CN101587016A - Dynamic performance comprehensive detection system of harmonic speed reducer - Google Patents
Dynamic performance comprehensive detection system of harmonic speed reducer Download PDFInfo
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- CN101587016A CN101587016A CNA2009100232258A CN200910023225A CN101587016A CN 101587016 A CN101587016 A CN 101587016A CN A2009100232258 A CNA2009100232258 A CN A2009100232258A CN 200910023225 A CN200910023225 A CN 200910023225A CN 101587016 A CN101587016 A CN 101587016A
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Abstract
The invention discloses a kind of dynamic performance comprehensive detection system of harmonic speed reducer, comprise mechanical part and electric control system, mechanical part comprises the X guide rail that is installed on the base plate, is provided with first servomotor, servo-actuated speed reduction unit, charging assembly, first torque sensor, angular encoder, first coupling shaft, detected harmonic reducer, second coupling shaft, rotary encoder, second torque sensor, second servomotor of coaxial connection successively on this guide rail by support; Electric control system comprises: industrial control computer and be inserted in motion control card, data collecting card, numbered card in the pci card groove; Motion control card by control circuit and first, second servo controller respectively with first servomotor and the second servomotor control linkage; Data collecting card is connected with first, second torque sensor signal; The angle of numbered card and rotary encoder through signals connect.The present invention has the measuring accuracy height, test specification is wide, characteristics such as system's operation automaticity height.
Description
Technical field
The present invention relates to a kind of comprehensive detection system of harmonic speed reducer dynamic property.
Background technology
Along with the continuous development of high-precision motion control technology, fields such as guided missile, satellite Pose Control, joint of robot transmission, lathe rotation more and more need the harmonic speed reducer of high reliability.The harmonic speed reducer of high reliability needs the relevant detection means it is carried out quality inspection.The dynamic perfromance of harmonic speed reducer comprises efficient, life-span, transmission accuracy, overload capacity, staring torque, rigidity and return difference, sensitivity and returns zero precision, transient process etc. that above-mentioned characteristic has determined the ability to work of harmonic speed reducer.Traditional harmonic speed reducer device for detecting performance generally can only detect one or both dynamic perfromances of speed reduction unit, versatility is poor, and use the traditional test means that the above-mentioned dynamic perfromance of harmonic speed reducer is detected, need repeatedly frock, the human factor influence is very big, is difficult to guarantee measuring accuracy.In addition, the traditional detection device needs the operator to operate in a large number in checkout procedure mostly, and automaticity is low.Just because of above-mentioned shortcoming makes traditional checkout equipment be restricted in actual use.
Summary of the invention
The present invention is for solving the existing problem of stating of traditional detection device, provides that a kind of efficient, high precision, usable range are wide, the dynamic characteristics of harmonic reducers detection system of highly versatile.
For reaching above purpose, the present invention takes following technical scheme to be achieved:
A kind of dynamic performance comprehensive detection system of harmonic speed reducer comprises mechanical part and electric control system, it is characterized in that,
Described mechanical part comprises the X guide rail that is installed on the base plate, this guide rail is provided with first servomotor, servo-actuated speed reduction unit, first torque sensor, angular encoder, described first servomotor is fixed on the X guide rail by first support, with the servo-actuated reducer shaft to linking to each other; The servo-actuated speed reduction unit is fixed on the X guide rail by second support, and axially links to each other with first torque sensor by a charging assembly; First torque sensor is installed on the X guide rail by first bearing, and axially links to each other with angular encoder, and angular encoder is fixed on the X guide rail by the 3rd support, and links to each other with first coupling shaft; Detected harmonic reducer is installed on the X guide rail by the 4th support; The detected harmonic reducer output shaft is connected with first coupling shaft, and input shaft is connected with second coupling shaft; Second coupling shaft is provided with can be with the rotary encoder of its rotation, and rotary encoder is installed on the X guide rail by the 5th support; And axially be connected with second torque sensor; Second torque sensor is installed on the X guide rail by second bearing, and axially is connected with second servomotor, and second servomotor is installed on the X guide rail by the 6th support;
Described electric control system comprises: industrial control computer and be inserted in motion control card, data collecting card, numbered card in the pci card groove; The motion control card two-way signaling connects the output terminal of a control circuit; The input end of this control circuit is connected with the second servo controller signal with first servo controller respectively, first servo controller and the two-way control linkage of first servomotor; Second servo controller and the two-way control linkage of second servomotor; The input end of data collecting card is connected with first torque sensor, second torque sensor signal respectively; The input end of numbered card is connected with angular encoder, rotary encoder through signals respectively.
In the such scheme, be equipped with one on the described base plate and be in conplane Y guide rail with the X guide rail,, this Y guide rail is installed on the base plate a end near detected harmonic reducer perpendicular to the X guide rail.When detected harmonic reducer was the perpendicular type speed reduction unit, described rotary encoder was installed on the Y guide rail by the 5th support; And axially be connected with second torque sensor; Second torque sensor is installed on the Y guide rail by second bearing, and axially be connected with second servomotor, second servomotor is installed on the Y guide rail by the 6th support, and the output shaft of detected harmonic reducer and the first coupling shaft X be to being connected, and input shaft and the second coupling shaft Y are to being connected.
Described first servomotor and second servomotor all carry scrambler, and its output connects the input end of corresponding servo controller.
It is to adopt a loading shaft coupling to realize that described first torque sensor axially is connected with angular encoder.Detected harmonic reducer is thrown off first torque sensor and axially is connected with loading shaft coupling with angular encoder when not needing to load.Detected harmonic reducer is thrown off second coupling shaft and detected harmonic reducer input shaft when carrying out rigidity test, makes detected harmonic reducer input shaft stall with special-purpose harmonic speed reducer plug; Perhaps do not throw off connection, the shutdown auto-lock function by second servomotor carries out stall to the input shaft of detected harmonic reducer.
In the time of need loading, utilize industrial control computer and high-precision motion control card component movement control system to control the motion of first motor and second motor, the motion repeatability of test macro is reached ± in 3 minutes.By the angle difference of routine change first servomotor and second servomotor, the moment that charging assembly is produced loads the detected harmonic reducer output shaft, and finishes the required load movement of test; In the time of need not loading, utilize control system control AC servo motor to drive detected harmonic reducer and finish required being synchronized with the movement of test.
Measure the input end output terminal angle of detected harmonic reducer in the loading procedure by angular coding, rotary encoder, measure the information such as torque of detected harmonic reducer input end output terminal by two torque sensors, computing machine is handled information according to different test purposes, by calculating the relevant parameter of speed reduction unit with the supporting special software of test macro.
Mechanical part of the present invention is at the model of tested speed reduction unit and different test events, select linear pattern or perpendicular type guide rail installation form and detected harmonic reducer and different sensor connection/disengagements, can finish the test of above-mentioned multiple dynamic perfromance, reach same test platform and finished the purpose of multiple test, strengthened versatility.
Compare automaticity height of the present invention, the characteristics that the test characteristic scope is wide, the system testing precision is high with the traditional detection device.
Description of drawings
Fig. 1 is the structural representation of mechanical part of the present invention.
Fig. 2 is the structured flowchart of electric control system of the present invention.
Among Fig. 1, Fig. 2: 1-first servomotor; 2-first support; The 3-shaft coupling; 4-second support; 5-servo-actuated speed reduction unit; The 6-charging assembly; 7-first torque sensor; 8-first bearing; The 9-shaft coupling; The 10-angular encoder; 11-the 3rd support; 12-first coupling shaft; 13-the 4th support; The 14-detected harmonic reducer; 15-the 5th support; 16-second coupling shaft; The 17-rotary encoder; The 18-shaft coupling; 19-second torque sensor; 20-second bearing; The 21-shaft coupling; 22-the 6th support; The 23-second servomotor 24-Y guide rail; The 25-base plate; The 26-X guide rail.
Embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are described in further detail.
The present invention includes two parts: mechanical part and electric control system.Referring to Fig. 1, mechanical part comprises AC servo motor 1, is fixed on the X guide rail 26 by first support 2.The output shaft of servomotor 1 links to each other with servo-actuated speed reduction unit 5 by shaft coupling 3, and servo-actuated speed reduction unit 5 is fixed on the X guide rail 26 by second support 4.The output shaft of servo-actuated speed reduction unit 5 links to each other with charging assembly 6 one ends, and the other end of charging assembly links to each other with torque sensor 7, and torque sensor 7 is installed on first bearing 8, and bearing 8 is installed on the X guide rail 26.One end of coupling shaft 12 is connected with torque sensor 7 by shaft coupling 9.The grating of angular encoder 10 is fixed on the coupling shaft 12, and its shell is installed on the 3rd support 11, and the 3rd support 11 is fixed on the X guide rail.The other end of coupling shaft 12 links to each other with the output shaft of detected harmonic reducer 14, and detected harmonic reducer 14 is installed on the 4th support 13, and the 4th support 13 is fixed on the X guide rail.The input shaft of detected harmonic reducer 14 links to each other with coupling shaft 16, and scrambler 17 is installed on the coupling shaft 16, and can rotate with axle, and the shell of scrambler 17 is fixed on the 5th support 15, and support 15 is fixed on the X guide rail.The other end of coupling shaft 16 links to each other with torque sensor 19 by shaft coupling 18.Torque sensor 19 is installed on second bearing 20, and bearing 20 is fixed on the X guide rail.The other end of torque sensor 19 links to each other with AC servo motor 23 by shaft coupling 21, and AC servo motor is installed on the 6th support 22, and support 22 is installed on the X guide rail, and X guide rail 26 is installed on the base plate 25.Be equipped with one on the base plate 25 and be in conplane Y guide rail 24 with the X guide rail, this Y guide rail is installed on the base plate a end near detected harmonic reducer perpendicular to the X guide rail.
When detected harmonic reducer 14 was the perpendicular type speed reduction unit, detected harmonic reducer 14 right-hand side assemblies all can vertically be moved on the Y guide rail, and promptly rotary encoder is installed on the Y guide rail by the 5th support 15; And axially be connected with second torque sensor 19; Second torque sensor is installed on the Y guide rail by second bearing 20, and axially be connected with second servomotor 23, second servomotor is installed on the Y guide rail by the 6th support 22, the output shaft of detected harmonic reducer 14 axially is connected on the X guide rail with first coupling shaft 12, and the input shaft of detected harmonic reducer axially is connected on the Y guide rail with second coupling shaft 16.
Referring to Fig. 2, electric control system comprises: industrial control computer, and be inserted in high-precision motion control card, numbered card, multi-channel data acquisition card in the industrial control computer pci card groove.Motion control card links to each other with first, second servo controller in the mechanical test stand by cable, and first, second servo controller is control linkage servomotor 1, servomotor 23 respectively.The input end of data collecting card connects first torque sensor, second torque sensor by the terminal base signal; The input end of numbered card is by terminal base signal connection angle scrambler, rotary encoder.Industrial computer and motion control card constitute high-precise motion control system, and control servomotor and charger are done precise motion.Angle measurement unit (angular encoder and rotary encoder) and torque-measuring apparatus (first, second torque sensor), multi-channel data acquisition card, numbered card composition data acquisition circuit, information such as the angle of collection detected harmonic reducer, moment of torsion.
Special test software is installed in industrial computer, and motion control card is carried out AC servo motor 1,23 operations of the action command output analog quantity control mechanical part of special software; Data collecting card and numbered card are carried out the data acquisition command of special software, gather the detecting information of sensor in the mechanical part.Servomotor 23 drives detected harmonic reducer 14 motions by torque sensor 20, coupling shaft 16, constitutes complete driving-chain.Servomotor 1, servo-actuated speed reduction unit 5, charging assembly 6 and torque sensor 7 constitute charger, by coupling shaft 12, under the control of electric control system detected harmonic reducer are loaded.
According to different test purposes, motion control card control servomotor in the electric control system drives detected harmonic reducer and carries out the motion of various patterns, data collecting card, the corresponding detected harmonic reducer service data of numbered card collection are to finish different test events.The test event that this test macro can be finished has: 8 of transmission efficiency test, operation life test, overload capacity test, staring torque test, rigidity and return difference test, sensitivity and time zero accuracy test, transmission accuracy test, transient process tests etc.Above-mentioned test function comprises that fully the B of defined organizes the detection of 8-12 item and the 14th Interventions Requested during " military harmonic drive variator general specification " (GJB2593-95), but is not limited to the project of GJB2593-95 defined.When specifically testing, need connect different survey sensor in the physical construction according to different project choice.
When testing, detected harmonic reducer efficiency test, life test and overload capacity need measure input, output terminal moment; Need measure input end moment during the staring torque test; Sensitivity and return difference test and transmission accuracy test need to measure the input/output terminal angle; Transient process need be measured the input end angle; Rigidity and return difference need be measured output terminal angle and moment.
Power of test of the present invention is as follows: measure the moment scope: 0 to 1000N.m, and in the angle-measurement accuracy 10 seconds.
Claims (7)
1, a kind of dynamic performance comprehensive detection system of harmonic speed reducer comprises mechanical part and electric control system, it is characterized in that:
Described mechanical part comprises the X guide rail that is installed on the base plate, and this guide rail is provided with first servomotor, servo-actuated speed reduction unit, first torque sensor, angular encoder; Described first servomotor is fixed on the X guide rail by first support, with the servo-actuated reducer shaft to linking to each other; The servo-actuated speed reduction unit is fixed on the X guide rail by second support, and axially links to each other with first torque sensor by a charging assembly; First torque sensor is installed on the X guide rail by first bearing, and axially links to each other with angular encoder, and angular encoder is fixed on the X guide rail by the 3rd support, and links to each other with first coupling shaft; Detected harmonic reducer is installed on the X guide rail by the 4th support; The detected harmonic reducer output shaft is connected with first coupling shaft, and input shaft is connected with second coupling shaft; Second coupling shaft is provided with can be with the rotary encoder of its rotation, and rotary encoder is installed on the X guide rail by the 5th support; And axially be connected with second torque sensor; Second torque sensor is installed on the X guide rail by second bearing, and axially is connected with second servomotor, and second servomotor is installed on the X guide rail by the 6th support;
Described electric control system comprises: industrial control computer and be inserted in motion control card, data collecting card, numbered card in the pci card groove; The motion control card two-way signaling connects the output terminal of a control circuit; The input end of this control circuit is connected with the second servo controller signal with first servo controller respectively, first servo controller and the two-way control linkage of first servomotor; Second servo controller and the two-way control linkage of second servomotor; The input end of data collecting card is connected with first torque sensor, second torque sensor signal respectively; The input end of numbered card is connected with angular encoder, rotary encoder through signals respectively.
2, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 1, it is characterized in that, be equipped with one on the described base plate and be in conplane Y guide rail with the X guide rail, this Y guide rail is installed on the base plate a end near detected harmonic reducer perpendicular to the X guide rail.
3, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 1 is characterized in that, first servomotor and second servomotor all carry scrambler, and its output connects the input end of corresponding servo controller.
4, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 1 is characterized in that, it is to adopt a loading shaft coupling to realize that described first torque sensor axially is connected with angular encoder.
5, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 4 is characterized in that, detected harmonic reducer is thrown off first torque sensor and axially is connected with loading shaft coupling with angular encoder when not needing to load.
6, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 1, it is characterized in that, detected harmonic reducer is when carrying out rigidity test, second coupling shaft and detected harmonic reducer input shaft are thrown off, make detected harmonic reducer input shaft stall with special-purpose harmonic speed reducer plug; Perhaps do not throw off connection, the shutdown auto-lock function by second servomotor carries out stall to the input shaft of detected harmonic reducer.
7, dynamic performance comprehensive detection system of harmonic speed reducer as claimed in claim 2 is characterized in that, when detected harmonic reducer was the perpendicular type speed reduction unit, described rotary encoder was installed on the Y guide rail by the 5th support; And axially be connected with second torque sensor; Second torque sensor is installed on the Y guide rail by second bearing, and axially be connected with second servomotor, second servomotor is installed on the Y guide rail by the 6th support, and the output shaft of detected harmonic reducer and the first coupling shaft X be to being connected, and input shaft and the second coupling shaft Y are to being connected.
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| CNA2009100232258A CN101587016A (en) | 2009-07-07 | 2009-07-07 | Dynamic performance comprehensive detection system of harmonic speed reducer |
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| CNA2009100232258A CN101587016A (en) | 2009-07-07 | 2009-07-07 | Dynamic performance comprehensive detection system of harmonic speed reducer |
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