Backlash measuring and adjusting method and backlash measuring and adjusting device
阅读说明:本技术 齿隙测量及调节方法、齿隙测量及调节装置 (Backlash measuring and adjusting method and backlash measuring and adjusting device ) 是由 王师 杜向红 李天天 于 2019-11-20 设计创作,主要内容包括:本发明属于测量调节技术,具体地说是一种齿隙测量及调节方法、齿隙测量及调节装置,该齿隙测量方法包括:驱动输入轴正向旋转;在某一时刻,驱动输入轴反向旋转,并同步采集输入轴的角度与时间的第一曲线波形、输出轴的角度与时间的第二曲线波形;根据得到的第一曲线波形和第二曲线波形,计算输出轴在输入轴反向旋转时的停滞时长Δt;根据停滞时长Δt,在停滞时长Δt内计算输入轴的角度变化值Δθ;根据输入轴的角度变化值Δθ,测得第一齿轮和第二齿轮之间的齿隙。同现有技术相比,提高了齿隙的测量精度。(The invention belongs to the measurement and adjustment technology, in particular to a backlash measurement and adjustment method and a backlash measurement and adjustment device, wherein the backlash measurement method comprises the following steps: driving the input shaft to rotate in the forward direction; at a certain moment, driving the input shaft to rotate reversely, and synchronously acquiring a first curve waveform of the angle and the time of the input shaft and a second curve waveform of the angle and the time of the output shaft; calculating the stagnation time delta t of the output shaft when the input shaft rotates reversely according to the obtained first curve waveform and the second curve waveform; calculating an angle change value delta theta of the input shaft within the stagnation time delta t according to the stagnation time delta t; the backlash between the first gear and the second gear is measured based on the angle change value Δ θ of the input shaft. Compared with the prior art, the measurement accuracy of the backlash is improved.)
1. A backlash measuring method, characterized by comprising the steps of:
driving the input shaft to rotate in the forward direction;
at a certain moment, driving the input shaft to rotate reversely, and synchronously acquiring a first curve waveform of the angle and the time of the input shaft and a second curve waveform of the angle and the time of the output shaft;
calculating the stagnation time delta t of the output shaft when the input shaft rotates reversely according to the obtained first curve waveform and the second curve waveform;
calculating an angle change value delta theta of the input shaft within the stagnation time delta t according to the calculated stagnation time delta t;
and measuring the backlash between a first gear connected with the input shaft and a second gear connected with the output shaft according to the calculated angle change value delta theta of the input shaft.
2. The backlash measuring method according to claim 1, wherein the step of calculating the stagnation time period Δ t of the output shaft when the input shaft rotates in the reverse direction includes:
recording a starting time point t1 of the input shaft when rotating in the reverse direction;
recording a starting time point t2 of the output shaft when rotating in the reverse direction;
calculating a difference between the t1 and the t2, and taking the difference as a stagnation time period at of the output shaft when the input shaft rotates in the reverse direction.
3. The backlash measuring method according to claim 1, wherein the step of calculating the angle change Δ θ of the input shaft within the dead time period Δ t specifically includes:
acquiring a rotation angle theta 1 of the input shaft at the initial time point of the stagnation time delta t;
acquiring a rotation angle theta 2 of the input shaft when the stagnation time delta t is finished;
and calculating an angle difference value between the theta 1 and the theta 2, and taking the angle difference value as an angle change value delta theta of the input shaft.
4. The backlash measuring method according to claim 1, wherein the step of measuring the backlash between a first gear connected to the input shaft and a second gear connected to the output shaft based on the calculated angular change value Δ θ of the input shaft specifically includes:
calculating a reduction ratio i between the input shaft and the output shaft when the output shaft rotates in a reverse direction;
substituting the calculated reduction ratio i into a formula: the backlash is measured as the reduction ratio i × the angle change value Δ θ.
5. A backlash adjustment method is characterized by comprising the following steps:
acquiring the backlash measured by the backlash measurement method according to any one of claims 1 to 4;
intercepting a current output curve of the driving end in a certain time period when the input shaft rotates at a constant speed in the forward direction or the reverse direction;
calculating a current average value of the current output curve;
judging whether the current average value and the measured backlash meet preset conditions or not;
if the axial position of the first gear connected with the input shaft relative to the second gear is judged not to meet the preset condition;
after the axial position of the first gear is adjusted, continuously executing the steps;
and if the gear backlash is judged not to meet the preset condition, the gear backlash adjustment is finished.
6. The backlash adjustment method according to claim 5, wherein the step of determining whether the average value of the current and the measured backlash satisfy a preset condition specifically includes;
if the calculated current average value is larger than a preset current value or the measured backlash is larger than a preset backlash, judging that the current average value and the measured backlash do not meet a preset condition;
and if the calculated current average value is not greater than a preset current value and the measured backlash is not greater than a preset backlash, judging that the current average value and the measured backlash meet a preset condition.
7. The backlash adjustment method according to claim 6, wherein the step of adjusting an axial position of the first gear connected to the input shaft with respect to the second gear specifically includes;
if the calculated current average value is not greater than a preset current value, but the measured backlash is greater than a preset backlash, controlling the first gear to move towards the direction of the second gear;
and if the calculated current average value is larger than a preset current value and the measured backlash is not larger than the preset backlash, controlling the first gear to move towards the direction far away from the second gear.
8. The backlash adjustment method according to any one of claims 5 to 7, wherein a value of a current output by the drive end increases as the backlash becomes smaller when the input shaft rotates at a constant speed.
9. A backlash measuring device, comprising:
the driving end is connected with the input shaft; the driving end is used for driving the input shaft to rotate in the forward direction and also used for driving the input shaft to rotate in the reverse direction at a certain moment;
the first detection module is used for synchronously detecting the rotation angle of the input shaft when the input shaft rotates reversely and outputting a first curve waveform of the angle and time;
the second detection module is used for synchronously detecting the rotation angle of the output shaft when the input shaft rotates reversely and outputting a second curve waveform of the angle and time;
the main control module is respectively in communication connection with the first detection module and the second detection module and is used for calculating the stagnation time delta t of the output shaft when the input shaft rotates reversely according to the first curve waveform and the second curve waveform;
the main control module is further used for calculating an angle change value delta theta of the input shaft within the stagnation time delta t according to the calculated stagnation time delta t, and measuring a backlash between a first gear connected with the input shaft and a second gear connected with the output shaft according to the angle change value delta theta.
10. The backlash measuring device of claim 8, wherein the first detecting module and the second detecting module are both encoders.
11. The backlash measuring device of claim 8, wherein said drive end is a servo motor connected to said input shaft.
12. A backlash adjustment device, comprising:
the current detection module is used for detecting the current value output by the driving end when the input shaft rotates forwards or reversely;
the main control module is in communication connection with the current detection module and is used for calculating the average value of output current of the input shaft during constant-speed rotation within a certain time period according to the current value detected by the current detection module; the main control module is further configured to determine whether the current average value and a backlash obtained by using the backlash measurement device according to any one of claims 9 to 11 satisfy a preset condition;
the backlash adjusting mechanism is connected with the first gear; and the backlash adjusting mechanism is used for driving a first gear connected with the input shaft to move axially relative to a second gear after the main control module judges that the current average value and the measured backlash do not meet preset conditions.
Technical Field
The invention relates to a measurement and adjustment technology, in particular to a tooth clearance measurement and adjustment method and a tooth clearance measurement and adjustment device.
Background
During a geared transmission, if the load is reversed, the output shaft will rotate a small angle, called backlash, even if the input shaft is locked, as shown in fig. 1. The proper tooth side clearance is provided when the gear teeth are meshed, so that a normal lubricating oil film is formed between the tooth surfaces, and the gear teeth are prevented from being clamped due to thermal expansion deformation caused by the increase of the working temperature of the gear. However, for the mechanism requiring more and more precise transmission, such as an industrial robot joint, the existence of backlash is easy to form errors in transmission positioning and low transmission quality and efficiency, and is easy to generate vibration and noise. Therefore, in the precise transmission mechanism, the assembled gear pair has to ensure that the tooth clearance is as small as possible on one hand and the small meshing resistance is ensured on the other hand, so that the transmission is precise, smooth and stable.
However, the traditional tooth gap measuring method generally adopts a lead wire pressing method, specifically, 2-4 lead wires are placed in parallel on a tooth surface with the tooth width, the diameter of each lead wire is not more than 4 times of the minimum gap, a rotating gear extrudes the lead wires, the thickness dimension of the thinnest part of the extruded lead wires is the tooth gap value, and the lead wires have certain hardness and irregular indentation, so that the method has larger measuring errors.
Secondly, a counter is adopted to measure the backlash, namely the output shaft is unloaded after being pre-tightened clockwise, and 2% of the rated load torque value is applied reversely. A dial indicator is used for measuring a rigid force arm arranged on the output shaft, the displacement of the rigid force arm at a certain distance from the rotation center is measured, and a corresponding rotation angle is calculated. However, the method can only measure the tooth clearance of a certain meshing position by one-time clamping, and cannot realize continuous measurement.
In addition, a carrying experiment bench is adopted to measure the backlash, namely the hysteresis curve of gear transmission, and the method mainly reflects the torsional rigidity of a gear system because 2% to 100% of rated torque needs to be additionally loaded. And the laboratory bench is relatively complex and expensive.
Disclosure of Invention
The invention aims to provide a backlash measuring and adjusting method and a backlash measuring and adjusting device, which can realize backlash measurement and backlash adjustment, improve the precision of two gears in meshing transmission after adjustment, and avoid vibration and noise of the two gears in the meshing transmission.
In order to solve the above technical problem, an embodiment of the present invention provides a backlash measuring method, including the steps of:
driving the input shaft to rotate in the forward direction;
at a certain moment, driving the input shaft to rotate reversely, and synchronously acquiring a first curve waveform of the angle and the time of the input shaft and a second curve waveform of the angle and the time of the output shaft;
calculating the stagnation time delta t of the output shaft when the input shaft rotates reversely according to the obtained first curve waveform and the second curve waveform;
calculating an angle change value delta theta of the input shaft within the stagnation time delta t according to the calculated stagnation time delta t;
and measuring the backlash between a first gear connected with the input shaft and a second gear connected with the output shaft according to the calculated angle change value delta theta of the input shaft.
In addition, the embodiment of the invention also provides a backlash adjusting method, which comprises the following steps:
acquiring the backlash measured by the backlash measurement method;
intercepting a current output curve of the driving end in a certain time period when the input shaft rotates at a constant speed in the forward direction or the reverse direction;
calculating a current average value of the current output curve;
judging whether the current average value and the measured backlash meet preset conditions or not;
if the axial position of the first gear connected with the input shaft relative to the second gear is judged not to meet the preset condition;
after the axial position of the first gear is adjusted, continuously executing the steps;
and if the gear backlash is judged not to meet the preset condition, the gear backlash adjustment is finished.
In addition, an embodiment of the present invention also provides a backlash measuring apparatus including:
the driving end is connected with the input shaft; the driving end is used for driving the input shaft to rotate in the forward direction and also used for driving the input shaft to rotate in the reverse direction at a certain moment;
the first detection module is used for synchronously detecting the rotation angle of the input shaft when the input shaft rotates reversely and outputting a first curve waveform of the angle and time;
the second detection module is used for synchronously detecting the rotation angle of the output shaft when the input shaft rotates reversely and outputting a second curve waveform of the angle and time;
the main control module is respectively in communication connection with the first detection module and the second detection module and is used for calculating the stagnation time delta t of the output shaft when the input shaft rotates reversely according to the first curve waveform and the second curve waveform;
the main control module is further used for calculating an angle change value delta theta of the input shaft within the stagnation time delta t according to the calculated stagnation time delta t, and measuring a backlash between a first gear connected with the input shaft and a second gear connected with the output shaft according to the angle change value delta theta.
In addition, an embodiment of the present invention also provides a backlash adjusting apparatus including:
the current detection module is used for detecting the average current value of the driving end in a certain time period when the input shaft rotates forwards or reversely at a constant speed;
the main control module is used for judging whether the current average value is larger than a preset current value or not and judging whether the backlash obtained by adopting the backlash measuring device according to the claim is larger than a preset backlash or not;
and the backlash adjusting mechanism is used for driving the first gear connected with the input shaft to move relative to the second gear along the axial direction.
Compared with the prior art, the backlash measuring method of the embodiment of the invention has the advantages that by means of the characteristics of the backlash, the input shaft drives the first gear to rotate in the reverse direction at a certain moment in the process of driving the input shaft to drive the first gear to rotate in the forward direction, and at the initial stage of the reverse rotation of the input shaft, the output shaft can generate the backlash with the input shaft, so that when the input shaft rotates in the reverse direction, the dead time of the output shaft in the reverse rotation of the input shaft can be calculated by synchronously acquiring the first curve waveform of the angle and the time of the input shaft and the second curve waveform of the angle and the time of the output shaft, the angle change of the input shaft can be calculated in the dead time, and the backlash between the first gear and the second gear can be accurately calculated by means of the angle change, therefore, the measurement accuracy of the backlash is improved, and meanwhile, because the size of the backlash has a certain proportional relation with the current to be output by the driving end driving the input shaft, when the backlash is adjusted, a current curve output by the driving end when the input shaft rotates forwards or reversely at a constant speed can be intercepted, the average value of the current output by the driving end can be calculated through the curve, and the axial position of the first gear relative to the second gear can be effectively adjusted by means of the relation between the average value of the current and the measured backlash.
In addition, in the step of calculating the stagnation time period Δ t of the output shaft when the input shaft rotates in the reverse direction, the method specifically includes:
recording a starting time point t1 of the input shaft when rotating in the reverse direction;
recording a starting time point t2 of the output shaft when rotating in the reverse direction;
calculating a difference between the t1 and the t2, and taking the difference as a stagnation time period at of the output shaft when the input shaft rotates in the reverse direction.
In addition, the step of calculating the angle change value Δ θ of the input shaft within the dead time period Δ t specifically includes:
acquiring a
acquiring a
and calculating an angle difference value between the
In addition, the step of measuring a backlash between a first gear connected to the input shaft and a second gear connected to the output shaft based on the calculated angle change value Δ θ of the input shaft specifically includes:
calculating a reduction ratio i between the input shaft and the output shaft when the output shaft rotates in a reverse direction;
substituting the calculated reduction ratio i into a formula: the backlash is measured as the reduction ratio i × the angle change value Δ θ.
In addition, the step of judging whether the current average value and the measured backlash satisfy a preset condition specifically comprises the following steps;
if the calculated current average value is larger than a preset current value or the measured backlash is larger than a preset backlash, judging that the current average value and the measured backlash do not meet a preset condition;
and if the calculated current average value is not greater than a preset current value and the measured backlash is not greater than a preset backlash, judging that the current average value and the measured backlash meet a preset condition.
In addition, the step of adjusting the axial position of the first gear connected to the input shaft relative to the second gear specifically includes;
if the calculated current average value is not greater than a preset current value, but the measured backlash is greater than a preset backlash, controlling the first gear to move towards the direction of the second gear;
and if the calculated current average value is larger than a preset current value and the measured backlash is not larger than the preset backlash, controlling the first gear to move towards the direction far away from the second gear.
In addition, when the input shaft rotates at a constant speed, the current value output by the drive end increases as the backlash becomes smaller.
Drawings
Fig. 1 is a schematic view of a robot to which a backlash measuring method according to a first embodiment of the present invention is applied;
fig. 2 is a schematic flow chart of a backlash measuring method according to a first embodiment of the present invention;
FIG. 3 is a waveform of the angle versus time curves of the input and output shafts as they rotate in accordance with the first embodiment of the present invention;
FIG. 4 is a schematic flow chart of a backlash adjustment method according to a second embodiment of the present invention;
fig. 5 is a schematic view of a backlash measuring apparatus according to a third embodiment of the present invention applied to a robot;
fig. 6 is a system block diagram of a backlash measuring apparatus according to a third embodiment of the present invention;
fig. 7 is a system block diagram of a backlash adjustment mechanism according to a fourth embodiment of the present invention;
fig. 8 is a schematic view of a backlash adjustment device according to a fourth embodiment of the present invention applied to a robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
The first embodiment of the present invention relates to a backlash measuring method which can be used for a robot shown in fig. 1, for example, but can be used for other precision transmission mechanisms. As can be seen from fig. 1, the
And step 230, calculating the stagnation time duration delta t of the
And 240, calculating an angle change value delta theta of the
And step 250, measuring the backlash between the
It is obvious from the above description that, in the backlash measuring method of the present embodiment, by means of the characteristics of the backlash itself, the
It should be noted that, in practical application, as shown in fig. 1, the
Specifically, the
a start time t1 of the
The start time t2 of the
The difference between t1 and t2 is calculated and taken as the stagnation period Δ t of the output shaft at the time of reverse rotation of the input shaft.
In addition, it should be noted that the
the
The
An angle difference between
In the present embodiment, the start time point t1, the start time point t2, the
In addition, the
the reduction ratio i between the
Substituting the calculated reduction ratio i into a formula: the backlash between the
In the present embodiment, the reduction ratio i and the backlash can be calculated by the main control module.
A second embodiment of the present invention relates to a backlash adjustment method, as shown in fig. 4, including the steps of:
in
And step 420, intercepting a current output curve of the driving end in a certain time period when the
In
And 450, if the preset condition is judged not to be met, adjusting the axial position of the
And step 460, finishing backlash adjustment if the preset condition is not met.
In combination with the above-mentioned adjustment method, it is obvious that since the size of the backlash between the
Specifically, in
if the calculated current average value is larger than the preset current value or the measured backlash is larger than the preset backlash, the current average value and the measured backlash are judged not to meet the preset condition, and at the moment, the axial position of the first gear relative to the second gear needs to be adjusted.
If the calculated current average value is not greater than the preset current value and the measured backlash is not greater than the preset backlash, the current average value and the measured backlash are judged to meet the preset condition, and at the moment, the axial position of the first gear relative to the second gear does not need to be adjusted.
In addition, in order to accurately adjust the first gear after determining that the calculated current average value and the measured backlash do not satisfy the preset condition, step 450 specifically includes;
if the calculated average value of the current is not greater than the preset current value, but the measured backlash is greater than the preset backlash, it indicates that the backlash between the
If the calculated average value of the current is larger than the preset current value but the measured backlash is not larger than the preset backlash, it indicates that the backlash between the
Therefore, it is not difficult to find that the backlash between the
A third embodiment of the present invention relates to a backlash measuring apparatus, as shown in fig. 5, including: the device comprises a driving end, a first detection module, a second detection module and a main control module.
As shown in fig. 5, the driving end is a
In addition, as shown in fig. 6, the main control module is in communication connection with the first detection module and the second detection module, respectively. Therefore, in practical application, the
Specifically, in the present embodiment, as shown in fig. 5, the first detection module is an encoder (not shown) provided in the
As is apparent from the contents of the present embodiment, the present embodiment is an apparatus example corresponding to the first embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
A fourth embodiment of the present invention relates to a backlash measuring apparatus, as shown in fig. 7, including: the device comprises a current detection module (not marked in the figure), a main control module and a backlash adjusting mechanism.
The current detection module is in communication connection with the main control module and is used for detecting a current value output by the driving end, namely the
In the practical application process, the main control module may intercept a section of the curve waveform of the
Specifically, in the present embodiment, as shown in fig. 8, the backlash adjustment mechanism is a
As is apparent from the contents of the present embodiment, the present embodiment is an example of an apparatus corresponding to the second embodiment, and the present embodiment can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
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