CN110530636A - Space environmental simulation harmonic speed reducer transmission performance test macro - Google Patents
Space environmental simulation harmonic speed reducer transmission performance test macro Download PDFInfo
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- CN110530636A CN110530636A CN201810498617.9A CN201810498617A CN110530636A CN 110530636 A CN110530636 A CN 110530636A CN 201810498617 A CN201810498617 A CN 201810498617A CN 110530636 A CN110530636 A CN 110530636A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 101
- 230000005540 biological transmission Effects 0.000 title claims abstract description 59
- 238000004088 simulation Methods 0.000 title claims abstract description 28
- 230000007613 environmental effect Effects 0.000 title claims abstract description 16
- 238000011056 performance test Methods 0.000 title claims abstract description 12
- 238000012360 testing method Methods 0.000 claims abstract description 87
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 60
- 229910052757 nitrogen Inorganic materials 0.000 claims description 30
- 239000006247 magnetic powder Substances 0.000 claims description 28
- 238000007789 sealing Methods 0.000 claims description 28
- 239000012530 fluid Substances 0.000 claims description 25
- 239000007788 liquid Substances 0.000 claims description 22
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 238000006880 cross-coupling reaction Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000010438 heat treatment Methods 0.000 claims description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims description 4
- 239000011553 magnetic fluid Substances 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000000110 cooling liquid Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 claims description 2
- 239000000843 powder Substances 0.000 claims 1
- 238000005461 lubrication Methods 0.000 abstract description 13
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000011160 research Methods 0.000 abstract description 5
- 238000011835 investigation Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000012216 screening Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 238000013142 basic testing Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
- 230000002747 voluntary effect Effects 0.000 description 1
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- 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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses space environmental simulation harmonic speed reducer transmission performance test macros, transmission performance test and high vacuum by harmonic speed reducer, high temperature, the optimization of the space environment simulations such as low temperature and high/low temperature alternation is integrated to be formed, the transmission accuracy that treated to realize space lubrication technology when harmonic speed reducer operates in space environmental simulation, driving torque, the test and investigation of transmission efficiency and running life, for the lubrication technology of spacecraft harmonic speed reducer, type selecting between harmonic speed reducer type and operating parameters provides necessary test and research foundation.
Description
Technical field
The present invention relates to a kind of space environmental simulation harmonic speed reducer transmission performance test macros, belong to the profit of space mechanism
Sliding technical field.
Background technique
The harmonic wave drive speed reducer (hereinafter referred to as harmonic speed reducer) of China's space industry application mainly includes space flight
The crucial rotating units such as expansion, driving, accurate direction, precision sweep, the mechanical arm of device.Harmonic speed reducer space high vacuum,
It is run in the particular surroundings such as high temperature, low temperature and high/low temperature alternation, especially specific condition of the spatial movement mechanism in no backup
Under also need harmonic speed reducer under high-precision, long-life, highly reliable lubrication operating condition for spacecraft service.Therefore harmonic reduction
The device cunning material applied in space environment of profit and technology by be space lubrication subject important research field, thus must be on ground
The test macro of harmonic speed reducer transmission performance in effective space environmental simulation is established in face laboratory, could be research space flight
Drive characteristic, lubrication strategies, the evaluation of space lubriation material and the screening of device harmonic speed reducer provide test platform.
The lubrication technology of spacecraft harmonic speed reducer generally include the composite lubricated material of liquid, solid, solid-liquid and
Technology etc..Treated that harmonic speed reducer will also filter out humorous according to the practical application operating condition of space mechanism for space lubrication technology
Wave retarder type could be applied with operating parameters optimum matching scheme by spacecraft.The test macro can for applied to
It is then the another important engineer application of this test macro that harmonic speed reducer in spacecraft, which provides necessary basic test parameter,
Where value.
Summary of the invention
The object of the present invention is to provide space environmental simulation harmonic speed reducer transmission performance test macros.The test macro is
It is flat to study the drive characteristic of spacecraft harmonic speed reducer, the evaluation of lubrication strategies and lubriation material and screening offer test
Platform.
The present invention is that the transmission performance test of harmonic speed reducer is empty with high vacuum, high temperature, low temperature and high/low temperature alternation etc.
Between environmental simulation optimization is integrated forms, treated to realize space lubrication technology, and harmonic speed reducer is transported in space environmental simulation
The test and investigation of transmission accuracy, driving torque, transmission efficiency and running life when turning are subtracted for spacecraft with harmonic wave
Type selecting between the lubrication technology of fast device, harmonic speed reducer type and operating parameters provide necessary test and research according to
According to.
Transmission performance test macro in the present invention is mainly by transmission test cell and space environment simulation unit two parts
It constitutes.
Transmission test cell in the present invention is to pass through each link position by stepper motor using stepper motor as driving source
Sliding cross coupling and positive coupling drive vacuum chamber outer torque tester, harmonic speed reducer input terminal magnet fluid sealing
Harmonic speed reducer input terminal photoelectric encoder I and the rotation of harmonic speed reducer input shaft in axis, vacuum chamber.Pass through harmonic speed reducer
Rotation is passed to harmonic speed reducer output shaft by internal wave producer, flexbile gear, the deceleration transmission between firm gear three, is subtracted by harmonic wave
Fast device output shaft drives the outer magnetic powders brake of output end photoelectric encoder II, output end magnet fluid sealing axis and vacuum chamber in vacuum chamber
Device rotation.
Harmonic speed reducer output end institute offered load be by adjust the electric current of magnetic powder brake power supply, voltage value come
Control the load output of magnetic powder brake.And the installation of I lower part of test platform is acted on by the other end of the magnetic powder brake arm of force
On pressure sensor, when measuring harmonic speed reducer output shaft drive magnetic powder brake up time or counterclockwise operating by pressure sensor
The arm of force acts on the force value of sensor, and the power output of magnetic powder brake is calculated by the arm of force and active force product (L × F=M)
Square.
Harmonic speed reducer transmission accuracy test in the present invention be room temperature, normal pressure and harmonic speed reducer output end it is unloaded or
Under loading condition, complete to turn by photoelectric encoder I, photoelectric encoder II and vacuum chamber exterior angle position display instrument a, angle position display instrument b
Angle test.And by harmonic speed reducer input, output end measure actual rotational angle and theoretical corner difference (Δ=0 −ϕi/ i
In formula0Output shaft actual rotational angle；ϕiInput shaft actual rotational angle；I harmonic drive ratio) harmonic speed reducer is calculated in difference
Transmission accuracy under test condition.
Harmonic speed reducer driving torque, transmission efficiency, running life test in the present invention are in space environmental simulation height
Under the conditions of vacuum, high temperature, low temperature and high/low temperature alternation, it is being not connected to photoelectric encoder I, photoelectric encoder II and is being slided by cross
Block shaft coupling is direct by input terminal magnet fluid sealing axis, output end magnet fluid sealing axis and harmonic speed reducer input shaft, output shaft
It is carried out in the state of being connected.By humorous under torque tester real-time monitoring different loads, revolving speed, temperature and vacuum degree condition
The operational torque of wave retarder, rotates the parameters such as service life to judge that harmonic speed reducer working face lubricates material through space at transmission efficiency
Working condition after material and technical treatment.
Space environment simulation unit in the present invention is by vacuum chamber, heat sink, vacuum suction unit, four part structure of vacuumatic measuring
At.
Vacuum chamber in the present invention is based on Horizontal cylinder body vacuum chamber, and vacuum chamber is fixedly installed in test platform I
On, vacuum chamber one end seals the other end and vacuum chamber gate is housed.Internal vacuum chamber is put down by the heat sink and indoor test for temperature control
Platform II is constituted, heat sink to be made of cooling liquid nitrogen storage tank and copper plate heating cavity；Liquid nitrogen storage tank be by double-layer stainless steel welding every
The horizontal garden cylinder composition of layer structure, cylinder top is equipped with feed liquor nitrogen interface and out liquid nitrogen interface and by flange and vacuum chamber cylinder
Body is connected.Low temperature environment is to obtain low temperature by being filled with liquid nitrogen into liquid nitrogen storage tank to cool down cylinder；Hot environment is to pass through purple
Equally distributed heater strip and the outer temperature control circuit structure of temperature sensor, vacuum cable, electrode flange and vacuum chamber in copper sheet cavity
At obtaining high temperature.By the cooling and electrically heated tune for alternately realizing high and low temperature alternation environment temperature in vacuum chamber of liquid nitrogen
Control.
Feed liquor nitrogen mouth is housed on vacuum chamber, goes out liquid nitrogen mouth, aviation socket I, aviation socket II, electrode flange, input terminal magnetic
Fluid Sealing axis, output end magnet fluid sealing axis and into deflation valve.
In vacuum chamber two groups of temperature sensors by signal cable and the aviation socket I being installed on vacuum chamber respectively with
The outer intelligent temperature controller of vacuum chamber is connected with temperature polling instrument, detects heat sink and harmonic speed reducer temperature respectively.
Vacuum suction unit in the present invention is mainly made of vacuum gate valve, molecular pump, solenoid valve and mechanical pump.Vacuum
Flanged joint below gate valve and vacuum chamber, another side flange of vacuum gate valve are connect with molecular pump, then will by bellows
Molecular pump is connected with solenoid valve and mechanical pump.
Vacuumatic measuring in the present invention is regulated by the resistance for being installed on vacuum chamber bottom passes through signal cable with ionization gauge
It is connected to form with composite evacuated tester.
Test data in the present invention acquires in real time, the automatic control of space environment simulation by installation TT&C software industry
Computer is completed.Industrial computer passes through the RS(Recommended Standard voluntary standard on multi-serial-port card) it is 485 logical
Interrogating port includes respectively torque display instrument, DC power supply, PLC (Programmable Logic to instrument each in slave computer
Controller programmable logic controller (PLC)), intelligent temperature controller, temperature recycling testing apparatus, compound vacuum gauge, angle position display instrument a, angle position
Display instrument b carries out real-time communication；By acquiring each instrumented data and sending control instruction to each slave computer by computer, to realize
The real-time acquisition of each instrumented data and the effective control and management of test equipment.
Test macro in the present invention has the advantage that
1, the test of harmonic speed reducer transmission performance is optimized with space environment simulation and is integrated, to study space flight mechanism harmonic wave
The drive characteristic of retarder, lubrication strategies, lubriation material evaluation in space is studied with screening offer and test platform.
2, the screening for spacecraft harmonic speed reducer type and operating parameters optimum matching scheme provides test
Platform.
3, the reliability service for flying device key rotating unit for space provides important technical support and guarantee.
Detailed description of the invention
Fig. 1 is harmonic speed reducer transmission test cell schematic diagram of the invention.
Fig. 2 is space environment simulation cell schematics of the invention.
Fig. 3 is electrical equipment control schematic diagram of the invention.
Fig. 4 is harmonic speed reducer in life cycle management 6.0 × 106In r transmission efficiency with input terminal turnning circle variation
Situation.
In figure: 1- support platform I, 2- stepper motor, 3- electric machine support, 4- sliding cross coupling I, 5- torsion-testing
Instrument, 6- test platform I, 7- sliding cross coupling II, 8- input terminal magnet fluid sealing axis, 9- vacuum chamber, 10- electrode flange,
11- heating cavity, 12- liquid nitrogen storage tank, 13- three-dimensional fine-tuning platform support I, 14- three-dimensional fine-tuning platform I, 15- crosshead shoe shaft coupling
Device III, 16- photoelectric encoder I, 17- positive coupling I, 18- test platform II, 19- harmonic speed reducer, 20- harmonic speed reducer
Bracket, 21- positive coupling II, 22- three-dimensional fine-tuning platform support II, 23- three-dimensional fine-tuning platform II, 24- photoelectric encoder II,
25- sliding cross coupling IV, 26- aviation socket I, 27- aviation socket II, 28- output end magnet fluid sealing axis, 29- cross
Oldham coupling V, 30- magnetic powder brake bracket, 31- magnetic powder brake, 32- support platform II, the 33- arm of force, 34- pressure pass
Sensor, 35- mechanical pump, 36- solenoid valve, 37- bellows, 38- is into deflation valve, 39- vacuum chamber gate, 40- feed liquor nitrogen mouth,
41- goes out liquid nitrogen mouth, 42- thermocouples gauge tube, 43- ionization gauge, 44- gate valve, 45- molecular pump.
Specific embodiment
Test macro in the present invention is mainly driven test cell and space environment simulation unit two by harmonic speed reducer
Divide and constitutes.
Referring to Fig. 1, the harmonic speed reducer transmission test cell in the present invention is driven importation by being installed on outside vacuum chamber 9
Stepper motor 2 be driving source, be installed on the electric machine support 3 of 9 outer support platform I 1 of vacuum chamber.2 shaft of stepper motor is then
It is connected by sliding cross coupling I 4 with 5 input shaft of torque tester for being installed on support platform I 1, torque tester 5 is defeated
Shaft then passes through sliding cross coupling II 7 and turns with the 19 input terminal magnet fluid sealing of harmonic speed reducer being installed on outside vacuum chamber 9
Axis 8 is connected.Vacuum chamber 9 and support platform I 1 are both secured on test platform I 6.
19 input terminal magnet fluid sealing axis 8 of harmonic speed reducer in the present invention is then slided by cross one end in vacuum chamber 9
Block shaft coupling III 15 is connected with I 16 shaft of photoelectric encoder, and the I 16 shaft other end of photoelectric encoder then passes through positive coupling
I 17 are connected with 19 input shaft of harmonic speed reducer.Photoelectric encoder I 16 is installed on three-dimensional fine-tuning platform I 14, three-dimensional fine-tuning platform
I 14 are fixed on three-dimensional fine-tuning platform support I 13, and three-dimensional fine-tuning platform support I 13 is fixed on test platform II 18 in vacuum chamber 9.
Harmonic speed reducer 19 is fixed on harmonic speed reducer bracket 20, and harmonic speed reducer bracket 20 is fixed on test platform II in vacuum chamber
18。
Referring to Fig. 1, the harmonic speed reducer transmission test cell transmission output par, c in the present invention is by harmonic wave in vacuum chamber 9
19 output shaft of retarder is connected by positive coupling II 21 with II 24 shaft of photoelectric encoder, II 24 shaft of photoelectric encoder
The other end is connected by sliding cross coupling IV 25 with the output end magnet fluid sealing axis 28 being installed on vacuum chamber 9.Light
Photoelectric coder II 24 is installed on three-dimensional fine-tuning platform II 23, and three-dimensional fine-tuning platform II 23 is fixed on three-dimensional fine-tuning platform support II
22, three-dimensional fine-tuning platform support II 22 is fixed on test platform II 18 in vacuum chamber 9.The outer output end magnet fluid sealing of vacuum chamber 9
28 one end of shaft then passes through sliding cross coupling V 29 and is connected with 31 shaft of magnetic powder brake on magnetic powder brake bracket 30
It connects；The arm of force 33 is installed, the other end of the arm of force 33 acts on two pressures of I 6 lower part of test platform installation on magnetic powder brake 31
On force snesor 34；Magnetic powder brake bracket 30 is fixed on support platform II 32, and support platform II 32 are fixed on test platform I
6。
Photoelectric encoder I 16, photoelectric encoder II 24 in the present invention by signal cable and are installed on vacuum chamber respectively
On aviation socket II 27 be connected respectively with vacuum chamber exterior angle position display instrument a, angle position display instrument b.
Referring to Fig. 1, the present invention is the sliding cross coupling and positive coupling for passing through each link position by stepper motor 2
Drive the outer torque tester 5 of vacuum chamber, 19 input terminal magnet fluid sealing axis 8 of harmonic speed reducer, photoelectric encoder I in vacuum chamber 9
16 and 19 input shaft of harmonic speed reducer rotation.By between wave producer inside harmonic speed reducer 19, flexbile gear, firm gear three
Rotation is passed to harmonic speed reducer output shaft by deceleration transmission.By 19 output shaft of harmonic speed reducer drive photoelectric encoder II 24,
Output end magnet fluid sealing axis 28 and the rotation of the outer magnetic powder brake 31 of vacuum chamber 9.
19 output end institute offered load of harmonic speed reducer is voltage, the electric current by adjusting 31 power supply of magnetic powder brake
Value exports to control the load of magnetic powder brake 31.And it is acted under test platform I by 31 arm of force of magnetic powder brake, 33 other end
On the pressure sensor 34 of portion's installation, 19 output shaft of harmonic speed reducer is measured by pressure sensor 34 and drives magnetic powder brake 31 suitable
The arm of force 33 acts on the force value of sensor when hour hands or counterclockwise operating, is calculated by the arm of force 33 and active force product (L × F=M)
The output torque of magnetic powder brake 31 out.
19 transmission accuracy of harmonic speed reducer test in the present invention is empty in room temperature, normal pressure and 19 output end of harmonic speed reducer
Under load or loading condition, by photoelectric encoder I 16, photoelectric encoder II 24 and 9 exterior angle of vacuum chamber position display instrument a, the display of angle position
Instrument b completes corner test.And leads to and measured the input of harmonic speed reducer 19, output end actual rotational angle and theoretical corner difference (Δ
=ϕ0 −ϕiIn/i formula0Output shaft actual rotational angle；ϕiInput shaft actual rotational angle；I harmonic drive ratio) calculate harmonic wave
Driving error and return difference of the retarder under different test conditions.
19 driving torque of harmonic speed reducer, transmission efficiency, running life test in the present invention are in space environmental simulation
Under the conditions of high vacuum, high temperature, low temperature and high/low temperature alternation, it is being not connected to photoelectric encoder I 16, photoelectric encoder II 24 and is passing through
Sliding cross coupling by input terminal magnet fluid sealing axis 8, output end magnet fluid sealing axis 28 and 19 input shaft of harmonic speed reducer,
What output shaft carried out in the state of being connected directly.Pass through 5 real-time monitoring different loads of torque tester, revolving speed, temperature and vacuum
The operational torque of harmonic speed reducer 19 under the conditions of degree, transmission efficiency, rotation service life etc. judge harmonic speed reducer working face through sky
Between working condition after lubriation material lubricated.
Space environment simulation unit in the present invention is by vacuum chamber, heat sink, vacuum suction unit, four part structure of vacuumatic measuring
At.
Referring to fig. 2, the vacuum chamber in the present invention is based on Horizontal cylinder body vacuum chamber 9, and vacuum chamber 9 is fixedly installed in
On test platform I 6,9 one end of vacuum chamber seals the other end and vacuum chamber gate 39 is housed.By the heat for temperature control inside vacuum chamber 9
Heavy and indoor test platform II 18 is constituted, heat sink to be made of cooling liquid nitrogen storage tank 12 and copper plate heating cavity 11；Liquid nitrogen storage tank
12 are made of the horizontal garden cylinder of double-layer stainless steel welding spacer structure, and cylinder top is equipped with feed liquor nitrogen interface 40 and out liquid nitrogen
Interface 41 and it is connected with 9 cylinder of vacuum chamber by flange.Low temperature environment is by being filled with liquid nitrogen into liquid nitrogen storage tank 12 with cooling
Cylinder obtains low temperature；Hot environment is by heater strip equally distributed in copper plate heating cavity 11 and temperature sensor, true
Empty cable, electrode flange 10 and the outer temperature control circuit of vacuum chamber 9 are constituted to obtain high temperature.By liquid nitrogen is cooling and electrically heated alternating into
Row realizes the regulation of high and low temperature alternation environment temperature in vacuum chamber.
Feed liquor nitrogen mouth 40 is housed on vacuum chamber 9, goes out liquid nitrogen mouth 41, aviation socket I 26, aviation socket II 27, electrode flange
10, input terminal magnet fluid sealing axis 8, output end magnet fluid sealing axis 28 and into deflation valve 38.
Two groups of temperature sensors pass through signal cable and are installed on vacuum chamber 9 in vacuum chamber 9 I 26 points of aviation socket
It is not connected with the outer intelligent temperature controller of vacuum chamber 9 and temperature polling instrument, detects heat sink and 19 temperature of harmonic speed reducer respectively.
Vacuum suction unit is mainly by vacuum gate valve 44, molecular pump 45, solenoid valve 36 and 35 groups of mechanical pump in the present invention
At.The flanged joint of 9 lower section of vacuum gate valve 44 and vacuum chamber, another side flange of vacuum gate valve 44 are connect with molecular pump 45,
Molecular pump 45 is connected with solenoid valve 36 and mechanical pump 35 by bellows 37 again.
In the present invention vacuumatic measuring by the resistance for being installed on vacuum chamber bottom regulate 42 and ionization gauge 43 pass through signal electricity
Cable is connected to form with composite evacuated tester.
Test data in the present invention acquires in real time, the automatic control of space environment simulation by installation TT&C software industry
Computer is completed.Referring to Fig. 3, industrial computer is by the RS485 PORT COM on multi-serial-port card respectively to each in slave computer
Instrument include torque display instrument, DC power supply, PLC, intelligent temperature controller, temperature recycling testing apparatus, compound vacuum gauge, angle position display instrument a,
Angle position display instrument b carries out real-time communication；By acquiring each instrumented data and sending control instruction to each slave computer by computer, with
Realize the real-time acquisition of each instrumented data and the effective control and management of test equipment.
Space flight mechanism is used using harmonic speed reducer transmission performance test macro in space environmental simulation of the invention
XBS-80-100-2-3/3 type solid lubrication harmonic speed reducers have carried out transmission performance test.
Motor in the test macro uses 86BYG001 type stepper motor, 0~300 r/min of revolving speed；Torque tester
For HX-905 type, 0 ~ 2 Nm of range, 0.001 Nm of precision；Magnetic fluid is V6602530 type and each one, V66002522 type；Photoelectricity
Encoder be precision be better than 10 " AFS60/AFM60 type absolute value optoelectronic encoding device two, match XYZ60 type three-dimensional fine-tuning platform
With TEB-M-PZ type angle position display instrument each two；Magnetic powder brake is that FZ100/Y type matches the adjustable DH1715A-5 type direct current of 24V3A
Regulated power supply one；Two, range 100.0N, pressure sensing TH-5 type, precision is better than 0.5%, matches NS-YB05C type precision pressure
Tester two；Test macro mechanical parts are by the stainless steel making of 1Cr18Ni 9Ti.
Space environmental simulation is the barrel diameter based on Horizontal cylinder body structure SUS304 stainless steel vacuum chamber
F1000mm, length 1200mm；Heat sink cavity dead size F750 × 850mm, 0~3 kW adjustable height of electrical heating power；Vacuum suction
Unit is made of CCD high vacuum gate valve, FF-160/620C type molecular pump and VDN401 type mechanical pump；Vacuum degree is by ZJ-52T
Pirani gauge, ZJ-27 type ionization gauge and the metering of ZDF-X type high vacuum tester；Can get in vacuum chamber final vacuum 5.0 ×
10-4Pa, limiting temperature -80~+100 DEG C；Computer is to grind magnificent industrial personal computer equipped with MOMAX multi-serial-port card and TT&C software；Under
Position machine is Mitsubishi PLC, AL808D type intelligent temperature controller, XSL/8 type temperature polling instrument and ZDF-X type high vacuum tester and control
Circuit composition.
XBS-80-100-2-3/3 type harmonic speed reducer transmission ratio 100:1, modulus 2, transmission accuracy are better than 3 ', transmission return difference
Better than 3 ', lubricating system solid lubrication.
Test condition
1. transmission accuracy is tested
Room temperature, normal pressure, 2~3 revs/min of harmonic speed reducer input speed, under the conditions of load 5Nm, input terminal is suitable for output end zero load
Turning anticlockwise 100 is enclosed to original position 100 circle of hour hands rotation again.Input terminal is measured by photoelectric encoder I and rotates reality twice
Corner measures output end by photoelectric encoder II and rotates actual rotational angle twice, by formula Δ=0 −ϕi/ i is (in formula
ϕ0Output shaft actual rotational angle；ϕiInput shaft actual rotational angle；I harmonic drive ratio) it calculates harmonic speed reducer and rotates clockwise
Driving error when 100 circle and transmission return difference when turning anticlockwise, qualified transmission accuracy require to be better than 3 '.
2. operational torque, transmission efficiency are tested
Vacuum degree is better than 1.3 × 10-3Pa ,+85 DEG C of high temperature, -40 DEG C of low temperature, cycle-index 3 times, soaking time 6 hours, temperature control
1 ~ 2 DEG C/min of rate；Input torsion is carried out under the conditions of harmonic speed reducer input speed 25r/min, output loading 5Nm, 20Nm, 30Nm
Square, transmission efficiency test, qualified transmission efficiency require to be greater than 50%.
3. running life tests
Vacuum degree is better than 1.3 × 10-3Pa, temperature room temperature, input speed 100r/min, 10.0 Nm of output torque.
Test result
1. transmission accuracy test data is shown in Table 1
2. the test data of operational torque, transmission efficiency is shown in Table 2 and table 3.
3 vacuum high and low temperature operational torque of table tests table
3. running life test result is shown in Fig. 4.
Fig. 4 is harmonic speed reducer in life cycle management 6.0 × 106In r transmission efficiency with input terminal turnning circle variation
Situation.It can be seen that transmission efficiency curve is divided into 1 → 2 running in stage, 2 → 3 stabilizations in the life-cycle test of harmonic speed reducer
Stage, 3 → 4 failure stages.Transmission efficiency is increased rapidly in running in stage, and stabilization sub stage transmission efficiency is maintained at 70%-80%, is lost
The effect stage reduces rapidly.
The above test result shows that space environmental simulation harmonic speed reducer transmission performance test macro can meet in the present invention
Transmission performance assessment of the harmonic speed reducer under simulated space condition.For the harmonic speed reducer and sky in space flight mechanism
Between lubriation material and technology research and application provide ground test platform.
Claims (6)
1. space environmental simulation harmonic speed reducer transmission performance test macro, it is characterised in that the system by transmission test cell and
Space environment simulation unit two parts are constituted；
The transmission test cell transmission importation is driving source, peace by being installed on the stepper motor (2) of vacuum chamber (9) outside
On electric machine support (3) loaded on vacuum chamber (9) outer support platform I (1)；Stepper motor (2) shaft then passes through crosshead shoe shaft coupling
Device I (4) is connected with torque tester (5) input shaft for being installed on support platform I (1), and torque tester (5) output shaft then leads to
It crosses sliding cross coupling II (7) and is installed on harmonic speed reducer (19) the input terminal magnet fluid sealing shaft of vacuum chamber (9) outside
(8) it is connected；Vacuum chamber (9) and support platform I (1) are both secured on test platform I (6)；
Harmonic speed reducer (19) input terminal magnet fluid sealing axis (8) then passes through sliding cross coupling in vacuum chamber (9) interior one end
III (15) are connected with photoelectric encoder I (16) shaft, and photoelectric encoder I (16) shaft other end then passes through positive coupling I
(17) it is connected with harmonic speed reducer (19) input shaft；Photoelectric encoder I (16) is installed on three-dimensional fine-tuning platform I (14), three-dimensional
Fine adjustment stage I (14) is fixed on three-dimensional fine-tuning platform support I (13), and three-dimensional fine-tuning platform support I (13) is fixed on vacuum chamber (9)
Interior test platform II (18)；Harmonic speed reducer (19) is fixed on harmonic speed reducer bracket (20), and harmonic speed reducer bracket (20) is solid
Due to test platform II (18) in vacuum chamber；
The transmission test cell transmission output par, c is to pass through rigidity connection by vacuum chamber (9) interior harmonic speed reducer (19) output shaft
Axis device II (21) is connected with photoelectric encoder II (24) shaft, and photoelectric encoder II (24) shaft other end passes through crosshead shoe
Shaft coupling IV (25) is connected with the output end magnet fluid sealing axis (28) being installed on vacuum chamber (9)；Photoelectric encoder II
(24) it is installed on three-dimensional fine-tuning platform II (23), three-dimensional fine-tuning platform II (23) is fixed on three-dimensional fine-tuning platform support II (22),
Three-dimensional fine-tuning platform support II (22) is fixed on the interior test platform II (18) of vacuum chamber (9)；The outer output end magnetic fluid of vacuum chamber (9)
Sealing pivot (28) one end then passes through the magnetic powder brake on sliding cross coupling V (29) and magnetic powder brake bracket (30)
(31) shaft is connected；It is equipped on magnetic powder brake (31) arm of force (33), the other end of the arm of force (33) acts on test platform I
(6) on two pressure sensors (34) of lower part installation；Magnetic powder brake bracket (30) is fixed on support platform II (32), support
Platform II (32) is then fixed on test platform I (6)；
Photoelectric encoder I (16), photoelectric encoder II (24) are inserted by signal cable and the aviation being installed on vacuum chamber respectively
II (27) of seat are connected with vacuum chamber exterior angle position display instrument a, angle position display instrument b respectively；
The space environment simulation unit is made of vacuum chamber, heat sink, vacuum suction unit, four part of vacuumatic measuring；
Vacuum chamber is based on Horizontal cylinder body vacuum chamber (9), and vacuum chamber (9) is fixedly installed on test platform I (6), very
Empty room (9) one end seals the other end and vacuum chamber gate (39) is housed；Vacuum chamber (9) is internal by the heat sink and indoor survey for temperature control
Platform II (18) are tried to constitute, it is heat sink to be made of cooling liquid nitrogen storage tank (12) and copper plate heating cavity (11)；Liquid nitrogen storage tank (12)
It is made of the horizontal garden cylinder of double-layer stainless steel welding spacer structure, cylinder top is equipped with feed liquor nitrogen interface (40) and out liquid nitrogen
Interface (41) and it is connected with vacuum chamber (9) cylinder by flange；
Feed liquor nitrogen mouth (40) is housed on vacuum chamber (9), goes out liquid nitrogen mouth (41), aviation socket I (26), aviation socket II (27), electricity
Pole flange (10), input terminal magnet fluid sealing axis (8), output end magnet fluid sealing axis (28) and into deflation valve (38)；
Two groups of temperature sensors pass through signal cable and the aviation socket I (26) being installed on vacuum chamber (9) in vacuum chamber (9)
It is connected respectively with the outer intelligent temperature controller of vacuum chamber (9) and temperature polling instrument, detects heat sink and harmonic speed reducer (19) temperature respectively
Degree；
Vacuum suction unit is mainly made of vacuum gate valve (44), molecular pump (45), solenoid valve (36) and mechanical pump (35)；Very
Flanged joint below empty gate valve (44) and vacuum chamber (9), vacuum gate valve (44) another side flange and molecular pump (45) are even
It connects, then molecular pump (45) is connected with solenoid valve (36) and mechanical pump (35) by bellows (37)；
Vacuumatic measuring by the resistance for being installed on vacuum chamber bottom regulate (42) and ionization gauge (43) by signal cable with it is compound
Vacuum test instrument is connected to form.
2. test macro as described in claim 1, it is characterised in that sliding by the cross of each link position by stepper motor (2)
Block shaft coupling and positive coupling drive vacuum chamber outer torque tester (5), harmonic speed reducer (19) input terminal magnet fluid sealing
Axis (8), the interior photoelectric encoder I (16) of vacuum chamber (9) and the rotation of harmonic speed reducer (19) input shaft；Pass through harmonic speed reducer (19)
Internal wave producer, flexbile gear, the deceleration transmission between firm gear three, pass to harmonic speed reducer output shaft for rotation；By humorous
Wave retarder (19) output shaft drives photoelectric encoder II (24), output end magnet fluid sealing axis (28) and vacuum chamber (9) outer magnetic
Powder brake (31) rotation；
Harmonic speed reducer (19) output end institute offered load is voltage, the electric current by adjusting magnetic powder brake (31) power supply
Value exports to control the load of magnetic powder brake (31)；And test is acted on by magnetic powder brake (31) arm of force (33) other end and is put down
On the pressure sensor (34) of I lower part of platform installation, harmonic speed reducer (19) output shaft is measured by pressure sensor (34) and drives magnetic
The arm of force (33) acts on the force value of sensor when powder brake (31) operates clockwise or counterclockwise, passes through the arm of force (33) and effect
Power product calculates the output torque of magnetic powder brake (31).
3. test macro as described in claim 1, it is characterised in that harmonic speed reducer (19) transmission accuracy test be room temperature,
Under normal pressure and the zero load of harmonic speed reducer (19) output end or loading condition, by photoelectric encoder I (16), photoelectric encoder II (24)
Corner test is completed with vacuum chamber (9) exterior angle position display instrument a, angle position display instrument b；And logical to measure harmonic speed reducer (19) defeated
Enter, output end actual rotational angle and theoretical corner difference calculate driving error of the harmonic speed reducer under different test conditions and return
Difference.
4. test macro as described in claim 1, it is characterised in that harmonic speed reducer (19) driving torque, transmission efficiency, fortune
Turning life test is to be not connected to photoelectric coding under the conditions of space environmental simulation high vacuum, high temperature, low temperature and high/low temperature alternation
Device I (16), photoelectric encoder II (24) simultaneously pass through sliding cross coupling for input terminal magnet fluid sealing axis (8), output end magnetic
Fluid Sealing axis (28) and harmonic speed reducer (19) input shaft, output shaft carry out in the state of being connected directly；Pass through torque measuring
The operational torque of harmonic speed reducer (19), transmission effect under examination 5 real-time monitoring different loads of instrument, revolving speed, temperature and vacuum degree condition
Rate, rotation service life judge working condition of the harmonic speed reducer working face after the lubriation material lubricated of space.
5. test macro as described in claim 1, it is characterised in that low temperature environment is by being filled with into liquid nitrogen storage tank (12)
Liquid nitrogen obtains low temperature to cool down cylinder；Hot environment is passed by equally distributed heater strip in copper plate cavity (11) and temperature
Sensor, vacuum cable, electrode flange (10) and the outer temperature control circuit of vacuum chamber (9) are constituted to obtain high temperature；It is cooled down by liquid nitrogen and electric
The regulation for alternately realizing high and low temperature alternation environment temperature in vacuum chamber of heating.
6. test macro as described in claim 1, it is characterised in that test data acquires in real time, space environment simulation it is automatic
Control is completed by the industrial computer of installation TT&C software；Industrial computer passes through the RS485 PORT COM on multi-serial-port card point
It is other include torque display instrument to instrument each in slave computer, it is DC power supply, PLC, intelligent temperature controller, temperature recycling testing apparatus, compound true
Sky meter, angle position display instrument a, angle position display instrument b carry out real-time communication；By acquiring each instrumented data and by computer to each bottom
Machine sends control instruction, to realize the real-time acquisition of each instrumented data and the effective control and management of test equipment.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089667A (en) * | 2019-12-20 | 2020-05-01 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
| CN111189634A (en) * | 2020-03-18 | 2020-05-22 | 中国船舶重工集团公司第七0七研究所 | Large RV reducer transmission error testing device and testing method |
| CN112781852A (en) * | 2020-12-30 | 2021-05-11 | 浙江工商大学 | Drive loading platform under low-temperature vacuum condition |
| CN113324756A (en) * | 2021-06-08 | 2021-08-31 | 浙富控股集团股份有限公司 | Magnetic coupling performance testing device |
| CN113408075A (en) * | 2021-07-05 | 2021-09-17 | 清华大学深圳国际研究生院 | Harmonic reducer rigid gear tooth form optimization method |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208206477U (en) * | 2018-05-23 | 2018-12-07 | 中国科学院兰州化学物理研究所 | Space environmental simulation harmonic speed reducer transmission performance test macro |
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2018
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089667A (en) * | 2019-12-20 | 2020-05-01 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
| CN111189634A (en) * | 2020-03-18 | 2020-05-22 | 中国船舶重工集团公司第七0七研究所 | Large RV reducer transmission error testing device and testing method |
| CN111189634B (en) * | 2020-03-18 | 2022-05-10 | 天津旗领机电科技有限公司 | Large RV reducer transmission error testing device and testing method |
| CN112781852A (en) * | 2020-12-30 | 2021-05-11 | 浙江工商大学 | Drive loading platform under low-temperature vacuum condition |
| CN113324756A (en) * | 2021-06-08 | 2021-08-31 | 浙富控股集团股份有限公司 | Magnetic coupling performance testing device |
| CN113408075A (en) * | 2021-07-05 | 2021-09-17 | 清华大学深圳国际研究生院 | Harmonic reducer rigid gear tooth form optimization method |
| CN113532855A (en) * | 2021-07-23 | 2021-10-22 | 北京卫星环境工程研究所 | Ground comprehensive test system for verifying joint life of aerospace mechanical arm |
| CN113532855B (en) * | 2021-07-23 | 2024-03-12 | 北京卫星环境工程研究所 | Ground comprehensive test system for verifying joint life of aerospace mechanical arm |
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