Measuring system and method for obtaining inherent frequency of cycloidal gear of speed reducer under different working conditions

Abstract

The invention discloses a measuring system and method for obtaining the inherent frequency of a cycloidal gear of a speed reducer under different working conditions. The system comprises a fine adjustment displacement mechanism, a magnetic torque motor power device, a detection special pin wheel housing, an acceleration sensor, strain gauge sensors, a sensor, a vibration exciter, a vibration meterand a measurement and control system. The magnetic torque motor power device and the vibration exciter are oppositely arranged on the fine adjustment displacement mechanism; the magnetic torque motorpower device is connected with the to-be-detected cycloidal gear; the acceleration sensor is arranged on the outer surface of the to-be-detected cycloidal gear, the strain gauge sensors are respectively arranged at the tooth root parts of the to-be-detected cycloidal gear and the detection special pin wheel housing, the output end of the vibration exciter abuts against the side end surface of theto-be-detected cycloidal gear, the vibration meter is arranged on one side of the to-be-detected cycloidal gear, and the force sensor is arranged at the front end of the vibration exciter; and the measurement and control system is respectively connected with the acceleration sensor, the strain gauge sensors, the vibration exciter and the vibration meter. On-line rapid measurement of the vibrationinherent frequency of the reducer cycloidal gear under different working conditions is realized, the measurement precision is high, and the operation is simple.

Description

technical field [0001] The invention relates to the technical field of gear measurement, in particular to a measurement system and method for obtaining the natural frequency of a cycloid wheel of a reducer under different working conditions. Background technique [0002] As a precision transmission device in the joints of industrial robots, reducer components directly determine the dynamic characteristics, load-bearing characteristics and motion positioning accuracy of industrial robots. RV (Rotary Vector) reducer has a series of advantages such as large transmission ratio, small size, light weight, long life, high transmission precision, high transmission efficiency and good precision retention, and is the first choice for heavy-duty industrial robot joint precision reducer. The RV reducer is composed of a first-stage involute planetary gear train and a first-stage cycloid planetary gear train in series. The structure of the cycloidal wheel directly connected to the output...

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Problems solved by technology

[0003] At present, RV reducer manufacturers can only test the natural frequency of the cycloidal wheel of the reducer by hoisting and some simple test tools, and then analyze and calculate through some mathematical theoretical methods. However, it is difficult to measure in practice. The cycloidal wheel has a large self-weight, it is easy to shake during the test, and the position is easy to be unstable, which makes the detection data not accurate enough, and can only measure the natural frequency of a single part, it is difficult to measure the cycloidal wheel under different working conditions It is especially difficult to measure the natural frequency of the cycloidal wheel that is actually meshed with a load, and it is difficult to obtain an accurate natural frequency

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