed end spline disc 49 is fixedly connected with the low-speed end spline disc fixing block 48, the second end of the low-speed end spline disc 49 can be connected with the low-speed end measuring shafting 6 of the detecting instrument through splines, and the second end of the low-speed end spline disc 49 is provided with an external spline which is in fit connection with the internal spline of the low-speed end measuring shafting 6. The high-speed end spline disc fixing block 46 and the low-speed end spline disc fixing block 48 have high torsional rigidity, deformation of the high-speed end spline disc fixing block and the low-speed end spline disc fixing block can be ignored in the process of applying torque load, and data measured by a torsional rigidity self-measuring system is guaranteed to be generated by deformation of the detector.
The torsional rigidity self-measurement control system 8 is a control system adopted when the detector performs torsional rigidity self-measurement and operates on the original detector. Data obtained by measuring the high-speed end torque sensor, the high-speed end circular grating angle sensor, the low-speed end torque sensor and the low-speed end circular grating angle sensor are all transmitted to the torsional rigidity self-measurement control system 8.
The torsional rigidity self-measuring process of the precision reducer comprehensive performance detector utilizes the original high-speed end and low-speed end measuring systems of the detector, and the torsional rigidity of the detector can be measured only by operating the torsional rigidity self-measuring control system 8 without other measuring equipment.
The torsional rigidity self-measuring system is adopted for torsional rigidity self-measuring and error compensation, and the specific method comprises the following steps:
firstly, a high-speed end torsion angle compensation value corresponding to each input end key torque of the speed reducer to be detected and a low-speed end torsion angle compensation value corresponding to each output end key torque of the speed reducer to be detected are obtained. The high-speed end torsion angle compensation value corresponding to each input end key torque of the speed reducer to be detected is high-speed end torque-torsion angle data, and the low-speed end torsion angle compensation value corresponding to each output end key torque of the speed reducer to be detected is low-speed end torque-torsion angle data.
High speed end torque-torsion angle data measurement
And 2, installing a torsional rigidity self-measurement auxiliary device 4 between the high-speed end and the low-speed end of the precision speed reducer comprehensive performance detector, and positioning and pressing the torsional rigidity self-measurement auxiliary device 4 with the high-speed end barrel-shaped rack 2 and the low-speed end barrel-shaped rack 5 through rabbets respectively to replace the part of the speed reducer to be measured. Meanwhile, the high-speed end spline disc 47 is connected with the high-speed end measuring shafting 3 of the detector through a spline, the low-speed end spline disc 49 is connected with the low-speed end measuring shafting 6 of the detector through a spline, so that the first end of the high-speed end measuring shafting 3 and the first end of the low-speed end measuring shafting 6 are fixed, wherein the second end of the high-speed end measuring shafting 3 opposite to the first end is connected with the output shaft of the high-speed end motor 1, and the second end of the low-speed end measuring shafting 6 opposite to the first end is connected with the output shaft of the low-speed end motor 7.
And 3, movably sleeving a spline at the high-low speed end of the precision reducer comprehensive performance detector on a hydraulic cylinder so that the high-speed end measuring shafting 3 is in a transmission state and the low-speed end measuring shafting 6 is in a disconnection state. After the high-speed end motor 1 applies a torque of 1% FS (about 0.5Nm), the external spline of the high-speed end spline disc 47 of the self-measurement auxiliary device for torsional rigidity 4 is completely meshed with the internal spline of the high-speed end measurement shafting 3, and all connection structures of the high-speed end measurement shafting 3 are deformed.
And 4, after the shafting state is confirmed, slowly applying a linearly increased torque value to the high-speed end measuring shafting 3 by the high-speed end motor 1 along the forward direction until the full range, and enabling the high-speed end measuring shafting 3 of the detector to have a rotating trend, so that each part is deformed to transmit the torque, but the true rotation does not occur. In the process that the high-speed end motor 1 applies linearly increased torque values to the high-speed end measuring shafting 3 along the positive direction, when the torque values measured by the high-speed end torque sensor sequentially reach the key torque x of the input end of the speed reducer to be detected1,x2,…,xi,…,xnIn the process, the torque values recorded by the high-speed end circular grating angle sensor are respectively x1,x2,…,xi,…,xnTorsion angle value y corresponding to time1 is,y2 is positive,…,yPositive i,…,yN is positive，yPositive iThe key torque x of the input end of the speed reducer to be detected is loaded when the high-speed end motor 1 loads a torque value in the positive directioniAnd the corresponding torsion angle value completes a group of data measurement when the high-speed end motor 1 loads a torque value in the forward direction, and slowly unloads the torque to zero after the high-speed end motor 1 applies the torque to a full range in the forward direction.
7, repeating the step 6 to obtain a plurality of groups yTrans 1,yTrans 2,…,yTrans i,…,yN is inverseValue, averaging several sets of twist angle values
The key torque x of the input end of the speed reducer to be detected is used as the reverse loading torque value of the high-speed end motor 11,x2,…,xi,…,xnCorresponding high speed end torsion angleThe compensation value is, among other things,
for detecting key torque x of input end of speed reducer to be detectediAnd the corresponding reverse high-speed end torsion angle compensation value.
The key torque at the input end of the speed reducer to be detected, the corresponding forward high-speed end torsion angle compensation value and the reverse high-speed end torsion angle compensation value are high-speed end torque-torsion angle data, and are shown in table 1:
table 1: high speed end "Torque-Torque Angle data" List
(II) Low-speed end Torque-torsion Angle data measurement
Step A, supposing that the key torque of the output end of the speed reducer to be detected is uj，ujIs a positive real number, uj-1＜uj＜uj+1J is the j-th output end key torque of the speed reducer to be detected, j is 1,2, …, and m is the total number of the output end key torques of the speed reducer to be detected.
And step B, installing the self-measuring auxiliary device 4 for torsional rigidity between the high-speed end and the low-speed end of the comprehensive performance detector of the precision speed reducer, and respectively positioning and pressing the self-measuring auxiliary device 4 for torsional rigidity with the high-speed end barrel-shaped rack 2 and the low-speed end barrel-shaped rack 5 through rabbets to replace the part of the speed reducer to be measured. Meanwhile, the high-speed end spline disc 47 is connected with the high-speed end measuring shafting 3 of the detector through a spline, the low-speed end spline disc 49 is connected with the low-speed end measuring shafting 6 of the detector through a spline, so that the first end of the high-speed end measuring shafting 3 and the first end of the low-speed end measuring shafting 6 are fixed, wherein the second end of the high-speed end measuring shafting 3 opposite to the first end is connected with the output shaft of the high-speed end motor 1, and the second end of the low-speed end measuring shafting 6 opposite to the first end is connected with the output shaft of the low-speed end motor 7.
And step C, the spline at the high-low speed end of the precision reducer comprehensive performance detector is movably sleeved under the driving of the hydraulic cylinder, so that the low-speed end measuring shafting 6 is in a transmission state, and the high-speed end measuring shafting 3 is in a disconnection state. Meanwhile, after the low-speed end motor 7 applies a torque of 1% FS (about 20Nm), the external spline of the low-speed end spline disc 49 of the self-measurement auxiliary device for torsional rigidity 4 is completely meshed with the internal spline of the low-speed end measurement shafting 6, and all connection structures of the low-speed end measurement shafting 6 are deformed.
And D, after the shafting state is confirmed, the low-speed end motor 7 applies a linearly increased torque value to the low-speed end measuring shafting 6 along the positive direction until the full range, so that the low-speed end measuring shafting 6 of the detector has a rotating trend, and all parts are deformed to transmit the torque but do not rotate really. In the process that the low-speed end motor 7 applies linearly increased torque value to the low-speed end measuring shafting 6 along the positive direction, when the torque value measured by the low-speed end torque sensor sequentially reaches the key torque u of the output end of the speed reducer to be detected1,u2,…,uj,…,umDuring the process, the torque values recorded by the low-speed end circular grating angle sensor are respectively u1,u2,…,uj,…,umValue v of torsion angle corresponding to time1 is,v2 is positive,…,vPositive j,…,vPositive m，vPositive jThe key torque u of the output end of the speed reducer to be detected when the low-speed end motor 7 loads a torque value in the positive directionjAnd the corresponding torsion angle value completes a group of data measurement when the low-speed end motor 7 loads a torque value in the forward direction, and slowly unloads the torque to zero after the low-speed end motor 7 applies the torque to a full range in the forward direction.
E, repeating the step D to obtain a plurality of groups v1 is,vFront 2,…,vPositive j,…,vPositive mValue, averaging several sets of twist angle values
The key torque u of the output end of the speed reducer to be detected when the low-speed end motor 7 loads a torque value in the positive direction1,u2,…,uj,…,umA corresponding low-speed end torsion angle compensation value, wherein,
for detecting the key torque u of the output end of the speed reducer to be detectedjAnd the corresponding positive low-speed end torsion angle compensation value.
Step F, the low-speed end motor 7 applies the linearly increased torque value to the low-speed end measuring shafting 6 in the reverse direction until the full range, and when the torque value measured by the low-speed end torque sensor sequentially reaches the key torque u at the output end of the speed reducer to be detected in the process of applying the linearly increased torque value to the low-speed end measuring shafting 6 in the reverse direction by the low-speed end motor 7, the torque value measured by the low-speed end torque sensor sequentially reaches the key torque u at the output end of the speed reducer to be detected1,u2,…,uj,…,umDuring the process, the torque values recorded by the low-speed end circular grating angle sensor are respectively u1,u2,…,uj,…,umValue v of torsion angle corresponding to timeTrans 1,vTrans 2,…,vReverse j,…,vInverse m，vInverse jThe key torque u of the output end of the speed reducer to be detected when the low-speed end motor 7 loads the torque value in the reverse directionjAnd the corresponding torsion angle value completes a group of data measurement when the low-speed end motor 7 loads the torque value in the reverse direction, and slowly unloads the torque to zero after the low-speed end motor 7 applies the torque to a full range in the reverse direction.
G, repeating the step F to obtain a plurality of groups vTrans 1,vTrans 2,…,vReverse j,…,vInverse mValue, averaging several sets of twist angle values
The key torque u of the output end of the speed reducer to be detected is used as the torque value loaded in the reverse direction by the low-speed end motor 71,u2,…,uj,…,umA corresponding low-speed end torsion angle compensation value, wherein,
for detecting the key torque u of the output end of the speed reducer to be detectedjAnd the corresponding reverse low-speed end torsion angle compensation value.
The key torque of the output end of the speed reducer to be detected, the corresponding forward low-speed end torsion angle compensation value and the reverse low-speed end torsion angle compensation value are low-speed end torque-torsion angle data, as shown in table 2:
table 2: list of "Torque-torsion Angle data" at Low speed end
The number and the value of the key torque at the input end and the key torque at the output end of the speed reducer can be different or the same. In this embodiment, the key torque x of each input end of the speed reducer1,x2,…,xi,…xnAnd the key torque u of each output end of the speed reducer1,u2,…,uj,…umWherein n is 50, and x1＝u1＝1，x2＝u2＝2，…，xi＝ui＝i，…，x50＝u50＝50。
And secondly, introducing the high-speed end torque-torsion angle data and the low-speed end torque-torsion angle data into an error compensation system of the detector, and compensating an input end rotation angle value and an output end rotation angle value which are measured in the actual performance detection of the speed reducer to be detected.
The measured high-speed end torque-torsion angle data and the low-speed end torque-torsion angle data reflect the comprehensive torsional deformation of the detector under the action of working load in the measuring process, namely the torsional rigidity of the detector, the data are introduced into an error compensation system of the detector, and are deducted from the measurement data result of the detector in the process of actually measuring the torsional rigidity of the speed reducer, so that the automatic compensation of the measurement error of the detected speed reducer caused by the torsional rigidity of the detector is realized.
Compensation of input end angle value
When the high-speed end motor 1 is loaded in the forward direction, the input end rotation angle value of the speed reducer to be detected is equal to the actual high-speed end rotation angle value measured by the high-speed end circular grating angle sensor-the forward high-speed end rotation angle compensation value corresponding to the torque value measured by the high-speed end torque sensor; when the high-speed end motor 1 is loaded in the reverse direction, the input end rotation angle value of the speed reducer to be detected is equal to the actual high-speed end rotation angle value measured by the high-speed end circular grating angle sensor-the reverse high-speed end rotation angle compensation value corresponding to the torque value measured by the high-speed end torque sensor. Wherein, the compensation value of the torsion angle of the positive high-speed end and the compensation value of the torsion angle of the negative high-speed end can be directly obtained in the table 1 according to the measured torque value.
(II) compensation of angle of rotation value of output end
When the low-speed end motor 7 is loaded in the forward direction, the output end rotation angle value of the speed reducer to be detected is equal to the actual low-speed end rotation angle value measured by the low-speed end circular grating angle sensor-the forward low-speed end rotation angle compensation value corresponding to the torque value measured by the low-speed end torque sensor; when the low-speed end motor 7 is loaded in the reverse direction, the output end rotation angle value of the speed reducer to be detected is the actual low-speed end rotation angle value measured by the low-speed end circular grating angle sensor-the reverse low-speed end rotation angle compensation value corresponding to the torque value measured by the low-speed end torque sensor. Wherein, the compensation value of the torsion angle of the forward low-speed end and the compensation value of the torsion angle of the reverse low-speed end can be directly obtained in the table 2 according to the measured torque value.
Although the preferred embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the utility model as claimed.
Claims (2)
1. The utility model provides a torsional rigidity is from measurement system of precision reducer comprehensive properties detector which characterized in that, torsional rigidity is from measurement system includes torsional rigidity is from measuring auxiliary device (4), torsional rigidity is from measuring auxiliary device (4) including connecting gradually from top to bottom: a top cover (41), a high-speed end barrel (42), an intermediate disc (43), a low-speed end barrel (44) and a base (45);
the torsional rigidity self-measurement auxiliary device (4) further comprises:
the high-speed end spline disc fixing block (46), the high-speed end spline disc fixing block (46) is arranged in the high-speed end barrel (42), and the high-speed end spline disc fixing block (46) is fixedly connected with the intermediate disc (43);
the high-speed end spline disc (47) comprises a first end and a second end which are opposite, the first end of the high-speed end spline disc (47) is fixedly connected with the high-speed end spline disc fixing block (46), and the second end of the high-speed end spline disc (47) can be connected with a high-speed end measuring shafting (3) of the detector through splines;
the low-speed end spline disc fixing block (48) is arranged in the low-speed end barrel (44), and the low-speed end spline disc fixing block (48) is fixedly connected with the intermediate disc (43); and the number of the first and second groups,
low-speed end spline dish (49), low-speed end spline dish (49) are including relative first end and second end, the first end of low-speed end spline dish (49) with low-speed end spline dish fixed block (48) fixed connection, the second end of low-speed end spline dish (49) can with low-speed end measurement shafting (6) of detector are connected each other through the spline.
2. The torsional rigidity self-measuring system of the precision reducer comprehensive performance detector according to claim 1, characterized in that the torsional rigidity self-measuring system further comprises a torsional rigidity self-measuring control system (8), and data measured by the high-speed end torque sensor, the high-speed end circular grating angle sensor, the low-speed end torque sensor and the low-speed end circular grating angle sensor on the detector are all transmitted to the torsional rigidity self-measuring control system (8).
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2021
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