A method and device for detecting backlash-free meshing of a harmonic gear rigid wheel

Abstract

The present invention discloses a method and device for detecting the side clearance-free meshing of a harmonic gear rigid wheel, comprising using a two-claw or three-claw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear. When using the two-claw or three-claw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear, a sector-shaped measuring block is arranged on each probe of the two-claw or three-claw internal diameter micrometer, and each measuring block is provided with a gear tooth that can mesh with the internal teeth of the rigid wheel, so that the gear teeth of the measuring block on each probe of the two-claw or three-claw internal diameter micrometer are tightly fitted with the internal teeth of the rigid wheel without side clearance, so that the tooth thickness control size of the internal teeth of the rigid wheel can be obtained by detecting the two-claw or three-claw internal diameter micrometer. The measurement operation of the present invention is very convenient, and the efficiency of the measurement work can be greatly improved. The measurement accuracy is completely determined by the accuracy of the internal diameter micrometer, which greatly reduces the influence of human factors on the measurement accuracy.

Description

Technical Field

[0001] The invention relates to a method and a device for detecting backlash-free meshing of a harmonic gear rigid wheel, belonging to the technical field of mechanical transmission detection. Background Art

[0002] The harmonic drive is mainly composed of a rigid wheel, a flexwheel and a wave generator. The inner circle of the rigid wheel is provided with internal teeth, the outer circle of the flexwheel is provided with external teeth, and the flexwheel is sleeved on the elliptical wave generator. Under the action of the wave generator, the flexwheel undergoes controllable deformation, so that the external teeth of the flexwheel near the long axis of the wave generator are completely meshed with the internal teeth of the rigid wheel; the external teeth of the flexwheel near the short axis of the wave generator are completely disengaged from the internal teeth of the rigid wheel; the external teeth of the flexwheel between the long axis and the short axis gradually disengage or mesh with the internal teeth of the rigid wheel.

[0003] Since harmonic gears are small-module gears, the existing technology for detecting the tooth thickness of flexible splines and rigid splines is to measure the span distance. Flexsplines are external gears, and the span distance can be easily and accurately measured. However, rigid splines are internal gears, and it is difficult to align the extreme positions of the two measuring rods during measurement. Therefore, there is not only the problem of low measurement accuracy, but also the problem of inconvenient operation and low measurement efficiency. Therefore, the existing rigid spline detection method is still not ideal and needs further improvement. Summary of the invention

[0004] The object of the present invention is to provide a method and device for detecting the backlash-free meshing of a harmonic gear rigid wheel with high measuring accuracy, convenience in use and high measuring efficiency, so as to overcome the shortcomings of the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for detecting the backlash-free meshing of a harmonic gear rigid wheel of the present invention comprises using a two-jaw or three-jaw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear. When using the two-jaw or three-jaw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear, a sector-shaped measuring block is arranged on each probe of the two-jaw or three-jaw internal diameter micrometer, and each measuring block is provided with gear teeth that can mesh with the internal teeth of the rigid wheel, so that the gear teeth of the measuring block on each probe of the two-jaw or three-jaw internal diameter micrometer are tightly fitted with the internal teeth of the rigid wheel without backlash, so that the tooth thickness control dimension of the internal teeth of the rigid wheel can be obtained by detecting with the two-jaw or three-jaw internal diameter micrometer.

[0007] The above-mentioned measuring block adopts a partial sector gear cut from a flexible wheel used in conjunction with the rigid wheel to be measured as the measuring block; the number of measuring blocks is the same as the number of probes of the two-jaw or three-jaw internal diameter micrometer used.

[0008] A device for detecting backlash-free meshing of a harmonic gear rigid wheel constructed according to the above method comprises a two-jaw or three-jaw internal diameter micrometer, each probe of which is provided with a sector-shaped measuring block, each measuring block is provided with gear teeth that can mesh with the internal teeth of the rigid wheel, and the tooth shape and structural dimensions of each gear tooth on the measuring block are the same as the gear tooth shape and structure of the flexible wheel used in conjunction with the rigid wheel.

[0009] The measuring block is composed of a partial sector gear cut from a flexible wheel used in conjunction with the rigid wheel to be measured, and contains at least 3 gear teeth on the measuring block.

[0010] The inner arc length of the measuring block is 5 to 10 mm.

[0011] The length of the measuring block is 10 to 20 mm.

[0012] Due to the adoption of the above technical solution, compared with the prior art, the arc length of the measuring block of the present invention is much greater than the pitch of the harmonic gear. Therefore, when placing the measuring blocks, it is not necessary to strictly keep the center lines of two adjacent measuring blocks at an equal spacing of 180° or 120°. It is sufficient to ensure that the measuring contact (i.e., probe) of the internal diameter micrometer can contact the inner wall of the measuring block (it can be misaligned); that is, as long as the probe of the internal diameter micrometer contacts any position of the inner wall of the measuring block, measurement can be performed, and it is not limited by the tooth groove or tooth top of the rigid wheel. Therefore, the measurement operation is very convenient, which can greatly improve the efficiency of the measurement work, and the measurement accuracy is completely determined by the accuracy of the internal diameter micrometer, which greatly reduces the influence of human factors on the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the device of the present invention when it is a two-jaw internal diameter micrometer to detect a rigid wheel;

[0014] Figure 2 It is a structural schematic diagram of the device of the present invention when a three-jaw internal diameter micrometer is used to detect a rigid wheel;

[0015] Figure 3 It is a structural schematic diagram of the measuring block of the present invention;

[0016] Figure 4 It is a schematic diagram of a rigid wheel equipped with a flexible wheel and a wave generator.

[0017] The markings in the attached drawings are: 1-two-jaw or three-jaw inside diameter micrometer, 1.1-probe, 2-measuring block, 2.1-wheel teeth, 3-rigid wheel, 3.1-internal teeth, 4-flexible wheel, 5-wave generator, L-inner arc length of measuring block, H-length of measuring block. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0019] A method for detecting backlash-free meshing of a harmonic gear rigid wheel according to the present invention is as follows: Figures 1 to 4 As shown, the method includes using a two-claw or three-claw internal diameter micrometer 1 to detect the internal teeth 3.1 of the rigid wheel 3 of the harmonic gear, that is, when using the two-claw or three-claw internal diameter micrometer 1 to detect the internal teeth 3.1 of the rigid wheel 3 of the harmonic gear, a sector-shaped measuring block 2 is arranged on each probe 1.1 of the two-claw or three-claw internal diameter micrometer 1, and each measuring block is provided with gear teeth 2.1 that can mesh with the internal teeth 3.1 of the rigid wheel 3, so that each probe 1.1 of the two-claw or three-claw internal diameter micrometer 1 The gear teeth 2.1 of the measuring block 2 on 1.1 are tightly fitted with the inner teeth 3.1 of the rigid wheel 3 without side clearance, so that the tooth thickness control size of the inner teeth 3.1 of the rigid wheel 3 can be detected by the two-jaw or three-jaw internal diameter micrometer 1; the measuring block 2 is preferably a partial sector gear cut from the flexible wheel 4 that can be used in conjunction with the measured rigid wheel 3; the number of measuring blocks can be made the same as the number of probes 1.1 of the two-jaw or three-jaw internal diameter micrometer 1 used.

[0020] The device for detecting the backlash-free meshing of a harmonic gear rigid wheel according to the above method is as follows: Figures 1 to 4 As shown, the device includes a two-jaw or three-jaw internal diameter micrometer 1 used in the prior art. When manufacturing, a sector-shaped measuring block 2 is arranged on each probe 1.1 of the two-jaw or three-jaw internal diameter micrometer 1, and gear teeth 2.1 that can mesh with the internal teeth 3.1 of the rigid wheel 3 are made on each measuring block 2, and the tooth shape size of each gear tooth 2.1 on the measuring block 2 is made to be the same as the gear tooth shape on the flexible wheel 4 used in conjunction with the rigid wheel 3; in order to achieve a better use effect, when manufacturing, it is best to make the measuring block 2 consist of a partial sector gear cut from the flexible wheel 4 that can be used in conjunction with the measured rigid wheel 3, and at least 3 or more complete gear teeth 2.1 are contained on the measuring block 2; under normal circumstances, the inner arc length L of the measuring block 2 is made to be 5-10mm, and the length H of the measuring block 2 is made to be 10-20mm.

[0021] The measuring principle of the present invention is further described below:

[0022] According to the design of the harmonic gear rigid wheel, it can be determined that the maximum side clearance of the meshing of the rigid wheel 3 and the flexible wheel 4 at the long axis of the wave generator 5 is set to J, the tooth profile angle of the rigid wheel 3 is θ, the long axis size of the wave generator 5 is A, and the three values ​​of J, θ, and A can be obtained according to the design drawing of the harmonic gear rigid wheel; when the device of the present invention is used to measure the tooth thickness control dimension of the inner teeth 3.1 of the rigid wheel 3, when the value measured on the two-jaw or three-jaw inner diameter micrometer 1 is D: when D=A, it means that the flexible wheel 4 and the rigid wheel 3 can just maintain a side clearance-free meshing after assembly; when D=A+J / tgθ, it means that the rigid wheel 3 and the flexible wheel 4 can reach the maximum meshing side clearance after assembly; therefore, when measuring, as long as the measured value D is: A<D≤(A+J / tgθ), the inner teeth of the rigid wheel 3 meet the standard of the tooth thickness control dimension.

Claims

1. A method for detecting backlash-free meshing of a harmonic gear rigid wheel, the method using a device for detecting backlash-free meshing of a harmonic gear rigid wheel, characterized in that: The invention comprises a two-jaw or three-jaw internal diameter micrometer (1), wherein each probe (1.1) of the two-jaw or three-jaw internal diameter micrometer (1) is provided with a sector-shaped measuring block (2), each measuring block (2) is provided with gear teeth (2.1) that can mesh with the internal teeth (3.1) of a rigid wheel (3), and the tooth shape and structural dimensions of each gear tooth (2.1) on the measuring block (2) are the same as the gear tooth shape and structure of a flexible wheel (4) used in conjunction with the rigid wheel (3); The measuring block (2) is composed of a partial sector gear cut from a flexible wheel (4) used in conjunction with the rigid wheel (3) to be measured, and contains at least three gear teeth (2.1) on the measuring block (2); A detection method for a device for detecting the backlash-free meshing of a harmonic gear rigid wheel comprises the following specific steps: the method comprises the following steps: using a two-jaw or three-jaw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear; when using the two-jaw or three-jaw internal diameter micrometer to detect the internal teeth of the rigid wheel of the harmonic gear, a sector-shaped measuring block is arranged on each probe of the two-jaw or three-jaw internal diameter micrometer, and each measuring block is provided with gear teeth that can mesh with the internal teeth of the rigid wheel, so that the gear teeth of the measuring block on each probe of the two-jaw or three-jaw internal diameter micrometer are tightly fitted with the internal teeth of the rigid wheel without backlash, so that the tooth thickness control dimension of the internal teeth of the rigid wheel can be obtained by detecting with the two-jaw or three-jaw internal diameter micrometer.

2. The method for detecting backlash-free meshing of a harmonic gear rigid wheel according to claim 1, characterized in that: The measuring block is a partial sector gear cut from a flexible wheel used in conjunction with the rigid wheel to be measured; the number of the measuring blocks is the same as the number of the probes of the two-jaw or three-jaw internal diameter micrometer used.

3. The method for detecting backlash-free meshing of a harmonic gear rigid wheel according to claim 1, characterized in that: The inner arc length (L) of the measuring block (2) is 5 to 10 mm.

4. The method for detecting backlash-free meshing of a harmonic gear rigid wheel according to claim 1, characterized in that: The length (H) of the measuring block (2) is 10 to 20 mm.

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