CN117074015A - Harmonic reducer load performance detection device - Google Patents

Harmonic reducer load performance detection device Download PDF

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Publication number
CN117074015A
CN117074015A CN202311052195.XA CN202311052195A CN117074015A CN 117074015 A CN117074015 A CN 117074015A CN 202311052195 A CN202311052195 A CN 202311052195A CN 117074015 A CN117074015 A CN 117074015A
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China
Prior art keywords
pin
resistor
pins
magnetic ring
chip
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CN202311052195.XA
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Chinese (zh)
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CN117074015B (en
Inventor
吴迪
张�杰
华坤
张瀚
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Zhejiang Laifual Harmonic Drive Co ltd
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Zhejiang Laifual Harmonic Drive Co ltd
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
    • H02P9/16—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field due to variation of ohmic resistance in field circuit, using resistances switched in or out of circuit step by step
    • H02P9/18—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field due to variation of ohmic resistance in field circuit, using resistances switched in or out of circuit step by step the switching being caused by a servomotor, measuring instrument, or relay
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Current Or Voltage (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)

Abstract

The invention belongs to the technical field of detection devices, and particularly relates to a harmonic reducer load performance detection device. The invention provides a hardware foundation of a harmonic reducer load performance detection device. The invention comprises a motor adjustable torque load part, a harmonic reducer output angle change acquisition part, a USB data output part, a touch display screen part, a controller part, a motor driver part, a power circuit and a motor output angle change acquisition part, and is characterized in that a detection signal input port of the controller part is respectively connected with a detection signal output port of the harmonic reducer output angle change acquisition part and a detection signal output port of the motor output angle change acquisition part, and a control signal output port of the controller part is respectively connected with a control signal input port of the motor adjustable torque load part and a control signal input port of the motor driver part.

Description

Harmonic reducer load performance detection device
Technical Field
The invention belongs to the technical field of detection devices, and particularly relates to a harmonic reducer load performance detection device.
Background
The harmonic speed reducer is a speed reducer, and is a wave generator composed of fixed internal tooth rigid gear, flexible gear and three basic components for radially deforming the flexible gear. After the preparation of the harmonic reducer is completed, the manufactured harmonic reducer needs to be tested for the reduction performance so as to ensure that the harmonic reducer can be reliably applied. The invention designs a device for detecting the load performance of a harmonic speed reducer, which can effectively detect the load performance of the harmonic speed reducer so as to judge the working performance of the harmonic speed reducer.
Disclosure of Invention
The invention aims at the problems and provides a hardware foundation of a harmonic reducer load performance detection device.
In order to achieve the above purpose, the invention adopts the following technical scheme that the invention comprises a motor adjustable torque load part, a harmonic reducer output angle change acquisition part, a USB data output part, a touch display screen part, a controller part, a motor driver part, a power circuit and a motor output angle change acquisition part, and is characterized in that a detection signal input port of the controller part is respectively connected with a detection signal output port of the harmonic reducer output angle change acquisition part and a detection signal output port of the motor output angle change acquisition part, a control signal output port of the controller part is respectively connected with a control signal input port of the motor adjustable torque load part and a control signal input port of the motor driver part, an information transmission port of the controller part is respectively connected with an information transmission port of the USB data output part and an information transmission port of the touch display screen part, and an electric energy output port of the power circuit is respectively connected with a power port of the motor adjustable torque load part, a power port of the harmonic reducer output angle change acquisition part, a power port of the USB data output part, a power port of the touch display screen part, a power port of the controller part, a power port of the motor driver part and a power port of the motor output angle change part.
As a preferable scheme, the motor adjustable torque load part comprises a TX4137 chip U11, an AD5160BRJZ50-R2 chip U13, an ADuM1300ARWZ chip U14 and a WRB2403S-1W module U1, wherein the 4 pins of the U13 are respectively connected with RCLK4 and RCS4, the 5 pins and 6 pins of the U13 are respectively connected with the 3 pins of the U11 and one end of a resistor R52, the other end of the R52 is connected with G1, the 6 pin of the U11 is connected with G1 through an inductor L13, and the 5 pins of the U11 are connected with +24V;
pins 3, 4, 5, 12, 13 and 14 of the U14 are respectively connected with PD11, PD12, PD13, RCLK4, RSDI4 and RCS 4;
pins 1, 2, 4 and 6 of U1 are respectively and correspondingly connected with + V, GND2, GND2 and VCC_3.3VA;
the 2-pin of the connector CH16 is connected with the drain electrode of the NMOS tube Q9, the source electrode of the Q9 is respectively connected with the GND1 and one end of the current sensor U89, the grid electrode of the Q9 is connected with the G1 through the resistor R80, and the 1-pin of the connector CH16 is connected with the other end of the U89.
As another preferable scheme, the output angle change acquisition part of the harmonic reducer comprises a magnetic ring L14, wherein one end of the magnetic ring L14 is connected with A-, the other end of the magnetic ring L14 is connected with A-1 through a resistor R58, one end of the magnetic ring L16 is connected with A+ and the other end of the magnetic ring L16 is connected with A+1 through a resistor R66;
one end of the magnetic ring L18 is connected with B-, the other end of the magnetic ring L18 is connected with B-1 through a resistor R78, one end of the magnetic ring L20 is connected with B+ and the other end of the magnetic ring L20 is connected with B+1 through a resistor R83;
one end of the magnetic ring L22 is connected with Z-, the other end of the magnetic ring L22 is connected with Z-1 through a resistor R78, one end of the magnetic ring L24 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+1 through a resistor R83;
one end of the magnetic ring L15 is connected with U-, the other end of the magnetic ring L15 is connected with U-1 through a resistor R59, one end of the magnetic ring L17 is connected with U+ and the other end of the magnetic ring L17 is connected with U+1 through a resistor R67;
one end of the magnetic ring L19 is connected with V-, the other end of the magnetic ring L19 is connected with V-1 through a resistor R59, one end of the magnetic ring L21 is connected with V+ and the other end of the magnetic ring L21 is connected with V+1 through a resistor R67;
one end of the magnetic ring L23 is connected with W-, the other end of the magnetic ring L23 is connected with W-1 through a resistor R91, one end of the magnetic ring L25 is connected with W+ and the other end of the magnetic ring L25 is connected with W+1 through a resistor R95;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U15 are respectively connected with pins A-1, A+1, B-1, B+1, Z-1 and Z+1 correspondingly, and pins 3, 5 and 11 of the U15 are respectively connected with pins A_1_LVC14, B_1_LVC14 and C_1_LVC14 correspondingly;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U17 are respectively connected with pins W-1, W+1, V-1, V+1, U-1 and U+1 correspondingly, and pins 3, 5 and 11 of the U17 are respectively connected with pins W_1_LVC14, V_1_LVC14 and U_1_LVC14 correspondingly;
the pins 1, 2, 4 and 5 of the 74HC86 chip U12 are respectively correspondingly connected with the pins B+1, B-1, A+1 and A-1, the pin 3 of the U12 is connected with the B_TEST_1ARM through a resistor R57, and the pin 6 of the U12 is connected with the A_TEST_1ARM through a resistor R61; the pins 12 and 13 of the U12 are correspondingly connected with Z+1 and Z-1 respectively, and the pin 11 of the U12 is connected with Z_TEST_1ARM through a resistor R62;
pins 1, 2, 4 and 5 of the 74HC86 chip U16 are correspondingly connected with V+1, V-1, W+1 and W-1 respectively, pin 3 of the U16 is connected with V_TEST_1ARM through a resistor R71, and pin 6 of the U16 is connected with W_TEST_1ARM through a resistor R73; pins 12 and 13 of U16 are respectively connected with U+1 and U-1 correspondingly, and pin 11 of U16 is connected with U_TEST_1ARM through resistor R74.
As another preferable scheme, the USB data output part comprises a CH340C chip U19, pins 2 and 3 of the U19 are respectively and correspondingly connected with a PC11 and a PC10, pin 5 of the U19 is connected with USB_DP through a resistor R100, and pin 6 of the U19 is connected with USB_DM through a resistor R101.
As another preferable scheme, the touch display screen part comprises an SP3485EN-L/TR chip U18, a pin 1 of the U18 is connected with a pin 10 of a connector CH17, a pin 2 of the U18 is connected with a pin 3 of the U18, a pin 4 of the U18 is connected with a pin 9 of the connector P9 and one end of a magnetic bead L26 respectively, a pin 1 of the P9 is connected with one end of a pin 6 of the U18 and one end of a magnetic bead L27 respectively through a resistor R99, the other end of the L26 is connected with a pin 1 of the connector CH17 through a pin 1 of the connector P10, and a pin 2 of the CH17 is connected with the other end of the L27 through a pin 2 of the P10.
As a further preferred embodiment, the controller part of the invention comprises an STM32F103VET6 chip U20, pins 23, 24, 25, 26, 29, 30 of U20 are respectively connected with pins a_2_lvc14, b_2_lvc14, z_2_lvc14, w_2_lvc14, v_2_lvc14, u_2_lvc14, pins 31, 32, 67-71 of U20 are respectively connected with pins ipm_fault, CH1N, ADC, PA 9-PA 12, 35-37, 91-96, 47, 48, 51-54 of U20 are respectively connected with pins CH2N, CH3N, BOOT1, a_1_lvc14, b_1_lvc14, z_1_lvc14, w_1_lvc14, v_1_lvc14, u_arm_lvc 14, u_test_2_arm, z_test_2_arm, b_test_2_arm, v_arm, v_test 2_arm, pins 15 to 18, 33, 63 to 66, 78 to 80 and 7 to 9 of the U20 are correspondingly connected with W_TEST_2_ARM, A_TEST_1_ARM, ADC3, ADC4, ADC5, CH1, CH2, CH3, PWM1, PC10, PC11, V_TEST_1_ARM, W_TEST_1_ARM, U_TEST_1_ARM and Z_TEST_1_ARM respectively, and pins 81 and 58 to 60 of the U20 are correspondingly connected with B_TEST_1_ARM and PD11 to PD13 respectively.
As another preferable scheme, the motor driver part comprises connectors CH19 and CH19, wherein the connectors CH19 are connected with the primary side of a step-up transformer through an air circuit breaker, the secondary side of the step-up transformer is connected with the input end of a rectifier bridge BD1 through a common mode inductor L41, the positive electrode of the output end of the BD1 is respectively connected with one end of a resistor R153 and the 3 pin of a Y90-SS-115D relay K8, the 1 pin of the K8 is respectively connected with the positive electrode and the K1 of a diode D48, the cathode of the D483 is respectively connected with the 5 pin of +15V, K8, the 2 pin of the K8 is respectively connected with the other end of the R153 and VCCH, and the negative electrode of the output end of the BD1 is connected with GNDH;
the collector of the NPN triode Q10 is connected with K1, the base of the NPN triode Q10 is respectively connected with one end of a resistor R147 and one end of a resistor R148, the other end of the resistor R147 is connected with PA12, and the other end of the resistor R148 is respectively connected with the emitters of GND and Q10;
the 6-pin of the HBV-A3.3 chip TE1 is connected with the ADC12;
the 4-9 pins of the SN74HC541DW chip U34 are respectively connected with the CH1N, CH2N, CH3N, CH1, the CH2 and the CH3 correspondingly, the 11 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP3 and the 3 pin of the TLP250H chip OP4 through a resistor R176, the 12 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP5 and the 3 pin of the TLP250H chip OP6 through a resistor R175, the 13 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP7 and the 3 pin of the TLP250H chip OP8 through a resistor R174, the 14 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP3 and the 2 pin of the TLP250H chip OP4 through a resistor R171, the 15 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP5 and the 2 pin of the TLP250H chip OP6 through a resistor R170, and the 16 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip 3 and the TLP250H chip OP8 and the 2P 8 of the TLP250H chip OP7 through a resistor R171;
the 6 and 7 pins of OP 3-OP 8 are respectively and correspondingly connected with WH, WL, VH, VL, UH, UL;
3-6, 8, 9, 13 and 17 pins of the FSBB30CH60F chip U32 are correspondingly connected with UL, VL, WL, VFO, CSC, UH, VH, WH respectively, and 21, 22 and 23 pins of the U32 are connected with a CSC through a resistor R136;
the emitter of the output end of the U35 of the TLP521 chip is connected with the IPM_FAULT, and the cathode of the input end of the U35 is connected with the VFO.
Secondly, the power supply circuit comprises a GBJ207 module U24, wherein the 2 pin of the U24 is connected with L through a first coil of a common-mode inductor T3 and a thermistor R105 in sequence, the 3 pin of the U24 is connected with N through a second coil of the T3 and a fuse F6 in sequence, the 1 pin of the U24 is connected with the D port of a TOP256PN chip U25 through a primary side T1-1 of a transformer, the C port of the U25 is connected with FB, and the V port of the U25 is respectively connected with the 4 pins and GNDH of the U24;
one end of the secondary side T1-8 of the transformer is connected with +24V through a diode D58 and an inductor L49 in sequence, and the other end of the secondary side T1-8 of the transformer is connected with GND2;
one end of the secondary side T1-7 of the transformer is connected with the 1 pin of the K7815 module U21 through a diode D37 and an inductor L30 in sequence, the 3 pin of the U21 is connected with +15V1, and the other end of the T1-7 is connected with GND_1;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-5 of the transformer is connected with the 1 pin of the K7815 module U23 through a diode D39 and an inductor L32 in sequence, the 3 pin of the U23 is connected with +15V3, and the other end of the secondary side T1-5 of the transformer is connected with GND_3;
one end of the secondary side T1-4 of the transformer is connected with the 1 pin of the K7815 module U26 through a diode D41 and an inductor L33 in sequence, the 3 pin of the U26 is connected with +15V, and the other end of the T1-4 is connected with GND;
one end of the secondary side T1-3 of the transformer is connected with +5V through a diode D42 and an inductor L34 in sequence, and the other end of the secondary side T1-3 of the transformer is connected with +5V through a capacitor C77;
one end of the secondary side T1-2 of the transformer is connected with the collector of the output end of the U28 of the TLP521 chip through a diode D43, the emitter of the output end of the U28 is connected with the FB, and the other end of the secondary side T1-2 of the transformer is connected with the GNDH; the anode of the U28 input end is connected with +5V through resistors R115 and R113 in sequence, the cathode of the U28 input end is connected with 3 pins of a KA431AZT chip, 2 pins of the KA431AZT chip are respectively connected with one end of a GND and one end of a resistor R118, the other end of the R118 is respectively connected with 1 pin of the KA431AZT chip and one end of a resistor R114, and the other end of the R114 is connected with +5V.
In addition, the motor output angle change acquisition part comprises a magnetic ring L35, wherein one end of the magnetic ring L35 is connected with A-, the other end of the magnetic ring L14 is connected with A-2 through a resistor R123, one end of the magnetic ring L37 is connected with A+ and the other end of the magnetic ring L37 is connected with A+2 through a resistor R133;
one end of the magnetic ring L39 is connected with B-, the other end of the magnetic ring L39 is connected with B-2 through a resistor R151, one end of the magnetic ring L42 is connected with B+ and the other end of the magnetic ring L42 is connected with B+2 through a resistor R162;
one end of the magnetic ring L45 is connected with Z-, the other end of the magnetic ring L45 is connected with Z-2 through a resistor R172, one end of the magnetic ring L47 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+2 through a resistor R185;
one end of the magnetic ring L36 is connected with U-, the other end of the magnetic ring L36 is connected with U-2 through a resistor R124, one end of the magnetic ring L38 is connected with U+ and the other end of the magnetic ring L38 is connected with U+2 through a resistor R134;
one end of the magnetic ring L40 is connected with V-, the other end of the magnetic ring L40 is connected with V-2 through a resistor R152, one end of the magnetic ring L43 is connected with V+ and the other end of the magnetic ring L43 is connected with V+2 through a resistor R163;
one end of the magnetic ring L46 is connected with W-, the other end of the magnetic ring L46 is connected with W-2 through a resistor R173, one end of the magnetic ring L48 is connected with W+ and the other end of the magnetic ring L48 is connected with W+2 through a resistor R186;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U30 are respectively and correspondingly connected with pins A-2, A+2, B-2, B+2, Z-2 and Z+2, and pins 3, 5 and 11 of the U30 are respectively and correspondingly connected with pins A_2_LVC14, B_2_LVC14 and Z_2_LVC14;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U33 are correspondingly connected with the W-2, the W+2, the V-2, the V+2, the U-2 and the U+2 respectively, and pins 3, 5 and 11 of the U33 are correspondingly connected with the W_2_LVC14, the V_2_LVC14 and the U_2_LVC14 respectively;
the pins 1, 2, 4 and 5 of the 74HC86 chip U29 are correspondingly connected with the pins B+2, B-2, A+2 and A-2 respectively, the pin 3 of the U29 is connected with the B_TEST_2ARM through a resistor R122, and the pin 6 of the U29 is connected with the A_TEST_2ARM through a resistor R126; the pins 12 and 13 of the U29 are correspondingly connected with Z+2 and Z-2 respectively, and the pin 11 of the U29 is connected with Z_TEST_2ARM through a resistor R127;
pins 1, 2, 4 and 5 of the 74HC86 chip U31 are correspondingly connected with V+2, V-2, W+2 and W-2 respectively, pin 3 of the U31 is connected with V_TEST_2ARM through a resistor R141, and pin 6 of the U31 is connected with W_TEST_2ARM through a resistor R144; pins 12 and 13 of U31 are respectively connected with U+2 and U-2 correspondingly, and pin 11 of U31 is connected with U_TEST_2ARM through resistor R145.
The invention has the beneficial effects that.
The controller part of the invention controls the three-phase servo motor to work through the motor driver part, the output shaft of the three-phase servo motor is connected with the input end of the harmonic speed reducer, the output end of the harmonic speed reducer is connected with the driving input end of the direct current generator, the power generation output end of the direct current generator is connected with the CH16, and the adjustable load is accessed through the CH 16. The controller part controls the size of the access load through the motor adjustable torque load part, and further controls the change of the torque load of the three-phase servo motor.
In order to measure the characteristics of the harmonic reducer under different load conditions, the invention designs an adjustable torque load part of the motor, which is used for adjusting the load. The output gear of the harmonic speed reducer is connected with the rotor shaft of the direct current generator, two electrodes of the direct current generator are connected with a variable resistance circuit (namely a circuit connected with CH 16), when the resistance changes, the force required by the rotation of the direct current generator changes, and therefore the load carried by the harmonic speed reducer changes. The two electrodes (namely 1 pin and 2 pin of CH 16) at the output end of the direct current generator are open circuit, the load is the lightest, and the short circuit load is the heaviest.
The controller part controls the three-phase servo motor to rotate through the motor driver part, the three-phase servo motor output angle change acquisition part acquires the rotation angle and the number of turns of the motor, the harmonic reducer output angle change acquisition part acquires the rotation angle and the number of turns of the harmonic reducer output shaft, and the reduction ratio of the harmonic reducer is known. When the load is not connected, the harmonic speed reducer has a quick response at the moment of starting to rotate, namely, the motor rotates, and the harmonic speed reducer immediately rotates to finish the speed reduction output process. When the conduction angle of the Q9 is larger, and the load is larger, the harmonic speed reducer delays when the motor rotates in the same way, and then the speed reduction output is completed. And obtaining the load performance parameters of the harmonic speed reducer by detecting the delay time of the harmonic speed reducer corresponding to different load conditions. The shorter the delay is under the same load condition, the faster the response of the harmonic reducer is, and the working efficiency is higher.
Drawings
The invention is further described below with reference to the drawings and the detailed description. The scope of the present invention is not limited to the following description.
Fig. 1 is a schematic diagram of a portion of the circuit of an adjustable torque load of a motor in accordance with the present invention.
Fig. 2 and 3 are schematic circuit diagrams of an output angle change acquisition part of the harmonic reducer of the invention.
FIG. 4 is a schematic circuit diagram of a USB data output portion of the present invention.
FIG. 5 is a schematic diagram of a portion of the circuitry of a touch display screen of the present invention.
Fig. 6 is a schematic diagram of a portion of the circuit of the controller of the present invention.
Fig. 7 and 8 are schematic diagrams of a portion of the circuit of the motor driver of the present invention.
Fig. 9 is a schematic diagram of a power circuit of the present invention.
Fig. 10 and 11 are schematic diagrams of a circuit of a motor output angle change acquisition part according to the present invention.
Detailed Description
The invention comprises a motor adjustable torque load part, a harmonic reducer output angle change acquisition part, a USB data output part, a touch display screen part, a controller part, a motor driver part, a power circuit and a motor output angle change acquisition part, wherein a detection signal input port of the controller part is respectively connected with a detection signal output port of the harmonic reducer output angle change acquisition part and a detection signal output port of the motor output angle change acquisition part, a control signal output port of the controller part is respectively connected with a control signal input port of the motor adjustable torque load part and a control signal input port of the motor driver part, an information transmission port of the controller part is respectively connected with an information transmission port of the USB data output part and an information transmission port of the touch display screen part, and an electric energy output port of the power circuit is respectively connected with a power port of the motor adjustable torque load part, a power port of the harmonic reducer output angle change acquisition part, a power port of the USB data output part, a power port of the touch display screen part, a power port of the controller part, a power port of the motor driver part and a power port of the motor output angle change acquisition part.
As shown in fig. 1, the adjustable torque load part of the motor comprises a TX4137 chip U11, an AD5160BRJZ50-R2 chip U13, an ADuM1300ARWZ chip U14 and a WRB2403S-1W module U1, wherein the 4 pins of the U13 are respectively connected with RCLK4 and RCS4, the 5 pins and 6 pins of the U13 are respectively connected with the 3 pins of the U11 and one end of a resistor R52, the other end of the R52 is connected with G1, the 6 pin of the U11 is connected with G1 and the 5 pin of the U11 is connected with +24v through an inductor L13;
and 6 pins of the U11 are output, and 3 pins of the U11 are detection output feedback check for detecting that the output voltage is too high and too low to adjust the constant voltage.
Pins 3, 4, 5, 12, 13 and 14 of the U14 are respectively connected with PD11, PD12, PD13, RCLK4, RSDI4 and RCS 4;
pins 1, 2, 4 and 6 of U1 are respectively and correspondingly connected with + V, GND2, GND2 and VCC_3.3VA;
the 2-pin of the connector CH16 is connected with the drain electrode of the NMOS tube Q9, the source electrode of the Q9 is respectively connected with the GND1 and one end of the current sensor U89, the grid electrode of the Q9 is connected with the G1 through the resistor R80, and the 1-pin of the connector CH16 is connected with the other end of the U89.
The motor adjustable torque load part is used for adjusting motor load, U11 and peripheral circuit are power supply circuit, U11 converts 24V input by 5 feet into adjustable voltage G1 output by 6 feet, and voltage values of G1 to GND2 are debugged through 3 feet of U11.
U13 receives U14 control signal through RSDI4, RCS4, RCLK4, U14 receives U20 control signal through PD11, PD12, PD13, U13's 8 foot output variable resistance value signal, change U13's 8 foot to U13's 1 foot resistance value.
The voltage value of the 3 pins of the U11 is controlled, the voltage value output by the 6 pins of the U11 is further controlled, the conduction state of the Q9 is controlled, a load is connected to a motor through a CH16, the motor is connected to a variable load, and the resistance value of the load is controlled by the conduction condition of the Q9.
PD11, PD12, PD13, RSDI4, RCS4, RCLK4 transmit clock signals, chip select signals, data signals, respectively. U13 and U14 isolate the signals.
The OUT port of the current transformer U89 is connected with M1. U89 is used for measuring the output end current of the direct current generator and sending the current to the controller part, and the controller part controls Q9 according to the current detection value to obtain the required load size.
U20 controls the G1 port through U14, U13 and U11, and then controls the conduction degree of Q9, and controls the size of the load connected with the direct current generator. U14, U13, U11 correspond to converting the digital signal from U20 into an analog signal that can be used to control Q9.
M1 is connected to pin 34 of U20.
U14 plays the isolation effect, and the control signal that U20 output is sent to U13 through U14, provides the security of system.
As shown in fig. 2 and 3, the output angle change acquisition part of the harmonic reducer comprises a magnetic ring L14, wherein one end of the magnetic ring L14 is connected with an A-, the other end of the magnetic ring L14 is connected with an A-1 through a resistor R58, one end of the magnetic ring L16 is connected with an A+ and the other end of the magnetic ring L16 is connected with an A+1 through a resistor R66;
one end of the magnetic ring L18 is connected with B-, the other end of the magnetic ring L18 is connected with B-1 through a resistor R78, one end of the magnetic ring L20 is connected with B+ and the other end of the magnetic ring L20 is connected with B+1 through a resistor R83;
one end of the magnetic ring L22 is connected with Z-, the other end of the magnetic ring L22 is connected with Z-1 through a resistor R78, one end of the magnetic ring L24 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+1 through a resistor R83;
one end of the magnetic ring L15 is connected with U-, the other end of the magnetic ring L15 is connected with U-1 through a resistor R59, one end of the magnetic ring L17 is connected with U+ and the other end of the magnetic ring L17 is connected with U+1 through a resistor R67;
one end of the magnetic ring L19 is connected with V-, the other end of the magnetic ring L19 is connected with V-1 through a resistor R59, one end of the magnetic ring L21 is connected with V+ and the other end of the magnetic ring L21 is connected with V+1 through a resistor R67;
one end of the magnetic ring L23 is connected with W-, the other end of the magnetic ring L23 is connected with W-1 through a resistor R91, one end of the magnetic ring L25 is connected with W+ and the other end of the magnetic ring L25 is connected with W+1 through a resistor R95;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U15 are respectively connected with pins A-1, A+1, B-1, B+1, Z-1 and Z+1 correspondingly, and pins 3, 5 and 11 of the U15 are respectively connected with pins A_1_LVC14, B_1_LVC14 and C_1_LVC14 correspondingly;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U17 are respectively connected with pins W-1, W+1, V-1, V+1, U-1 and U+1 correspondingly, and pins 3, 5 and 11 of the U17 are respectively connected with pins W_1_LVC14, V_1_LVC14 and U_1_LVC14 correspondingly;
the pins 1, 2, 4 and 5 of the 74HC86 chip U12 are respectively correspondingly connected with the pins B+1, B-1, A+1 and A-1, the pin 3 of the U12 is connected with the B_TEST_1ARM through a resistor R57, and the pin 6 of the U12 is connected with the A_TEST_1ARM through a resistor R61; the pins 12 and 13 of the U12 are correspondingly connected with Z+1 and Z-1 respectively, and the pin 11 of the U12 is connected with Z_TEST_1ARM through a resistor R62;
b_test_1ARM, a_test_1ARM, z_test_1ARM are used to detect if the phase encoder is corrupted.
Pins 1, 2, 4 and 5 of the 74HC86 chip U16 are correspondingly connected with V+1, V-1, W+1 and W-1 respectively, pin 3 of the U16 is connected with V_TEST_1ARM through a resistor R71, and pin 6 of the U16 is connected with W_TEST_1ARM through a resistor R73; pins 12 and 13 of U16 are respectively connected with U+1 and U-1 correspondingly, and pin 11 of U16 is connected with U_TEST_1ARM through resistor R74.
V_TEST_1ARM, W_TEST_1ARM, U_TEST_1ARM are used to detect if the phase encoder is corrupted.
DSub1 is an encoder interface connected to a harmonic reducer, and includes two rotary encoders, a first rotary encoder corresponding to a A, B, Z port and a second rotary encoder corresponding to a U, V, W port. And two groups of rotary encoders are adopted for differential signal detection, so that the measurement accuracy is improved.
The rotary encoder is used for measuring the angle change value of the output shaft of the harmonic speed reducer, and the angle is measured through the rotary encoder, so that the measuring precision is high.
A goes high first and then B goes high again, indicating a forward rotation. B goes high first and then a goes high again, indicating inversion. Z is used to detect the number of turns, and one turn Z has a high level.
U17 and U15 convert differential input into single-ended output, and differential detection is accurate high, and interference resistance is strong. U17 and U15 convert the differential signals to single ended signals required by processor U20.
U12 and U16 are two-input-end four-exclusive-OR gate chips, and 1A and 1B are the same and are high level or low level 1Y to output 0; other outputs 1; an encoder failure, such as a short circuit, is detected.
The USB data output part comprises a CH340C chip U19, wherein pins 2 and 3 of the U19 are respectively and correspondingly connected with a PC11 and a PC10, pin 5 of the U19 is connected with USB_DP through a resistor R100, and pin 6 of the U19 is connected with USB_DM through a resistor R101.
The USB data output section may be used to print the relevant detection data.
The touch display screen part comprises an SP3485EN-L/TR chip U18, a1 pin PA10 of the U18, 2 pins PA11 of the U18, a3 pin PA9 of the U18, a 7 pin of the U18 respectively connected with one end of a 2 pin of a connector P9 and one end of a magnetic bead L26, a1 pin of the P9 respectively connected with one end of a 6 pin of the U18 and one end of a magnetic bead L27 through a resistor R99, and the other end of the L26 is connected with the 1 pin of a connector CH17 through the 1 pin of the connector P10, and the 2 pin of the CH17 is connected with the other end of the L27 through the 2 pin of the P10. And P9 is optionally added with an RS485 anti-interference resistor, and P10 is a debugging socket. CH18 is used for screen power.
The touch display screen part can send a control instruction to the controller part to control the size of the motor access load.
The touch display screen is used for displaying the change angle value of the servo motor and comparing the change angle value of the output gear of the harmonic reducer. The rotating speed of the servo motor can be set through the touch display screen, and the output two-electrode load of the direct-current generator is set.
The controller part comprises STM32F103VET6 chips U20, pins 23, 24, 25, 26, 29 and 30 of the U20 are respectively connected with A_2_LVC14, B_2_LVC14, Z_2_LVC14, W_2_LVC14, V_2_LVC14 and U_2_LVC14, pins 31, 32 and 67-71 of the U20 are respectively connected with IPM_FAULT, CH1N, ADC and PA 9-PA 12, pins 35-37, 91-96, 47 and 48 and 51-54 of the U20 are respectively connected with CH2N, CH3N, BOOT1, A_1_LVC14, B_1_LVC14, Z_1_LVC14, W_1_LVC14, V_1_LVC14, U_1_LVC14, U_TEST_2_ARM, Z_TEST_2_ARM, B_TEST_2ARM, A_TEST_2_ARM and TEST_2_ARM, pins 15 to 18, 33, 63 to 66, 78 to 80 and 7 to 9 of the U20 are correspondingly connected with W_TEST_2_ARM, A_TEST_1_ARM, ADC3, ADC4, ADC5, CH1, CH2, CH3, PWM1, PC10, PC11, V_TEST_1_ARM, W_TEST_1_ARM, U_TEST_1_ARM and Z_TEST_1_ARM respectively, and pins 81 and 58 to 60 of the U20 are correspondingly connected with B_TEST_1_ARM and PD11 to PD13 respectively.
The motor driver part comprises a connector CH19, wherein the CH19 is connected with the primary side of a step-up transformer through an air circuit breaker, the secondary side of the step-up transformer is connected with the input end of a rectifier bridge BD1 through a common mode inductor L41, the positive electrode of the output end of the BD1 is respectively connected with one end of a resistor R153 and the 3 pin of a Y90-SS-115D relay K8, the 1 pin of the K8 is respectively connected with the positive electrode of a diode D48 and the K1, the cathode of the D483 is respectively connected with the 5 pin of +15V, K8, the 2 pin of the K8 is respectively connected with the other end of the R153 and VCCH, and the negative electrode of the output end of the BD1 is connected with GNDH;
the collector of the NPN triode Q10 is connected with K1, the base of the NPN triode Q10 is respectively connected with one end of a resistor R147 and one end of a resistor R148, the other end of the resistor R147 is connected with PA12, and the other end of the resistor R148 is respectively connected with the emitters of GND and Q10;
the 6-pin of the HBV-A3.3 chip TE1 is connected with the ADC12;
the 4-9 pins of the SN74HC541DW chip U34 are respectively connected with the CH1N, CH2N, CH3N, CH1, the CH2 and the CH3 correspondingly, the 11 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP3 and the 3 pin of the TLP250H chip OP4 through a resistor R176, the 12 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP5 and the 3 pin of the TLP250H chip OP6 through a resistor R175, the 13 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP7 and the 3 pin of the TLP250H chip OP8 through a resistor R174, the 14 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP3 and the 2 pin of the TLP250H chip OP4 through a resistor R171, the 15 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP5 and the 2 pin of the TLP250H chip OP6 through a resistor R170, and the 16 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip 3 and the TLP250H chip OP8 and the 2P 8 of the TLP250H chip OP7 through a resistor R171;
the 6 and 7 pins of OP 3-OP 8 are respectively and correspondingly connected with WH, WL, VH, VL, UH, UL;
3-6, 8, 9, 13 and 17 pins of the FSBB30CH60F chip U32 are correspondingly connected with UL, VL, WL, VFO, CSC, UH, VH, WH respectively, and 21, 22 and 23 pins of the U32 are connected with a CSC through a resistor R136; the pins 24, 25 and 26 of the U32 are respectively and correspondingly connected with the current transformer U71, the current transformer U72 and the current transformer U73;
the emitter of the output end of the U35 of the TLP521 chip is connected with the IPM_FAULT, and the cathode of the input end of the U35 is connected with the VFO.
The TLP250H chip is used for photoelectric isolation and driving.
The step-up transformer steps up the input 220V to 380V, and converts the voltage into high-voltage direct current required by the motor through BD 1. And then is converted into three-phase power U, V, W required by the three-phase servo motor through the U32.
When the power is first applied, K8 is not attracted, and the capacitors C112, C113, and C114 are charged through R153. Because the instantaneous impedance of the capacitor charging is small, a surge can be caused, and the current is limited by R153 to prevent the surge. When VCCH reaches 600V, the attraction K8 is carried out, and the capacitor is charged and can work normally after exiting the anti-surge protection state.
TE1 is a voltage sensor, and is configured to collect the high voltage output by BD1, send the collected value to U20, and when the high voltage value reaches a set value (which may be set to 500V), U20 controls Q10 through PA12, further controls K8, and shorts R153.
The control signal output by U20 is shaped by U34 to make the driving waveform steeper. The driving signal is a trapezoidal wave due to parasitic capacitance in the line and the length of the line, and becomes a rectangular wave through the circuit. The time from turn-off to turn-on of U32 is reduced, the transient time is reduced, heating is reduced, and the control signal is enhanced.
CH1N, CH2N, CH3N, CH1, CH2 and CH3 are three-phase bridge driving signals, six tubes of the three-phase bridge, and 6 groups of driving signals respectively correspond to the tubes of the 6 three-phase bridges.
After the power enhancement and isolation of the control signals output by the U34 are carried out by the OP 3-OP 8, the control signals are sent to the U32, the U32 is an IPM integrated three-phase H bridge, the direct current is converted into the three-phase alternating current to drive the three-phase alternating current motor,
u71, U72, U73 are current transformer for gather U, V, W three-phase electric output's electric current, when the electric current is too big, through the inside monitoring of U32 or after U71-U73 gathers the electric current too big, stop outputting CH1N, CH2N, CH3N, CH1, CH2, CH3 signal through U20, protection motor and U32. When the three phases are unbalanced (i.e. the three-phase servo motor is only connected with two phases of electricity, and the third phase is not connected), the detection currents of U71, U72 and U73 are different, and the signals CH1N, CH2N, CH3N, CH, CH2 and CH3 are stopped to be output through U20, so that the motor is protected.
When overcurrent or short circuit is detected in U32, VFO is connected with GND, U35 is conducted, pin 31 of U20 becomes high, and CH1N, CH2N, CH3N, CH, CH2 and CH3 signals are stopped being output.
The power supply circuit comprises a GBJ207 module U24, wherein the 2 pin of the U24 is connected with L through a first coil of a common-mode inductor T3, the 3 pin of the U24 is connected with N through a second coil of the common-mode inductor T3 and a fuse F6, the 1 pin of the U24 is connected with the D port of a TOP256PN chip U25 through a primary side T1-1 of a transformer, the C port of the U25 is connected with FB, and the V port of the U25 is respectively connected with the 4 pins of the U24 and the GNDH;
one end of the secondary side T1-8 of the transformer is connected with +24V through a diode D58 and an inductor L49 in sequence, and the other end of the secondary side T1-8 of the transformer is connected with GND2;
one end of the secondary side T1-7 of the transformer is connected with the 1 pin of the K7815 module U21 through a diode D37 and an inductor L30 in sequence, the 3 pin of the U21 is connected with +15V1, and the other end of the T1-7 is connected with GND_1;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-5 of the transformer is connected with the 1 pin of the K7815 module U23 through a diode D39 and an inductor L32 in sequence, the 3 pin of the U23 is connected with +15V3, and the other end of the secondary side T1-5 of the transformer is connected with GND_3;
one end of the secondary side T1-4 of the transformer is connected with the 1 pin of the K7815 module U26 through a diode D41 and an inductor L33 in sequence, the 3 pin of the U26 is connected with +15V, and the other end of the T1-4 is connected with GND;
one end of the secondary side T1-3 of the transformer is connected with +5V through a diode D42 and an inductor L34 in sequence, and the other end of the secondary side T1-3 of the transformer is connected with +5V through a capacitor C77;
one end of the secondary side T1-2 of the transformer is connected with the collector of the output end of the U28 of the TLP521 chip through a diode D43, the emitter of the output end of the U28 is connected with the FB, and the other end of the secondary side T1-2 of the transformer is connected with the GNDH; the anode of the U28 input end is connected with +5V through resistors R115 and R113 in sequence, the cathode of the U28 input end is connected with 3 pins of a KA431AZT chip, 2 pins of the KA431AZT chip are respectively connected with one end of a GND and one end of a resistor R118, the other end of the R118 is respectively connected with 1 pin of the KA431AZT chip and one end of a resistor R114, and the other end of the R114 is connected with +5V.
The KA431AZT chip provided a 2.5V reference source.
U24 is rectifier bridge module, and U24 converts L, N input commercial power into direct current, and U25 is the power chip, and U25 passes through the transformer with the direct current of U24 output and converts each volt value power that the system needs.
The motor output angle change acquisition part comprises a magnetic ring L35, one end of the magnetic ring L35 is connected with A-, the other end of the magnetic ring L14 is connected with A-2 through a resistor R123, one end of the magnetic ring L37 is connected with A+ and the other end of the magnetic ring L37 is connected with A+2 through a resistor R133;
one end of the magnetic ring L39 is connected with B-, the other end of the magnetic ring L39 is connected with B-2 through a resistor R151, one end of the magnetic ring L42 is connected with B+ and the other end of the magnetic ring L42 is connected with B+2 through a resistor R162;
one end of the magnetic ring L45 is connected with Z-, the other end of the magnetic ring L45 is connected with Z-2 through a resistor R172, one end of the magnetic ring L47 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+2 through a resistor R185;
one end of the magnetic ring L36 is connected with U-, the other end of the magnetic ring L36 is connected with U-2 through a resistor R124, one end of the magnetic ring L38 is connected with U+ and the other end of the magnetic ring L38 is connected with U+2 through a resistor R134;
one end of the magnetic ring L40 is connected with V-, the other end of the magnetic ring L40 is connected with V-2 through a resistor R152, one end of the magnetic ring L43 is connected with V+ and the other end of the magnetic ring L43 is connected with V+2 through a resistor R163;
one end of the magnetic ring L46 is connected with W-, the other end of the magnetic ring L46 is connected with W-2 through a resistor R173, one end of the magnetic ring L48 is connected with W+ and the other end of the magnetic ring L48 is connected with W+2 through a resistor R186;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U30 are respectively and correspondingly connected with pins A-2, A+2, B-2, B+2, Z-2 and Z+2, and pins 3, 5 and 11 of the U30 are respectively and correspondingly connected with pins A_2_LVC14, B_2_LVC14 and Z_2_LVC14;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U33 are correspondingly connected with the W-2, the W+2, the V-2, the V+2, the U-2 and the U+2 respectively, and pins 3, 5 and 11 of the U33 are correspondingly connected with the W_2_LVC14, the V_2_LVC14 and the U_2_LVC14 respectively;
the pins 1, 2, 4 and 5 of the 74HC86 chip U29 are correspondingly connected with the pins B+2, B-2, A+2 and A-2 respectively, the pin 3 of the U29 is connected with the B_TEST_2ARM through a resistor R122, and the pin 6 of the U29 is connected with the A_TEST_2ARM through a resistor R126; the pins 12 and 13 of the U29 are correspondingly connected with Z+2 and Z-2 respectively, and the pin 11 of the U29 is connected with Z_TEST_2ARM through a resistor R127; pins 1, 2, 4 and 5 of the 74HC86 chip U31 are correspondingly connected with V+2, V-2, W+2 and W-2 respectively, and pin 3 of the U31 is connected with V_TEST_2ARM through a resistor R141; the 6 pin of U31 is connected with W_TEST_2ARM through a resistor R144; pins 12 and 13 of U31 are respectively connected with U+2 and U-2 correspondingly, and pin 11 of U31 is connected with U_TEST_2ARM through resistor R145.
The working process of the motor output angle change acquisition part is the same as that of the harmonic reducer output angle change acquisition part, and only the acquisition objects are different. U+, U-, V+, V-, W+, W-: these harnesses are used to connect the encoder with the synchronization signals of the servo driver. In servo systems, multiple encoders are used to provide greater accuracy and stability. U, V, W represents different encoders, + and-represent positive and negative polarities.
It should be understood that the foregoing detailed description of the present invention is provided for illustration only and is not limited to the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention may be modified or substituted for the same technical effects; as long as the use requirement is met, the invention is within the protection scope of the invention.

Claims (9)

1. The utility model provides a harmonic reducer load performance detection device, including motor adjustable torque load portion, harmonic reducer output angle change collection part, USB data output part, touch display screen part, controller part, motor driver part, power supply circuit and motor output angle change collection part, characterized by that the detection signal input port of controller part links to each other with the detection signal output port of harmonic reducer output angle change collection part, the detection signal output port of motor output angle change collection part respectively, the control signal output port of controller part links to each other with the control signal input port of motor adjustable torque load portion, the control signal input port of motor driver part respectively, the information transmission port of controller part links to each other with the information transmission port of USB data output part, the information transmission port of touch display screen part respectively, the electric energy output port of power supply circuit links to each other with the power supply port of motor adjustable torque load portion, the power supply port of harmonic reducer output angle change collection part, the power supply port of USB data output part, the power supply port of touch display screen part, the power supply port of controller part, the power supply port of motor driver part, the power supply port of motor output angle change collection part.
2. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the motor adjustable torque load part comprises a TX4137 chip U11, an AD5160BRJZ50-R2 chip U13, an ADuM1300ARWZ chip U14 and a WRB2403S-1W module U1, 4 pins of U13 are connected with RCLK4 respectively, 5 pins of U13 are connected with RSDI4 and RCS4 respectively, 8 pins of U13 are connected with 3 pins of U11 and one end of a resistor R52 respectively, the other end of R52 is connected with G1, 6 pins of U11 are connected with G1 through an inductor L13, and 5 pins of U11 are connected with +24V;
pins 3, 4, 5, 12, 13 and 14 of the U14 are respectively connected with PD11, PD12, PD13, RCLK4, RSDI4 and RCS 4;
pins 1, 2, 4 and 6 of U1 are respectively and correspondingly connected with + V, GND2, GND2 and VCC_3.3VA;
the 2-pin of the connector CH16 is connected with the drain electrode of the NMOS tube Q9, the source electrode of the Q9 is respectively connected with the GND1 and one end of the current sensor U89, the grid electrode of the Q9 is connected with the G1 through the resistor R80, and the 1-pin of the connector CH16 is connected with the other end of the U89.
3. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the output angle change acquisition part of the harmonic reducer comprises a magnetic ring L14, one end of the magnetic ring L14 is connected with A-, the other end of the magnetic ring L14 is connected with A-1 through a resistor R58, one end of the magnetic ring L16 is connected with A+ and the other end of the magnetic ring L16 is connected with A+1 through a resistor R66;
one end of the magnetic ring L18 is connected with B-, the other end of the magnetic ring L18 is connected with B-1 through a resistor R78, one end of the magnetic ring L20 is connected with B+ and the other end of the magnetic ring L20 is connected with B+1 through a resistor R83;
one end of the magnetic ring L22 is connected with Z-, the other end of the magnetic ring L22 is connected with Z-1 through a resistor R78, one end of the magnetic ring L24 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+1 through a resistor R83;
one end of the magnetic ring L15 is connected with U-, the other end of the magnetic ring L15 is connected with U-1 through a resistor R59, one end of the magnetic ring L17 is connected with U+ and the other end of the magnetic ring L17 is connected with U+1 through a resistor R67;
one end of the magnetic ring L19 is connected with V-, the other end of the magnetic ring L19 is connected with V-1 through a resistor R59, one end of the magnetic ring L21 is connected with V+ and the other end of the magnetic ring L21 is connected with V+1 through a resistor R67;
one end of the magnetic ring L23 is connected with W-, the other end of the magnetic ring L23 is connected with W-1 through a resistor R91, one end of the magnetic ring L25 is connected with W+ and the other end of the magnetic ring L25 is connected with W+1 through a resistor R95;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U15 are respectively connected with pins A-1, A+1, B-1, B+1, Z-1 and Z+1 correspondingly, and pins 3, 5 and 11 of the U15 are respectively connected with pins A_1_LVC14, B_1_LVC14 and C_1_LVC14 correspondingly;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U17 are respectively connected with pins W-1, W+1, V-1, V+1, U-1 and U+1 correspondingly, and pins 3, 5 and 11 of the U17 are respectively connected with pins W_1_LVC14, V_1_LVC14 and U_1_LVC14 correspondingly;
the pins 1, 2, 4 and 5 of the 74HC86 chip U12 are respectively correspondingly connected with the pins B+1, B-1, A+1 and A-1, the pin 3 of the U12 is connected with the B_TEST_1ARM through a resistor R57, and the pin 6 of the U12 is connected with the A_TEST_1ARM through a resistor R61; the pins 12 and 13 of the U12 are correspondingly connected with Z+1 and Z-1 respectively, and the pin 11 of the U12 is connected with Z_TEST_1ARM through a resistor R62;
pins 1, 2, 4 and 5 of the 74HC86 chip U16 are correspondingly connected with V+1, V-1, W+1 and W-1 respectively, pin 3 of the U16 is connected with V_TEST_1ARM through a resistor R71, and pin 6 of the U16 is connected with W_TEST_1ARM through a resistor R73; pins 12 and 13 of U16 are respectively connected with U+1 and U-1 correspondingly, and pin 11 of U16 is connected with U_TEST_1ARM through resistor R74.
4. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the USB data output part comprises a CH340C chip U19, pins 2 and 3 of the U19 are respectively connected with a PC11 and a PC10 correspondingly, pin 5 of the U19 is connected with USB_DP through a resistor R100, and pin 6 of the U19 is connected with USB_DM through a resistor R101.
5. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the touch display screen part comprises an SP3485EN-L/TR chip U18, a pin 1 of the U18 is connected with a pin 10 of a connector CH17, a pin 2 of the U18 is connected with a pin 3 of the U18, a pin 4 of the U18 is connected with a pin 9 of the connector P9 and one end of a magnetic bead L26, the pin 1 of the P9 is respectively connected with one end of a pin 6 of the U18 and one end of a magnetic bead L27 through a resistor R99, the other end of the L26 is connected with the pin 1 of the connector CH17 through the pin 1 of the connector P10, and the pin 2 of the CH17 is connected with the other end of the L27 through the pin 2 of the connector P10.
6. The device for detecting load performance of harmonic reducer according to claim 1, wherein the controller comprises STM32F103VET6 chips U20, pins 23, 24, 25, 26, 29 and 30 of U20 are respectively connected with pins A_2_LVC14, B_2_LVC14, Z_2_LVC14, W_2_LVC14, V_2_LVC14 and U_2_LVC14, respectively, pins 31, 32, 67-71 of U20 are respectively connected with pins IPM_FAULT, CH1N, ADC12 and PA 9-PA 12, pins 35 to 37, 91 to 96, 47, 48, and 51 to 54 of U20 are respectively connected with CH2N, CH3N, BOOT1, A_1_LVC14, B_1_LVC14, Z_1_LVC14, W_1_LVC14, V_1_LVC14, U_1_LVC14, U_TEST_2_ARM, Z_TEST_2_ARM, B_TEST_2_ARM, A_TEST_2_ARM, and V_TEST_2_ARM, respectively, pins 15 to 18, 33, 63 to 66, 78 to 80, and 7 to 9 of U20 are respectively connected with W_TEST_2_ARM, A_TEST_1_ARM, ADC3, ADC4, ADC5, CH1, CH2, CH3, PWM1, PC10, PC11, V_TEST_1_ARM, W_TEST_1_ARM, U_TEST_1_ARM, and Z_ARM, respectively, and pins 15 to 18, 33, 63 to 66, 78 to 80, and 7 to 9 of U20 are respectively connected with W_TEST_2_ARM, A_TEST_1_ARM, ADC4, ADC5, CH1, CH2, CH3, PWM1, PC11, V_TEST 1, and PD 1_ARM.
7. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the motor driver part comprises a connector CH19, wherein the CH19 is connected with a primary side of a step-up transformer through an air circuit breaker, a secondary side of the step-up transformer is connected with an input end of a rectifier bridge BD1 through a common mode inductor L41, an anode of an output end of the BD1 is respectively connected with one end of a resistor R153 and a3 pin of a Y90-SS-115D relay K8, a1 pin of the K8 is respectively connected with an anode of a diode D48 and a K1, a cathode of the D483 is respectively connected with a 5 pin of +15V, K8, a 2 pin of the K8 is respectively connected with the other end of the R153 and a VCCH, and a cathode of the BD1 output end is connected with GNDH;
the collector of the NPN triode Q10 is connected with K1, the base of the NPN triode Q10 is respectively connected with one end of a resistor R147 and one end of a resistor R148, the other end of the resistor R147 is connected with PA12, and the other end of the resistor R148 is respectively connected with the emitters of GND and Q10;
the 6-pin of the HBV-A3.3 chip TE1 is connected with the ADC12;
the 4-9 pins of the SN74HC541DW chip U34 are respectively connected with the CH1N, CH2N, CH3N, CH1, the CH2 and the CH3 correspondingly, the 11 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP3 and the 3 pin of the TLP250H chip OP4 through a resistor R176, the 12 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP5 and the 3 pin of the TLP250H chip OP6 through a resistor R175, the 13 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip OP7 and the 3 pin of the TLP250H chip OP8 through a resistor R174, the 14 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP3 and the 2 pin of the TLP250H chip OP4 through a resistor R171, the 15 pin of the U34 is respectively connected with the 3 pin of the TLP250H chip OP5 and the 2 pin of the TLP250H chip OP6 through a resistor R170, and the 16 pin of the U34 is respectively connected with the 2 pin of the TLP250H chip 3 and the TLP250H chip OP8 and the 2P 8 of the TLP250H chip OP7 through a resistor R171;
the 6 and 7 pins of OP 3-OP 8 are respectively and correspondingly connected with WH, WL, VH, VL, UH, UL;
3-6, 8, 9, 13 and 17 pins of the FSBB30CH60F chip U32 are correspondingly connected with UL, VL, WL, VFO, CSC, UH, VH, WH respectively, and 21, 22 and 23 pins of the U32 are connected with a CSC through a resistor R136;
the emitter of the output end of the U35 of the TLP521 chip is connected with the IPM_FAULT, and the cathode of the input end of the U35 is connected with the VFO.
8. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the power supply circuit comprises a GBJ207 module U24, wherein the 2 pins of the U24 are sequentially connected with L through a common-mode inductance T3 first coil and a thermistor R105, the 3 pins of the U24 are sequentially connected with N through a T3 second coil and a fuse F6, the 1 pins of the U24 are connected with the D port of a TOP256PN chip U25 through a primary side T1-1 of a transformer, the C port of the U25 is connected with FB, and the V port of the U25 is respectively connected with the 4 pins of the U24 and the GNDH;
one end of the secondary side T1-8 of the transformer is connected with +24V through a diode D58 and an inductor L49 in sequence, and the other end of the secondary side T1-8 of the transformer is connected with GND2;
one end of the secondary side T1-7 of the transformer is connected with the 1 pin of the K7815 module U21 through a diode D37 and an inductor L30 in sequence, the 3 pin of the U21 is connected with +15V1, and the other end of the T1-7 is connected with GND_1;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-6 of the transformer is connected with the 1 pin of the K7815 module U22 through a diode D38 and an inductor L31 in sequence, the 3 pin of the U22 is connected with +15V2, and the other end of the secondary side T1-6 of the transformer is connected with GND_2;
one end of the secondary side T1-5 of the transformer is connected with the 1 pin of the K7815 module U23 through a diode D39 and an inductor L32 in sequence, the 3 pin of the U23 is connected with +15V3, and the other end of the secondary side T1-5 of the transformer is connected with GND_3;
one end of the secondary side T1-4 of the transformer is connected with the 1 pin of the K7815 module U26 through a diode D41 and an inductor L33 in sequence, the 3 pin of the U26 is connected with +15V, and the other end of the T1-4 is connected with GND;
one end of the secondary side T1-3 of the transformer is connected with +5V through a diode D42 and an inductor L34 in sequence, and the other end of the secondary side T1-3 of the transformer is connected with +5V through a capacitor C77;
one end of the secondary side T1-2 of the transformer is connected with the collector of the output end of the U28 of the TLP521 chip through a diode D43, the emitter of the output end of the U28 is connected with the FB, and the other end of the secondary side T1-2 of the transformer is connected with the GNDH; the anode of the U28 input end is connected with +5V through resistors R115 and R113 in sequence, the cathode of the U28 input end is connected with 3 pins of a KA431AZT chip, 2 pins of the KA431AZT chip are respectively connected with one end of a GND and one end of a resistor R118, the other end of the R118 is respectively connected with 1 pin of the KA431AZT chip and one end of a resistor R114, and the other end of the R114 is connected with +5V.
9. The device for detecting the load performance of the harmonic reducer according to claim 1, wherein the motor output angle change acquisition part comprises a magnetic ring L35, one end of the magnetic ring L35 is connected with A-, the other end of the magnetic ring L14 is connected with A-2 through a resistor R123, one end of the magnetic ring L37 is connected with A+ and the other end of the magnetic ring L37 is connected with A+2 through a resistor R133;
one end of the magnetic ring L39 is connected with B-, the other end of the magnetic ring L39 is connected with B-2 through a resistor R151, one end of the magnetic ring L42 is connected with B+ and the other end of the magnetic ring L42 is connected with B+2 through a resistor R162;
one end of the magnetic ring L45 is connected with Z-, the other end of the magnetic ring L45 is connected with Z-2 through a resistor R172, one end of the magnetic ring L47 is connected with Z+ and the other end of the magnetic ring L24 is connected with Z+2 through a resistor R185;
one end of the magnetic ring L36 is connected with U-, the other end of the magnetic ring L36 is connected with U-2 through a resistor R124, one end of the magnetic ring L38 is connected with U+ and the other end of the magnetic ring L38 is connected with U+2 through a resistor R134;
one end of the magnetic ring L40 is connected with V-, the other end of the magnetic ring L40 is connected with V-2 through a resistor R152, one end of the magnetic ring L43 is connected with V+ and the other end of the magnetic ring L43 is connected with V+2 through a resistor R163;
one end of the magnetic ring L46 is connected with W-, the other end of the magnetic ring L46 is connected with W-2 through a resistor R173, one end of the magnetic ring L48 is connected with W+ and the other end of the magnetic ring L48 is connected with W+2 through a resistor R186;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U30 are respectively and correspondingly connected with pins A-2, A+2, B-2, B+2, Z-2 and Z+2, and pins 3, 5 and 11 of the U30 are respectively and correspondingly connected with pins A_2_LVC14, B_2_LVC14 and Z_2_LVC14;
pins 2, 1, 6, 7, 10 and 9 of the AM26LS32ACD chip U33 are correspondingly connected with the W-2, the W+2, the V-2, the V+2, the U-2 and the U+2 respectively, and pins 3, 5 and 11 of the U33 are correspondingly connected with the W_2_LVC14, the V_2_LVC14 and the U_2_LVC14 respectively;
the pins 1, 2, 4 and 5 of the 74HC86 chip U29 are correspondingly connected with the pins B+2, B-2, A+2 and A-2 respectively, the pin 3 of the U29 is connected with the B_TEST_2ARM through a resistor R122, and the pin 6 of the U29 is connected with the A_TEST_2ARM through a resistor R126; the pins 12 and 13 of the U29 are correspondingly connected with Z+2 and Z-2 respectively, and the pin 11 of the U29 is connected with Z_TEST_2ARM through a resistor R127;
pins 1, 2, 4 and 5 of the 74HC86 chip U31 are correspondingly connected with V+2, V-2, W+2 and W-2 respectively, pin 3 of the U31 is connected with V_TEST_2ARM through a resistor R141, and pin 6 of the U31 is connected with W_TEST_2ARM through a resistor R144; pins 12 and 13 of U31 are respectively connected with U+2 and U-2 correspondingly, and pin 11 of U31 is connected with U_TEST_2ARM through resistor R145.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101587016A (en) * 2009-07-07 2009-11-25 西安交通大学 Dynamic performance comprehensive detection system of harmonic speed reducer
CN103698127A (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
CN109632289A (en) * 2018-11-16 2019-04-16 浙江来福谐波传动股份有限公司 A kind of analysis of Fatigue-life device for harmonic speed reducer
CN111024389A (en) * 2019-12-26 2020-04-17 广东省智能制造研究所 Harmonic reducer load testing device with electric energy feedback and method
CN112326233A (en) * 2020-11-27 2021-02-05 北京工业大学 Harmonic reducer comprehensive performance test bed
WO2022149632A1 (en) * 2021-01-07 2022-07-14 한국로봇융합연구원 Apparatus for evaluating performance of speed reducer

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101587016A (en) * 2009-07-07 2009-11-25 西安交通大学 Dynamic performance comprehensive detection system of harmonic speed reducer
CN103698127A (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
CN109632289A (en) * 2018-11-16 2019-04-16 浙江来福谐波传动股份有限公司 A kind of analysis of Fatigue-life device for harmonic speed reducer
CN111024389A (en) * 2019-12-26 2020-04-17 广东省智能制造研究所 Harmonic reducer load testing device with electric energy feedback and method
CN112326233A (en) * 2020-11-27 2021-02-05 北京工业大学 Harmonic reducer comprehensive performance test bed
WO2022149632A1 (en) * 2021-01-07 2022-07-14 한국로봇융합연구원 Apparatus for evaluating performance of speed reducer

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