System and method for testing deformation characteristics of harmonic gear transmission flexible wheel

Abstract

The invention provides a system and a method for testing deformation characteristics of a harmonic gear transmission flexible wheel. The system comprises an optical platform and a harmonic gear transmission system, wherein the harmonic gear transmission system comprises a servo motor bracket, a harmonic reducer bracket and a magnetic powder brake bracket which are sequentially arranged on the upper surface of the optical platform; a servo motor, a harmonic reducer and a magnetic powder brake are respectively mounted on the servo motor bracket, the harmonic reducer bracket and the magnetic powder brake bracket; a deformation data acquisition system is arranged between the servo motor bracket and the harmonic reducer bracket; the deformation data acquisition system comprises displacement frame upright columns; a displacement frame cross beam is arranged between the displacement frame upright columns; the displacement frame cross beam and the displacement frame upright columns can move relative to each other; and laser displacement sensors for acquiring the deformation amounts of the upper side and the left side of a harmonic reducer flexible wheel are arranged on the displacement frame upright column at the left side and the displacement frame cross beam. The system provided by the invention has the advantages of being low in cost, simple in structure, convenient to assemble anddisassemble, accurate in test and the like.

Description

technical field [0001] The invention relates to the technical field of harmonic gear transmission, in particular to a system and method for testing the deformation characteristics of a harmonic gear transmission flexwheel. Background technique [0002] Harmonic gear drives are widely used in aerospace and robotics. Harmonic gear transmission is mainly composed of a wave generator, a rigid wheel and a flexible wheel. The rotation of the wave generator makes the flexible wheel produce continuous elastic deformation, and meshes with the rigid wheel to transmit motion and power. Therefore, the deformation characteristics of the flexspline have an important influence on the transmission performance of the harmonic gear drive. [0003] Among the existing test methods for the deformation characteristics of harmonic gear transmission flexsplines, some of the test methods cannot analyze the influence of load on the deformation characteristics of flexsplines. In addition, the struct...

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Problems solved by technology

[0003] In the existing test methods for the deformation characteristics of the flexspline in harmonic gear transmission, some of the test methods cannot analyze the influence of load on the deformation characteristics of the flexspline

In addition, the structural composition and installation process of the test bench are very complicated, and the adjustable position range of the sensor is very small (patent name: Harmonic drive gear tooth meshing and flexible wheel deformation dynamic characteristics testing system, application number: CN201410232483.8), Another part of the test method uses a high-precision translation stage to adjust the position of the sensor, making the cost of the entire test system very high

In addition, the structural composition and installation process of the test bench are also relatively complicated, and it is not easy to ensure that the sensor is strictly in the horizontal or vertical direction, resulting in a large deviation between the test results and the actual situation (Thesis name: Research on deformation characteristics of flexible gears in harmonic gear transmission , Publishing source: China University of Geosciences (Beijing), 2017)

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