CN104236900A - Dynamic and static rotation precision detecting device for angular harmonic reducer - Google Patents
Dynamic and static rotation precision detecting device for angular harmonic reducer Download PDFInfo
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- CN104236900A CN104236900A CN201410421050.7A CN201410421050A CN104236900A CN 104236900 A CN104236900 A CN 104236900A CN 201410421050 A CN201410421050 A CN 201410421050A CN 104236900 A CN104236900 A CN 104236900A
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- speed reducer
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Abstract
The invention relates to the field of harmonic reducers, in particular to a dynamic and static rotation precision detecting device for an angular harmonic reducer. The dynamic and static rotation precision detecting device for the angular harmonic reducer comprises a torque sensor, a power mechanism, a loading mechanism and a clamping mechanism, wherein the torque sensor, the power mechanism, the loading mechanism and the clamping mechanism are installed on a base. The harmonic reducer is fixed to the clamping mechanism. The harmonic reducer comprises an input end and an output end. The input end and the output end of the harmonic reducer are respectively provided with a disk optical grating. The input end of the harmonic reducer is in linkage with the power mechanism. The output end of the harmonic reducer is connected with the loading mechanism. The torque sensor is further arranged between the output end of the harmonic reducer and the loading mechanism. The torque sensor is perpendicular to the input end of the harmonic reducer. By the adoption of the scheme, the dynamic rotation precision and the static rotation precision of a right-angle-shaped harmonic reducer can be measured at the same time.
Description
Technical field
The present invention relates to harmonic speed reducer field, refer in particular to a kind of sound state rotating accuracy detecting device of angle harmonic speed reducer.
Background technology
Harmonic speed reducer forms primarily of three basic building blocks: with the firm wheel of ring gear; With flexbile gear and the wave producer of external toothing.
As speed reduction unit use, usually adopt wave producer active (input), just take turns fixing, flexbile gear output form, wave producer is a rod-like members, and its two ends are equipped with rolling bearing and are formed roller, are mutually compressed by flexible bearing with the inwall of flexbile gear.Flexbile gear is the thin-wall gear that can produce larger elastic deformation.Wave producer is the component making flexbile gear produce controlled elasticity distortion, after wave producer loads flexbile gear, the section of flexbile gear is forced to become different in nature curved surface by original circle by flexible bearing, tooth near its major axis two ends engages completely with the tooth of just taking turns, and the tooth near minor axis two ends is then thrown off completely with firm wheel.The transition state that on girth, the tooth of other sections is in engagement and departs from.When wave producer rotates continuously, the distortion of flexbile gear constantly changes, and flexbile gear is also constantly changed with the engagement of just having taken turns, by engaging-in, engage, nibble out, throw off, engaging-in again, carry out again and again, thus realize flexbile gear and relatively just taken turns along the rightabout slow circumvolve of wave producer.
For harmonic speed reducer, its rotating accuracy (error between the theoretical value of input and output ratio of gear and actual value) is the important indicator passing judgment on harmonic speed reducer quality, in present stage, the rotating accuracy device of harmonic speed reducer can only be used for detecting its Static State Index, and its dynamic indicator cannot be detected, therefore, the present inventor makes further research this, develop a kind of sound state rotating accuracy detecting device of angle harmonic speed reducer, this case produces thus.
Summary of the invention
The object of the present invention is to provide a kind of sound state rotating accuracy detecting device of angle harmonic speed reducer, the sound state rotating accuracy of perpendicular type harmonic speed reducer can be measured simultaneously.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of sound state rotating accuracy detecting device of angle harmonic speed reducer, comprise the torque sensor be installed on pedestal, actuating unit, load maintainer, clamping mechanism, wherein clamping mechanism is fixed with harmonic speed reducer, described harmonic speed reducer comprises input end and output terminal, input end and output terminal are all equipped with disk grating, and the input end of harmonic speed reducer and actuating unit link, the output terminal of harmonic speed reducer is connected with load maintainer, also torque sensor is provided with between output terminal and load maintainer, described torque sensor is perpendicular to the input end of harmonic speed reducer.
Further, described actuating unit is arranged on adjusting mechanism, and adjusting mechanism can drive actuating unit horizontal slip.
Further, described load maintainer is magnetic powder brake.
After adopting such scheme, the present invention compared with prior art, has the following advantages:
By simulating the operation conditions of harmonic speed reducer, and reading corresponding technical parameter, detecting the rotating accuracy of harmonic speed reducer.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Label declaration
Torque sensor 1, actuating unit 2, load maintainer 3, clamping mechanism 4,
Angle harmonic speed reducer 5, adjusting mechanism 6.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in the figure, the sound state rotating accuracy detecting device of a kind of angle harmonic speed reducer 5 that the present invention discloses, comprise the torque sensor 1, actuating unit 2, load maintainer 3, the clamping mechanism 4 that are installed on pedestal, wherein clamping mechanism 4 is fixed with harmonic speed reducer 5, namely the firm wheel of harmonic speed reducer 5 is fixing by clamping mechanism 4.Described harmonic speed reducer 5 comprises input end (wave producer) and output terminal (flexbile gear), and the input end of harmonic speed reducer 5 and actuating unit 2(motor) link, rotated by driven by motor input end, actuating unit 2 is arranged on adjusting mechanism 6(slide rail or rack rails) on, adjusting mechanism 6 can drive actuating unit 2 horizontal slip.
The output terminal of harmonic speed reducer 5 is connected with load maintainer 3 (simulating harmonic speed reducer 5 in running order), torque sensor 1 is also provided with between output terminal and load maintainer 3, described torque sensor 1, perpendicular to the input end of harmonic speed reducer 5, is used for reading the torque value of harmonic speed reducer 5 output terminal.
First, by harmonic speed reducer 5 clamping on clamping mechanism 4, and be fixed with bolt, then, with shaft coupling, the input end of angle speed reduction unit is connected with actuating unit 2 respectively, be connected with load maintainer 3 by the output terminal of harmonic speed reducer 5, particular location is adjusted by adjusting mechanism 6.
After above-mentioned work completes, starter motor, reads the numerical value of disk grating on harmonic speed reducer 5 input end and output terminal respectively, by these two concrete readings, draws the rotating accuracy value of harmonic speed reducer 5.
Load maintainer 3 comprises magnetic powder brake, in aforesaid operations process, if only need to measure harmonic speed reducer 5 static accuracy, the magnetic powder brake of loading component cuts out, when needs carry out kinetic measurement, start magnetic powder brake, and regulate current value, just can obtain corresponding torque value, reach the object of kinetic measurement.
Above are only specific embodiments of the invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.
Claims (3)
1. the sound state rotating accuracy detecting device of an angle harmonic speed reducer, it is characterized in that: comprise the torque sensor be installed on pedestal, actuating unit, load maintainer, clamping mechanism, wherein clamping mechanism is fixed with harmonic speed reducer, described harmonic speed reducer comprises input end and output terminal, input end and output terminal are all equipped with disk grating, and the input end of harmonic speed reducer and actuating unit link, the output terminal of harmonic speed reducer is connected with load maintainer, also torque sensor is provided with between output terminal and load maintainer, described torque sensor is perpendicular to the input end of harmonic speed reducer.
2. the sound state rotating accuracy detecting device of a kind of angle harmonic speed reducer according to claim 1, it is characterized in that: described actuating unit is arranged on adjusting mechanism, adjusting mechanism can drive actuating unit horizontal slip.
3. the sound state rotating accuracy detecting device of a kind of angle harmonic speed reducer according to claim 1, is characterized in that: described load maintainer is magnetic powder brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410421050.7A CN104236900A (en) | 2014-08-25 | 2014-08-25 | Dynamic and static rotation precision detecting device for angular harmonic reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410421050.7A CN104236900A (en) | 2014-08-25 | 2014-08-25 | Dynamic and static rotation precision detecting device for angular harmonic reducer |
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| CN104236900A true CN104236900A (en) | 2014-12-24 |
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| CN201410421050.7A Pending CN104236900A (en) | 2014-08-25 | 2014-08-25 | Dynamic and static rotation precision detecting device for angular harmonic reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020415A (en) * | 2017-12-10 | 2018-05-11 | 北京工业大学 | A kind of measuring device of harmonic speed reducer static twist rigidity |
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Application publication date: 20141224 |