A multi-inertia dual-motor gear adjustable gap experimental platform based on model design

Abstract

The present invention belongs to the technical field of experimental devices, and specifically relates to a multi-inertia dual-motor gear adjustable clearance experimental platform based on model design, the experimental platform includes a workbench, the upper end of the workbench is fixed with a base, a first support plate, a second support plate and a third support plate in sequence from one end to the other end, the upper end of the base is equipped with two dial indicators, and the first support plate and the third support plate are rotatably connected with a first shaft rod through a ball bearing. The present invention drives the gear to move by a rotating component handwheel, and measures the moving distance of the gear by a dial indicator, so as to achieve precise adjustment of the tooth gap between the gear and the gear ring. At the same time, the second motor switches the linkage and separation state of the second shaft rod and the clutch mechanism. When the second shaft rod is in the separation state, the user can adjust the number of inertia wheels to change the inertia size, so that the device can adjust the inertia size according to the experimental requirements, thereby improving the experimental efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of experimental devices, and in particular relates to a multi-inertia dual-motor gear adjustable gap experimental platform based on model design. Background Art

[0002] In the application of precision servo control systems, nonlinear factors such as backlash and dead zone, especially backlash, have a significant impact on system performance. The existence of backlash not only reduces the positioning accuracy of the system, but may also cause oscillation and increase the steady-state error, thereby affecting the overall operating efficiency and reliability. Therefore, effectively eliminating or reducing the impact of backlash is the key to improving the performance of the servo system.

[0003] At present, for rack and pinion transmission mechanisms, the anti-backlash technology mainly includes mechanical double pinion anti-backlash reducer drive, worm gear double pinion drive, anti-backlash worm gear drive and servo dual motor double pinion drive. These methods can reduce the impact of backlash to a certain extent, but there are still some limitations. For example, mechanical double pinion anti-backlash relies on precise mechanical assembly and adjustment, while worm gear double pinion drive anti-backlash, although the principle is similar, requires a more complex preload torque power source to achieve. In addition, although the anti-backlash worm gear structure simplifies some components, it still faces challenges when applied in systems with large inertia.

[0004] These traditional anti-backlash methods are usually difficult to adapt to systems with slightly larger inertia, and due to the incomplete control of the mechanical transmission process, the anti-backlash effect is often not reliable enough. The dual-motor electrical anti-backlash method ensures the reverse preload between the gear and the rack / gear ring through the torque coordination between the two (servo) motors. Although it is in the form of dual-motor input and two gear output, it can achieve more precise anti-backlash control, but there is still room for improvement.

[0005] In summary, although a variety of anti-backlash technologies have been proposed and applied in practice, they have their own limitations, especially the inadaptability when dealing with large inertia systems and the unreliability of anti-backlash effects. Therefore, the development of a new model-based multi-inertia dual-motor gear adjustable backlash experimental platform has important practical significance and broad application prospects for accurately controlling backlash and improving servo system performance. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-inertia dual-motor gear adjustable gap experimental platform based on model design. The present invention drives the gear to move by rotating the component handwheel, and measures the moving distance of the gear by a dial indicator to achieve precise adjustment of the tooth gap between the gear and the ring gear. At the same time, the second motor switches the linkage and separation states of the second shaft rod and the clutch mechanism. When the second shaft rod is in the separation state, the user can adjust the number of inertia wheels to change the inertia size, so that the device can adjust the inertia size according to experimental requirements, thereby improving the experimental efficiency.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A multi-inertia dual-motor gear adjustable gap experimental platform based on model design, comprising a workbench, wherein a base, a first support plate, a second support plate and a third support plate are fixed to the upper end of the workbench in sequence from one end to the other end, two dial indicators are installed on the upper end of the base, a first shaft rod is rotatably connected between the first support plate and the third support plate through a ball bearing, a gear ring, a second shaft rod, a torque sensor and a magnetic powder brake are installed on the outer side of the first shaft rod in sequence from one end to the other end, and a plurality of inertia wheels are detachably installed on the outer side of the second shaft rod, and further comprising:

[0009] Two driving parts, the two driving parts are respectively assembled on both sides of the top of the base, and the two driving parts and the two dial indicators are adapted one by one, the driving part includes a driving block, a slide, a first motor, a gear, a positioning plate, a threaded rod and a handwheel, the driving block is slidably connected to the upper end of the base, the slide is fixed to the outside of the driving block and is located at the upper end of the base, the first motor is fixed to the inside of the slide, the gear is fixed to the output end of the first motor, and the gear is meshed with the gear ring, the positioning plate is fixed to one side of the base, the threaded rod is rotatably connected to the inside of the positioning plate, and the threaded rod is threadedly connected to the driving block, and the handwheel is fixed to one side of the threaded rod;

[0010] A clutch mechanism, the clutch mechanism is mounted on the outside of the first shaft, and the clutch mechanism is connected to the second shaft;

[0011] A switching part, which is assembled at one end of the first support plate and is connected to the clutch mechanism, and can drive the second shaft and the clutch mechanism to synchronously switch between a linkage state and a separation state;

[0012] When the second shaft is in a linkage state, the second shaft rotates synchronously with the first shaft; when the second shaft is in a separation state, the second shaft remains stationary; in an initial state, the second shaft is in a linkage state.

[0013] In a preferred embodiment, a plurality of flange plates are evenly arranged on the outer side of the second shaft, the second shaft and the inertia wheel are fixedly connected via the flange plates, an avoidance groove is provided inside the inertia wheel, and the avoidance groove and the flange plates are matched.

[0014] In a preferred solution, a plurality of suspension screws are fixed to one end of the second support plate close to the second shaft rod, the outer sides of the suspension screws are threadedly connected with anti-slip nuts, and the suspension screws are matched with the inertia wheel.

[0015] In a preferred embodiment, the clutch mechanism includes an active drum, a driven drum, a plurality of driven plates, a plurality of active plates, a plurality of guide bolts, a driven disk and a plurality of elastic elements, the active drum is fixed to the outside of the first shaft rod, the driven drum is rotatably connected to the inside of the active drum, and the driven drum is fixedly connected to the second shaft rod, the plurality of driven plates are slidably connected to the outside of the driven drum and are located inside the active drum, the plurality of active plates are slidably connected to the inside of the active drum and are located outside the driven drum, and the plurality of driven plates and the plurality of active plates are alternately placed, the plurality of guide bolts are all threadedly connected to the inside of the driven drum, the driven disk is slidably connected to the outside of the plurality of guide bolts, and the driven disk is connected to the switching part, the plurality of elastic elements are assembled between the guide bolts and the driven disk, and the plurality of elastic elements and the plurality of guide bolts are matched one by one.

[0016] In a preferred embodiment, in the initial state, the elastic element is in a compressed state, and the adjacent driven plates and active plates are tightly fitted under the action of the elastic element.

[0017] In a preferred embodiment, the switching part includes multiple second motors, multiple third shafts, a transmission plate and multiple threaded sleeves, the multiple second motors are fixed to one end of the first support plate, the multiple third shafts are respectively fixed to the output ends of the multiple second motors, the transmission plate is rotatably connected to one end of the driven disk, the multiple threaded sleeves are fixed to one end of the transmission plate, and the transmission plate is rotatably connected to the annular bushing, the multiple threaded sleeves and the multiple third shafts correspond one to one, and the corresponding third shafts and threaded sleeves are threadedly connected.

[0018] In a preferred embodiment, an annular bushing is fixed to one end of the guide bolt, the cross-sectional shape of the annular bushing is an I-shape, and the transmission plate and the annular bushing are rotatably connected.

[0019] In a preferred solution, guide rails are fixed on both sides of the upper end of the workbench, the upper ends of the guide rails are slidably connected to guide sliders, and the upper ends of the guide sliders are fixed to protective covers.

[0020] The technical effects achieved by the present invention are:

[0021] The present invention rotates the hand wheel to drive the slide, the first motor and the gear to move through the threaded rod, and reads the moving distance of the gear through the dial indicator, so that the device can accurately adjust the tooth gap between the gear and the gear ring according to the experimental requirements;

[0022] The present invention drives the second shaft rod and the clutch mechanism to switch between a linkage state and a separation state through a second motor. When the second shaft rod is in the separation state, the user can dynamically adjust the number of inertia wheels fixed to the outside of the second shaft rod according to experimental requirements, and then adjust the inertia size, so that the device is not only suitable for experiments with larger inertia, but also can dynamically adjust the inertia size according to experimental requirements. The inertia size can be adjusted without shutting down the device, thereby improving the experimental efficiency and simplifying the experimental process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a rear view of the overall structure of the present invention;

[0025] Figure 3 It is a partial structural schematic diagram of the upper end of the workbench of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the driving part of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure explosion of the driving part of the present invention;

[0028] Figure 6 is a schematic structural diagram of the first shaft rod and the second shaft rod of the present invention;

[0029] Figure 7 is a structural cross-sectional view of the first shaft rod and the second shaft rod of the present invention;

[0030] Figure 8 is a structural exploded diagram of the first shaft rod and the second shaft rod of the present invention;

[0031] Fig. 9 is a schematic structural diagram of the second support plate of the present invention;

[0032] Fig.10 It is a structural schematic diagram of the clutch mechanism of the present invention;

[0033] Fig.11 It is a structural exploded diagram of the clutch mechanism of the present invention;

[0034] Fig.12 It is a structural schematic diagram of the switching unit of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 100, workbench; 101, base; 102, first support plate; 103, second support plate; 104, third support plate; 105, dial indicator; 106, first shaft; 107, gear ring; 108, second shaft; 109, torque sensor; 110, magnetic powder brake; 111, inertia wheel; 112, flange plate; 113, avoidance groove; 114, suspension screw; 115, anti-drop nut; 116, guide rail; 117, guide slider; 118, protective cover; 119, first shell; 120, second shell;

[0037] 200, driving unit;

[0038] 201, driving block; 202, slide; 203, first motor; 204, gear; 205, positioning plate; 206, threaded rod; 207, hand wheel;

[0039] 300, clutch mechanism;

[0040] 301, active drum; 302, driven drum; 303, driven plate; 304, active plate; 305, guide bolt; 306, driven plate; 307, elastic element; 308, annular bushing;

[0041] 400, switching unit;

[0042] 401, second motor; 402, third shaft; 403, transmission plate; 404, threaded sleeve. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0045] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0046] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0047] Please see attached Figures 1 to 7 As shown, it is the first embodiment of the present invention, which provides a multi-inertia dual-motor gear adjustable gap experimental platform based on model design, including a workbench 100, the upper end of the workbench 100 is fixed with a base 101, a first support plate 102, a second support plate 103 and a third support plate 104 in sequence from one end to the other end, the upper end of the base 101 is equipped with two dial indicators 105, the first support plate 102 and the third support plate 104 are rotatably connected with a first shaft 106 through a ball bearing, the outer side of the first shaft 106 is sequentially equipped with a gear ring 107, a second shaft 108, a torque sensor 109 and a magnetic powder brake 110 from one end to the other end, and the first shaft 106 and the gear ring 107 are fixedly connected, the first shaft 106 and the second shaft 108 and the second support plate 103 and the second shaft 108 are all rotatably connected through ball bearings, and the outer side of the second shaft 108 is detachably equipped with a plurality of inertia wheels 111, and also includes:

[0048] Two driving parts 200, the two driving parts 200 are respectively assembled on both sides of the top of the base 101, and the two driving parts 200 and the two dial indicators 105 are adapted one by one, the upper end of the base 101 is provided with two T-shaped slides, and the two T-shaped slides and the two driving parts 200 are adapted one by one, the driving part 200 includes a driving block 201, a slide 202, a first motor 203, a gear 204, a positioning plate 205, a threaded rod 206 and a hand wheel 207, and the driving block 201 is slidably connected through the T-shaped slide At the upper end of the base 101, the slide 202 is fixed to the outer side of the driving block 201 and is located at the upper end of the base 101, the first motor 203 is fixed to the inside of the slide 202, the gear 204 is fixed to the output end of the first motor 203, and the gear 204 is meshed and connected with the ring gear 107, the positioning plate 205 is fixed to one side of the base 101, the threaded rod 206 is rotatably connected to the inside of the positioning plate 205, and the threaded rod 206 is threadedly connected to the driving block 201, and the hand wheel 207 is fixed to one side of the threaded rod 206;

[0049] The clutch mechanism 300 is mounted on the outside of the first shaft 106 and is connected to the second shaft 108;

[0050] A switching part 400, the switching part 400 is assembled at one end of the first support plate 102, and the switching part 400 is connected to the clutch mechanism 300, and the switching part 400 can drive the second shaft 108 and the clutch mechanism 300 to synchronously switch between the linkage state and the separation state;

[0051] When the second shaft 108 is in a linkage state, the second shaft 108 rotates synchronously with the first shaft 106. When the second shaft 108 is in a separation state, the second shaft 108 remains stationary relative to the workbench 100. In the initial state, the clutch mechanism 300 and the second shaft 108 are both in a linkage state.

[0052] It should be noted that in the initial state, the backlash between the gear 204 and the ring gear 107 is 0, and the backlash measurement value of the dial indicator 105 is also 0. After the two driving blocks 201 rotate, the two gears 204 rotate in the same direction, and the ring gear 107 is driven to rotate by the two gears 204.

[0053] In this embodiment, when a dual-drive backlash elimination experiment is performed on a servo control system, the backlash between the gear 204 and the gear ring 107 is adjusted according to the experimental requirements, and the hand wheel 207 is rotated to drive the threaded rod 206 to rotate. Since the threaded rod 206 is threadedly connected to the driving block 201 and the threaded rod 206 is slidably connected to the base 101 and the driving block 201, the threaded rod 206 drives the driving block 201 to move. Since the driving block 201 and the slide 202, the slide 202 and the first motor 203, and the first motor 203 and the gear 204 are all fixedly connected, the driving block 201 drives the slide 202, the first motor 203, and the gear 204. The motor 203 and the gear 204 move synchronously, so that the gear 204 moves relative to the ring gear 107, and the backlash value between the gear 204 and the ring gear 107 is read by the dial gauge 105. Through the cooperation of the dial gauge 105 and the driving unit 200, the device can accurately adjust the backlash between the gear 204 and the ring gear 107 according to the experimental requirements. After the backlash adjustment is completed, the first motor 203 in the two driving units 200 is started synchronously, and the gear 204 is driven to rotate by the first motor 203. Through the meshing connection between the gear 204 and the ring gear 107, the gear 204 drives the ring gear 107 to rotate. The fixed connection of the first shaft 106 allows the ring gear 107 to drive the first shaft 106 to rotate, and the torque and other related experimental data are obtained through the torque sensor 109. During the experiment, when the inertia needs to be adjusted, the switching part 400 is started, and the second shaft 108 and the clutch mechanism 300 are driven by the switching part 400 to change from the linkage state to the separation state. The second shaft 108 remains stationary relative to the workbench 100. According to the experimental requirements, a plurality of inertia wheels 111 are assembled on the second shaft 108, and then the switching part 400 is reversed to drive the second shaft 108 and the clutch mechanism 300 from the separation state to the separation state. In the linkage state, the second shaft 108 drives the inertia wheel 111 to rotate synchronously with the first shaft 106, and then obtains the torque and other related experimental data through the torque sensor 109. Through the above-mentioned scheme, the device can accurately adjust the tooth gap between the gear 204 and the ring gear 107 according to the experimental requirements. At the same time, during the experiment, according to the experimental requirements, the number of inertia wheels 111 can be dynamically adjusted, and then the size of inertia can be adjusted. This makes the device not only suitable for experiments with larger inertia, but also can dynamically adjust the size of inertia according to the experimental requirements. The size of inertia can be adjusted without shutting down the device, which improves the experimental efficiency and simplifies the experimental process.

[0054] Next, please refer to Figures 6 to 8 As shown, a plurality of flange plates 112 are evenly arranged on the outer side of the second shaft 108 , the second shaft 108 and the inertia wheel 111 are fixedly connected via the flange plates 112 , an avoidance groove 113 is provided inside the inertia wheel 111 , and the avoidance groove 113 and the flange plates 112 are matched.

[0055] It should be noted that the flange plate 112 has a plurality of threaded bottom holes, the inertia wheel 111 has a plurality of bolt through holes, and the second shaft 108 and the inertia wheel 111 are fixedly connected by screws penetrating the bolt through holes and threadedly connected to the threaded bottom holes.

[0056] In this embodiment, when the inertia size needs to be adjusted during the experiment, the clutch mechanism 300 and the second shaft 108 are driven to change to a separated state through the switching part 400, and the second shaft 108 remains stationary relative to the workbench 100. According to the experimental requirements, the number of inertia wheels 111 fixed to the outside of the second shaft 108 is adjusted. In this process, through the cooperation of the flange plate 112 and the avoidance groove 113, several inertia wheels 111 can be fixed at different positions on the outside of the second shaft 108. Specifically, the inertia wheel 111 is passed through the outside of the flange plate 112 through the avoidance groove 113. After the inertia wheel 111 passes through the flange plate 112, the inertia wheel 111 is rotated so that the bolt through hole inside the inertia wheel 111 corresponds to the threaded bottom hole inside the flange plate 112, and the inertia wheel 111 can be fixed to the flange plate 112 by screws.

[0057] Secondly, please refer to Fig. 9 As shown, a plurality of suspension screws 114 are fixed to one end of the second support plate 103 close to the second shaft 108 , and an anti-dropping nut 115 is threadedly connected to the outer side of the suspension screw 114 , and the suspension screw 114 is matched with the inertia wheel 111 .

[0058] In this embodiment, when the inertia required by the experiment is small, the redundant inertia wheels 111 are suspended on the second support plate 103 by a plurality of suspension screws 114, and the inertia wheels 111 suspended on the second support plate 103 are positioned by anti-dropping nuts 115 to prevent the inertia wheels 111 suspended on the second support plate 103 from falling off during the experiment. When the inertia required by the experiment is large, the anti-dropping nuts 115 are removed from the suspension screws 114, and the inertia wheels 111 suspended on the second support plate 103 are removed and fixed to the outside of the second shaft 108 according to the experimental requirements, wherein the number of inertia wheels 111 fixed to the outside of the second shaft 108 is specifically adjusted according to the experimental requirements.

[0059] Next, please refer to Fig.10 and Fig.11The clutch mechanism 300 includes an active drum 301, a driven drum 302, a plurality of driven plates 303, a plurality of active plates 304, a plurality of guide bolts 305, a driven disc 306 and a plurality of elastic elements 307. The active drum 301 is fixed to the outer side of the first shaft 106, close to the end of the gear ring 107. The driven drum 302 is rotatably connected to the inside of the active drum 301. The driven drum 302 is fixedly connected to the second shaft 108. The plurality of driven plates 303 are all slidably connected to the outer side of the driven drum 302 and are located inside the active drum 301. The moving plates 304 are all slidably connected to the inside of the active drum 301 and are located on the outside of the driven drum 302, and multiple driven plates 303 and multiple active plates 304 are placed alternately, multiple guide bolts 305 are threadedly connected to the inside of the driven drum 302, the driven disk 306 is slidably connected to the outside of the multiple guide bolts 305, and the driven disk 306 is connected to the switching part 400, multiple elastic elements 307 are assembled between the guide bolts 305 and the driven disk 306, and the multiple elastic elements 307 and the multiple guide bolts 305 are adapted one by one.

[0060] Furthermore, in the initial state, the elastic element 307 is in a compressed state, and the adjacent driven plates 303 and active plates 304 are tightly fitted under the action of the elastic element 307 .

[0061] It should be noted that guide grooves are provided on the outer walls of the active drum 301 and the driven drum 302, guide bosses are provided on the inner wall of the driven plate 303 and the outer wall of the active plate 304, and the active drum 301 and the active plate 304 as well as the driven drum 302 and the driven plate 303 are slidably connected through the cooperation of the guide bosses and the guide grooves.

[0062] In this embodiment, when performing a dual-drive backlash elimination experiment on a servo control system, the hand wheel 207 is turned to adjust the backlash between the gear 204 and the first shaft 106, and the first motor 203 is started to drive the first shaft 106 and the ring gear 107 to rotate through the gear 204. Since the active drum 301 and the first shaft 106 are fixedly connected, the active drum 301 is driven to rotate through the first shaft 106, and the active drum 301 is driven to rotate through the sliding connection between the active drum 301 and the active plate 304, so that the active drum 301 drives the active plate 304 to rotate. 3 and a plurality of active sheets 304 are alternately placed and the adjacent driven sheets 303 and active sheets 304 are closely fitted, the active sheets 304 drive the driven sheets 303 to rotate, the driven sheets 303 and the driven drum 302 are slidably connected and the driven drum 302 and the second shaft 108 are fixedly connected, so that the driven sheets 303 drive the driven drum 302 and the second shaft 108 to rotate, when the inertia needs to be adjusted, the switching unit 400 is started to drive the second shaft 108, and the clutch mechanism 300 is changed from the linkage state to the separation state, specifically, the switching unit 400 is started 00, since the driven disc 306 is connected to the switching part 400, the switching part 400 drives the driven disc 306 to move away from the active drum 301, so that the extrusion force applied by the elastic element 307 to the driven disc 306 is no longer transmitted to the driven plate 303 and the active plate 304, and the adjacent driven plates 303 and active plates 304 are away from each other, and the active plate 304 no longer drives the driven plate 303 to rotate, thereby changing the second shaft rod 108 and the clutch mechanism 300 from the linkage state to the separation state, and the inertia fixed on the outer side of the second shaft rod 108 is The inertia can be adjusted by adjusting the number of the gears 111. After the inertia is adjusted, the switching unit 400 is started to make the switching unit 400 run in the reverse direction, and the switching unit 400 drives the driven disk 306 to move toward the direction close to the active drum 301. The driven disk 306 pushes the multiple active plates 304 and the multiple driven plates 303 to fit tightly again, so that the active drum 301 can drive the driven drum 302 and the second shaft 108 to rotate synchronously, so that the clutch mechanism 300 and the second shaft 108 are transformed from the separated state to the linked state again.

[0063] It should be noted that the structure and working principle of the clutch mechanism 300 may refer to the working principle of the clutch on a small motor vehicle such as a motorcycle in the prior art.

[0064] Please refer again Fig.12The switching part 400 includes multiple second motors 401, multiple third shafts 402, a transmission plate 403 and multiple threaded sleeves 404. The multiple second motors 401 are evenly fixed to one end of the first support plate 102 away from the first shaft 106, and the multiple third shafts 402 are respectively fixed to the output ends of the multiple second motors 401. The transmission plate 403 is rotatably connected to one end of the driven disk 306 close to the first support plate 102. The multiple threaded sleeves 404 are all fixed to one end of the transmission plate 403, and the transmission plate 403 is rotatably connected to the annular bushing 308. There is a one-to-one correspondence between the multiple threaded sleeves 404 and the multiple third shafts 402, and the corresponding third shafts 402 and threaded sleeves 404 are threadedly connected.

[0065] Furthermore, an annular bushing 308 is fixed to one end of the guide bolt 305 , and the cross-sectional shape of the annular bushing 308 is an I-shaped. The transmission plate 403 and the annular bushing 308 are rotationally connected via a ball bearing. The guide bolt 305 and the transmission plate 403 are rotationally connected via the annular bushing 308 .

[0066] In this embodiment, during the experiment, when the inertia size needs to be adjusted, the second motor 401 is started, and the second motor 401 drives the third shaft 402 to rotate through the fixed connection between the second motor 401 and the third shaft 402, and the third shaft 402 drives the threaded sleeve 404 to move through the threaded connection between the third shaft 402 and the threaded sleeve 404 and the fixed connection between the threaded sleeve 404 and the transmission plate 403, and then the annular bushing 308 and the driven disk 306 are driven to move through the threaded sleeve 404, so that the clutch mechanism 300 and the second shaft 108 can be switched between the linkage state and the separation state, thereby achieving the purpose of adjusting the inertia size without stopping the machine, thereby improving the experimental efficiency.

[0067] Please refer again Figure 1 and Figure 2 Guide rails 116 are fixed on both sides of the upper end of the workbench 100, and the upper end of the guide rails 116 is slidably connected with a guide slider 117, and the upper end of the guide slider 117 is fixed with a protective cover 118. The upper end of the magnetic powder brake 110 is also fixed with a first shell 119 and a second shell 120, and the first shell 119 and the first shaft rod 106 as well as the second shell 120 and the ring gear 107 are adapted to each other.

[0068] It should be noted that, in the initial state, the protective cover 118 can shield the inertia wheel 111 .

[0069] In this embodiment, through the above-mentioned arrangement, the protective cover 118 can slide on the upper end of the guide rail 116. The setting of the protective cover 118 can shield the inertia wheel 111, thereby avoiding safety accidents caused by operational errors when the second shaft 108 drives the inertia wheel 111 on its outer side to rotate, thereby improving the safety protection performance of the device.

[0070] The working principle of the present invention is:

[0071] When conducting a dual-drive anti-backlash experiment on the servo control system, the hand wheel 207 is turned to drive the slide 202, the first motor 203 and the gear 204 to move synchronously through the drive block 201, so that the gear 204 moves relative to the ring gear 107, and the backlash value between the gear 204 and the ring gear 107 is read through the dial indicator 105, and the backlash between the gear 204 and the ring gear 107 is adjusted according to the experimental requirements, and the first motor 203 in the two drive parts 200 is started synchronously, and the first shaft 106 and the ring gear 107 are driven to rotate synchronously through the gear 204, and the torque and other related experimental data are obtained through the torque sensor 109. During the experiment, when it is necessary to adjust the inertia, the second motor 401 is started, and the second shaft 108 and the clutch mechanism 300 are driven by the second motor 401 to change from the linkage state to the separation state. According to the experimental requirements, A plurality of inertia wheels 111 are mounted on the second shaft 108, and then the second motor 401 is rotated in the reverse direction. The second motor 401 drives the second shaft 108 and the clutch mechanism 300 to change from a separated state to a linked state. The second shaft 108 drives the inertia wheel 111 to rotate synchronously with the first shaft 106, and then the torque and other related experimental data are obtained through the torque sensor 109. Through the above-mentioned scheme, the device can accurately adjust the tooth gap between the gear 204 and the ring gear 107 according to the experimental requirements. At the same time, it can also dynamically adjust the number of inertia wheels 111 according to the experimental requirements during the experiment, and then adjust the size of the inertia, so that the device is not only suitable for experiments with larger inertia, but also can dynamically adjust the size of the inertia according to the experimental requirements. The size of the inertia can be adjusted without shutting down the device, which improves the experimental efficiency and simplifies the experimental process.

[0072] The above are only preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the art unless otherwise specified and limited.

Claims

1. A multi-inertia dual-motor gear adjustable gap experimental platform based on model design, characterized by: The invention comprises a workbench (100), wherein a base (101), a first support plate (102), a second support plate (103) and a third support plate (104) are fixed to the upper end of the workbench (100) in sequence from one end to the other end, two dial indicators (105) are mounted on the upper end of the base (101), a first shaft (106) is rotatably connected between the first support plate (102) and the third support plate (104) via a ball bearing, a gear ring (107), a second shaft (108), a torque sensor (109) and a magnetic powder brake (110) are mounted on the outer side of the first shaft (106) in sequence from one end to the other end, and a plurality of inertia wheels (111) are detachably mounted on the outer side of the second shaft (108), and further comprises: Two driving parts (200), the two driving parts (200) are respectively assembled on both sides of the top of the base (101), and the two driving parts (200) are matched one by one with the two dial indicators (105), the driving part (200) comprises a driving block (201), a slide (202), a first motor (203), a gear (204), a positioning plate (205), a threaded rod (206) and a hand wheel (207), the driving block (201) is slidably connected to the upper end of the base (101), the slide (202) is fixed to the outside of the driving block (201) and is located at the upper end of the base (101), the first motor (203) is fixed to the inside of the slide (202), the gear (204) is fixed to the inside of the slide (202), and the first motor (203) is fixed to the inside of the slide (203). 4) is fixed to the output end of the first motor (203), and the gear (204) and the gear ring (107) are meshed and connected, the positioning plate (205) is fixed to one side of the base (101), the threaded rod (206) is rotatably connected to the inside of the positioning plate (205), and the threaded rod (206) and the driving block (201) are threadedly connected, the hand wheel (207) is fixed to one side of the threaded rod (206), and the hand wheel (207) is rotated so that the threaded rod (206) drives the driving block (201) to move, so that the gear (204) moves relative to the gear ring (107), and the backlash value between the gear (204) and the gear ring (107) is read through the dial indicator (105); A clutch mechanism (300), the clutch mechanism (300) being mounted on the outside of the first shaft (106), and the clutch mechanism (300) being connected to the second shaft (108), the clutch mechanism (300) comprising an active drum (301) and a driven drum (302), the active drum (301) being fixed to the outside of the first shaft (106), the driven drum (302) being rotatably connected to the inside of the active drum (301), and the driven drum (302) being fixedly connected to the second shaft (108); A switching part (400), the switching part (400) is assembled at one end of the first support plate (102), and the switching part (400) is connected to the clutch mechanism (300), the switching part (400) can drive the second shaft (108) and the clutch mechanism (300) to switch synchronously between a linkage state and a separation state, the switching part (400) comprises a plurality of second motors (401), a plurality of third shafts (402), a transmission plate (403) and a plurality of threaded sleeves (404), and the plurality of second motors (401) are all fixed to the first support plate (102). The drive plate (403) is connected to one end of the drive plate (102), the plurality of third shaft rods (402) are respectively fixed to the output ends of the plurality of second motors (401), the drive plate (403) is rotatably connected to one end of the driven plate (306), the plurality of threaded sleeves (404) are all fixed to one end of the drive plate (403), and the drive plate (403) and the annular bushing (308) are rotatably connected, the plurality of threaded sleeves (404) and the plurality of third shaft rods (402) are in one-to-one correspondence, and the corresponding third shaft rods (402) and threaded sleeves (404) are threadedly connected; When the second shaft (108) is in a linked state, the second shaft (108) rotates synchronously with the first shaft (106); when the second shaft (108) is in a separated state, the second shaft (108) remains stationary; and in an initial state, the second shaft (108) is in a linked state.

2. According to the model-designed multi-inertia dual-motor gear adjustable gap experimental platform according to claim 1, it is characterized by: A plurality of flange plates (112) are evenly arranged on the outer side of the second shaft (108); the second shaft (108) and the inertia wheel (111) are fixedly connected via the flange plates (112); an avoidance groove (113) is provided inside the inertia wheel (111); and the avoidance groove (113) and the flange plates (112) are matched.

3. The multi-inertia dual-motor gear adjustable gap experimental platform based on model design according to claim 1 is characterized by: A plurality of suspension screws (114) are fixed to one end of the second support plate (103) close to the second shaft (108); the outer sides of the suspension screws (114) are threadedly connected to anti-drop nuts (115); and the suspension screws (114) are matched to the inertia wheel (111).

4. The multi-inertia dual-motor gear adjustable gap experimental platform based on model design according to claim 1, characterized in that: The clutch mechanism (300) further comprises a plurality of driven plates (303), a plurality of active plates (304), a plurality of guide bolts (305), a driven disk (306) and a plurality of elastic elements (307); the plurality of driven plates (303) are slidably connected to the outside of the driven drum (302) and are located inside the active drum (301); the plurality of active plates (304) are slidably connected to the inside of the active drum (301) and are located outside the driven drum (302); and the plurality of driven plates (303) and A plurality of active plates (304) are alternately placed, a plurality of guide bolts (305) are all threadedly connected to the inside of the driven drum (302), the driven plate (306) is slidably connected to the outside of the plurality of guide bolts (305), and the driven plate (306) is connected to the switching part (400), a plurality of elastic elements (307) are assembled between the guide bolts (305) and the driven plate (306), and the plurality of elastic elements (307) and the plurality of guide bolts (305) are matched one by one.

5. The multi-inertia dual-motor gear adjustable gap experimental platform based on model design according to claim 4, characterized in that: In the initial state, the elastic element (307) is in a compressed state, and the adjacent driven plates (303) and active plates (304) are tightly fitted under the action of the elastic element (307).

6. The multi-inertia dual-motor gear adjustable gap experimental platform based on model design according to claim 4 is characterized by: An annular bushing (308) is fixed to one end of the guide bolt (305), the cross-sectional shape of the annular bushing (308) is an I-shape, and the transmission plate (403) and the annular bushing (308) are rotatably connected.

7. The multi-inertia dual-motor gear adjustable gap experimental platform based on model design according to claim 1, characterized in that: Guide rails (116) are fixed on both sides of the upper end of the workbench (100), the upper ends of the guide rails (116) are slidably connected to guide sliders (117), and the upper ends of the guide sliders (117) are fixed to protective covers (118).

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