A detection device and method for a harmonic reducer flex wheel tooth profile error and deformation function
A harmonic reducer and deformation function technology, applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of expensive customization, not taking into account the influence of actual materials and heat treatment processing errors, long measurement cycle time, etc.
Active Publication Date: 2021-05-07
BEIJING UNIV OF TECH
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Problems solved by technology
For the tangential displacement, radial displacement and axial rotation angle of the flexspline tooth profile during the large deformation envelope process, finite element simulation and traditional empirical formulas are used to obtain it at present, without considering the actual material, heat treatment and processing errors. influences
In addition, the traditional three-coordinate probe contact detection process requires custom-made ultra-small detection probes and special software. The customization of software and hardware is expensive and the measurement cycle time is long
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[0020] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:
[0021] Such as figure 1 As shown, a detection device for the tooth profile error and deformation function of a harmonic reducer flex spline, the device includes the following structure: a high-precision turntable system installed on an optical plate 1 realizes the installation of the flex spline 5 and 360-degree uniform indexing Rotate, the laser displacement sensor 7 is installed on the horizontal slide table 8 through the sensor bracket 6, and the laser passes through the central axis of the precision turntable 3 by moving back and forth to adjust, so as to realize the calibration of the position of the tooth profile point;
[0022] The high-precision turntable system includes a servo motor 2, a precision turntable 3 and a high-precision ci...
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The invention discloses a detection device and method for the tooth profile error and deformation function of a harmonic reducer flexwheel. The detection device includes a high-precision turntable system installed on an optical plate, and the installation and installation of the flexwheel is realized through the high-precision turntable system. 360-degree uniform indexing rotation, the laser displacement sensor is installed on the horizontal slide table through the sensor bracket, and the laser passes through the central axis of the precision turntable by moving back and forth to adjust, so as to realize the calibration of the tooth profile point position; the present invention establishes The corresponding relationship between the laser displacement sensor and the precision turntable can obtain the vector radius of the point data of the tooth profile of the flexible wheel under different rotation angles, and compare the point data coordinates of the theoretical tooth profile to obtain the tooth profile error of different rotation angles, which is the actual value of the harmonic reducer. The characterization of the tooth profile and deformation equations laid the theoretical and experimental foundations.
Description
technical field [0001] The invention relates to the technical field of design and manufacture of harmonic reducers, in particular to a detection device and method for a harmonic reducer flex wheel tooth profile error and deformation function. Background technique [0002] The harmonic reducer is the core component of the robot joint, and the meshing of the flexible spline and the rigid spline of the harmonic reducer belongs to the small modulus multi-tooth meshing under the condition of large deformation. The large deformation process of the harmonic reducer refers to the space movement process of the flexspline teeth realized during the rotation of the flexspline inner ring after the elliptical wave generator is installed in the flexible bearing. For the tangential displacement, radial displacement and axial rotation angle of the flexspline tooth profile in the large deformation envelope process, finite element simulation and traditional empirical formulas are mostly used t...
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IPC IPC(8): G01B11/24G01B11/16
CPCG01B11/16G01B11/2416
Inventor 刘志峰张涛杨聪彬张彩霞胡秋实纪新宇
Owner BEIJING UNIV OF TECH