WO2021159662A1 - 一种安装偏心状态下谐波减速器柔轮径向变形的检测方法 - Google Patents
一种安装偏心状态下谐波减速器柔轮径向变形的检测方法 Download PDFInfo
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- WO2021159662A1 WO2021159662A1 PCT/CN2020/100957 CN2020100957W WO2021159662A1 WO 2021159662 A1 WO2021159662 A1 WO 2021159662A1 CN 2020100957 W CN2020100957 W CN 2020100957W WO 2021159662 A1 WO2021159662 A1 WO 2021159662A1
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- WIPO (PCT)
- Prior art keywords
- function
- flexspline
- eccentric
- wave generator
- state
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 11
- 238000009434 installation Methods 0.000 title claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008092 positive effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Definitions
- the invention relates to the technical field of harmonic reducer detection, in particular to a method for detecting radial deformation of a flexible wheel under an eccentric installation state.
- the harmonic reducer is the core component of the robot joint.
- the flexible wheel and the rigid wheel of the harmonic reducer are meshed and transmitted. It has the advantages of small size, high rotation ratio, large carrying capacity, and high transmission accuracy.
- problems such as unstable transmission, time-varying stiffness and forced vibration.
- the main reason is the large deformation of the flexible wheel, which causes the transmission process of the harmonic reducer to be very complicated.
- most detection methods require high installation accuracy, and the detection accuracy of the flexspline deformation function is not high.
- the purpose of the present invention is: in order to improve the detection accuracy of the flexspline deformation function of the harmonic reducer, and solve the problem that the accuracy of the device is too high and difficult to meet, by studying the contour difference of the wave generator under the eccentric state, a method of installation under the eccentric state is proposed.
- the detection method of the radial deformation of the flexible wheel is: in order to improve the detection accuracy of the flexspline deformation function of the harmonic reducer, and solve the problem that the accuracy of the device is too high and difficult to meet, by studying the contour difference of the wave generator under the eccentric state.
- a detection method for the radial deformation of the flexspline of the harmonic reducer under an eccentric installation The center of the wave generator is used as the origin to establish a reference coordinate system.
- the center of the wave generator is calculated by measuring the standard circle coaxial with the wave generator.
- the offset from the center of rotation of the turntable (e x , e y ); the radial deformation function and offset (e x , e y ) of the measuring wave generator in the eccentric state are brought into the theoretical ellipse eccentric mathematical model, Obtain the parameters (a, b) of the actual ellipse; bring the offset (e x , e y ) and the ellipse parameters (a, b) into the flexible wheel radial runout correction model to obtain the correction model under the eccentric state; Measure the deformation function of the flexible wheel, introduce the obtained modified model, and obtain the radial deformation function of the flexible wheel in the standard state.
- the eccentric coordinate of the rotation center of the turntable is (e x , e y ).
- r is the standard circle radius
- e x is the measurement line offset
- r 0 is the eccentric circle radius
- d 0 is the distance change of the measuring point
- ⁇ is the rotation angle.
- the standard circular function model under the eccentric state is:
- the flexspline deformation function correction model is obtained under the eccentric state, which includes two parts, namely the wave generator eccentricity error correction model and the interval eccentricity error correction model.
- the eccentricity error model of the wave generator is the difference function D between the wave generator function B under the standard state and the wave generator function model C under the eccentric state:
- the interval eccentricity error correction model refers to the error model of the thickness of the flexible bearing and the flexspline in the eccentric state, which is the interpolation function ⁇ between the standard value and the eccentric value.
- the deformation parameters of the coaxial standard circle, the wave generator and the flexible wheel are measured respectively.
- the radial deformation correction model A1 of the flexspline in the eccentric state (e x , e y ) established in W5 is introduced into the flexspline deformation function model E measured in the eccentric state:
- Q is the radial deformation function model of the flexspline in the standard state.
- the invention obtains the offset of the standard circle by analyzing the trajectory change of the standard circle in the eccentric state; obtains the error parameters of the actual processing wave generator by analyzing the change of the standard ellipse in the eccentric state; taking the detection of the wave generator as the calibration reference , Correct the deformation function of the flexible wheel in the eccentric state through a certain algorithm to obtain a more accurate deformation function model; solve the problem of excessive precision of the device.
- Figure 1 Flow chart of the detection of the radial deformation of the flexspline in an eccentric state
- Figure 2 Schematic diagram of the detection device for the radial deformation of the flexspline.
- Fig. 4 The experimental process of the radial deformation of the flexspline in the eccentric state.
- a method for detecting the radial deformation of the flexspline of the harmonic reducer in an eccentric state is shown in Figure 1.
- the method uses the center of the wave generator as the origin to establish a reference coordinate system, and measures the standard coaxial with the wave generator. Circle, calculate the offset (e x , e y ) between the center of the wave generator and the center of rotation of the turntable; take the measurement of the radial deformation function and offset (e x , e y ) of the wave generator in an eccentric state
- the actual ellipse parameters (a, b) are obtained; the offset (e x , e y ) and the ellipse parameters (a, b) are brought into the flexible wheel radial runout correction model to obtain
- the device is installed on the turntable 1, the rotating shaft 3 is installed on the turntable 2 through the base 2, the standard bearing 4 and the wave generator 5 are installed on the rotating shaft, and the upper flexspline 6 is fixed by the bracket.
- the method includes the following steps:
- the eccentric coordinate of the rotation center of the turntable is (e x , e y ).
- r is the standard circle radius
- e x is the measurement line offset
- r 0 is the eccentric circle radius
- d 0 is the distance change of the measuring point
- ⁇ is the rotation angle.
- the standard circular function model under the eccentric state is:
- the flexspline deformation function correction model is obtained under the eccentric state, which includes two parts, namely the wave generator eccentricity error correction model and the interval eccentricity error correction model.
- the eccentricity error model of the wave generator is the difference function D between the wave generator function B under the standard state and the wave generator function model C under the eccentric state:
- the interval eccentricity error correction model refers to the error model of the thickness of the flexible bearing and the flexspline in the eccentric state, which is the interpolation function ⁇ between the standard value and the eccentric value.
- the deformation parameters of the coaxial standard circle, the wave generator and the flexible wheel are measured respectively.
- the radial deformation correction model A1 of the flexspline in the eccentric state (e x , e y ) established in W5 is introduced into the flexspline deformation function model E measured in the eccentric state:
- Q is the radial deformation function model of the flexspline in the standard state.
- the invention obtains the offset of the standard circle by analyzing the trajectory change of the standard circle in the eccentric state; obtains the error parameters of the actual processing wave generator by analyzing the change of the standard ellipse in the eccentric state; taking the detection of the wave generator as the calibration reference , Correct the deformation function of the flexible wheel in the eccentric state through a certain algorithm to obtain a more accurate deformation function model; solve the problem of excessive precision of the device.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (2)
- 一种安装偏心状态下谐波减速器柔轮径向变形的检测方法,其特征在于:包含以下步骤:W1、建立基准坐标系;以波发生器中心为原点,建立测量基准坐标系O;在该坐标下,转台回转中心的偏心坐标为(e x,e y);W2、建立理论偏心状态下的标准圆与椭圆函数模型;1)偏心状态下的标准圆在基准坐标系O中,r为标准圆半径;e x为测量线偏移量;r 0为偏心圆半径;d 0为测量点距离变化量;θ为转动角度;其偏心状态下的标准圆函数模型为:通过以上公式,得偏心状态下得标准圆函数模型:d 0=f(θ);将检测的标准圆参数分别带入上式中,得实际圆偏移量(e x,e y);2)偏心状态下的椭圆曲线;以椭圆圆心为中心建立坐标系,θ为转动角度,设测量线与椭圆焦点为(x,y),转动中心坐标为(e x,-e y);将波发生器函数与偏移量(e x,e y)分别带入上式中,带入下式中,得实际椭圆 参数的a,b;W3、建立理论偏心状态下得柔轮变形函数修正模型A;在基准坐标系O中,其偏心状态下得柔轮变形函数修正模型,包含两部分,即波发生器偏心误差修正模型与间隔偏心误差修正模型;A=D+τ波发生器偏心误差模型为标准状态下得波发生器函数B与偏心状态下得波发生器函数模型C之间得差值函数D:D=B-CC:通过激光测距仪进行测量得波发生器函数;间隔偏心误差修正模型是指柔性轴承与柔轮得厚度在偏心状态下得误差模型,为标准值与偏心值之间得插值函数τ;τ=β-β 1β为理论状态下得间隔变化函数;β 1为偏心状态下得间隔变化函数;理论状态下得间隔变化函数β 1:其中Δ为厚度;W4、测量同轴的标准圆、波发生器参数C与柔轮变形参数E通过转台与激光测距仪的系统装置,分别测量同轴的标准圆、波发生器与柔轮变形参数;得到波发生器在偏心作用下得变形函数C;W5、建立该偏心状态下的修正模型A1;通过测量的偏心下的标准圆参数,得到其偏心量(e x,e y),并将其带入式中,得到在偏心(e x,e y)状态下的柔轮径向变形函数修正模型A1;W6、修正后的柔轮径向变形函数;将W5中建立的在偏心(e x,e y)状态下的柔轮径向变形修正模型A1,引入偏心状态下测量的柔轮变形函数模型E中:Q=E+A1Q为标准状态下的柔轮径向变形函数模型。
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Cited By (2)
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CN114087989A (zh) * | 2021-11-19 | 2022-02-25 | 江苏理工学院 | 汽车缸体工件定位孔圆心三维坐标测量方法及系统 |
CN115615373A (zh) * | 2022-12-19 | 2023-01-17 | 山东九博智能装备有限公司 | 一种谐波齿轮径向跳动检测装置、检测方法及控制方法 |
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CN111189406B (zh) * | 2020-02-14 | 2021-09-14 | 北京工业大学 | 一种安装偏心状态下谐波减速器柔轮径向变形的检测方法 |
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- 2020-07-09 WO PCT/CN2020/100957 patent/WO2021159662A1/zh active Application Filing
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CN115615373A (zh) * | 2022-12-19 | 2023-01-17 | 山东九博智能装备有限公司 | 一种谐波齿轮径向跳动检测装置、检测方法及控制方法 |
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