Precision analysis and test method for test platform of robot harmonic reducer

Abstract

The invention discloses a precision analysis and test method for a test platform of a robot harmonic reducer. According to the precision analysis and test method, the precision of the whole test platform is reflected by testing the performance index of the transmission efficiency. On the basis of the transmission efficiency test principle of a harmonic reducer, a measurement uncertainty model of the test platform is established based on an uncertainty propagation rule by considering influences of uncertainty caused by repetition of the torque and the rotation speed, the uncertainty caused by reading resolution of a digital display instrument, the uncertainty caused by the torque and rotation speed sensor accuracy, and the uncertainty factor caused by data treaty revising; and the measurement uncertainty of the harmonic reducer test platform is calculated and analyzed by combining the uncertainty calculation model, so that dynamic adjustment of the test platform is completed in testing.

Description

technical field [0001] The invention relates to the technical field of reducer products, in particular to a method for analyzing and testing the accuracy of a robot harmonic reducer test platform. Background technique [0002] The harmonic reducer is a rigid-flexible hybrid transmission mechanism that realizes motion and force transmission based on the deformation of an elastic thin shell. At the same time, it also has the characteristics of gear transmission. The harmonic reducer has the advantages of simple structure, large transmission ratio, stable transmission, high precision and small hysteresis. At present, it has been widely used in precision transmission fields such as aerospace, industrial robots, medical equipment, radar, optical manufacturing, food processing machinery, papermaking machinery, nuclear facilities, etc. Due to some characteristics of its transmission mechanism and its structural characteristics, its transmission mechanism is relatively Ordinary gea...

AI Technical Summary

Problems solved by technology

At present, it has been widely used in precision transmission fields such as aerospace, industrial robots, medical equipment, radar, optical manufacturing, food processing machinery, papermaking machinery, nuclear facilities, etc. Due to some characteristics of its transmission mechanism and its structural characteristics, its transmission mechanism is relatively Ordinary gear transmission is more complex, and the research on the force state is more cumbersome than ordinary gears. The precise transmission theory of the harmonic reducer is not perfect, and there is no accurate model that can accurately analyze and calculate the accuracy of the harmonic reducer test platform. Relying on a simplified model for evaluation has caused a large error between domestic and foreign harmonic reducer manufacturers on the performance and other indicators of the harmonic reducer and the actual use of the situation, thus causing customers to form a problem of poor quality of the harmonic reducer , the key to unreliability, which greatly limits the application range of harmonic reducers with many advantages

Moreover, from the design of the flexible wheel, steel wheel and cam of the harmonic reducer, from the manufacturing and processing of parts to the assembly of the whole machine, it will bring different degrees of transmission error to the harmonic reducer and affect the accuracy of the reducer.

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