A transmission device deformation measuring instrument under dynamic loading of servo system

Abstract

A transmission device deformation measuring instrument under dynamic loading of a servo system comprises: a base; a servo motor unit, which is mounted on the upper part of the base and includes a servo motor body and a reducer; a magnetic powder brake, which is mounted on the upper part of the base; a main shaft, one end of which is connected to the magnetic powder brake; an inertia plate assembly, which includes a plurality of inertia plate bodies and an inertia disk base, and the inertia disk base is sleeved on the main shaft; an encoder unit, which has a first annular encoder I, a second annular encoder II, a first connecting sleeve I and a second connecting sleeve II, the first connecting sleeve I is connected to the main shaft, and the second connecting sleeve II is connected to the reducer; a transmission device to be tested, which is detachably arranged between the first connecting sleeve I and the second connecting sleeve II, and the first annular encoder I and the second annular encoder II are used to measure the motion deformation of the transmission device to be tested. Advantages: Reliably and accurately measure and analyze the backlash or flexible deformation of the transmission device in the servo system during movement, meeting actual use requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical testing equipment, and in particular relates to a transmission device deformation measuring instrument under dynamic loading of a servo system. Background Art

[0002] As the country's performance requirements for military equipment are getting higher and higher, how to make the servo system respond quickly and accurately under complex and changeable working conditions is the most critical technical indicator of the performance of the equipment. When the servo system is dynamically loaded, during the mechanical transmission process, various transmission devices will affect their own backlash or flexible deformation due to variable dynamic loading conditions, such as different load inertia, different speed torque, etc., resulting in reduced control accuracy of the high-precision servo system. Therefore, it is necessary to control the backlash or flexible deformation of the transmission device within a safe and controllable range. Therefore, it is crucial to study the measurement and influence of the backlash or flexible deformation of the transmission device under dynamic loading conditions in the servo control system, which has become an unavoidable problem in the study of improving the control accuracy of the servo system.

[0003] Therefore, how to measure the change of the backlash or flexible deformation of the transmission device in real time, accurately and effectively under the condition of dynamic loading of the servo system is particularly important for the servo system to cope with complex and changeable working conditions and ensure the long-term stable operation of the overall system. However, in the existing factory and testing process, it is difficult to fully reproduce the impact of dynamic loading conditions on the backlash or flexible deformation of the transmission device, and most of them have problems such as poor measurement accuracy, low measurement efficiency and high measurement cost, which affects the design performance of the overall system.

[0004] In view of the above-mentioned prior art, it is necessary to design a measuring device for the deformation of a transmission device under dynamic loading of a servo system. To this end, the applicant has made a useful design, and the technical solution to be introduced below is produced under this background. Summary of the invention

[0005] The purpose of the present invention is to provide a high-precision, high-efficiency and economical transmission device deformation measuring instrument under dynamic loading of a servo system, which helps to simulate operating conditions with different load inertias, different speeds and different torques by setting an encoder unit, a magnetic powder brake and an inertia plate assembly, and realize accurate measurement of the backlash or flexible deformation of the transmission device to be tested in the servo system, so as to create a transmission device that can meet actual use needs within a safe deformation range.

[0006] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is: a transmission device deformation measuring instrument under dynamic loading of a servo system, comprising: a base; a servo motor unit, the servo motor unit is installed at a side position on the upper part of the base, and the servo motor unit includes a servo motor body and a reducer that are transmission-connected together; a magnetic powder brake, the magnetic powder brake is installed at the other side position on the upper part of the base away from the servo motor unit; a main shaft, one end of the main shaft in the length direction is connected to the magnetic powder brake and the main shaft extends toward the servo motor unit; an inertia piece assembly, including a plurality of inertia piece bodies and an inertia disk base fixedly connected together, the inertia disk base is sleeved on the shaft body of the main shaft; an encoder unit, the encoder The encoder unit is arranged between the main shaft and the servo motor unit, and the encoder unit has a first annular encoder I, a second annular encoder II, a first connecting sleeve I and a second connecting sleeve II, the first connecting sleeve I is connected to the end of the main shaft away from the magnetic powder brake, and the second connecting sleeve II is connected to the output end of the reducer, the first annular encoder I is sleeved on the first connecting sleeve I, and the second annular encoder II is sleeved on the second connecting sleeve II; the transmission device to be tested is detachably arranged between the first connecting sleeve I and the second connecting sleeve II and realizes transmission connection with the two, and the first annular encoder I and the second annular encoder II are used to measure the motion deformation of the transmission device to be tested.

[0007] In a specific embodiment of the present invention, the servo motor unit also includes a base plate, a plurality of servo motor support plates, a plurality of connecting ribs and a reducer support plate; the base plate is fixedly mounted on the base, and the plurality of servo motor support plates are fixedly connected to the base plate in a vertical state and the servo motor support plate is arranged at a position below the servo motor body, the plurality of servo motor support plates are used to support the servo motor body, the plurality of connecting ribs are also fixedly mounted on the base plate, and the reducer support plate is fixedly connected to one end of the connecting rib and the reducer support plate is vertically arranged, and the reducer passes through the reducer support plate and is connected thereto.

[0008] In another specific embodiment of the present invention, a magnetic powder brake mounting frame is also connected to the magnetic powder brake, and the magnetic powder brake mounting frame includes a magnetic powder brake mounting frame base and a magnetic powder brake mounting frame vertical support plate. The magnetic powder brake mounting frame base and the magnetic powder brake mounting frame vertical support plate are formed in a vertical state. The magnetic powder brake mounting frame base is fixedly mounted on the base in a horizontal state, and the magnetic powder brake mounting frame vertical support plate is connected to the magnetic powder brake mounting frame base and extends upward. The magnetic powder brake mounting frame vertical support plate is arranged at a side position of the magnetic powder brake body close to the main shaft, the magnetic powder brake body is fixedly mounted on the magnetic powder brake mounting frame vertical support plate, and the main shaft passes through the magnetic powder brake mounting frame vertical support plate and extends into the magnetic powder brake body.

[0009] In another specific embodiment of the present invention, a spindle barrel portion with a cylindrical shape is convexly formed on the shaft body of the spindle and at the middle position in the length direction thereof, the inertia piece assembly is arranged at a side position of the spindle barrel portion away from the magnetic powder brake, and the inertia disc base is fixedly mounted on one end portion of the spindle barrel portion, and the shaft body of the spindle passes through the inertia disc base; and a plurality of inertia disc base pin shaft holes penetrating the thickness direction of the inertia disc base body are evenly provided, and a plurality of inertia piece body pin shaft holes penetrating the thickness direction of the inertia piece body are also evenly provided, and a pin shaft member capable of being fitted into the pin shaft hole of the inertia disc base is penetrated in the pin shaft hole of the inertia piece body, thereby realizing fixed connection between the plurality of inertia piece bodies and the inertia disc base.

[0010] In another specific embodiment of the present invention, a plurality of spindle cylinder connecting holes are provided on the spindle cylinder and on an end portion close to the inertia disk base along the circumferential direction thereof, and a plurality of inertia disk base connecting holes are also provided at the central position of the inertia disk base and at positions corresponding to the plurality of spindle cylinder connecting holes, and an inertia disk base connecting fastener is provided in each of the plurality of inertia disk base connecting holes, and the inertia disk base connecting fastener passes through the inertia disk base connecting hole and is screwed into the corresponding spindle cylinder connecting hole, thereby realizing fixed connection between the inertia disk base and the spindle cylinder.

[0011] In another specific embodiment of the present invention, a spindle support frame is further provided at an end position of the spindle body in the length direction close to the encoder unit, the spindle support frame is fixedly mounted on the base, and a spindle bearing seat is further provided on the spindle support frame, the spindle body is penetrated through the spindle bearing seat and is transmission-connected with the bearing member in the spindle bearing seat.

[0012] In a further specific embodiment of the present invention, a spindle positioning groove is provided at one end of the spindle body in the length direction away from the magnetic powder brake, and the spindle positioning groove extends from one end of the spindle body along the length direction of the spindle; a first connecting sleeve inner cavity I is formed inside the first connecting sleeve I, which runs through one end to the other end, and one end of the spindle body is fitted in the first connecting sleeve inner cavity I, and a first connecting sleeve pin shaft I is also provided on the first connecting sleeve I, and the first connecting sleeve pin shaft I penetrates into the first connecting sleeve inner cavity and is fitted in the spindle positioning groove, thereby realizing the positioning connection between the first connecting sleeve I and the spindle body.

[0013] In a more specific embodiment of the present invention, a reducer output shaft extending toward the encoder unit is also provided at the output end of the reducer, and a reducer output shaft positioning key is also provided on the reducer output shaft; and a second connecting sleeve inner cavity II is formed inside the second connecting sleeve II, which runs through one end to the other end, and the reducer output shaft is also installed in the second connecting sleeve inner cavity II, and a second connecting sleeve positioning groove II which is adapted to the shape of the reducer output shaft positioning key is also formed on the inner circumferential side wall of the second connecting sleeve inner cavity II, and the reducer output shaft positioning key is positioned and installed in the second connecting sleeve positioning groove II, thereby fixing the reducer output shaft and the second connecting sleeve II.

[0014] In yet another specific embodiment of the present invention, a first annular encoder data interface I is provided at the lower end of the first annular encoder I, and a second annular encoder data interface II is also provided at the lower end of the second annular encoder.

[0015] In yet another specific embodiment of the present invention, the first connecting sleeve I, the second connecting sleeve II and the transmission device to be tested are connected via a key.

[0016] The technical effect of the technical solution provided by the present invention is that: by arranging the first annular encoder I and the second annular encoder II respectively located on both sides of the transmission device to be tested, reliable and accurate measurement of the amount of backlash or flexible deformation of the transmission device to be tested is achieved; and because the speed and torque of the servo motor body can be adjusted, and the number of inertia sheet bodies connected to the main shaft can be adjusted, the influence of different load inertias on the amount of backlash or flexible deformation of the transmission device to be tested is effectively simulated, and because the magnetic powder brake has the functional characteristics of high precision, high stability and high agility, it can provide high-precision torque control for the main shaft, thereby achieving accurate measurement of the amount of backlash or flexible deformation of the transmission device to be tested, and then effectively reproducing the amount of backlash or flexible deformation of the transmission device to be tested in actual operation under laboratory conditions, achieving the purpose of detecting the anti-deformation ability and performance indicators of components of the servo system, and converting the traditional full-physical experiment into a predictive study under laboratory conditions, so as to achieve the purpose of shortening the development cycle, saving development funds, and improving reliability and success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the connection structure between the main shaft and the inertia piece assembly in the present invention;

[0019] Figure 3 It is a schematic diagram of the connection structure between the encoder unit and the transmission device to be tested in the present invention.

[0020] In the figure: 1. base; 2. servo motor unit, 21. servo motor body, 22. reducer, 221. reducer output shaft, 2211. reducer output shaft positioning key, 23. base plate, 24. servo motor support plate, 25. connecting rib plate, 26. reducer support plate; 3. magnetic powder brake, 31. magnetic powder brake mounting frame, 311. magnetic powder brake mounting frame base, 312. magnetic powder brake mounting frame vertical support plate; 4. spindle, 41. spindle cylinder, 411. spindle cylinder connecting hole, 42. spindle support frame, 421. spindle bearing seat, 43. spindle positioning groove; 5. inertia piece assembly, 51. inertia piece body , 511. Inertia plate body pin hole, 52. Inertia disk base, 521. Inertia disk base pin hole, 522. Inertia disk base connecting hole, 5221. Inertia disk base connecting fastener; 6. Encoder unit, 61. First annular encoder Ⅰ, 611. First annular encoder data interface Ⅰ, 62. Second annular encoder Ⅱ, 621. Second annular encoder data interface Ⅱ, 63. First connecting sleeve, 631. First connecting sleeve inner cavity Ⅰ, 632. First connecting sleeve pin Ⅰ, 63364. Second connecting sleeve Ⅱ, 641. Second connecting sleeve inner cavity Ⅱ, 6411. Second connecting sleeve positioning groove Ⅱ; 7. Transmission device to be tested. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but the description of the embodiments is not a limitation of the technical solution. Any changes in form rather than substance based on the concept of the present invention should be regarded as the protection scope of the present invention.

[0022] In the following description, all concepts related to directionality or orientation such as up, down, left, right, front and back refer to the position state of the figure being described, and therefore cannot be understood as a special limitation on the technical solution provided by the present invention.

[0023] See also Figures 1 to 3 , shows a transmission device deformation measuring instrument under dynamic loading of a servo system, which is used to measure the backlash or flexible deformation of various transmission devices under dynamic loading in a high-precision servo system; it comprises: a base 1, which is extended in a horizontal state; a servo motor unit 2, such as Figure 1As shown in the figure, the servo motor unit 2 is installed at the right position of the upper part of the base 1, and the servo motor unit 2 includes a servo motor body 21 and a reducer 22 connected together by transmission; a magnetic powder brake 3, which is installed at the left position of the upper part of the base 1; a main shaft 4, which is also arranged at the upper position of the base 1, and the left end of the main shaft 4 in the length direction is connected to the magnetic powder brake 3 and the main shaft 4 extends toward the servo motor unit 2, and the left end of the main shaft 4 is inserted into the magnetic powder brake 3; the magnetic powder brake 3 can control the movement of the main shaft 4, and the magnetic powder brake is a braking device based on the electromagnetic principle and using magnetic powder to transmit torque, and its working principle belongs to the well-known technology; and when the main shaft 4 rotates at a high speed, the magnetic powder brake 3 can exert control on it, and the torque of the main shaft 4 is also controlled accordingly, thereby effectively realizing high-precision control of the movement of the main shaft 4.

[0024] Figure 1 and Figure 2 Also shown is an inertia piece assembly 5, which includes a plurality of inertia piece bodies 51 and an inertia disc base 52 fixedly connected together, wherein the inertia disc base 52 is sleeved on the shaft of the spindle 4; an encoder unit 6, wherein the encoder unit 6 is arranged between the spindle 4 and the servo motor unit 2, and the encoder unit 6 has a first annular encoder Ⅰ61, a second annular encoder Ⅱ62, a first connecting sleeve Ⅰ63 and a second connecting sleeve Ⅱ64, wherein the first connecting sleeve Ⅰ63 is connected to the right end of the spindle 4, and the second connecting sleeve Ⅱ64 is connected to the left end output end of the reducer 22, wherein the first annular encoder Ⅰ61 is sleeved on the first connecting sleeve Ⅰ63, and the second annular encoder Ⅱ62 is sleeved on the second connecting sleeve Ⅱ64; a transmission device to be tested 7, wherein the transmission device to be tested 7 is detachably arranged between the first connecting sleeve Ⅰ63 and the second connecting sleeve Ⅱ64 and connected to both. The transmission connection is realized, and the aforementioned first annular encoder I61 and the second annular encoder II62 are used to measure the motion deformation amount of the transmission device 7 to be tested; in the present embodiment, the first annular encoder I61 and the second annular encoder II62 are respectively arranged on the left and right sides of the aforementioned transmission device 7 to be tested, and the aforementioned transmission device 7 to be tested is a coupling and the transmission device 7 to be tested can be arbitrarily replaced by other transmission devices without being subject to the above restrictions, and the first annular encoder I61 and the second annular encoder II62 can obtain two sets of data with differences due to the deformation of the transmission mechanism 7 to be tested according to the deformation amount generated by the transmission device 7 to be tested in the motion state, thereby being able to accurately measure the backlash or flexible deformation amount of different transmission devices to be tested 7 in the motion state; the aforementioned first annular encoder I61 and the second annular encoder II62 both have a rotating ring that can rotate around an inner ring, and this type of annular encoder is well known, so the inner ring and the rotating ring are not shown in the figure.

[0025] Furthermore, the servo motor unit 2 also includes a base plate 23, multiple servo motor bracket plates 24, multiple connecting ribs 25 and a reducer support plate 26; the base plate 23 is fixedly mounted on the base 1, and the multiple servo motor bracket plates 24 are fixedly connected to the base plate 23 in a vertical state and the servo motor bracket plate 24 is arranged at a lower position of the servo motor body 21, the multiple servo motor bracket plates 24 are used to support the servo motor body 21, the multiple connecting ribs 25 are also fixedly mounted on the base plate 23, and the reducer support plate 26 is fixedly connected to one end of the connecting rib 25 and the reducer support plate 26 is vertically arranged, and the reducer 22 passes through the reducer support plate 26 and is connected thereto.

[0026] Please continue to see Figure 1 A magnetic powder brake mounting frame 31 is also connected to the magnetic powder brake 3. The magnetic powder brake mounting frame 31 has a magnetic powder brake mounting frame base 311 and a magnetic powder brake mounting frame vertical support plate 312. The magnetic powder brake mounting frame base 311 and the magnetic powder brake mounting frame vertical support plate 312 are formed in a vertical state. The magnetic powder brake mounting frame base 311 is fixedly mounted on the base 1 in a horizontal state, and the magnetic powder brake mounting frame vertical support plate 312 is connected to the magnetic powder brake mounting frame base 311 and extends upward. The magnetic powder brake mounting frame vertical support plate 312 is arranged at a side position of the magnetic powder brake 3 body close to the spindle 4. The magnetic powder brake 3 body is fixedly mounted on the magnetic powder brake mounting frame vertical support plate 312, and the spindle 4 passes through the magnetic powder brake mounting frame vertical support plate 312 and penetrates into the magnetic powder brake 3 body.

[0027] Please continue to see Figure 1 And focus on combining Figure 2, a main shaft barrel portion 41 with a cylindrical shape is convexly formed on the shaft body of the main shaft 4 and at the middle position in the length direction thereof, the inertia piece assembly 5 is arranged at the right position of the main shaft barrel portion 41, and the inertia disc base 52 is fixedly installed on the right end of the main shaft barrel portion 41, and the shaft body of the main shaft 4 passes through the inertia disc base 52; and a plurality of inertia disc base pin shaft holes 521 penetrating the thickness direction thereof are evenly opened on the main body of the inertia disc base 52, and a plurality of inertia piece body pin shaft holes 511 penetrating the thickness direction thereof are also evenly opened on the plurality of inertia piece bodies 51, and a pin shaft member capable of being fitted into the inertia disc base pin shaft hole 521 is penetrated in the pin shaft hole 511 of the inertia piece body, thereby realizing the fixed connection between the plurality of inertia piece bodies 51 and the plurality of inertia piece bases 52; in this embodiment, the plurality of inertia piece bodies 51 are installed on the right side of the inertia disc base 52 by means of pin shaft fixing, and as Figure 2 As shown in the figure, the inertia piece body 51 has different size types. The figure shows a larger 90-degree fan-shaped inertia piece body 51 and a smaller arc-shaped inertia piece body 51. The inertia piece body 51 is fixed by a pin structure. The user can simulate a variety of different load inertia conditions by adding or reducing the number of inertia piece bodies 51 fixed on the bottom 52 of the inertia disk.

[0028] Furthermore, a plurality of spindle cylinder connecting holes 411 are provided on the spindle cylinder 41 and on one end portion close to the inertia disk base 52 at intervals along its circumferential direction, and a plurality of inertia disk base connecting holes 522 are also provided at the central position of the inertia disk base 52 and at positions corresponding to the plurality of spindle cylinder connecting holes 411, and an inertia disk base connecting fastener 5221 is provided in each of the plurality of inertia disk base connecting holes 522, and the inertia disk base connecting fastener 5221 passes through the inertia disk base connecting hole 522 and is screwed into the corresponding spindle cylinder connecting hole 411, thereby realizing fixed connection between the inertia disk base 52 and the spindle cylinder 41.

[0029] In this embodiment, a spindle support frame 42 is further provided at an end position of the aforementioned spindle 4 body in the length direction close to the aforementioned encoder unit 6. The aforementioned spindle support frame 42 is fixedly mounted on the aforementioned base 1, and a spindle bearing seat 421 is also provided on the aforementioned spindle support frame 42. The aforementioned spindle 4 body is inserted into the spindle bearing seat 421 and realizes transmission connection with the bearing member in the spindle bearing seat 421.

[0030] See also Figure 3A spindle positioning groove 43 is provided at one end of the spindle 4 body in the length direction away from the magnetic powder brake 3, and the spindle positioning groove 43 extends from the right end of the spindle 4 body along the length direction of the spindle 4; the first connecting sleeve Ⅰ63 is internally formed with a first connecting sleeve inner cavity Ⅰ631 that runs through from one end to the other end, and one end of the spindle 4 body is fitted in the first connecting sleeve inner cavity Ⅰ631, and a first connecting sleeve pin shaft Ⅰ632 is also provided on the first connecting sleeve Ⅰ63, and the first connecting sleeve pin shaft Ⅰ632 penetrates into the first connecting sleeve inner cavity 631 and is fitted in the spindle positioning groove 43, thereby realizing the positioning connection between the first connecting sleeve Ⅰ63 and the spindle 4 body.

[0031] In this embodiment, a reducer output shaft 221 extending toward the encoder unit 6 is also provided at the output end of the reducer 22, and a reducer output shaft positioning key 2211 is also provided on the reducer output shaft 221; and a second connecting sleeve inner cavity Ⅱ641 is formed inside the second connecting sleeve Ⅱ64, which runs through one end to the other end, and the reducer output shaft 221 is also installed in the second connecting sleeve inner cavity Ⅱ641, and a second connecting sleeve positioning groove Ⅱ6411 matching the shape of the reducer output shaft positioning key 2211 is also formed on the inner peripheral side wall of the second connecting sleeve inner cavity Ⅱ641, and the reducer output shaft positioning key 2211 is positioned and installed in the second connecting sleeve positioning groove Ⅱ6411, thereby fixing the reducer output shaft 221 and the second connecting sleeve Ⅱ64.

[0032] Please continue to see Figure 1 A first annular encoder data interface I611 is provided at the lower end of the aforementioned first annular encoder I61, and a second annular encoder data interface II621 is also provided at the lower end of the aforementioned second annular encoder 62; through the external data line of the aforementioned first annular encoder data interface I611 and the second annular encoder data interface II621, the deformation of the transmission device 7 to be measured by the first annular encoder I61 and the second annular encoder II62 can be measured in real time during the measurement process, and the data can be fed back to the database through the data line, and after corresponding calculations, the deformation of the transmission device 7 to be measured can be accurately analyzed and measured.

[0033] Preferably, the first connecting sleeve I 63, the second connecting sleeve II 64 and the transmission device to be tested 7 are connected via a key.

[0034] Please refer to Figures 1 to 3The applicant briefly describes the working principle of the present invention: when it is necessary to effectively measure and analyze the deformation of the transmission device under dynamic loading of the servo system, the servo motor unit 2 is first started, the servo motor body 21 drives the reducer 22 to move, and the reducer 22 further drives the encoder unit 6 to be linked with the transmission device 7 to be measured. The reducer 22 can adjust the speed and torque to a working range suitable for the movement of the first annular encoder I 61, the second annular encoder II 62 and the transmission device 7 to be measured, and the reducer 22 can effectively reduce the wear and vibration of the servo motor body 221 and extend its service life; when the second annular encoder II 62 rotates, it can further The second connecting sleeve II 64, the transmission device 7 to be tested and the first connecting sleeve I 63 are driven to rotate step by step. At the same time, the first annular encoder I 61 can rotate under the action of the first connecting sleeve I 63 after the transmission device 7 to be tested produces flexible deformation. The first annular encoder I 61 and the second annular encoder II 62 are respectively arranged at the left and right ends of the transmission device 7 to be tested. The data difference collected by the two is the idle return or flexible deformation amount of the transmission device 7 to be tested. Since the first annular encoder I 61 and the first connecting sleeve I 63 can further drive the main shaft 4 to rotate, the inertia piece assembly 5 rotates with the main shaft 4, and the user can adjust the inertia piece body 51. The number is added or reduced to simulate the influence of different load inertias on the backlash or flexible deformation of the transmission device 7 to be measured. In this process, the magnetic powder brake 3 can provide high-precision torque control to the main shaft 4, and the sliding torque is very stable, which can realize the smooth start and stop of the main shaft 4 without impact and high-frequency operation. At the same time, the magnetic powder brake 3 can also respond quickly and quickly, so that the magnetic powder brake 3 can ensure that the first annular encoder I61 and the second annular encoder II62 can measure the backlash or flexible deformation of the transmission device 7 to be measured with high precision and in accordance with actual needs; finally, the first annular encoder I61 and the second annular encoder II62 measure the The deformation of the transmission device 7 to be tested can be fed back to the database, and after corresponding calculations, the deformation of the transmission device 7 to be tested can be read out more accurately and timely, thereby achieving reliable and accurate measurement of the backlash or flexible deformation of various transmission devices in the high-precision servo system under dynamic loading conditions. In addition, by adjusting the number of inertia piece bodies 51, the use status of the magnetic powder brake 4 and the speed and torque of the servo motor body 21, and by replacing different types of transmission devices to be tested 7, the loading conditions at different load inertias and different speeds can be simulated, thereby realizing the simulated measurement of the backlash or flexible deformation of the transmission device 7 to be tested in a dynamic state.

[0035] In summary, the technical solution provided by the present invention makes up for the shortcomings of the existing technology, successfully completes the invention task, and faithfully realizes the technical effects stated by the applicant in the technical effect column above.

Claims

1. A transmission device deformation measuring instrument under dynamic loading of a servo system, characterized in that: include: A base (1); a servo motor unit (2), the servo motor unit (2) being mounted at one side of the upper portion of the base (1), and the servo motor unit (2) comprising a servo motor body (21) and a reducer (22) which are connected together in a transmission manner; a magnetic powder brake (3), the magnetic powder brake (3) being mounted at another side of the upper portion of the base (1) away from the servo motor unit (2); a main shaft (4), one end of the main shaft (4) in the longitudinal direction being connected to the magnetic powder brake (3) and the main shaft (4) extending toward the servo motor unit (2); an inertia piece assembly (5), comprising a plurality of inertia piece bodies (51) and an inertia disc base (52) which are fixedly connected together, the inertia disc base (52) being sleeved on the shaft of the main shaft (4); an encoder unit (6), the encoder unit (6) being arranged between the main shaft (4) and the servo motor unit (2). The encoder unit (6) comprises a first annular encoder I (61), a second annular encoder II (62), a first connecting sleeve I (63) and a second connecting sleeve II (64), wherein the first connecting sleeve I (63) is connected to an end of the main shaft (4) away from the magnetic powder brake (3), and the second connecting sleeve II (64) is connected to an output end of the reducer (22), the first annular encoder I (61) is sleeved on the first connecting sleeve I (63), and the second annular encoder II (62) is sleeved on the second connecting sleeve II (64); a transmission device (7) to be tested, wherein the transmission device (7) to be tested is detachably arranged between the first connecting sleeve I (63) and the second connecting sleeve II (64) and is transmission-connected to the two, and the first annular encoder I (61) and the second annular encoder II (62) are used to measure the motion deformation of the transmission device (7) to be tested.

2. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: The servo motor unit (2) further comprises a base plate (23), a plurality of servo motor support plates (24), a plurality of connecting ribs (25) and a reducer support plate (26); the base plate (23) is fixedly mounted on the base (1), and the plurality of servo motor support plates (24) are fixedly connected to the base plate (23) in a vertical state and the servo motor support plate (24) is arranged at a position below the servo motor body (21); the plurality of servo motor support plates (24) are used to support the servo motor body (21); the plurality of connecting ribs (25) are also fixedly mounted on the base plate (23); the reducer support plate (26) is fixedly connected to one end of the connecting rib (25) and the reducer support plate (26) is arranged vertically; the reducer (22) passes through the reducer support plate (26) and is connected thereto.

3. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A magnetic powder brake mounting frame (31) is also connected to the magnetic powder brake (3), and the magnetic powder brake mounting frame (31) is provided with a magnetic powder brake mounting frame base (311) and a magnetic powder brake mounting frame vertical support plate (312). The magnetic powder brake mounting frame base (311) and the magnetic powder brake mounting frame vertical support plate (312) are formed in a vertical state. The magnetic powder brake mounting frame base (311) is fixedly mounted on the base (1) in a horizontal state, and the magnetic powder brake mounting frame vertical support plate (312) is provided with a magnetic powder brake mounting frame base (311). The support plate (312) is connected to the base (311) of the magnetic powder brake mounting frame and extends upward. The vertical support plate (312) of the magnetic powder brake mounting frame is arranged at a side position of the magnetic powder brake (3) body close to the main shaft (4). The magnetic powder brake (3) body is fixedly mounted on the vertical support plate (312) of the magnetic powder brake mounting frame, and the main shaft (4) passes through the vertical support plate (312) of the magnetic powder brake mounting frame and penetrates into the magnetic powder brake (3) body.

4. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A main shaft barrel portion (41) having a cylindrical shape is convexly formed on the shaft body of the main shaft (4) and at a middle position in the longitudinal direction thereof; the inertia plate assembly (5) is arranged at a side position of the main shaft barrel portion (41) away from the magnetic powder brake (3); the inertia disc base (52) is fixedly mounted on one end portion of the main shaft barrel portion (41), and the shaft body of the main shaft (4) passes through the inertia disc base (52); and the inertia disc base (52) is fixedly mounted on one end portion of the main shaft barrel portion (41). ) body is also uniformly provided with a plurality of inertia disc base pin shaft holes (521) penetrating the thickness direction thereof, and a plurality of inertia piece bodies (51) are also uniformly provided with inertia piece body pin shaft holes (511) penetrating the thickness direction thereof, and a pin shaft member capable of being fitted into the pin shaft hole (521) of the inertia disc base is penetrated in the pin shaft hole (511) of the inertia piece body, thereby realizing fixed connection between the plurality of inertia piece bodies (51) and the inertia disc base (52).

5. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 4, characterized in that: A plurality of spindle barrel connecting holes (411) are provided on the spindle barrel (41) and at an end portion close to the inertia disc base (52) at intervals along the circumferential direction thereof, and a plurality of inertia disc base connecting holes (522) are also provided at a central position of the inertia disc base (52) and at positions corresponding to the plurality of spindle barrel connecting holes (411), and an inertia disc base connecting fastener (5221) is provided in each of the plurality of inertia disc base connecting holes (522), and the inertia disc base connecting fastener (5221) passes through the inertia disc base connecting hole (522) and is screwed into the corresponding spindle barrel connecting hole (411), thereby achieving fixed connection between the inertia disc base (52) and the spindle barrel (41).

6. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A spindle support frame (42) is also provided at an end position of the spindle (4) body in the length direction close to the encoder unit (6), and the spindle support frame (42) is fixedly mounted on the base (1), and a spindle bearing seat (421) is also provided on the spindle support frame (42), and the spindle (4) body is inserted into the spindle bearing seat (421) and is transmission-connected with a bearing member in the spindle bearing seat (421).

7. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A spindle positioning groove (43) is provided at one end of the spindle (4) body in the length direction away from the magnetic powder brake (3), and the spindle positioning groove (43) extends from one end of the spindle (4) body along the length direction of the spindle (4); the first connecting sleeve I (63) is internally formed with a first connecting sleeve inner cavity I (631) which runs from one end to the other end, and one end of the spindle (4) body is fitted in the first connecting sleeve inner cavity I (631), and a first connecting sleeve pin shaft I (632) is also provided on the first connecting sleeve I (63), and the first connecting sleeve pin shaft I (632) penetrates into the first connecting sleeve inner cavity (631) and is fitted in the spindle positioning groove (43), thereby realizing the positioning connection between the first connecting sleeve I (63) and the spindle (4) body.

8. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A reducer output shaft (221) extending toward the encoder unit (6) is also provided at the output end of the reducer (22), and a reducer output shaft positioning key (2211) is also provided on the reducer output shaft (221); a second connecting sleeve inner cavity II (641) extending from one end to the other end is formed inside the second connecting sleeve II (64), and the reducer output shaft (221) is also installed in the second connecting sleeve inner cavity II (641), and a second connecting sleeve positioning groove II (6411) matching the shape of the reducer output shaft positioning key (2211) is formed on the inner peripheral side wall of the second connecting sleeve inner cavity II (641), and the reducer output shaft positioning key (2211) is positioned and installed in the second connecting sleeve positioning groove II (6411), thereby fixing the reducer output shaft (221) and the second connecting sleeve II (64).

9. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: A first annular encoder data interface I (611) is provided at the lower end of the first annular encoder I (61), and a second annular encoder data interface II (621) is also provided at the lower end of the second annular encoder (62).

10. The transmission device deformation measuring instrument under dynamic loading of a servo system according to claim 1, characterized in that: The first connecting shaft sleeve I (63), the second connecting shaft sleeve II (64) and the transmission device (7) to be tested are connected via a key.

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