Harmonic reducer single-tooth meshing force and input shaft bending moment measuring device

Abstract

The invention discloses a harmonic reducer single-tooth meshing force and input shaft bending moment measuring device, and belongs to the technical field of reducers. The system comprises a base, a power device, a dynamic torque sensor, a harmonic reducer main body and a display measurement display system. The base plays a role in bearing and fixing; the stepping motor is configured to provide power, the dynamic torque sensor is connected with the input end and the output end, so that the input torque of the harmonic reducer can be dynamically measured, and the strain gauges are attached to the periphery of the input shaft in a concentrated mode. The system can calculate the single-tooth meshing force, measure the input torque in real time and calculate the influence of single-tooth meshing on the input shaft.

Description

Technical Field

[0001] The invention relates to a device for measuring the single-tooth meshing force and input shaft bending moment of a harmonic reducer, belonging to the technical field of harmonic gear reducers. Background Art

[0002] A harmonic gear reducer consists of a rigid wheel, a flexspline, and a wave generator. It's a gear transmission that transmits motion and power by using a wave generator equipped with a flexible bearing to cause the flexspline to undergo controllable elastic deformation, meshing with a rigid gear. The fixed rigid wheel is a rigid internal gear, while the flexspline is a thin-walled, easily deformable cylindrical external gear. Both have equal pitches, but the rigid wheel has more teeth than the flexspline. Typically, the rigid wheel is fixed, and the wave generator is mounted inside the flexspline. As the wave generator rotates, it forces the flexspline to continuously deform, causing the flexspline teeth to continuously shift and mesh with the rigid wheel teeth during this deformation process. This shifting motion converts the wave generator's input into the flexspline's output, achieving a reduction gear transmission. Harmonic reducers are widely used in various drive mechanisms, high-precision pointing structures, and landing gear transfer mechanisms on space satellites and other types of spacecraft.

[0003] Because the teeth are in both fully engaged and fully disengaged states in the transition section between the major and minor shafts, the meshing force between individual teeth is difficult to measure. This meshing force can significantly impact the lifespan and strength of the flexspline teeth, making its measurement crucial for harmonic reducer performance analysis. Furthermore, the relative motion between the wave generator and the flexspline causes a unique pure kinematic error in the harmonic reducer, which can cause a certain amount of bending moment on the input shaft. This resulting deformation can affect transmission accuracy and service life. Summary of the Invention

[0004] In view of the limited technical means for measuring the single-tooth meshing force of harmonic reducers and the lack of methods for measuring the input shaft bending moment, the present invention provides a device for measuring the single-tooth meshing force and input shaft bending moment of a harmonic reducer. The device aims to detect the single-tooth meshing force of a harmonic reducer through a simple structural design, thereby providing guidance for the design of harmonic reducers.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows: a device for measuring the single-tooth meshing force and input shaft bending moment of a harmonic reducer, characterized in that it includes a base 10, a power device 200, a dynamic torque sensor and strain gauge 300, a harmonic reducer body 400 and a measurement and display system 500.

[0006] The base 10 is a planar bottom plate body and a mounting structure; there are three groups of mounting holes on the surface of the planar floor body: a power unit mounting hole 11, a dynamic torque sensor mounting hole 12 and a harmonic reducer body mounting hole 13, and a power unit mounting structure, and the spacing between each mounting structure can be adjusted.

[0007] The power unit 200 comprises a motor mounting base 210, a stepper motor 220, a motor positioning plate 230, and a plum blossom coupling 240. The motor mounting base 210 is mounted to the base 10 via a mounting slot 211 at the bottom; the stepper motor 220 is mounted on the motor positioning plate 230, which is mounted on the motor mounting base 210 via a mounting hole 231 at the bottom; the input end 241 of the plum blossom coupling 240 is connected to the output shaft of the stepper motor 220.

[0008] The dynamic torque sensor and strain gauge 300 comprises a torque sensor mounting base 310, a torque sensor 320, a screw coupling 330, a power input shaft 340, a flat key 350, and a strain gauge 360. The torque sensor mounting base 310 is mounted to the base 10 via a bottom mounting slot 311; the torque sensor 320 is mounted via a threaded hole 312 on the torque sensor mounting base 310; the torque sensor 320 is connected to the screw coupling 330 via a jackscrew 331; the other side of the screw coupling 330 is connected to the power input shaft 340; the flat key 350 is mounted in the keyway of the power input shaft 340; and eight strain gauges 360 are evenly distributed on the power input shaft.

[0009] The harmonic reducer body 400 comprises a mounting housing 410, a rigid spline 420, a flexspline 430, and a wave generator 440. The mounting housing 410 is mounted on the base 10 via countersunk holes 411; the rigid spline 420 is connected to the mounting housing 410 via mounting holes 421 evenly distributed around the circumference; the wave generator 440 is embedded within the flexspline 430. The wave generator 440 is an elliptical cam. Along its long axis, the flexspline 430 has only two teeth 431 that mesh with the rigid spline 420.

[0010] The measurement and display system 500 comprises a YSV8032 dynamic strain gauge 510, a display 520, and a computer 530. The interface 511 of the YSV8032 dynamic strain gauge 510 is connected to the output of the strain gauge 360; the computer 530 is connected to the YSV8032 dynamic strain gauge 510 and the display 520.

[0011] The present invention uses a wave generator and a flexspline as core parts, and measures the meshing force of a single tooth and the bending moment on the input shaft caused by pure motion error under the condition of single tooth meshing. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the base of the present invention.

[0013] Figure 2 It is a schematic diagram of the power device of the present invention.

[0014] Figure 3 Schematic diagram of the dynamic torque sensor and strain gauge of the present invention.

[0015] Figure 4 It is a schematic diagram of the main body of the harmonic reducer of the present invention.

[0016] Figure 5 Schematic diagram of the measurement display system of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below with reference to the accompanying drawings: like Figure 1 As shown, the base 10 is a planar bottom plate body and a mounting structure; there are three groups of mounting holes on the surface of the planar floor body: a power unit mounting hole 11, a dynamic torque sensor mounting hole 12 and a harmonic reducer body mounting hole 13, and a power unit mounting structure, and the spacing between each mounting structure can be adjusted.

[0018] like Figure 2 As shown, the power unit 200 comprises a motor mounting base 210, a stepper motor 220, a motor positioning plate 230, and a plum blossom coupling 240. The motor mounting base 210 is mounted to the base 10 via a mounting slot 211 at the bottom; the stepper motor 220 is mounted on the motor positioning plate 230, which is mounted on the motor mounting base 210 via a mounting hole 231 at the bottom; the input end 241 of the plum blossom coupling 240 is mounted and connected to the output shaft of the stepper motor 220.

[0019] The dynamic torque sensor and strain gauge 300 comprises a torque sensor mounting base 310, a torque sensor 320, a screw coupling 330, a power input shaft 340, a flat key 350, and a strain gauge 360. The torque sensor mounting base 310 is mounted to the base 10 via a bottom mounting slot 311; the torque sensor 320 is mounted via a threaded hole 312 on the torque sensor mounting base 310; the torque sensor 320 is connected to the screw coupling 330 via a jackscrew 331; the other side of the screw coupling 330 is connected to the power input shaft 340; the flat key 350 is mounted in the keyway of the power input shaft 340; and eight strain gauges 360 are evenly distributed on the power input shaft.

[0020] The harmonic reducer body 400 comprises a mounting housing 410, a rigid spline 420, a flexspline 430, and a wave generator 440. The mounting housing 410 is mounted on the base 10 via countersunk holes 411; the rigid spline 420 is connected to the mounting housing 410 via mounting holes 421 evenly distributed around the circumference; the wave generator 440 is embedded within the flexspline 430. The wave generator 440 is an elliptical cam. Along its long axis, the flexspline 430 has only two teeth 431 that mesh with the rigid spline 420.

[0021] The measurement and display system 500 comprises a YSV8032 dynamic strain gauge 510, a display 520, and a computer 530. The interface 511 of the YSV8032 dynamic strain gauge 510 is connected to the output of the strain gauge 360; the computer 530 is connected to the YSV8032 dynamic strain gauge 510 and the display 520.

[0022] The present invention uses a wave generator and a flexspline as core parts, and measures the meshing force of a single tooth and the bending moment on the input shaft caused by pure motion error under the condition of single tooth meshing.

Claims

1. A device for measuring the single tooth meshing force and input shaft bending moment of a harmonic reducer, characterized in that: It includes a base (10), a power device (200), a dynamic torque sensor and a strain gauge (300), and a harmonic reducer body (400); The base (10) is a planar bottom plate body and a mounting structure; the surface of the planar bottom plate body has three groups of mounting holes: a power device mounting hole (11), a dynamic torque sensor mounting hole (12), and a harmonic reducer body mounting hole (13), and the power device (200), the dynamic torque sensor and strain gauge (300), and the harmonic reducer body (400) are connected to the corresponding ones.

2. The device for measuring the single tooth meshing force and input shaft bending moment of a harmonic reducer according to claim 1, characterized in that: The power device (200) comprises a motor mounting base (210), a stepper motor (220), a motor positioning plate (230) and a plum blossom coupling (240); the motor mounting base (210) is mounted on the base (10) through a mounting groove (211) at the bottom; the stepper motor (220) is mounted on the motor positioning plate (230), and the motor positioning plate (230) is mounted on the motor mounting base (210) through a bottom mounting hole (231); the input end (241) of the plum blossom coupling (240) is mounted and connected to the output shaft of the stepper motor (220).

3. The device for measuring the single tooth meshing force and input shaft bending moment of a harmonic reducer according to claim 2, characterized in that: The dynamic torque sensor and strain gauge (300) comprises a torque sensor mounting base (310), a torque sensor (320), a spiral coupling (330), a power input shaft (340), a flat key (350) and a strain gauge (360); the torque sensor mounting base (310) is mounted on the base (10) through a bottom mounting groove (311); the torque sensor (320) is mounted through a threaded hole (312) on the torque sensor mounting base (310); the torque sensor (320) is connected to the spiral coupling (330) through a top screw (331); the other side of the spiral coupling (330) is connected to the power input shaft (340); the flat key (350) is mounted on the keyway of the power input shaft (340); and eight strain gauges (360) are evenly distributed on the power input shaft.

4. The device for measuring the single tooth meshing force and input shaft bending moment of a harmonic reducer according to claim 3, characterized in that: The harmonic reducer body (400) comprises a mounting housing (410), a rigid wheel (420), a flexible wheel (430) and a wave generator (440); the mounting housing (410) is mounted on the base (10) via a countersunk hole (411); the rigid wheel (420) is connected to the mounting housing (410) via mounting holes (421) evenly distributed around the circumference; the flexible wheel (430) is embedded with the wave generator (440), and the wave generator (440) is an elliptical cam. In the long axis direction, the flexible wheel (430) has only two gear teeth (431) that mesh with the rigid wheel (420).

5. The device for measuring the single tooth meshing force and input shaft bending moment of a harmonic reducer according to claim 4, characterized in that: The invention also includes a measurement and display system (500), wherein the measurement and display system (500) comprises a YSV8032 dynamic strain gauge (510), a display (520), and a computer (530); the interface (511) of the YSV8032 dynamic strain gauge (510) is connected to the output of the strain gauge (360); and the computer (530) is connected to the YSV8032 dynamic strain gauge (510) and the display (520).

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