Measuring device for meshing torsional stiffness of harmonic gear reducer

Abstract

The invention discloses a meshing torsional rigidity measuring device for a harmonic gear speed reducer. The meshing torsional rigidity measuring device comprises a top motivation piece, support steel balls, a top track piece, the harmonic gear speed reducer, a bottom connecting piece, a bottom fixing piece, a spring, a force sensor, a sensor connecting piece, a force application bolt and a side fixed supporting base. The device is capable of measuring the meshing torsional rigidity of the harmonic gear speed reducer based on an indirect measurement method, and the precision and drive characteristics of a measured piece can not be influenced during a whole measurement process; as for measurement on the meshing rigidity of different harmonic speed reducers, only a middle connecting unit is needed to be replaced, and the whole experiment device has favorable exchangeability. By virtue of an experimental method, the meshing rigidity of a harmonic gear in the meshing process is measured and reference is provided for future analysis on the vibration mechanism based on a driving mechanism of the harmonic gear speed reducer, and an optimization direction is provided for improving the driving accuracy of the harmonic gear, reducing the driving error and the like.

Description

technical field [0001] The invention relates to the field of stiffness measurement, in particular to a measuring device for meshing torsional stiffness of a harmonic gear reducer. Background technique [0002] Harmonic gear reducer has the advantages of small size, high transmission ratio, large carrying capacity, and high transmission precision. It has been widely used in aerospace, robotics, machine tools, ships and other fields. Problems such as instability, time-varying stiffness and forced vibration will bring huge transmission errors to the entire system. At this time, the transmission system cannot meet the design requirements for motion accuracy and working stability. The present invention designs a set of experimental devices for measuring the meshing stiffness of the harmonic gear reducer, and obtains the meshing stiffness of the harmonic gear in the meshing process through experimental measurement, which is used for future analysis based on the vibration of the dr...

AI Technical Summary

Problems solved by technology

[0002] Harmonic gear reducer has the advantages of small size, high transmission ratio, large carrying capacity, and high transmission precision. It has been widely used in aerospace, robotics, machine tools, ships and other fields. Problems such as instability, time-varying stiffness and forced vibration will bring huge transmission errors to the entire system. At this time, the transmission system cannot meet the design requirements for motion accuracy and working stability.

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