Backlash measurement and adjustment method and device

A measurement method and technology of backlash, applied in the direction of measurement devices, transmission parts, belts/chains/gears, etc., can solve the problems of expensive and complicated test benches, and achieve the effect of improving measurement accuracy

Active Publication Date: 2020-02-21
上海新时达机器人有限公司
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  • Backlash measurement and adjustment method and device
  • Backlash measurement and adjustment method and device
  • Backlash measurement and adjustment method and device

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[0058] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, a person of ordinary skill in the art can understand that, in each embodiment of the present invention, many technical details are proposed for the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions required by the claims of this application can be realized.

[0059] The first embodiment of the present invention relates to a backlash measurement method, which can be used for example figure 1 Of course, the robot shown can also be used in other precision transmission mechanisms. by figure 1 It is not difficult to see that the first transmission gear 5 is arranged in the robot arm 11, and the sec...

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Abstract

The invention belongs to measurement and adjustment technologies, and particularly relates to a backlash measurement and adjustment method and device. The backlash measurement method comprises the steps of driving an input shaft to rotate forwardly; driving the input shaft to rotate reversely at some point, and synchronously collecting a first curve waveform of the angle of the input shaft and thetime and a second curve waveform of the angle of an output shaft and the time; calculating the stagnation duration delta t of the output shaft during reverse rotation of the input shaft according tothe first curve waveform and the second curve waveform; according to the stagnation duration delta t, calculating the angle change value delta theta of the input shaft within the stagnation duration delta t; measuring the backlash between a first gear and a second gear according to the angle change value delta t of the input shaft. Compared with the prior art, the measurement precision of the backlash is improved.

Description

technical field [0001] The invention relates to a measurement and adjustment technology, in particular to a backlash measurement and adjustment method, and a backlash measurement and adjustment device. Background technique [0002] In the process of gear meshing transmission, if the load is reversed, even if the input shaft is locked and cannot rotate, the output shaft will rotate a small angle, which is called backlash or backlash, such as figure 1 . When the gear teeth are meshing, there is an appropriate tooth side clearance, which is conducive to the formation of a normal lubricating oil film between the tooth surfaces, and prevents the gear teeth from being stuck due to thermal expansion and deformation caused by the increase in the working temperature of the gear. However, for mechanisms with more and more sophisticated transmission requirements, such as industrial robot joints, the existence of backlash is likely to cause errors in transmission positioning, reduce tr...

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Application Information

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IPC IPC(8): F16H57/12G01B21/16
CPCF16H57/12G01B21/16
Inventor 王师杜向红李天天
Owner 上海新时达机器人有限公司
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