A kind of rotating steering gear bidirectional loading device

Abstract

The present invention belongs to the field of steering gear related equipment, and specifically relates to a rotating steering gear bidirectional loading device, including a steering gear, and also including: an angle sensor; a loading mechanism connected to the angle sensor; a torque sensor connected to the loading structure; wherein the loading mechanism enables the steering gear to be bidirectionally loaded. The rotating steering gear bidirectional loading device of the present invention realizes bidirectional loading of the steering gear, and the load can increase linearly with the rotational displacement of the steering gear, and can realize loading of the steering gear within the full stroke range, and can measure the rotational speed and output torque of the steering gear, and has the characteristics of low cost, small size, convenient loading, safety and reliability.

Description

Technical Field

[0001] The invention belongs to the field of steering gear related equipment, and in particular relates to a rotating steering gear bidirectional loading device. Background Art

[0002] At present, servos include linear servos and rotary servos. The existing loading equipment of servos are all designed for linear servos, and there is a lack of loading equipment for rotary servos. Due to the lack of loading equipment, the loading test of rotary servos is difficult to carry out, which affects the progress of the project.

[0003] In addition, loading devices such as magnetic powder brakes have the disadvantage that there must be no load when the servo is stationary and that loading can only be performed during the movement of the servo.

[0004] In order to solve the above problems, the present invention provides a rotary steering gear bidirectional loading device. Summary of the invention

[0005] An object of the present invention is to solve at least one of the above problems or disadvantages and to provide at least one advantage as will be described below.

[0006] In order to achieve these purposes and other advantages according to the present invention, the present invention provides a rotary steering gear bidirectional loading device, including a steering gear, and further comprising:

[0007] A torque sensor connected to the steering gear;

[0008] A loading mechanism connected to the torque sensor;

[0009] An angle sensor connected to the loading mechanism;

[0010] Wherein, the loading mechanism enables the steering gear to be loaded in both directions.

[0011] The rotary steering gear bidirectional loading device of the present invention realizes bidirectional loading of the steering gear, and the load can increase linearly with the rotational displacement of the steering gear, so that the steering gear can be loaded within the full stroke range, and the rotational speed and output torque of the steering gear can be measured. It has the characteristics of low cost, small size, convenient loading, safety and reliability.

[0012] Preferably, the loading mechanism includes a first torsion spring and a second torsion spring, and the first torsion spring and the second torsion spring are connected in opposite directions.

[0013] The rotary steering gear bidirectional loading device of the present invention uses two torsion springs to realize bidirectional loading of the steering gear, has a simple structure and is easy to operate.

[0014] Preferably, it further comprises a torsion bar, a rotating shaft, a rocker arm and a base, one end of the rotating shaft is connected to one end of the rocker arm, and the torsion bar is connected to the other end of the rocker arm; the first torsion spring comprises a first straight arm and a first bent arm, the second torsion spring comprises a second straight arm and a second bent arm, the first bent arm and the second bent arm are connected to the torsion bar in opposite directions, and the first straight arm and the second straight arm are connected to the base in opposite directions;

[0015] The other end of the rotating shaft passes through the center of the first torsion spring and the second torsion spring and is connected to the angle sensor.

[0016] Preferably, the device further comprises a retaining ring, which is arranged between the first torsion spring and the second torsion spring.

[0017] The retaining ring is used to isolate the two torsion springs, thereby preventing the two torsion springs from rubbing against each other or even getting stuck, thereby ensuring the normal operation of the rotary steering gear bidirectional loading device.

[0018] Preferably, it further comprises a first coupling, a second coupling and a third coupling, wherein one end of the first coupling is connected to the angle sensor, the other end of the first coupling is connected to the loading mechanism, one end of the second coupling is connected to the loading mechanism, the other end of the second coupling is connected to the torque sensor, one end of the third coupling is connected to the torque sensor, and the other end of the third coupling is connected to the steering gear;

[0019] Wherein, the first coupling, the second coupling, the third coupling coincide with the central axis of the loading device.

[0020] The present invention connects the angle sensor, the loading structure and the torque sensor through the first coupling, the second coupling and the third coupling, thereby jointly ensuring the bidirectional loading of the servo, ensuring that the load increases linearly with the rotational displacement of the servo, ensuring that the servo is loaded within the full stroke range, and ensuring accurate measurement of the servo rotation speed and output torque.

[0021] Preferably, it also includes a first baffle and a second baffle, the first baffle and the second baffle are respectively arranged on both sides of the base, the first baffle and the second baffle are respectively provided with a first through hole and a second through hole, the rotating shaft passes through the center of the first torsion spring and the second torsion spring through the first through hole, and is connected to the angle sensor, and the angle sensor is connected to the loading device through the second through hole.

[0022] The first baffle plate and the second baffle plate are combined to laterally limit the first torsion spring and the second torsion spring to ensure the normal operation of the loading mechanism.

[0023] Beneficial Effects of the Invention

[0024] 1. A bidirectional loading device for a rotary servo provided by the present invention realizes loading of torque in two directions respectively by setting two torsion spring loading devices.

[0025] 2. The present invention provides a two-way loading device for a rotary servo, in which the torque of the torsion spring increases linearly with the size of the rotation angle, so that the servo can be loaded within the entire range.

[0026] 3. The rotary servo bidirectional loading device provided by the present invention has a simple structure, is easy to install and disassemble, and has a wide range of applications.

[0027] 4. The present invention provides a rotary servo bidirectional loading device, which has the characteristics of low cost, small size, convenient loading, safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the rotary steering gear bidirectional loading device of the present invention;

[0029] Figure 2 It is a schematic diagram of the exploded structure of the rotary steering gear bidirectional loading device of the present invention;

[0030] Figure 3 It is a structural schematic diagram of the loading mechanism of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the connection between the loading mechanism and the baffle of the present invention;

[0032] Figure 5 is a schematic diagram of the structure of the first torsion spring or the second torsion spring of the present invention;

[0033] Among them, 1-servo, 2-torque sensor, 3-loading mechanism, 4-angle sensor, 5-first torsion spring, 6-second torsion spring, 7-torsion bar, 8-rotating shaft, 9-rocker arm, 10-base, 11-first straight arm, 12-first curved arm, 13-second straight arm, 14-second curved arm, 15-retaining ring, 16-first coupling, 17-second coupling 18-third coupling, 19-sleeve, 20-first baffle, 21-second baffle, 22-screw, 23-first through hole, 24-second through hole. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0035] In this specification, when an element is referred to as being "connected or coupled to" another element or "disposed in another element", it may be "directly" connected or coupled to another element or "directly" disposed in another element. Or connected or coupled to another element or disposed in another element in a manner in which other elements are interposed, unless it is volumed as "directly coupled or connected to" another element or "directly disposed" in another element. In addition, it should be understood that when an element is referred to as being "on another element", "above another element", "under another element" or "under another element", it may be "directly" in contact with another element or in contact with another element in a manner in which other elements are interposed, unless it is referred to as being in direct contact with another element; it should be understood that terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0036] In order to achieve these objects and other advantages according to the present invention, Figure 1 and Figure 2 As shown, the present invention provides a rotary steering gear bidirectional loading device, comprising a steering gear 1, and further comprising:

[0037] A torque sensor 2 connected to the steering gear 1;

[0038] A loading mechanism 3 connected to the torque sensor 2;

[0039] An angle sensor 4 connected to the loading mechanism 3;

[0040] Wherein, the loading mechanism enables the steering gear to be loaded in both directions.

[0041] The rotary steering gear bidirectional loading device of the present invention realizes bidirectional loading of the steering gear, and the load can increase linearly with the rotational displacement of the steering gear, so that the steering gear can be loaded within the full stroke range, overcoming the disadvantage that loading devices such as magnetic powder brakes must have no load when the steering gear is stationary and can only be loaded during the movement of the steering gear. The device can measure the rotation speed and output torque of the steering gear and has the characteristics of low cost, small size, convenient loading, safety and reliability.

[0042] Based on the above situation, another embodiment, such as Figure 3 As shown, the loading mechanism includes a first torsion spring 5 and a second torsion spring 6, and the first torsion spring and the second torsion spring are connected in opposite directions.

[0043] The first torsion spring and the second torsion spring are connected in opposite directions, respectively realizing the loading of torque in two directions. Since the torque of the torsion spring increases linearly with the size of the rotation angle, the load can increase linearly with the rotation angle of the servo, so that the loading can be realized within the full stroke range of the servo.

[0044] The first torsion spring and the second torsion spring need to be selected according to actual conditions. If the load of the servo motor rotating left and right is symmetrical, the two torsion springs are the same; if the load is asymmetrical, the two torsion springs are different.

[0045] Based on the above embodiment, another embodiment is as follows: Figure 3 and Figure 4 As shown, it also includes a torsion bar 7, a rotating shaft 8, a rocker arm 9 and a base 10, one end of the rotating shaft is connected to one end of the rocker arm, the torsion bar is connected to the other end of the rocker arm, and one end of the rotating shaft is rigidly connected to the torsion bar through one end of the rocker arm; Figure 3 and Figure 5 As shown, the first torsion spring includes a first straight arm 11 and a first bent arm 12, and the second torsion spring includes a second straight arm 13 and a second bent arm 14. The first bent arm and the second bent arm are connected to the torsion bar in opposite directions, and the first straight arm and the second straight arm are fixedly connected to the base in opposite directions. The first bent arm and the second bent arm are connected to the torsion bar, and when the torsion bar rotates, the first bent arm and the second bent arm are driven to rotate, and the first straight arm and the second straight arm ends are fixed.

[0046] The other end of the rotating shaft passes through the center of the first torsion spring and the second torsion spring and is connected to the angle sensor.

[0047] Based on the above embodiment, another embodiment is as follows: Figure 2 As shown, a retaining ring 15 is further included, which is arranged between the first torsion spring and the second torsion spring.

[0048] The retaining ring is used to isolate the two torsion springs to prevent the two torsion springs from rubbing against each other or even getting stuck.

[0049] Based on the above embodiment, another embodiment is as follows: Figure 1 As shown, it also includes a first coupling 16, a second coupling 17 and a third coupling 18, one end of the first coupling is connected to the angle sensor, the other end of the first coupling is connected to the loading mechanism, one end of the second coupling is connected to the loading mechanism, the other end of the second coupling is connected to the torque sensor, one end of the third coupling is connected to the torque sensor, and the other end of the third coupling is connected to the output shaft of the steering gear;

[0050] Wherein, the first coupling, the second coupling, the third coupling coincide with the central axis of the loading device.

[0051] Among them, the first coupling includes a sleeve 19, the rotating shaft rotates around the center of the sleeve, the other end of the rotating shaft passes through the center of the first torsion spring and the second torsion spring, and is connected to the sleeve, the center of the first torsion spring and the second torsion spring is concentric with the sleeve, the rotating steering gear is connected to the rotating shaft of the loading mechanism through the third coupling and the torque sensor, the rotating steering gear rotates to drive the rotating shaft to rotate, and the torsion bar rigidly connected to the rotating shaft drives the first torsion spring and the second torsion spring to rotate, thereby realizing the loading of the steering gear.

[0052] The present invention connects the angle sensor, the loading structure and the torque sensor through the first coupling, the second coupling and the third coupling, thereby jointly ensuring the bidirectional loading of the servo, ensuring that the load increases linearly with the rotational displacement of the servo, ensuring that the servo is loaded within the full stroke range, and ensuring accurate measurement of the servo rotation speed and output torque.

[0053] Based on the above embodiment, another embodiment is as follows: Figure 2 and Figure 4 As shown, it also includes a first baffle 20 and a second baffle 21, the first baffle 20 and the second baffle 21 are respectively fixed on both sides of the base by screws 22, the first baffle 23 and the second through hole 24 are respectively set on the first baffle and the second baffle, the rotating shaft passes through the center of the first torsion spring and the second torsion spring through the first through hole, and is connected to the angle sensor, and the angle sensor is connected to the loading device through the second through hole.

[0054] The first baffle plate and the second baffle plate are combined to laterally limit the first torsion spring and the second torsion spring to ensure the normal operation of the loading mechanism.

[0055] The working principle of the present invention is as follows: when the steering gear rotates, the steering gear is connected to the rotating shaft of the loading mechanism through the third coupling and the torque sensor through the second coupling. The rotating steering gear rotates to drive the rotating shaft to rotate. The torsion bar rigidly connected to the rotating shaft drives the first bent arm and the second bent arm, thereby driving the first torsion spring and the second torsion spring to rotate. When the steering gear turns left, the first torsion spring loads it, and when the steering gear turns right, the second torsion spring loads it, thereby realizing bidirectional loading of the steering gear. Since the torque of the torsion spring increases linearly with the size of the rotation angle, the load can increase linearly with the rotation angle of the steering gear, thereby realizing loading of the steering gear within the full stroke range. Of course, different torsion springs can be designed according to specific needs, and the torque of the torsion spring can increase linearly or nonlinearly.

[0056] The torque sensor can monitor the loading torque of the servo in real time, and the angle sensor can monitor the steering angle of the servo in real time.

[0057] In addition, the number of turns, diameter, wire size, etc. of the first torsion spring and the second torsion spring can be selected according to actual conditions.

[0058] The rotary steering gear bidirectional loading device of the present invention uses two torsion springs to realize bidirectional loading of the steering gear. The load can increase linearly with the rotational displacement of the steering gear, and the steering gear can be loaded within the full stroke range. The rotational speed and output torque of the steering gear can be measured. The device has the characteristics of low cost, small size, convenient loading, safety and reliability.

[0059] There are other optional embodiments of the present invention, which will not be described in detail here.

[0060] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A rotary steering gear bidirectional loading device, comprising a steering gear, characterized in that: Also includes: A torque sensor connected to the steering gear; A loading mechanism connected to the torque sensor; An angle sensor connected to the loading mechanism; Wherein, the loading mechanism enables the steering gear to be bidirectionally loaded; The loading mechanism comprises a first torsion spring, a second torsion spring, a torsion bar, a rotating shaft, a rocker arm, a base and a retaining ring, wherein the first torsion spring and the second torsion spring are connected in opposite directions; one end of the rotating shaft is connected to one end of the rocker arm, and the torsion bar is connected to the other end of the rocker arm; the first torsion spring comprises a first straight arm and a first curved arm, and the second torsion spring comprises a second straight arm and a second curved arm, the first curved arm and the second curved arm are connected to the torsion bar in opposite directions, and the first straight arm and the second straight arm are connected to the base in opposite directions; the retaining ring is arranged between the first torsion spring and the second torsion spring; The other end of the rotating shaft passes through the centers of the first torsion spring and the second torsion spring and is connected to the angle sensor.

2. The rotary steering gear bidirectional loading device according to claim 1, characterized in that: It also includes a first coupling, a second coupling and a third coupling, wherein one end of the first coupling is connected to the angle sensor, the other end of the first coupling is connected to the loading mechanism, one end of the second coupling is connected to the loading mechanism, the other end of the second coupling is connected to the torque sensor, one end of the third coupling is connected to the torque sensor, and the other end of the third coupling is connected to the steering gear; Wherein, the first coupling, the second coupling, the third coupling and the central axis of the loading device coincide with each other.

3. The rotary steering gear bidirectional loading device according to claim 1, characterized in that: It also includes a first baffle and a second baffle, the first baffle and the second baffle are respectively arranged on both sides of the base, the first baffle and the second baffle are respectively provided with a first through hole and a second through hole, the rotating shaft passes through the first through hole through the center of the first torsion spring and the second torsion spring, and is connected to the angle sensor, and the angle sensor is connected to the loading device through the second through hole.

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