CN104359673A - Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors - Google Patents
Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors Download PDFInfo
- Publication number
- CN104359673A CN104359673A CN201410729871.7A CN201410729871A CN104359673A CN 104359673 A CN104359673 A CN 104359673A CN 201410729871 A CN201410729871 A CN 201410729871A CN 104359673 A CN104359673 A CN 104359673A
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- output shaft
- input shaft
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a harmonic reducer transmission chain error measurement instrument, which comprises a workbench, a main shaft part, an input shaft angle transducer and an output shaft angle transducer, wherein the main shaft part is fixed on the workbench; a drive motor, a precision shaft system having a main shaft and a reducing mechanism which is connected to the main shaft and the output shaft of the drive motor are arranged on the main shaft part; the main shaft of the main shaft part is connected to the input shaft of a harmonic reducer; the input shaft angle transducer is mounted on the main shaft and is used for recording instantaneous revolution angle of the input shaft of the harmonic reducer; and the output shaft angle transducer is connected to the output shaft of the harmonic reducer and is used for recording instantaneous revolution angle of the output shaft of the harmonic reducer. Furthermore, the invention discloses a method of the harmonic reducer transmission chain error measurement instrument for measuring errors. The measurement instrument disclosed by the invention, when applied, is convenient to operate and time-saving and labor-saving, improved in measurement precision and measurement efficiency and is convenient for analysis of error source.
Description
Technical field
The present invention relates to harmonic speed reducer measuring technique, specifically the method for Error Detecting Instruments on Harmonic Speed Reducer Driving Chain and measuring error thereof.
Background technology
Harmonic speed reducer is the advantage such as ratio of gear is large, compact conformation, low-profile because having, and it becomes the important drive disk assembly of military industry field and robot industry.The driving error of harmonic speed reducer and hysterisis error directly affect its result of use, are the important technology indexs of harmonic speed reducer.In order to ensure product quality, often overlap the detection all will carrying out driving error and hysterisis error before harmonic speed reducer dispatches from the factory.The method of traditional measurement harmonic speed reducer driving error and hysterisis error is substantially all adopt manual static, discontinuous measurement, harmonic speed reducer is contained on a fixed support, when surveying driving error, harmonic speed reducer input shaft is connected with an optical reading head, export termination one polyhedron (generally with 24 bodies or 36 bodies), the fixing angle of revolution (15 ° or 10 °) of output shaft is read discontinuously by a parallel light tube, then, angle of revolution corresponding to input shaft is read by optical reading head, again according to read input shaft angle of revolution with obtain driving error according to the difference of the theoretical angle of revolution of the input shaft of gear ratio calculation.Adopting aforesaid way to measure driving error generally needs more than two people to operate, a hand read head revolution of people, drive the revolution of harmonic speed reducer input shaft, and then the revolution of driver output axle, when output shaft turns over a reading time interval 15 ° or 10 ° just (another people is read by parallel light tube eyepiece), write down the reading of now optical reading head again, i.e. the angle that turns over of input shaft.The complete product of general survey (output shaft turns over 360 °, a whole circle), the hand of optical reading head is often shaking several thousand turns.The error surveying opposite side also will through same process, only survey rotating driving error and just need 2 to 3 people's manual operations 3 to 4 hours, time-consumingly to require great effort again, and output shaft measurement point limited (generally only having tens points), measurement result is not comprehensive, product error overall picture can not be reflected, also just correctly can not evaluate product quality with it.The hysterisis error traditional measurement method of harmonic speed reducer is on output shaft, fill a dial gauge, by hand read head, the backhaul difference value of certain phase place is drawn by read head and dial gauge reading, owing to installing reading trouble, measurement is wasted time and energy, generally can only survey several point in output shaft one turn, be difficult to find its maximal value and minimum value, the actual value of harmonic speed reducer backhaul difference cannot be reflected.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of successive dynamic measuring method and instrument of harmonic speed reducer transmission chain error, simple operation when it is for measuring harmonic speed reducer transmission chain error and hysterisis error, time saving and energy saving, energy improving measurement accuracy, and measurement efficiency can be promoted, be convenient to analytical error source.
The present invention solves the problem and is achieved through the following technical solutions: Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, comprise worktable, spindle unit, input shaft angular transducer and output shaft angular transducer, described spindle unit is fixing on the table, spindle unit is provided with drive motor, there is the precision bearing system of main shaft, and connect the reducing gear of main shaft and drive motor output shaft, the main shaft of spindle unit is connected with the input shaft of harmonic speed reducer, input shaft angular transducer is arranged on main shaft for recording the moment angle of revolution of harmonic speed reducer input shaft, output shaft angular transducer is connected the moment angle of revolution for recording harmonic speed reducer output shaft with the output shaft of harmonic speed reducer.
Further, described input shaft angular transducer and output shaft angular transducer all adopt circular raster sensor.The present invention is when embody rule, and input shaft angular transducer and output shaft angular transducer also can adopt the angular transducer of other dynamic reading.
Further, Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, also comprise input shaft shaft coupling and output shaft coupler, the main shaft of described spindle unit is connected with the input shaft of harmonic speed reducer by input shaft shaft coupling, and described output shaft angular transducer is connected with harmonic speed reducer output shaft by output shaft coupler.So, during measuring instrument application of the present invention be convenient to main shaft to be connected with harmonic speed reducer with output shaft angular transducer.
Further, Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, also comprise the reducer stent of supporting harmonic speed reducer and the sensor stand of supporting output shaft angular transducer, described reducer stent and sensor stand are all fixing on the table.
Further, described worktable upper surface is configured with many T-slot, and described spindle unit, reducer stent and sensor stand are all fixing on the table by the positioning key embedded in T-slot.So, when the present invention applies, by positioning key and T-slot precise match, be convenient to the exact position ensureing spindle unit, harmonic speed reducer and output shaft angular transducer, the measurement of the harmonic speed reducer of output shaft and the coaxial or in 90 ° distribution of input shaft and arbitrarily angled distribution can be adapted to.
Further, Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, also comprise data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, described data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor, described input shaft grating signal processing system receives the signal shaping that input shaft angular transducer gathers, data acquisition system (DAS) is reached after segmentation, output shaft grating signal processing system receives the signal shaping that output shaft angular transducer gathers, data acquisition system (DAS) is reached after segmentation, described data acquisition system (DAS) is used for the instruction of receiving computer system, and input shaft grating signal processing system and the shaping of output shaft grating signal processing system is obtained after receiving the instruction that computer system sends, signal after segmentation, and then reach computer system after collection signal is processed, described motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control to drive motor, described computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.
The method of Error Detecting Instruments on Harmonic Speed Reducer Driving Chain measuring error, comprises the following steps:
Step one, installation harmonic speed reducer;
Step 2, main shaft continuous rotary by drive motor drive shaft parts, harmonic speed reducer input shaft continuous rotary, by the instantaneous angle of revolution of input shaft angular transducer continuous dynamically recording harmonic speed reducer input shaft, and by the angle of revolution of output shaft angular transducer continuous dynamically recording harmonic speed reducer output shaft;
Step 3, according to harmonic speed reducer input shaft and output shaft dynamic transient angle of revolution, draw the actual instantaneous transmission ratio of harmonic speed reducer, compare with theoretical value, draw the transmission chain error of harmonic speed reducer;
Step 4, measure the transmission chain error rotated and reverse of harmonic speed reducer continuously, adopt impulse phase Comparison Method to obtain the backhaul of each phase place in harmonic speed reducer output shaft one turn poor, obtain the poor curve of continuous backhaul.Wherein, the transmission chain error of harmonic speed reducer generally represents with output shaft angle of revolution.
Further, the concrete operation step of described impulse phase Comparison Method is as follows: the corresponding angle of revolution going out the rotating of harmonic speed reducer input shaft in each phase measurement that harmonic speed reducer output shaft is identical, the difference calculating each phase place rotating angle of revolution obtains the hysterisis error value of each phase place, thus obtains hysterisis error curve.
In sum, the present invention has following beneficial effect: the present invention is convenient compared with operated in accordance with conventional methods, time saving and energy saving, can promote and measure efficiency, sampled point is complete, and the error obtained when calculating transmission chain error and hysterisis error is comprehensive, energy improving measurement accuracy, is convenient to analytical error source.
Accompanying drawing explanation
fig. 1 is the structural representation of a measuring instrument of the present invention specific embodiment;
Fig. 2 is the hardware configuration schematic diagram of a measuring instrument of the present invention specific embodiment.
Name in accompanying drawing corresponding to Reference numeral is called: 1, worktable, 2, harmonic speed reducer, 3, spindle unit, 4, reducer stent, 5, input shaft angular transducer, 6, output shaft angular transducer, 7, input shaft shaft coupling, 8, output shaft coupler, 9, sensor stand.
Embodiment
Below in conjunction with embodiment and accompanying drawing, detailed description is further done to the present invention, but embodiments of the present invention are not limited thereto.
Embodiment 1:
As shown in Figure 1, Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, comprise worktable 1, spindle unit 3, input shaft angular transducer 5 and output shaft angular transducer 6, wherein, spindle unit 3 comprises shell, drive motor, has the precision bearing system of main shaft and connect the reducing gear of main shaft and drive motor output shaft, and the shell of spindle unit 3 is fixed on worktable 1, and main shaft is through shell, drive motor and reducing gear are all located in shell, and drive motor is used for drive shaft and rotates.Input shaft angular transducer 5 and the output shaft angular transducer 6 of the present embodiment all adopt circular raster sensor, and input shaft angular transducer 5 is arranged on the main shaft of spindle unit 3.
The method of the present embodiment Error Detecting Instruments on Harmonic Speed Reducer Driving Chain measuring error, comprises the following steps: step one, be connected with the main shaft of spindle unit 3 by the input shaft of harmonic speed reducer 2 to be measured, and output shaft connects output shaft angular transducer 6; Step 2, main shaft continuous rotary by drive motor drive shaft parts 3, by the instantaneous angle of revolution of continuous dynamically recording harmonic speed reducer 2 input shaft of input shaft angular transducer 5, and by the angle of revolution of output shaft angular transducer 6 dynamically recording harmonic speed reducer 2 output shaft continuously; Step 3, according to harmonic speed reducer 2 input shaft and output shaft dynamic transient angle of revolution, draw the actual instantaneous transmission ratio of harmonic speed reducer 2, compare with theoretical value, draw the transmission chain error of harmonic speed reducer 2; Step 4, measure the transmission chain error rotated and reverse of harmonic speed reducer 2 continuously, adopt impulse phase Comparison Method to obtain the backhaul of each phase place in harmonic speed reducer 2 output shaft one turn poor, obtain the poor curve of continuous backhaul.Wherein, the concrete operation step of impulse phase Comparison Method is as follows: the corresponding angle of revolution going out the rotating of harmonic speed reducer 2 input shaft in each phase measurement that harmonic speed reducer 2 output shaft is identical, the difference calculating each phase place rotating angle of revolution obtains the hysterisis error value of each phase place, thus obtains hysterisis error curve.The specific formula for calculation of impulse phase Comparison Method is as follows: by circumferentially spaced set n phase point of the output shaft of harmonic speed reducer 2, forward and reverse sequence are numbered 1 respectively, and 2, n-1, n, wherein, the n-th point that the 1st correspondence that forward is numbered oppositely is numbered, 2nd correspondence, (n-1)th point of oppositely numbering of forward numbering, the like, the 1st point of n-th of forward numbering then corresponding oppositely numbering, forward measurement data adopts x to represent, forward measurement data is x
1, x
2... x
n-1, x
n, reverse measurement data adopts y to represent, reverse measurement data is y
1, y
2... y
n-1, y
n, then backhaul data is: x
1-y
n, x
2-y
n-1..., x
n-1-y
2, x
n-y
1.
Embodiment 2:
The present embodiment has made following restriction further on the basis of embodiment 1: the present embodiment also comprises input shaft shaft coupling 7 and output shaft coupler 8, the main shaft of spindle unit 3 is connected with the input shaft of harmonic speed reducer 2 by input shaft shaft coupling 7, and output shaft angular transducer 6 is connected with harmonic speed reducer 2 output shaft by output shaft coupler 8.
Embodiment 3:
The present embodiment have been made and have been limited further as follows on the basis of embodiment 1 or embodiment 2: the present embodiment also comprises reducer stent 4 and sensor stand 9, reducer stent 4 and sensor stand 9 are all fixed on worktable 1, reducer stent 4 and sensor stand 9 are all configured with the pilot hole running through respective opposite end surface, harmonic speed reducer 2 and output shaft angular transducer 6 are equipped with positioning boss, harmonic speed reducer 2 is embedded in the pilot hole of speed reduction unit supporting 4 by its positioning boss, and then completes the supporting to harmonic speed reducer 4 by reducer stent 4; Output shaft angular transducer 6 is embedded in the pilot hole of sensor stand 9 by its positioning boss, and then completes the supporting to output shaft angular transducer 6 by sensor stand 9.
Embodiment 4:
The present embodiment has made following restriction further on the basis of embodiment 3: worktable 1 upper surface of the present embodiment is configured with many T-slot, and spindle unit 3, reducer stent 4 and sensor stand 9 are all fixed on worktable 1 by the positioning key embedded in T-slot.So, the present embodiment is convenient to the measurement of the harmonic speed reducer realizing output shaft and the coaxial or in 90 ° distribution of input shaft and arbitrarily angled distribution.
Embodiment 5:
As shown in Figure 2, the basis of the present embodiment any one embodiment in embodiment 1 ~ embodiment 4 is made following restriction further: the present embodiment also comprises data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, wherein, computer system is equipped with keyboard, mouse, display and printer, display provides visual operation interface, shows the output signal after computer system processor.Data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor.Input shaft grating signal processing system receives the signal of input shaft angular transducer collection and shaping, reach data acquisition system (DAS) after segmentation, and output shaft grating signal processing system receives the signal of output shaft angular transducer collection and shaping, reach data acquisition system (DAS) after segmentation.Data acquisition system (DAS) is used for the instruction of receiving computer system, and the signal obtained after receiving the instruction that computer system sends after input shaft grating signal processing system and the shaping of output shaft grating signal processing system, segmentation, and then reach computer system after collection signal is processed.Motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control through motor control module to drive motor.Computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.The present embodiment is when specifically arranging, and data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system and motor driven systems are all integrated in computer system.For the ease of carrying out analyzing and processing to signal, in the present embodiment, input shaft angle turns between sensor 5 and input shaft grating signal process disposal system, is provided with prime amplifier between output shaft angular transducer 6 and output shaft grating signal processing system.
Harmonic speed reducer error measure software systems are provided with in the computer system of the present embodiment, parameter management module, instrument designing module, data acquisition and control module, measurement result administration module that these software systems comprise monitoring module and are connected with monitoring module, wherein, monitoring module receives input signal and finishing man-machine interaction; Parameter management module is for completing input to measured speed reduction unit parameter, amendment, storage and reading; Instrument designing module has been used for the setting of the measurement parameters such as density measurement (measurement is counted), amplification ratio; The parameter of data acquisition module according to speed reduction unit and the measurement parameter of setting, dynamic acquisition and process are carried out in input shaft when operating to speed reduction unit and the angle of revolution of output shaft, draw transmission chain error and hysterisis error curve, in addition, also will complete the rotating to drive motor and shut-down operation; Measurement result administration module, for completing the display of measurement result, prints, stores and reads.
In the present embodiment, software systems is provided with four drop-down menus with householder interface, be respectively parameter management menu, instrument designing menu, error measure menu and result and export menu, wherein, parameter management menu is for inputting the basic parameter of detected harmonic reducer, and its drop-down item comprises work figure number, transmission speed ratio, density measurement, graph of errors enlargement factor, graph of errors elongation length, gets parameter, deposits parameter etc.The drop-down item of instrument designing menu comprise operator, workpiece numbering, print time output format, factory's name etc.The drop-down item of error measure menu comprises selected transmission chain error etc. when measuring transmission chain error when harmonic speed reducer rotates forward, harmonic speed reducer reversion.Result exports the drop-down item of menu and comprises exporting and rotate forward transmission chain error result, export reversion transmission chain error result, export and rotate forward driving-chain spectrum analysis, export the spectrum analysis of reversion driving-chain, export hysterisis error result, statistical measurements, get measurement result, deposit measurement result etc.The measuring instrument of the present embodiment is after being equipped with harmonic speed reducer error measure software systems, continuous print transmission chain error curve is drawn by computer disposal, provide transmission chain error numerical value, display demonstrates or measurement report list got by printer, and by computing machine, spectrum analysis is done to error result, provide the larger humorous wave frequency of amplitude and amplitude, find out transmission chain error and be mainly derived from which link in driving-chain, thus the approach improving harmonic speed reducer precision further can be pointed out.
As mentioned above, the present invention can be realized preferably.
Claims (8)
1. Error Detecting Instruments on Harmonic Speed Reducer Driving Chain, it is characterized in that, comprise worktable (1), spindle unit (3), input shaft angular transducer (5) and output shaft angular transducer (6), described spindle unit (3) is fixed on worktable (1), spindle unit (3) is provided with drive motor, there is the precision bearing system of main shaft, and connect the reducing gear of main shaft and drive motor output shaft, the main shaft of spindle unit (3) is connected with the input shaft of harmonic speed reducer (2), input shaft angular transducer (5) is arranged on main shaft for recording the moment angle of revolution of harmonic speed reducer (2) input shaft, output shaft angular transducer (6) is connected the moment angle of revolution for recording harmonic speed reducer (2) output shaft with the output shaft of harmonic speed reducer (2).
2. Error Detecting Instruments on Harmonic Speed Reducer Driving Chain according to claim 1, is characterized in that, described input shaft angular transducer (5) and output shaft angular transducer (6) all adopt circular raster sensor.
3. Error Detecting Instruments on Harmonic Speed Reducer Driving Chain according to claim 1, it is characterized in that, also comprise input shaft shaft coupling (7) and output shaft coupler (8), the main shaft of described spindle unit (3) is connected with the input shaft of harmonic speed reducer (2) by input shaft shaft coupling (7), and described output shaft angular transducer (6) is connected with harmonic speed reducer (2) output shaft by output shaft coupler (8).
4. Error Detecting Instruments on Harmonic Speed Reducer Driving Chain according to claim 1, it is characterized in that, also comprise the reducer stent (4) of supporting harmonic speed reducer (2) and the sensor stand (9) of supporting output shaft angular transducer (6), described reducer stent (4) and sensor stand (9) are all fixed on worktable (1).
5. Error Detecting Instruments on Harmonic Speed Reducer Driving Chain according to claim 4, it is characterized in that, described worktable (1) upper surface is configured with many T-slot, and described spindle unit (3), reducer stent (4) and sensor stand (9) are all fixed on worktable (1) by the positioning key embedded in T-slot.
6. according to the Error Detecting Instruments on Harmonic Speed Reducer Driving Chain in Claims 1 to 5 described in any one, it is characterized in that, also comprise data acquisition system (DAS), input shaft grating signal processing system, output shaft grating signal processing system, motor driven systems and computer system, described data acquisition system (DAS) is all connected with computer system with motor driven systems, and motor driven systems is connected with drive motor, described input shaft grating signal processing system receives the signal shaping that input shaft angular transducer (5) gathers, data acquisition system (DAS) is reached after segmentation, output shaft grating signal processing system receives output shaft angular transducer (6) signal that gathers and shaping, data acquisition system (DAS) is reached after segmentation, described data acquisition system (DAS) is used for the instruction of receiving computer system, and input shaft grating signal processing system and the shaping of output shaft grating signal processing system is obtained after receiving the instruction that computer system sends, signal after segmentation, and then reach computer system after collection signal is processed, described motor driven systems is used for the steering order that sends of receiving computer system and carries out on off control to drive motor, described computer system is used for sending steering order, and receives the signal after data acquisition system (DAS) process and again process and export in mode intuitively.
7. the method for Error Detecting Instruments on Harmonic Speed Reducer Driving Chain measuring error, is characterized in that, comprises the following steps:
Step one, installation harmonic speed reducer (2);
Step 2, main shaft continuous rotary by drive motor drive shaft parts (3), harmonic speed reducer (2) input shaft continuous rotary, by the instantaneous angle of revolution of continuous dynamically recording harmonic speed reducer (2) input shaft of input shaft angular transducer (5), and by the angle of revolution of output shaft angular transducer (6) dynamically recording harmonic speed reducer (2) output shaft continuously;
Step 3, according to harmonic speed reducer (2) input shaft and output shaft dynamic transient angle of revolution, draw the actual instantaneous transmission ratio of harmonic speed reducer (2), compare with theoretical value, draw the transmission chain error of harmonic speed reducer (2);
Step 4, measure the transmission chain error rotated and reverse of harmonic speed reducer (2) continuously, adopt impulse phase Comparison Method to obtain the backhaul of each phase place in harmonic speed reducer (2) output shaft one turn poor, obtain the poor curve of continuous backhaul.
8. the method for Error Detecting Instruments on Harmonic Speed Reducer Driving Chain measuring error according to claim 7, it is characterized in that, the concrete operation step of described impulse phase Comparison Method is as follows: the corresponding angle of revolution going out harmonic speed reducer (2) input shaft rotating in each phase measurement that harmonic speed reducer (2) output shaft is identical, the difference calculating each phase place rotating angle of revolution obtains the hysterisis error value of each phase place, thus obtains hysterisis error curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410729871.7A CN104359673A (en) | 2014-12-05 | 2014-12-05 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410729871.7A CN104359673A (en) | 2014-12-05 | 2014-12-05 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104359673A true CN104359673A (en) | 2015-02-18 |
Family
ID=52526956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410729871.7A Pending CN104359673A (en) | 2014-12-05 | 2014-12-05 | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104359673A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769015A (en) * | 2016-12-28 | 2017-05-31 | 华东交通大学 | A kind of Dynamic Characteristics of Drive System experimental bench measurement apparatus and detection method |
| CN107806850A (en) * | 2017-09-21 | 2018-03-16 | 中国科学院长春光学精密机械与物理研究所 | A kind of steering wheel gap measuring method and system |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110398359A (en) * | 2019-08-14 | 2019-11-01 | 华南理工大学 | A kind of dynamic testing method and device of mechanical drive train composition error |
| CN111366362A (en) * | 2018-12-26 | 2020-07-03 | 深圳市优必选科技有限公司 | Transmission return difference measuring method and device, terminal equipment and readable storage medium |
| CN112254665A (en) * | 2020-09-09 | 2021-01-22 | 杭州电子科技大学 | High-precision digital circular division sensor, system and detection method |
| CN114199562A (en) * | 2021-12-14 | 2022-03-18 | 江苏省特种设备安全监督检验研究院 | Fault monitoring device and method for transmission mechanism of crane |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2460968Y (en) * | 2000-12-27 | 2001-11-21 | 中国科学院沈阳自动化研究所 | Harmonic driving device based on sensor |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| WO2010116607A1 (en) * | 2009-04-07 | 2010-10-14 | 株式会社ハーモニック・ドライブ・システムズ | Method for compensating for angular transmission error in strain wave gearing |
| CN102331344A (en) * | 2010-07-13 | 2012-01-25 | 天津职业技术师范大学 | Transmission accuracy testing system for precision speed reducer |
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN103698126A (en) * | 2013-12-26 | 2014-04-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
| CN203981399U (en) * | 2014-07-08 | 2014-12-03 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic speed reducer transmission accuracy testing apparatus |
| CN204202873U (en) * | 2014-12-05 | 2015-03-11 | 成都斯瑞工具科技有限公司 | The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error |
-
2014
- 2014-12-05 CN CN201410729871.7A patent/CN104359673A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2460968Y (en) * | 2000-12-27 | 2001-11-21 | 中国科学院沈阳自动化研究所 | Harmonic driving device based on sensor |
| WO2010116607A1 (en) * | 2009-04-07 | 2010-10-14 | 株式会社ハーモニック・ドライブ・システムズ | Method for compensating for angular transmission error in strain wave gearing |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102331344A (en) * | 2010-07-13 | 2012-01-25 | 天津职业技术师范大学 | Transmission accuracy testing system for precision speed reducer |
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN103698126A (en) * | 2013-12-26 | 2014-04-02 | 北京配天大富精密机械有限公司 | Speed reducer testing equipment |
| CN203981399U (en) * | 2014-07-08 | 2014-12-03 | 东莞市鑫拓智能机械科技有限公司 | A kind of harmonic speed reducer transmission accuracy testing apparatus |
| CN204202873U (en) * | 2014-12-05 | 2015-03-11 | 成都斯瑞工具科技有限公司 | The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error |
Non-Patent Citations (1)
| Title |
|---|
| 严金榜: "谐波减速器传动链误差测量仪设计", 《计量与测试技术》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769015A (en) * | 2016-12-28 | 2017-05-31 | 华东交通大学 | A kind of Dynamic Characteristics of Drive System experimental bench measurement apparatus and detection method |
| CN107806850A (en) * | 2017-09-21 | 2018-03-16 | 中国科学院长春光学精密机械与物理研究所 | A kind of steering wheel gap measuring method and system |
| CN111366362A (en) * | 2018-12-26 | 2020-07-03 | 深圳市优必选科技有限公司 | Transmission return difference measuring method and device, terminal equipment and readable storage medium |
| CN109632302A (en) * | 2019-01-21 | 2019-04-16 | 重庆大学 | A kind of RV retarder Online Transaction Processing |
| CN110398359A (en) * | 2019-08-14 | 2019-11-01 | 华南理工大学 | A kind of dynamic testing method and device of mechanical drive train composition error |
| CN110398359B (en) * | 2019-08-14 | 2024-03-15 | 华南理工大学 | Dynamic detection method and device for comprehensive errors of mechanical transmission chain |
| CN112254665A (en) * | 2020-09-09 | 2021-01-22 | 杭州电子科技大学 | High-precision digital circular division sensor, system and detection method |
| CN114199562A (en) * | 2021-12-14 | 2022-03-18 | 江苏省特种设备安全监督检验研究院 | Fault monitoring device and method for transmission mechanism of crane |
| CN114199562B (en) * | 2021-12-14 | 2022-06-14 | 江苏省特种设备安全监督检验研究院 | Fault monitoring device and method for transmission mechanism of crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104359673A (en) | Harmonic reducer transmission chain error measurement instrument and method thereof for measuring errors | |
| CN101561349B (en) | Large gear detecting method and detecting device | |
| CN204202873U (en) | The continuous measurement system of harmonic speed reducer transmission chain error and hysterisis error | |
| CN102494710A (en) | Angle measurement precision detection apparatus of encoder and detection method thereof | |
| CN103644875B (en) | A kind of dynamically spindle rotation accuracy checkout gear | |
| CN101813448B (en) | Special calculator used in the method for aligning and centering coupler of rotating machinery | |
| CN101769727B (en) | Online automatic detection system of local straight degree of circular-section workpiece | |
| CN101829823B (en) | Electrode wire diameter on-line automatic detection and compensation system during linear cutting | |
| CN105269404A (en) | Detection device for knife point dynamic characteristics of numerical control machine tool and method of detection device | |
| CN105424073A (en) | Incremental photoelectric encoder precision detection system | |
| CN105043317A (en) | Device and method for measuring dynamic revolution error of main shaft of set of revolution equipment | |
| CN201497631U (en) | Detection device for large-sized gear | |
| CN203615907U (en) | Dynamic spindle revolution precision detection device | |
| CN109656196A (en) | Digital control system all-round property testing method and apparatus | |
| CN106568597A (en) | High precision measurement method for roller gear tooth surface comprehensive meshing rigidity | |
| CN204711699U (en) | Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device | |
| CN101733678A (en) | Graphical control system of numerical control machine and method | |
| CN102121816A (en) | Horizontal roundness and cylindricity automatic-measuring device | |
| CN103831669A (en) | Circular degree error online measurement system and measurement method | |
| CN205538092U (en) | On --spot calibrating device of measuring equipment that measured one's own ability in six minutes | |
| CN105486219A (en) | Aviation high-speed gear dynamic transmission error measuring system | |
| CN103335833A (en) | Device for online measuring dynamic performance of ultra-precision hydrostatic spindle and method for measuring dynamic performance of hydrostatic spindle by using same | |
| CN102494846A (en) | Single-side dynamic balance tool | |
| CN2872297Y (en) | Non-contacting and large-diameter measuring equipment based on image method | |
| CN105066920A (en) | Intelligent detector for shaft type parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150218 |