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Return difference measuring device and method for harmonic gear transmission

A technology of harmonic gears and measuring devices, which is applied in the direction of measuring devices, testing of mechanical components, testing of machine/structural components, etc., and can solve problems such as inability to meet the performance requirements of precision harmonic gear transmission

Inactive Publication Date: 2020-07-07
DALIAN UNIV OF TECH
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  • Description
  • Claims
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Problems solved by technology

However, with the continuous development of harmonic gear transmission technology, the commonly used hysteresis measurement accuracy of 3" can no longer meet the performance requirements of precision harmonic gear transmission.

Method used

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  • Return difference measuring device and method for harmonic gear transmission
  • Return difference measuring device and method for harmonic gear transmission
  • Return difference measuring device and method for harmonic gear transmission

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Embodiment 1

[0026] Embodiment 1: as Figure 1 to Figure 7 As shown, the present invention discloses an input shaft fixing device 1, a harmonic reducer 2, a harmonic reducer bracket 3, a loading rod 4, an angle measuring device 5, a loading device 6, and a base workbench 7;

[0027] The harmonic reducer 2 is supported on the harmonic reducer bracket 3, and the harmonic reducer bracket 3 is fixed to the base workbench 7; the wave generator input end 201 of the harmonic reducer is connected to the input shaft fixing device 1 through a key ; The output end 202 of the flexible wheel of the harmonic reducer is fixed to the connecting end A401 of the loading rod; The lever head 403 of the force arm is respectively equipped with a loading device 6, which loads the output end 202 of the flex wheel of the harmonic reducer by the loading device 6;

[0028] The loading device 6 includes a force sensor 601, a ball flange 602, and a hydraulic cylinder 603; the loading device 6 is respectively installe...

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Abstract

The invention discloses a return difference measuring device and method for harmonic gear transmission. According to the invention, the input end of a wave generator of a harmonic reducer is connectedwith an input shaft fixing device through a key, the output end of a flexible gear of the harmonic reducer is fixedly connected with a loading rod, and an angle measuring device is connected to the loading rod to record the rotating angle of an output shaft of the harmonic reducer; and two force arm rod heads of the loading rod are sequentially provided with hydraulically-driven loading devices,and the loading devices are used for loading the output shaft. The return difference measuring device can adapt to the angle change of the loading rod by adopting a mode that a ball flange is tangentto the output plane of a hydraulic cylinder, and the loading rod head adopts a mode of vertically fixing a welding screw to ensure the accuracy of output torque measurement. The device is not only suitable for return difference measurement of harmonic gear transmission, but also suitable for return difference measurement of coaxial output gear transmission and is driven in a hydraulic mode, the rotation angle is measured by an angle encoder, and the torque is calculated by a force sensor. The device is simple in structure, convenient to install, high in measurement precision and high in practicability.

Description

technical field [0001] The invention belongs to the technical field of precision mechanical transmission, and relates to a hysteresis measuring device for harmonic gear transmission. Background technique [0002] Harmonic gear transmission has the advantages of simple structure, small size, light weight, smooth motion, low noise, large range of single-stage reduction ratio, high transmission precision, etc., so it has attracted great attention from all over the world as soon as it came out, and has been widely used In various industrial fields such as space technology, robotics, medical machinery, information and communication. [0003] Hysteresis is an important performance index of harmonic gear transmission. For the application of forward and reverse switching, during reciprocating motion, in order to ensure the position accuracy of the mechanical system, there are strict requirements on the hysteresis of the transmission device. Backlash refers to the difference between...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M13/021G01M13/025
CPCG01M13/021G01M13/025
Inventor 董惠敏董博王德伦张楚王智
Owner DALIAN UNIV OF TECH
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