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Harmonic reducer static stiffness and hysteretic curve precision test device and test method

A technology of harmonic reducer and hysteresis curve, which is applied in the field of precision testing devices for static stiffness and hysteresis curve of harmonic reducer, and can solve problems such as tediousness, stiffness or hysteresis curve error, and data dispersion

Pending Publication Date: 2021-06-04
BEIJING CTKM HARMONIC DRIVE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the test of the stiffness of the harmonic reducer mainly relies on the experimental method. The experimental test device used in the prior art uses weights to apply torque to the harmonic reducer. The data obtained by this method are relatively discrete, and manual repeated operations are required. , more cumbersome
At the same time, in the process of adding weights, human error factors will produce large errors in stiffness or hysteresis curves. In addition, there are certain limitations in the connection between the harmonic reducer and the angle encoder in the existing experimental test device. Flexible, also produces no small error on stiffness or hysteresis curves

Method used

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  • Harmonic reducer static stiffness and hysteretic curve precision test device and test method
  • Harmonic reducer static stiffness and hysteretic curve precision test device and test method
  • Harmonic reducer static stiffness and hysteretic curve precision test device and test method

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Embodiment 1

[0032] see figure 1 and figure 2 , this embodiment provides a precision test device for static stiffness and hysteresis curve of a harmonic reducer, including:

[0033] The worm gear loading mechanism 6, the torque sensor 4, the angle encoder 3 and the fixing mechanism for fixing the harmonic reducer 2, the worm gear loading mechanism 6, the torque sensor 4, the angle encoder 3 and the harmonic reducer 2 are connected in sequence The worm gear loading mechanism 6 is used to gently apply torque to the harmonic reducer 2; the torque sensor 4 is used to collect the torque applied by the worm gear loading mechanism 6 in real time; the angle encoder 3 is used to collect the harmonic reducer 2 in real time Output rotation angle under force.

[0034] The harmonic reducer static stiffness and hysteresis curve precision testing device provided by the present invention includes a worm gear loading mechanism 6, a torque sensor 4, an angle encoder 3 and a fixing mechanism, wherein the ...

Embodiment 2

[0044] This embodiment provides a precise test method for static stiffness and hysteresis curve of a harmonic reducer, including:

[0045] Using the harmonic reducer static stiffness and hysteresis curve precision testing device to test the harmonic reducer, correspondingly obtain multiple sets of test data, each set of test data includes input torque and output rotation angle;

[0046] A static stiffness and hysteresis curve is constructed based on the test data, and the static stiffness and hysteresis curve are used to characterize the variable relationship between the input torque and the output rotation angle.

[0047] For the rigid-flexible compound transmission system, the input torque h and the output rotation angle θ are usually described by a nonlinear equation h=k(θ) in the prior art, where h is used to represent the static stiffness and hysteresis of the harmonic reducer The function of the back curve, the experiment shows that the output rotation angle θ is not onl...

Embodiment 3

[0087] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the above-mentioned precision testing method for static stiffness and hysteresis curve of a harmonic reducer are executed.

[0088] Compared with the prior art, the beneficial effect of the computer-readable storage medium provided by this embodiment is the same as that of the harmonic reducer static stiffness and hysteresis curve precision testing method provided by the above technical solution, and will not be repeated here.

[0089]Those of ordinary skill in the art can understand that all or part of the steps in the above inventive method can be completed by instructing related hardware through a program. The above program can be stored in a computer-readable storage medium. When the program is executed, it includes: For each step of the method in the above embodiments, the storage medium may be: ROM / RAM...

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Abstract

The invention discloses a harmonic reducer static stiffness and hysteretic curve precision test device and test method, relates to the technical field of harmonic reducers, and adopts a worm and gear loading mechanism to replace a weight to apply torque to a harmonic reducer so as to reduce errors caused by human factors in the test process. The test device comprises a worm and gear loading mechanism, a torque sensor, an angle encoder and a fixing mechanism used for fixedly installing the harmonic reducer. The worm and gear loading mechanism, the torque sensor, the angle encoder and the harmonic reducer are connected in sequence. The worm and gear loading mechanism is used for gently applying torque force to the harmonic reducer; the torque sensor is used for collecting torque force applied by the worm and gear loading mechanism in real time; the angle encoder is used for collecting the output rotation angle of the harmonic reducer under the stress effect in real time.

Description

technical field [0001] The invention relates to the technical field of harmonic reducers, in particular to a precision testing device and method for static stiffness and hysteresis curves of a harmonic reducer. Background technique [0002] The harmonic reducer mainly includes a wave generator (WG), a flexible spline (FS), and a rigid spline (CS). The wave generator is usually an elliptical cam. When the wave generator is active, the cam is installed in a thin-walled bearing Inside, and then put them into the flexible wheel. At this time, the flexible spline changes from the original circle to an ellipse, and the flexible spline and the rigid spline are in a state of complete meshing at both ends of the long axis of the ellipse, that is, the outer teeth of the flexible spline mesh with the internal teeth of the rigid spline along the tooth height. When the cam rotates in the flexible spline, the flexible spline is forced to produce continuous elastic deformation. At this ti...

Claims

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Application Information

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IPC IPC(8): G01M13/02
CPCG01M13/02
Inventor 王洋穆晓彪刘倩倩王浩王伟博
Owner BEIJING CTKM HARMONIC DRIVE CO LTD
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