Detecting device for harmonic speed reducer and control method thereof

Abstract

The invention provides a detecting device for a harmonic speed reducer and a control method thereof. The control method comprises the step of detecting, which includes the back clearance testing step;and the back clearance testing step comprises the step of acquiring target theory parameters for back clearance testing, the step of acquiring a preheating signal of the harmonic speed reducer, wherein the rotating cycles of the harmonic speed reducer are the preheating frequency of the target theory parameters for back clearance testing, the step of acquiring a reverse rotating signal of the harmonic speed reducer, wherein the reverse rotating position of the harmonic speed reducer is defined as an A1 position, the step of obtaining a positive rotating signal of the harmonic speed reducer, wherein the harmonic speed reducer positively rotates to reach a target angle, the step of acquiring a revers rotating signal of the harmonic speed reducer, wherein the position where the harmonic speed reducer reversely rotates to the set angle is defined as an A2 position, the step of acquiring the difference X1 between the A2 position and the A1 position, and the step of displaying and storing the difference X1. The control method is simple to operate; the control speed and the position precision of the harmonic speed reducer are improved; and moreover, the detecting accuracy of the detecting device is improved.

Description

technical field [0001] The present invention relates to the technical field of mechanical performance detection equipment, in particular to a control method for a detection device of a harmonic reducer, and a detection device for detecting the performance of a harmonic reducer using the control method. Background technique [0002] With the continuous development and promotion of high-precision motion control technology, energy, communications, machine tools, instruments, robots, automobiles, shipbuilding, textiles, metallurgy, conventional weapons, precision optical equipment, printing institutions, medical equipment, as space transmission devices High-precision harmonic reducers are required in fields such as manipulation of high-temperature and high-pressure pipelines and mechanisms that work under conditions of atomic radiation or other harmful media. [0003] The main performance parameters of the harmonic reducer include transmission efficiency, no-load starting torque...

AI Technical Summary

Problems solved by technology

[0003] The main performance parameters of the harmonic reducer include transmission efficiency, no-load starting torque, stiffness, backlash, air travel, angle transmission accuracy, and transition process, etc. The existing harmonic reducer test system has the ability to test various performances However, the actual assembly error is relatively large, and it is laborious to adjust the test items and test targets. It is difficult to ensure the test accuracy. Moreover, the existing detection equipment introduces the deformation error of the transmission shaft when measuring the angular displacement, resulting in a large system error. Due to the actual measured value, the accuracy cannot meet the test requirements; regarding the performance test of the servo motor, the traditional detection device is also greatly affected by human factors, especially the coaxiality is difficult to adjust during installation, resulting in the test accuracy cannot be guaranteed

In addition, the existing harmonic reducer test system has many components, resulting in a large deviation of the test results, resulting in a relatively low accuracy of the entire test system

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