Measurement system and method for obtaining natural frequency of reducer cycloid wheel under different working conditions

Abstract

The invention discloses a measurement system and method for obtaining the natural frequency of a cycloid wheel of a reducer under different working conditions, including a fine-tuning displacement mechanism, a magnetic torque motor power device, a special pin gear housing for detection, an acceleration sensor, a strain gauge sensor, a sensor, The exciter, vibrometer and measurement and control system, the power device of the magnetic torque motor and the exciter are relatively arranged on the fine-tuning displacement mechanism, the power device of the magnetic torque motor is connected with the cycloid wheel to be detected, and the acceleration sensor is arranged on the cycloid wheel to be detected On the outer surface, the strain gauge sensors are respectively set at the tooth roots of the cycloidal wheel to be tested and the special pin gear housing for testing. On one side of the wire wheel, the force sensor is arranged at the front end of the exciter; the measurement and control system is respectively connected with the acceleration sensor, the strain gauge sensor, the exciter and the vibration measuring instrument. Realize the online rapid measurement of the natural frequency of the cycloid wheel vibration of the reducer under different working conditions, with high measurement accuracy and simple operation.

Description

technical field [0001] The invention relates to the technical field of gear measurement, in particular to a measurement system and method for obtaining the natural frequency of a cycloid wheel of a reducer under different working conditions. Background technique [0002] As a precision transmission device in the joints of industrial robots, reducer components directly determine the dynamic characteristics, load-bearing characteristics and motion positioning accuracy of industrial robots. RV (Rotary Vector) reducer has a series of advantages such as large transmission ratio, small size, light weight, long life, high transmission precision, high transmission efficiency and good precision retention, and is the first choice for heavy-duty industrial robot joint precision reducer. The RV reducer is composed of a first-stage involute planetary gear train and a first-stage cycloid planetary gear train in series. The structure of the cycloidal wheel directly connected to the output...

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Problems solved by technology

[0003] At present, RV reducer manufacturers can only test the natural frequency of the cycloidal wheel of the reducer by hoisting and some simple test tools, and then analyze and calculate through some mathematical theoretical methods. However, it is difficult to measure in practice. The cycloidal wheel has a large self-weight, it is easy to shake during the test, and the position is easy to be unstable, which makes the detection data not accurate enough, and can only measure the natural frequency of a single part, it is difficult to measure the cycloidal wheel under different working conditions It is especially difficult to measure the natural frequency of the cycloidal wheel that is actually meshed with a load, and it is difficult to obtain an accurate natural frequency

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