Angle measurement error compensation method of speed reducer detector angle calibrator

Abstract

The invention discloses an angle measurement error compensation method for a speed reducer detector angle calibrator, and the method comprises the steps: carrying out the error calibration, and obtaining a high-speed end error distribution table and a low-speed end error distribution table; secondly, compensating a high-speed end angle position and a low-speed end angle position according to the high-speed end error distribution table and the low-speed end error distribution table respectively; According to the invention, the actual operation condition of the tested speed reducer can be simulated, angle measurement errors existing in the meshing process of the high-speed end of the speed reducer measuring instrument and the angle calibrator and the meshing process of the angle calibrator and the low-speed end spline are measured, and a compensation value is selected according to the required speed and loading torque in the measurement process of different types of speed reducers. and the circular grating angle measurement system of the speed reducer detector is compensated.

Description

technical field [0001] The invention relates to the calibration and compensation of the angle measurement error of a precision reducer, in particular to a method for compensating the angle measurement error introduced by the speed reducer detector due to the spline connection between the shaft system and the input and output ends of the reducer. Background technique [0002] As a transmission device, the reducer is widely used in the field of machinery and automation. As a joint device of an industrial robot, its transmission error, transmission efficiency, torsional stiffness and other performance parameters will affect the service life and working performance of the robot. At present, the existing reducer detectors generally adopt the method of multi-level components in series, that is, the angle, torque sensor, loading drive motor and other equipment are connected in series at the output and input ends of the tested reducer. Among them, the angle sensor generally uses a c...

AI Technical Summary

Problems solved by technology

Splines are affected by factors such as loading torque, spline tooth shape, and material stiffness during the meshing process, which will inevitably cause deformation, introduce angle measurement errors, and then affect the angle measurement accuracy of the reducer detector

In addition, different spline processing methods and processing accuracy are different. In the processing of internal and external splines, even if the same method is used to process splines, it cannot guarantee that the shape of each tooth is the same, and its meshing characteristics and error curves are also different. It will be different, and it is not reasonable to use the angle measurement error introduced by the two spline meshing process to represent the angle measurement error of all splines. Compensate for angle measurement errors caused by key engagement

[0004] At present, the existing reducer tester lacks a method for compensating the angle measurement error during the spline meshing process. The angle calibration device and calibration method can only compensate the spline gap. If the uncompensated circular grating angle measurement value is directly used as the reducer The input and output angle values ​​and the calculated performance parameters of the reducer are inaccurate. Therefore, an angle measurement error compensation method for the reducer detector angle calibrator is urgently needed

Images