An integrated harmonic reducer test system suitable for space environment

Abstract

The application discloses a kind of integrated harmonic reducer test system suitable for space environment, belong to harmonic reducer test technical field, it is in to solve the problem that cannot guarantee multiple element transmission shaft coaxial degree and bearing friction torque superposition brings measurement error and cannot be compatible with various space environment simulation system.The input end and the output end of the harmonic reducer to be measured are connected with the input shaft of the driving unit and the output shaft of the loading unit respectively, the input end torque measuring device and the input end angle measuring device are carried on the input shaft under the premise that the driving unit does not introduce transmission shaft;The output end torque measuring device and the output end angle measuring device are carried on the output shaft under the premise that the loading unit does not introduce transmission shaft;The driving motor of the driving unit and the load motor of the loading unit are all frameless torque motor.The measurement and control device is overall power supply, acquires electric signal, and controls overall operation according to electric signal and the test parameters input by user.

Description

Technical Field

[0001] This invention belongs to the field of harmonic reducer testing technology, specifically relating to an integrated harmonic reducer testing system suitable for space environments. Background Technology

[0002] As an important component of aerospace rotating mechanisms, the comprehensive performance of harmonic reducers directly affects the operating status of the transmission system. Therefore, developing a harmonic reducer testing system suitable for the space environment is of great significance for verifying the on-orbit reliability of harmonic reducers. Existing harmonic reducer testing systems generally adopt a split structure, that is, they use independent drive / load motors, angle sensors, and torque sensors. The transmission shafts of different components are connected by couplings. This type of structure has the following problems: (1) It cannot guarantee the coaxiality between the transmission shafts of multiple components. For angle and torque measurements, different shafts will introduce additional measurement errors, affecting the measurement results. (2) Each component uses independent bearing support. That is, the harmonic reducer tooling, angle sensor, torque sensor, and drive / load motor all contain bearing support. The friction torque of some bearings will be superimposed on the torque measurement results, resulting in the actual measured torque being too large. In addition, existing harmonic reducer testing systems are not compatible with various space environment simulation systems, such as: hot vacuum tanks, hot circulation chambers, etc. This type of testing system can only be tested in the ground environment, resulting in a large deviation between the test results and the actual on-orbit state, and its reference value is limited. Summary of the Invention

[0003] The purpose of this invention is to propose an integrated harmonic reducer testing system suitable for space environments, which solves the problems of existing technologies that cannot guarantee the coaxiality of the drive shafts of multiple components and the superposition of bearing friction torque, resulting in measurement errors and incompatibility with various space environment simulation systems.

[0004] To achieve the above objectives, the present invention provides an integrated harmonic reducer testing system suitable for space environments, comprising: The drive unit includes at least an input end housing, an input shaft disposed inside the input end housing and rotating relative to the input end housing, a drive motor that drives the input shaft to rotate, and an input end torque measuring device and an input end angle measuring device mounted on the input shaft and the input end housing. The drive motor is a frameless torque motor. The loading unit includes at least an output end housing detachably connected to the input end housing, an output shaft disposed inside the output end housing and rotating relative to the output end housing, a load motor, and an output end torque measuring device and an output end angle measuring device mounted on the output shaft and the output end housing; the input end of the harmonic reducer to be tested is connected to the input shaft end, and the output end is connected to the output shaft end; the load motor is a frameless torque motor. The device includes a measurement and control unit, which supplies power to the input angle measuring device, the input torque measuring device, the output angle measuring device, and the output torque measuring device, and collects feedback angle and torque information. Based on the feedback information and the test parameters input by the user, the device controls the operation of the drive motor and the load motor.

[0005] The testing system also includes a bracket, and the input end housing and the output end housing are fixedly connected to the bracket.

[0006] The drive unit further includes: The input end bearing has its outer ring fixedly connected to the input end housing and its inner ring fixedly connected to the input shaft. And an electromagnetic brake, which is fixedly connected to the input end housing; the electromagnetic brake is wired to the measurement and control device, and the measurement and control device controls the electromagnetic brake to lock or release the input shaft.

[0007] The input end bearing is a pair of angular contact ball bearings.

[0008] The input torque measuring device includes an input strain gauge bridge coaxially attached to the slotted section of the input shaft, an input torque signal transmitter coaxially fixed on the input shaft, and an input torque signal receiver fixedly mounted on the input housing and corresponding to the input torque signal transmitter. The torque of the slotted section of the input shaft is converted into a torque signal by the input strain gauge bridge; the input torque signal transmitter supplies power to the input strain gauge bridge and collects the torque signal, and the input torque signal receiver supplies power to the input torque signal transmitter and collects the torque signal, which is then transmitted to the measurement and control device.

[0009] The input angle measuring device includes: An input-end grating is coaxially fixedly connected to the input shaft; An input end reading head is fixedly connected to the input end housing and is set in accordance with the input end grating. The real-time angle of the input end grating is collected by the input end reading head and transmitted to the measurement and control device.

[0010] The loading unit also includes an output end bearing, the outer ring of which is fixedly connected to the output end housing, and the inner ring of which is fixedly connected to the output shaft.

[0011] The output end bearing is a pair of angular contact ball bearings.

[0012] The output torque measuring device includes an output strain gauge bridge coaxially attached to the slotted section of the output shaft, an output torque signal transmitter coaxially fixed on the output shaft, and an output torque signal receiver fixedly mounted on the output housing and corresponding to the output torque signal transmitter. The torque of the slotted section of the output shaft is converted into a torque signal by the strain gauge bridge at the output end; the torque signal transmitter at the output end supplies power to the strain gauge bridge at the output end and collects the torque signal, and the torque signal receiver at the output end supplies power to the torque signal transmitter at the output end and collects the torque signal and transmits it to the measurement and control device.

[0013] The output angle measuring device includes: The output end grating is coaxially fixedly connected to the output shaft; And an output end reading head that is fixedly connected to the output end housing and is set in accordance with the output end grating, which collects the real-time angle of the output end grating and transmits it to the measurement and control device.

[0014] The beneficial effects of this invention are as follows: This invention provides an integrated harmonic reducer testing system suitable for space environments. Addressing the shortcomings of existing split-type testing systems and meeting the testing requirements of space environments, it achieves multiple technical advantages through structural integration optimization, key component selection design, and integrated measurement and control design. It adopts an integrated structural design, integrating the core components of the drive unit and loading unit into detachably connected input and output housings respectively. The harmonic reducer under test is directly connected to the input and output shaft ends without the need for couplings, structurally ensuring coaxiality among the three components. This completely solves the measurement errors caused by coaxiality deviations in existing split-type systems. Simultaneously, the drive unit and loading unit each achieve shaft support through only one pair of angular contact ball bearings, significantly reducing the number of bearings and avoiding torque measurement deviations caused by the superposition of frictional torques from multiple bearings, thus significantly improving testing accuracy. Furthermore, it uses a frameless torque motor as both the drive and load motors, combined with the integrated structure, significantly reducing system size and weight while improving sealing. It is perfectly compatible with various space environment simulation systems such as thermal vacuum chambers and thermal cycling chambers, enabling testing in simulated on-orbit vacuum and high / low temperature environments. This reduces the deviation between test results and actual on-orbit conditions, enhancing the reference value of the tests. The torque and angle measurement devices at the input and output ends adopt an integrated design, directly mounted on the corresponding shaft and housing, simplifying the structure, reducing the number of parts, avoiding external signal interference, and ensuring the stability and real-time performance of signal acquisition. The electromagnetic brake integrated into the drive unit can precisely control the locking and releasing of the input shaft through the measurement and control device, improving test safety and operational convenience. The input and output housings are detachable, and the system is fixed by a bracket, facilitating the disassembly and assembly of the harmonic reducer under test and system maintenance. At the same time, the connection structure at the shaft end can be adjusted to adapt to different specifications of harmonic reducers, improving system versatility. The measurement and control device integrates power supply, signal acquisition, and motor control functions, realizing automated and precise control of the testing process, reducing the number of external devices, simplifying the layout, and expanding the testing range. This invention effectively solves the core defects of existing testing systems, significantly improves testing accuracy and reliability, adapts to the testing requirements of harmonic reducers in space environments, and provides an efficient and accurate testing method for on-orbit reliability verification of harmonic reducers in aerospace rotating mechanisms. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an integrated harmonic reducer testing system suitable for space environments according to the present invention. Figure 2 This is a schematic diagram of the electrical structure of an integrated harmonic reducer testing system suitable for space environments according to the present invention. Figure 3 This is a schematic diagram of an integrated harmonic reducer testing system suitable for space environments, based on the present invention, being tested in a simulated space environment. The components are: 1. Electromagnetic brake, 2. Drive motor, 3. Input end housing, 4. Input end bearing, 5. Input end torque signal receiver, 6. Input end torque signal transmitter, 7. Input end strain gauge bridge, 8. Input shaft, 9. Input end grating, 10. Input end reading head, 11. Harmonic reducer, 12. Output end reading head, 13. Output end grating, 14. Output shaft, 15. Output end strain gauge bridge, 16. Output end torque signal transmitter, 17. Output end torque signal receiver, 18. Output end bearing, 19. Output end housing, 20. Load motor, 21. Bracket. Detailed Implementation

[0016] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0017] See Figure 1 and Figure 2 An integrated harmonic reducer testing system suitable for space environments according to the present invention includes: The drive unit includes at least an input end housing 3, an input shaft 8 disposed inside the input end housing 3 and rotating relative to the input end housing 3, a drive motor 2 that drives the input shaft 8 to rotate, and an input end torque measuring device and an input end angle measuring device mounted on the input shaft 8 and the input end housing 3. The drive motor 2 is a frameless torque motor. The stator of the drive motor 2 is fixedly connected to the input end housing 3, and the rotor of the drive motor 2 is fixedly connected to the input shaft 8. The loading unit includes at least an output end housing 19 detachably connected to the input end housing 3, an output shaft 14 disposed inside the output end housing 19 and rotating relative to the output end housing 19, a load motor 20, and an output end torque measuring device and an output end angle measuring device mounted on the output shaft 14 and the output end housing 19; the input end of the harmonic reducer 11 to be tested is connected to the end of the input shaft 8, and the output end is connected to the end of the output shaft 14; the load motor 20 is a frameless torque motor; the stator of the load motor 20 is fixedly connected to the output end housing 19, and the rotor of the load motor 20 is fixedly connected to the output shaft 14; The device includes a measurement and control unit, which supplies power to the input angle measuring device, the input torque measuring device, the output angle measuring device, and the output torque measuring device, and collects feedback angle and torque information. Based on the feedback information and the test parameters input by the user, the device controls the operation of the drive motor 2 and the load motor 20.

[0018] The testing system also includes a bracket 21, and the input end housing 3 and the output end housing 19 are fixedly connected to the bracket 21.

[0019] The drive unit further includes: Input end bearing 4, the outer ring of which is fixedly connected to the input end housing 3, and the inner ring of which is fixedly connected to the input shaft 8. And an electromagnetic brake 1, which is fixedly connected to the input end housing 3; the electromagnetic brake 1 is wired to the measurement and control device, and the measurement and control device controls the electromagnetic brake 1 to lock or release the input shaft 8. When the measurement and control device inputs a 24V voltage signal to the electromagnetic brake 1, the electromagnetic brake 1 locks the input shaft 8, that is, the input shaft 8 cannot rotate; when there is no voltage input, the input shaft 8 can rotate freely.

[0020] The input end bearing 4 is a pair of angular contact ball bearings.

[0021] The input torque measuring device includes an input strain gauge bridge 7 coaxially attached to the slotted section of the input shaft 8, an input torque signal transmitter 6 coaxially fixed on the input shaft 8, and an input torque signal receiver 5 fixedly mounted on the input housing 3 and corresponding to the input torque signal transmitter 6. The torque of the slotted section of the input shaft 8 is converted into a torque signal through the input strain gauge bridge 7. The input torque signal transmitter 6 is wired to the input strain gauge bridge 7, and the input torque signal transmitter 6 supplies power to the input strain gauge bridge 7 and collects the torque signal. The input torque signal receiver 5 is wirelessly connected to the input torque signal transmitter 6, and the input torque signal receiver 5 supplies power to the input torque signal transmitter 6 and collects the torque signal, which is then transmitted to the measurement and control device.

[0022] The input angle measuring device includes: The input end grating 9 is coaxially fixedly connected to the input shaft 8; An input end reading head 10 is fixedly connected to the input end housing 3 and is correspondingly arranged with the input end grating 9. The input end reading head 10 collects the real-time angle of the input end grating 9 and transmits it to the measurement and control device.

[0023] The loading unit also includes an output end bearing, the outer ring of which is fixedly connected to the output end housing 19, and the inner ring of which is fixedly connected to the output shaft 14.

[0024] The output end bearing is a pair of angular contact ball bearings.

[0025] The output torque measuring device includes an output strain gauge bridge 15 coaxially attached to the slotted section of the output shaft 14, an output torque signal transmitter 16 coaxially fixed on the output shaft 14, and an output torque signal receiver 17 fixedly mounted on the output housing 19 and corresponding to the output torque signal transmitter 16. The torque of the slotted section of the output shaft 14 is converted into a torque electrical signal through the output strain gauge bridge 15. The output torque signal transmitter 16 is wired to the output strain gauge bridge 15, and the output torque signal transmitter 16 supplies power to the output strain gauge bridge 15 and collects the torque signal. The output torque signal receiver 17 is wirelessly connected to the output torque signal transmitter 16, and the output torque signal receiver 17 supplies power to the output torque signal transmitter 16 and collects the torque signal, which is then transmitted to the measurement and control device.

[0026] The output angle measuring device includes: The output end grating is coaxially fixedly connected to the output shaft 14; And an output end reading head 1312 fixedly connected to the output end housing 19 and corresponding to the output end grating, which collects the real-time angle of the output end grating and transmits it to the measurement and control device.

[0027] The harmonic reducer 11 under test includes a wave generator, a flexible wheel, and a steel wheel; the wave generator is fixedly connected to the input shaft 8, the flexible wheel is fixedly connected to the output shaft 14, and the steel wheel is fixedly connected to the output end housing 19.

[0028] The arrangement order of the components of the drive unit between the input shaft 8 and the input end housing 3 is as follows (from near to far from the wave generator): input end angle measuring device, input end torque measuring device, input end bearing 4, drive motor 2, and electromagnetic brake 1.

[0029] The components of the loading unit are arranged in the following order between the output shaft 14 and the output end housing 19 (from near to far from the flexible wheel): output end angle measuring device, output end torque measuring device, output end bearing, and load motor 20.

[0030] The input housing 3 and the output housing 19 are detachably connected. When the harmonic reducer 11 is installed, they are separated; during testing, they are fixedly connected. A shaft-hole fit exists between them to meet the installation requirements of the harmonic reducer 11.

[0031] The measurement and control device is wiredly connected to the input torque signal receiver 5, the output torque signal receiver 17, the input reading head 10, the output reading head 1312, the drive motor 2, the load motor 20, and the electromagnetic brake 1. It can supply power to the input torque signal receiver 5, the output torque signal receiver 17, the input reading head 10, and the output reading head 1312 and collect torque and angle information. Based on the information feedback and the test parameters input by the user, it controls the operation of the drive motor 2 and the load motor 20 and the operation of the electromagnetic brake 1.

[0032] See Figure 3When an integrated harmonic reducer 11 test system suitable for space environment is tested in simulated space environment, except for the measurement and control device, all other structures are located inside the space environment simulation system. The measurement and control device is located outside the space environment simulation system. The measurement and control device is connected to the input torque signal receiver 5, the output torque signal receiver 17, the input reading head 10, the output reading head 1312, the drive motor 2, the load motor 20, and the electromagnetic brake 1 through a can-through cable.

Claims

1. An integrated harmonic reducer testing system suitable for space environments, characterized in that, include: The drive unit includes at least an input end housing (3), an input shaft (8) disposed inside the input end housing (3) and rotating relative to the input end housing (3), a drive motor (2) that drives the input shaft (8) to rotate, and an input end torque measuring device and an input end angle measuring device mounted on the input shaft (8) and the input end housing (3). The drive motor (2) is a frameless torque motor. The loading unit includes at least an output end housing (19) detachably connected to the input end housing (3), an output shaft (14) disposed inside the output end housing (19) and rotating relative to the output end housing (19), a load motor (20), and an output end torque measuring device and an output end angle measuring device mounted on the output shaft (14) and the output end housing (19); the input end of the harmonic reducer (11) to be tested is connected to the end of the input shaft (8), and the output end is connected to the end of the output shaft (14); the load motor (20) is a frameless torque motor. The measurement and control device is used to supply power to the input angle measuring device, the input torque measuring device, the output angle measuring device and the output torque measuring device and to collect feedback angle and torque information, and to control the operation of the drive motor (2) and the load motor (20) according to the information feedback and the test parameters input by the user.

2. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The test system also includes a bracket (21), and the input end housing (3) and the output end housing (19) are fixedly connected to the bracket (21).

3. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The drive unit further includes: The input end bearing (4) has its outer ring fixedly connected to the input end housing (3), and its inner ring fixedly connected to the input shaft (8). And an electromagnetic brake (1), which is fixedly connected to the input end housing (3); the electromagnetic brake (1) is wired to the measurement and control device, and the measurement and control device controls the electromagnetic brake (1) to lock or release the input shaft (8).

4. The integrated harmonic reducer testing system suitable for space environments according to claim 3, characterized in that, The input end bearing (4) is a pair of angular contact ball bearings.

5. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The input torque measuring device includes an input strain gauge bridge (7) coaxially attached to the slotted section of the input shaft (8), an input torque signal transmitter (6) coaxially fixed on the input shaft (8), and an input torque signal receiver (5) fixed on the input housing (3) and corresponding to the input torque signal transmitter (6). The torque of the slotted section of the input shaft (8) is converted into a torque signal by the input strain gauge bridge (7); the input torque signal transmitter (6) supplies power to the input strain gauge bridge (7) and collects the torque signal; the input torque signal receiver (5) supplies power to the input torque signal transmitter (6) and collects the torque signal and transmits it to the measurement and control device.

6. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The input angle measuring device includes: The input end grating (9) is coaxially fixedly connected to the input shaft (8). And an input end reading head (10) is fixedly connected to the input end housing (3) and is set in correspondence with the input end grating (9). The input end reading head (10) collects the real-time angle of the input end grating (9) and transmits it to the measurement and control device.

7. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The loading unit also includes an output end bearing (18), the outer ring of which is fixedly connected to the output end housing (19), and the inner ring of which is fixedly connected to the output shaft (14).

8. The integrated harmonic reducer testing system suitable for space environments according to claim 7, characterized in that, The output end bearing (18) is a pair of angular contact ball bearings.

9. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The output torque measuring device includes an output strain gauge bridge (15) coaxially attached to the slotted section of the output shaft (14), an output torque signal transmitter (16) coaxially fixed on the output shaft (14), and an output torque signal receiver (17) fixed on the output housing (19) and corresponding to the output torque signal transmitter (16). The torque of the slotted section of the output shaft (14) is converted into a torque signal by the output strain gauge bridge (15); the output torque signal transmitter (16) supplies power to the output strain gauge bridge (15) and collects the torque signal; the output torque signal receiver (17) supplies power to the output torque signal transmitter (16) and collects the torque signal and transmits it to the measurement and control device.

10. The integrated harmonic reducer testing system suitable for space environments according to claim 1, characterized in that, The output angle measuring device includes: The output end grating (13) is coaxially fixedly connected to the output shaft (14). And an output end reading head (12) fixedly connected to the output end housing (19) and corresponding to the output end grating (13), the output end reading head (12) collects the real-time angle of the output end grating (13) and transmits it to the measurement and control device.

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