Method for measuring system gap of high-overload-resistant precision transmission mechanism

Abstract

The invention relates to a method for measuring a gap of a high-overload-resistant precision transmission mechanism system, belongs to the technical field of high-overload-resistant precision transmission mechanisms, and solves the problem that the gap of an execution mechanism system is difficult to measure in the prior art. The device comprises a test positioning table, a supporting frame, a test connecting rod and a universal meter. The test positioning table is used for installing and positioning the transmission mechanism; the test connecting rod is fixedly connected with an output rotating shaft of the transmission mechanism; the universal meter is connected with the angular displacement sensor and is used for recording the resistance change of the angular displacement sensor so as to record the radial clearance of the output rotating shaft; the test connecting rod is slidably mounted on the support frame, and when the test connecting rod pulls the output rotating shaft to perform linear displacement, the displacement distance of the test connecting rod is recorded, so that the axial clearance of the transmission mechanism can be monitored. According to the invention, rapid measurement of the axial clearance and the radial clearance of the actuating mechanism is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission clearance measurement, and particularly to a method for measuring the clearance of a high-overload resistant precision transmission mechanism system. Background Art

[0002] A certain high-overload resistant precision transmission mechanism includes four-way actuator mechanisms. Each actuator mechanism drives a load to rotate reciprocally through an output rotating shaft. During operation, the system clearance caused by the fitting clearances of the frame, various components, and bearings of the transmission mechanism will directly affect the working stability and precision of the mechanism, and further affect the performance of the actuator mechanism. The transmission mechanism mainly consists of gears, worm and worm gear assemblies, and output rotating shafts. When the motor rotates, it drives the worm and worm gear assembly to rotate through the gears, and the worm and worm gear assembly drives the output rotating shaft to deflect through meshing with the output rotating shaft. The system clearance refers to the overall performance after the meshing clearance between the worm and worm gear assembly and the output rotating shaft and the assembly clearance of the worm and worm gear assembly are superimposed. Currently, the system clearance is sensed by an operator manually pushing and pulling the output rotating shaft. Such a method relies on the assembly experience of the operator, cannot ensure the assembly consistency, and directly affects the product performance. Moreover, the performance test can only be carried out after the whole machine completes the structural assembly and electrical assembly. If the product performance test is abnormal, the system clearance needs to be adjusted by returning to the structural assembly process, which greatly reduces the production efficiency of the product.

[0003] The existing technical solutions are generally divided into three types. The first measurement method is that the operator installs a tooling on the output rotating shaft and axially stretches the tooling to sense the system clearance amount of the transmission mechanism by experience. The disadvantage of this method is that it entirely depends on the operator's experience to sense, and the system clearance cannot be accurately measured, and the consistency of the product cannot be guaranteed. The second measurement method is that it is necessary to measure the relevant dimensions of parts such as the transmission mechanism frame, output rotating shaft, bearings, and end covers, and establish a model to calculate the system clearance of the actuator mechanism. Since the structures of parts such as the frame and end covers are relatively complex, and the outer surfaces of the parts are mostly arc surfaces, ordinary measurement means cannot directly obtain the basic dimensions to be measured. This method requires building a model and measuring the relevant dimensions of the parts to calculate the system clearance. Measuring the relevant dimensions of the parts is difficult, and high requirements are imposed on the accuracy of the model, measuring equipment, and measuring skills. The time and measurement cost are relatively high, and the calculated system clearance is affected by the superposition of measurement errors of multiple parts, resulting in low accuracy.

[0004] For the above reasons, the present invention provides a measuring device and a measuring method for the system clearance of a high-overload resistant precision transmission mechanism to achieve rapid testing of the system clearance of the transmission mechanism. Summary of the Invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a method for measuring the system clearance of a high-overload resistant precision transmission mechanism to solve the problem of difficult measurement of the system clearance of the actuator mechanism.

[0006] The object of the present invention is mainly achieved through the following technical solutions:

[0007] A measuring device for the clearance of a high-overload precision transmission mechanism system is used to measure the clearance of the transmission mechanism. The transmission mechanism includes an angular displacement sensor and an output rotating shaft. The measuring device includes a test positioning table, a support frame, a test connecting rod, and a multimeter. The test positioning table is used to install and position the transmission mechanism. The test connecting rod is fixedly connected to the output rotating shaft of the transmission mechanism. When measuring the radial clearance of the transmission mechanism, the test connecting rod is in a freely rotatable state. The multimeter is connected to the angular displacement sensor and is used to record the resistance change of the angular displacement sensor when the output rotating shaft rotates, so as to calculate the radial clearance of the transmission mechanism. When testing the axial clearance of the transmission mechanism, the test connecting rod is slidably installed on the support frame, and the axial clearance of the transmission mechanism is obtained by calculating the displacement distance of the test connecting rod.

[0008] Further, the test positioning table and the transmission mechanism are positioned by a positioning pin.

[0009] Further, four positioning pins are equidistantly arranged along the circumferential direction of the transmission mechanism, and the positioning pins are used to limit the linear displacement and circumferential rotation of the transmission mechanism.

[0010] Further, the test connecting rod includes a connecting portion, a sliding rod portion, and a rotating rod portion.

[0011] Further, the connecting portion and the output rotating shaft are connected by screws.

[0012] Further, the sliding rod portion is slidably connected to the support frame.

[0013] Further, the rotating rod portion is coaxial and fixedly connected to the sliding rod portion, and the rotating rod portion is used to drive the sliding rod portion to rotate.

[0014] Further, two rotating support rods are symmetrically arranged on both sides of the rotating rod portion, and the sliding rod portion can be driven to rotate by rotating the rotating support rods.

[0015] Further, it further includes a workbench; the support frame is fixedly connected to the workbench through a first screw pin.

[0016] A method for measuring the clearance of a precision transmission mechanism system uses the above-mentioned measuring device for the clearance of a precision transmission mechanism system; the measuring method includes:

[0017] Step S1: Fix the test connecting rod to the output rotating shaft of the transmission mechanism by screws;

[0018] Step S2: rotating the test connecting rod forward to drive the output shaft to rotate to the first limit position; rotating the test connecting rod backward to drive the output shaft to rotate to the second limit position; recording the change in resistance of the angular displacement sensor when the output shaft is at the first limit position and the second limit position by a multimeter, and calculating the radial clearance of the transmission mechanism;

[0019] Step S3: driving the test connecting rod to axially displace, recording the limit position of the axial displacement of the test connecting rod, and calculating the axial clearance of the transmission mechanism.

[0020] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0021] 1. The method for measuring the system clearance of a high overload resistant precision transmission mechanism of the present invention divides the system clearance into an axial clearance and a radial clearance, and fixedly connects the output shaft of the transmission mechanism to a test connecting rod, thereby realizing measurement of the maximum deflection angle of the output shaft by rotating the test connecting rod, and realizing measurement of the maximum axial displacement of the output shaft by driving the test connecting rod to displace, and can calculate the axial clearance and radial clearance of the transmission system, thereby improving measurement efficiency, reducing measurement errors, ensuring the accuracy of the system clearance, reducing disassembly and assembly time, and greatly improving the assembly efficiency of the transmission system.

[0022] 2. The device for measuring the clearance of a precision transmission mechanism system resistant to high overload of the present invention is designed with a test connecting rod having a connecting portion, a sliding rod portion and a rotating rod portion, which is fixedly connected to the output shaft of the transmission mechanism through the connecting portion, and then the test connecting rod is rotationally driven and linearly driven to drive the output shaft to rotate an angle and axial displacement, thereby indirectly calculating the radial clearance and axial clearance of the transmission mechanism system. The testing method is simple and reliable, has good testing accuracy, and is low in cost.

[0023] 3. The method for measuring the system clearance of the high overload resistant precision transmission mechanism of the present invention measures the system radial clearance of the transmission mechanism by means of the angular displacement sensor provided by the transmission mechanism; the resistance value corresponding to the extreme position of the left and right deflection angle of the angular displacement sensor is monitored by a multimeter, and then the radial clearance of the transmission mechanism can be calculated according to the angle value of the output shaft rotation and the radius of the output shaft itself.

[0024] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are only for the purpose of showing specific embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference numerals represent the same components.

[0026] Figure 1 It is a schematic diagram of the composition of a set of transmission mechanisms of an actuator to be tested;

[0027] Figure 2 It is a schematic structural diagram of a measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 1 of the present invention;

[0028] Figure 3 It is a schematic diagram of the axial clearance test state of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 1 of the present invention;

[0029] Figure 4 It is a schematic diagram of the radial clearance test principle of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 1 of the present invention;

[0030] Figure 5 It is a schematic structural diagram of the test connecting rod of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 1 of the present invention;

[0031] Figure 6 It is a schematic structural diagram of the rotation drive assembly of the test connecting rod of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 2 of the present invention;

[0032] Figure 7 It is a schematic diagram of the connection relationship between the test connecting rod and the rotation pull rod of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 2 of the present invention;

[0033] Figure 8 It is a schematic diagram of the installation method of the test limit platform of the measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to Embodiment 2 of the present invention.

[0034] Reference numerals:

[0035] 1 - Motor; 2 - Motor gear; 3 - Transmission gear; 4 - Angular displacement sensor; 5 - Worm and worm gear assembly; 6 - Output rotating shaft; 7 - Transmission mechanism; 8 - Test positioning table; 9 - Positioning pin; 10 - Support frame; 11 - Test connecting rod; 12 - Test limit table; 13 - Rotating test disc; 14 - First screw pin; 15 - Second screw pin; 16 - Multimeter; 17 - Workbench; 18 - Limit card slot; 19 - Rotating pull rod; 20 - Sliding push block; 21 - Push block slide; 22 - Hinge seat; 23 - Link hinge shaft; 24 - Positioning bracket; 25 - Bearing; 26 - Adjusting screw; 27 - Limit slide; 1001 - Vertical slide bar; 1002 - Vertical screw; 1101 - Connecting part; 1102 - Sliding rod part; 1103 - Rotating rod part; 1104 - Thread section; 1105 - Rotating support rod; 1201 - First limit table; 1202 - Second limit table; 1203 - First through hole; 1204 - Second through hole; 1205 - Dial. Detailed implementation mode

[0036] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not used to limit the scope of the present invention.

[0037] Embodiment 1

[0038] A specific embodiment of the present invention provides a measuring device for the clearance of an anti-high-overload precision transmission mechanism system, which is used to measure the clearance of the transmission mechanism 7. As Figure 1 shown, in the present invention, the transmission mechanism 7 is the object to be tested, and it has four sets of actuators by itself. Each set of actuators includes: a motor 1, a motor gear 2, a transmission gear 3, an angular displacement sensor 4, a worm and worm gear assembly 5, and an output rotating shaft 6; the output shaft of the motor 1 is connected to the motor gear 2 for driving the motor gear 2 to rotate; the motor gear 2 is meshed with the transmission gear 3 for transmission, the transmission gear 3 is fixedly connected to the worm of the worm and worm gear assembly 5, and the output rotating shaft 6 is connected to the worm of the worm and worm gear assembly 5 and rotates synchronously; the angular displacement sensor 4 is used to monitor the deflection angle of the output rotating shaft 6.

[0039] In the present invention, the angular displacement sensor 4 of the to-be-tested transmission mechanism 7 is a potentiometer type angular displacement sensor. The potentiometer type angular displacement sensor uses a potentiometer to convert the mechanical angular displacement into a resistance or voltage output that has a certain functional relationship with it. Its basic structure includes a resistance element and a brush that can rotate with the object to be measured. When the brush slides on the resistance element, since the resistance value is related to the position of the brush, by measuring the resistance value at the position of the brush, the magnitude of the angular displacement can be calculated according to the pre-set correspondence between the resistance and the angle. If the resistance element is connected to a circuit, as the position of the brush changes, the output voltage will also change accordingly. By detecting the output voltage, the angular displacement information can also be obtained. When testing the radial clearance, by rotating the output shaft 6 left and right, the change value of the resistance value of the angular displacement sensor 4 is obtained, and the deflection angle (angular displacement) of the output shaft 6 is obtained. The product of the radius of the output shaft 6 and the angular displacement is recorded as the radial clearance of the transmission mechanism 7.

[0040] In this embodiment, as Figure 2 , Figure 3 shown, a measuring device for the clearance of a high-overload precision transmission mechanism system is used to measure the clearance of the transmission mechanism 7. The measuring device includes: a test positioning table 8, a support frame 10, a test connecting rod 11, and a multimeter 16; the test positioning table 8 is used to install and position the transmission mechanism 7; the test connecting rod 11 is fixedly connected to the output shaft 6 of the transmission mechanism 7; when measuring the radial clearance of the transmission mechanism 7, the test connecting rod 11 is in a freely rotatable state, and the multimeter 16 is connected to the angular displacement sensor 4 to record the change in the resistance value of the angular displacement sensor 4 when the output shaft 6 rotates, and thus the radial clearance of the transmission mechanism 7 can be calculated; when testing the axial clearance of the transmission mechanism 7, the test connecting rod 11 is slidably installed on the support frame 10, and the test connecting rod 11 can only linearly displace and cannot rotate; when the test connecting rod 11 pulls the output shaft 6 to linearly displace, the displacement distance of the test connecting rod 11 can be calculated to obtain the axial clearance of the transmission mechanism 7.

[0041] During implementation, when measuring the transmission clearances of the transmission components such as the gear assembly and the worm and worm gear assembly 5 of the transmission mechanism 7, the transmission clearances are divided into radial clearances and axial clearances for measurement. When testing the radial clearance of the transmission mechanism 7, the multimeter 16 can monitor the change in the resistance value of the angular displacement sensor 4, and thus record the angle change of the output shaft 6 according to the change in the resistance value of the angular displacement sensor 4, and thus the radial clearance of the transmission mechanism 7 can be calculated; when testing the axial clearance of the transmission mechanism 7, the test connecting rod 11 pulls the output shaft 6 to linearly displace, and records the displacement distance of the test connecting rod 11, and thus the axial clearance of the transmission mechanism 7 is obtained.

[0042] In this embodiment, asFigure 2 , Figure 3 As shown, the test positioning table 8 and the transmission mechanism 7 are positioned by a positioning pin 9. Specifically, an annular positioning table that can fit the external shape of the transmission mechanism 7 is provided on the test positioning table 8. A plurality of positioning holes are opened on the side surface of the annular positioning table. When the positioning pin 9 is inserted into the positioning holes, the transmission mechanism 7 can be circumferentially positioned and fixed. Preferably, the positioning pin 9 is a screw pin. Rotating the positioning pin 9 can clamp and fix the transmission mechanism 7 on the test positioning table 8.

[0043] Preferably, four positioning pins 9 are equidistantly arranged along the circumferential direction of the transmission mechanism 7 to limit the linear displacement and circumferential rotation of the transmission mechanism 7.

[0044] In a specific embodiment of the present invention, as Figure 5 shown, the test connecting rod 11 includes: a connecting portion 1101, a sliding rod portion 1102, and a rotating rod portion 1103. Specifically, as Figure 5 shown, a threaded connection hole corresponding to the threaded hole on the output rotating shaft 6 is provided on the connecting portion 1101; thus, the connecting portion 1101 and the output rotating shaft 6 can be fixedly connected by screws.

[0045] In this embodiment, as Figure 5 shown, the sliding rod portion 1102 is a rectangular rod; the sliding rod portion 1102 can slidably cooperate with the support frame 10. Specifically, a rectangular sliding limit groove is provided at the upper end of the support frame 10, and the sliding rod portion 1102 is slidably installed in the sliding limit groove of the support frame 10.

[0046] When the sliding rod portion 1102 is installed in the sliding limit groove of the support frame 10, it can only linearly slide relative to the support frame 10 and cannot rotate relative to the support frame 10; therefore, when measuring the radial clearance of the transmission mechanism 7, the sliding rod portion 1102 is not connected to the support frame 10, and the test connecting rod 11 is in a free rotation state; when measuring the axial clearance of the transmission mechanism 7, it is necessary to limit the rotational freedom of the test connecting rod 11. At this time, the sliding rod portion 1102 is engaged with the sliding limit groove on the support frame 10, so that the test connecting rod 11 can only perform axial movement.

[0047] In this embodiment, by setting the sliding rod portion 1102 to be rotatably connected to the support frame 10 and capable of relative sliding, the test connecting rod 11 can drive the output rotating shaft 6 to rotate around its own axis or displace along its own axis. Furthermore, by measuring the rotational angular displacement and linear displacement of the output rotating shaft 6, the radial clearance and axial clearance of the transmission mechanism 7 can be obtained.

[0048] In a specific embodiment of the present invention, the rotating rod 1103 is fixedly connected to the sliding rod 1102 and is coaxially arranged, and the rotating rod 1103 can drive the sliding rod 1102 and the connecting portion 1101 to rotate. Specifically, two rotating support rods 1105 are symmetrically arranged on both sides of the rotating rod 1103. Specifically, a through hole is arranged at the end of the rotating support rod 1105.

[0049] Furthermore, the rotating rod 1103 is driven to rotate forward or reversely by manual driving, or weights are hung on the ends of the two rotating support rods 1105 to drive the rotating rod 1103 to rotate.

[0050] In this embodiment, Figure 4 As shown, by driving the test connecting rod 11 to rotate forward or reverse, the maximum limit deflection angle α of the output shaft 6 can be tested, and then the radial clearance of the transmission mechanism 7 can be calculated according to the radius of the output shaft 6 and the maximum deflection angle. Specifically, use a multimeter 16 to measure the resistance value B1 of the angular displacement sensor 4 of the transmission mechanism 7 in the initial state and record the data; drive the test connecting rod 11 to deflect to the right until the output shaft 6 rotates clockwise to the right limit position, and collect the current resistance value B2; drive the test connecting rod 11 to deflect to the left until the output shaft 6 rotates counterclockwise to the left limit position, and collect the current resistance value B3. Calculate the angle α between the left and right limit positions of the output shaft rotation: In the formula, A is the maximum rotatable angle of the output shaft 6 given by the design. That is to say, the product of the resistance change value of the angular displacement sensor 4 and the actual resistance change value of the angular displacement sensor 4 when the output shaft rotates 1° is the angle α that the output shaft 6 actually rotates. Figure 4 As shown in the figure, when the output shaft 6 rotates clockwise to the right limit position, the radial displacement at this time is: D1 = R × sinb; when the output shaft 6 rotates counterclockwise to the left limit position, the radial displacement at this time is: D2 = R × sinb; α = a + b; where R is the radius of the output shaft 6, a is the angle of the output shaft 6 rotating to the right; b is the angle of the output shaft 6 rotating to the left. Because the angle is extremely small, sina = a, sinb = b, and the radial clearance is:

[0051]

[0052] In order to realize the axial displacement drive of the test connecting rod 11, as Figure 5As shown, a threaded section 1104 is provided at the end of the rotating rod portion 1103; an external thread is provided on the outer surface of the threaded section 1104. Further, the rotating test disk 13 is screwed onto the outside of the threaded section 1104, and a test limit platform 12 is installed to cover the outside of the rotating test disk 13, and the axial displacement of the rotating test disk 13 is restricted by the test limit platform 12.

[0053] In this embodiment, when the rotating test disk 13 rotates, the rotating test disk 13 is screwed or unscrewed with the external thread of the threaded section 1104. Since the axial displacement of the rotating test disk 13 itself is restricted, the rotating test disk 13 only rotates; since the sliding rod portion 1102 is slidably engaged with the support frame 10, the test connecting rod 11 can only perform linear sliding. Therefore, when the sliding rod portion 1102 is slidably engaged with the support frame 10, the threaded section 1104 is screwed with the rotating test disk 13, and the rotating test disk 13 is axially limited by the test limit platform 12, rotating the rotating test disk 13 can pull the threaded section 1104 to axially displace relative to the rotating test disk 13, thereby realizing the axial displacement drive of the test connecting rod 11.

[0054] Specifically, as Figure 2 、 Figure 3 shown, the test limit platform 12 is a symmetric structure, including: a first limit platform 1201 and a second limit platform 1202; limit slots 18 are provided inside both the first limit platform 1201 and the second limit platform 1202. After the first limit platform 1201 and the second limit platform 1202 are joined together, the limit slots 18 can be joined into a circular limit cavity, and the rotating test disk 13 can be engaged with the limit cavity. Thus, the rotating test disk 13 can rotate relative to the test limit platform 12 but cannot axially displace.

[0055] Further, in order to facilitate the rotation of the rotating test disk 13, a rotating handle is eccentrically provided on its side, and the rotating test disk 13 can be driven to rotate in the limit cavity of the test limit platform 12 by manually rotating the rotating handle.

[0056] As Figure 2 shown, first through holes 1203 and second through holes 1204 communicating with the limit cavity are respectively provided at the front and rear ends of the test limit platform 12; the first through holes 1203 are used to cooperate with the threaded section 1104, and the second through holes 1204 are used to provide space for the rotation of the rotating handle.

[0057] Further, a scale disk 1205 is provided on the outer end face of the test limit table 12, and an indicating line is provided on the surface of the corresponding rotation test disk 13. When the rotation test disk 13 rotates, by aligning the indicating line with different scales on the scale disk 1205, the rotation angle β of the rotation test disk 13 can be recorded; further, through the known thread pitch s of the external thread of the thread section 1104 (the length of the threaded rod corresponding to one turn of the thread), the axial displacement distance of the test connecting rod 11 can be calculated and obtained.

[0058] In a specific embodiment of the present invention, it further includes a workbench 17; the support frame 10 is detachably installed on the workbench 17 through a first screw pin 14.

[0059] Further, the test limit table 12 is fixedly connected to the workbench 17 through a second screw pin 15; thus, after the rotation test disk 13 is engaged with the limit cavity, the test limit table 12 can limit the axial displacement of the rotation test disk 13 without restricting the free rotation of the rotation test disk 13.

[0060] Specifically, the workbench 17 is provided with a first threaded hole and a second threaded hole that cooperate with the first screw pin 14 and the second screw pin 15.

[0061] During implementation, after the rotation test disk 13 is screwed to the thread section 1104, the rotation test disk 13 is engaged with the limit cavity of the test limit table 12, and the test limit table 12 is fixedly connected to the workbench 17. Then, by rotating the rotation test disk 13 to drive the displacement of the test connecting rod 11, and further pulling the output rotating shaft 6 to axially displace. By recording the scales on the scale disk 1205 corresponding to the rotation test disk 13 when the output rotating shaft 6 is at the front and rear extreme positions, the maximum value of the axial displacement that the output rotating shaft 6 can achieve can be calculated and obtained, and this maximum value is the axial clearance of the transmission mechanism 7.

[0062] It should be noted that:

[0063] In this embodiment, the measurement of the radial clearance and the axial clearance of the transmission mechanism 7 is carried out independently; when testing the radial clearance of the transmission mechanism 7, the test connecting rod 11 is not connected to the support frame 10, so that the test connecting rod 11 can rotate freely; when testing the axial clearance of the transmission mechanism 7, the sliding rod portion 1102 of the test connecting rod 11 is slidably matched with the sliding limit groove on the support frame 10 to limit the rotational movement of the test connecting rod 11 so that it can axially displace when the rotation test disk 13 rotates, and thus the measurement of the axial clearance of the transmission mechanism 7 can be realized.

[0064] Embodiment 2

[0065] A specific embodiment of the present invention is an improved design based on Embodiment 1:

[0066] In this embodiment, as Figure 6 , Figure 7 shown, the rotational movement of the test connecting rod 11 is powered by a rotational drive assembly.

[0067] Specifically, as Figure 6 shown, in this embodiment, the rotational drive assembly includes: a rotational pull rod 19, a sliding push block 20, a push block slide 21, a hinge seat 22, and a link hinge shaft 23; one end of the rotational pull rod 19 is fixedly provided with a U-shaped hinge seat 22, and a link hinge shaft 23 hinged to the rotational support rod 1105 is fixedly installed on the hinge seat 22; the other end of the rotational pull rod 19 is hinged to the sliding push block 20; the sliding push block 20 is slidably installed on the push block slide 21, and the push block slide 21 is fixedly installed on the workbench 17.

[0068] Specifically, after the test connecting rod 11 is fixedly connected to the output rotating shaft 6, its rotation axis coincides with the rotation axis of the output rotating shaft 6.

[0069] Preferably, a sliding fit between the sliding push block 20 and the push block slide 21 is achieved through a T-shaped chute and a T-shaped slide rail.

[0070] Specifically, as Figure 6 , Figure 7 shown, the link hinge shaft 23 is perpendicular to the hinge seat 22, and the axis of the link hinge shaft 23 is parallel to the axis of the sliding rod portion 1102; when the test connecting rod 11 axially displaces, the end of the rotational support rod 1105 can slide along the axis of the link hinge shaft 23.

[0071] Preferably, in this embodiment, the support frame 10 is a liftable structure; when the support frame 10 is lifted, it can be slidably mated with the sliding rod portion 1102; when the support frame 10 descends, it can be disengaged from the sliding rod portion 1102, and thus the test connecting rod 11 can rotate freely. Exemplarily, a vertical slide rod 1001 is fixedly installed on the workbench 17, the support frame 10 is slidably installed on the vertical slide rod 1001, and a vertical screw rod 1002 parallel to the vertical slide rod 1001 is installed at the bottom of the workbench 17. By rotating the vertical screw rod 1002 to push the support frame 10 to slide along the vertical slide rod 1001, the height adjustment of the support frame 10 can be achieved.

[0072] During implementation, when the sliding push block 20 is pushed to reciprocate linearly, the test connecting rod 11 can be pulled by the rotating pull rod 19 to reciprocate and deflect. Further, the test connecting rod 11 can drive the output rotating shaft 6 to reciprocate and deflect. Further, the radial clearance of the transmission mechanism 7 can be measured by monitoring the resistance change of the angular displacement sensor 4 during the forward and reverse deflection processes of the output rotating shaft 6.

[0073] As Figure 8 shown, in this embodiment, in order to facilitate the mutual cooperation between the test limiting platform 12 and the rotating test disc 13, the first limiting platform 1201 and the second limiting platform 1202 are both slidably installed on the limiting slide table 27, and the limiting slide table 27 is fixedly connected to the workbench 17. Preferably, the test limiting platform 12 and the limiting slide table 27 are slidably matched through a T-shaped chute and a T-shaped slide rail.

[0074] Further, two positioning brackets 24 are fixedly arranged at both ends of the limiting slide table 27, and the positioning brackets 24 are perpendicular to the limiting slide table 27; adjusting screws 26 are screwed onto the positioning brackets 24, and the ends of the two adjusting screws 26 are respectively rotatably connected to the sides of the first limiting platform 1201 and the second limiting platform 1202 through bearings 25. Rotating the adjusting screws 26 to adjust their installation positions on the positioning brackets 24 can push the first limiting platform 1201 and the second limiting platform 1202 to slide along the limiting slide table 27. Further, the rotation test disc 13 can be engaged or disengaged from the limiting card slot 18 on the test limiting platform 12 by the mutual approach or separation of the first limiting platform 1201 and the second limiting platform 1202.

[0075] In this embodiment, when the radial clearance of the transmission mechanism 7 needs to be measured, the test connecting rod 11 and the rotating test disc 13 are screwed together and the rotating test disc 13 is inserted into the limiting card slot 18 of the test limiting platform 12; at the same time, the height of the support frame 10 is lowered, and the sliding rod part 1102 of the test connecting rod 11 is separated from the support frame 10. At this time, both the test connecting rod 11 and the rotating test disc 13 are in a freely rotatable state; the sliding push block 20 is pushed to reciprocate linearly, and the test connecting rod 11 and the output rotating shaft 6 are pulled by the rotating pull rod 19 to reciprocate and deflect, and further, the radial clearance of the transmission mechanism 7 can be measured. At this time, the rotating test disc 13 is allowed to rotate synchronously, and due to the limiting effect of the test limiting platform 12, the output rotating shaft 6 will not axially move during the measurement of the radial clearance, which is beneficial to improving the measurement accuracy.

[0076] In this embodiment, when it is necessary to measure the axial clearance of the transmission mechanism 7, the height of the support frame 10 is adjusted to be slidably matched with the sliding rod portion 1102 of the test connecting rod 11. At this time, the rotary test disc 13 is rotated. Since the rotary test disc 13 cannot be displaced and the test connecting rod 11 cannot be rotated, the test connecting rod 11 will be axially displaced driven by the rotary test disc 13, and then drive the output rotating shaft 6 to axially displace, so as to measure the axial clearance of the transmission mechanism 7.

[0077] In this embodiment, by setting that the end of the rotary support rod 1105 can slide along the axis of the link hinge shaft 23; when the rotary test disc 13 is rotated to measure the axial clearance of the transmission mechanism 7, there is no need to disassemble the rotary drive assembly; in this embodiment, when testing the radial clearance and axial clearance of the transmission mechanism 7, only by adjusting the height of the support frame 10 can the switching of different test states be realized, with simple operation, saving test time and being convenient for the tester to operate.

[0078] Embodiment 3

[0079] A specific embodiment of the present invention provides a method for measuring the clearance of a high-overload precision transmission mechanism system. The system clearance of the four-way actuator of the transmission mechanism 7 is measured by using the measuring device of Embodiment 1 or Embodiment 2. The measuring method includes:

[0080] Step S1: The test connecting rod 11 is fixedly connected to the output rotating shaft 6 of the transmission mechanism 7 through screws;

[0081] Step S2: Rotate the test connecting rod 11 forward to drive the output rotating shaft 6 to rotate to the first limit position; rotate the test connecting rod 11 backward to drive the output rotating shaft 6 to rotate to the second limit position; record the resistance value change of the angular displacement sensor 4 when the output rotating shaft 6 is at the first limit position and the second limit position by using the multimeter 16, and calculate to obtain the radial clearance of the transmission mechanism 7;

[0082] Step S3: Drive the test connecting rod 11 to axially displace, and record the limit value of the axial displacement of the test connecting rod 11, which is the axial clearance of the transmission mechanism 7.

[0083] First, fix the test positioning table at the corresponding position on the workbench with 4 screws, and fix the product on the test positioning table through the positioning pin. Fix the support frame at the corresponding position on the workbench with 2 screws. Fix the test connecting rod and the output rotating shaft with 2 screws.

[0084] In the step S2, the test method for the radial clearance is:

[0085] Step S201: Use a multimeter 16 to measure the resistance value B1 of the built-in angular displacement sensor 4 of the transmission mechanism 7 in the initial state and record the data;

[0086] Step S202: Drive the test connecting rod 11 to deflect to the right until the output rotating shaft 6 rotates clockwise to the right limit position, and collect the current resistance value B2; drive the test connecting rod 11 to deflect to the left until the output rotating shaft 6 rotates counterclockwise to the left limit position, and collect the current resistance value B3.

[0087] Specifically, in the step S202, the positioning of the left and right limit positions of the output rotating shaft 6 is realized by manually driving the test connecting rod 11 in Embodiment 1 or by hanging a weight at the end of the rotating support rod 1105; or, the test connecting rod 11 and the output rotating shaft 6 are driven to reach the left and right limit deflection positions by the method of reciprocally pushing the sliding block 20 in Embodiment 2.

[0088] Step S203: Calculate the included angle α of the left and right limit positions of the rotation of the output rotating shaft:

[0089]

[0090] In the formula, A is the maximum rotatable angle of the output rotating shaft 6 given by the design. That is, the product of the resistance value change of the angular displacement sensor 4 per 1° rotation of the output rotating shaft and the actual resistance value change of the angular displacement sensor 4 is the actual rotation angle α of the output rotating shaft 6.

[0091] As Figure 4 shown, when the output rotating shaft 6 rotates clockwise to the right limit position, the radial displacement at this time is: D1 = R × sina; when the output rotating shaft 6 rotates counterclockwise to the left limit position, the radial displacement at this time is: D2 = R × sinb; α = a + b; in the formula, R is the radius of the output rotating shaft 6, a is the angle rotated by the output rotating shaft 6 to the right; b is the angle rotated by the output rotating shaft 6 to the left.

[0092] Because this angle is extremely small, so take sina = a, sinb = b, so the radial clearance is:

[0093]

[0094] In the step S3, the axial clearance measurement method is:

[0095] Step S301: Assemble the rotary test disk 13 and the threaded section 1104 at the end of the test connecting rod 11 by screwing.

[0096] Step S302: Fit the rotary test disk 13 with the limit card slot 18 of the test limit table 12, combine the first limit table 1201 and the second limit table 1202 of the test limit table 12 into one body, and fix the test limit table 12 to the workbench 17. At the same time, slidably fit the test connecting rod 11 with the support frame 10.

[0097] Step S303: Rotate the rotary handle of the rotary test disk 13 to make the rotary test disk 13 rotate and drive the test connecting rod 11 to axially displace; record the scales of the scale disk 1205 corresponding to the indicating line on the rotary test disk 13 when the test connecting rod 11 is at the front and rear limit positions, and obtain the angle β through which the rotary test disk 13 rotates; according to the deflection angle β of the rotary test disk 13 and the pitch s of the threaded section 1104 of the test connecting rod 11, calculate the axial displacement of the output rotating shaft 6, which is the radial clearance T2 of the transmission mechanism. Specifically, T2 = β·s / 360°.

[0098] Exemplarily, the pitch of the mating thread between the rotary test disk 13 and the test connecting rod 11 is 1.5 mm. Then, when the rotary test disk 13 rotates one week, the test connecting rod 11 linearly moves 1.5 mm axially; there are 120 engraved lines evenly distributed on the surface of the test limit table 12 along the central hole, and the interval between each engraved line is 3°; when the rotary test disk 13 rotates past one engraved line, the test connecting rod 11 linearly moves 0.0125 mm axially.

[0099] The method for measuring the clearance of the high-overload resistant precision transmission mechanism system of the present invention decomposes the complex system clearance into a radial clearance and an axial clearance. Then, by using simple devices such as a test connecting rod, a rotary test disk, and a multimeter and simple calculations, the values of the axial clearance and the radial clearance of the transmission mechanism can be obtained. When testing the product performance, it is no longer necessary to repeatedly disassemble and assemble the product to adjust the system clearance, which can reduce the assembly time and greatly improve the assembly efficiency of the transmission mechanism.

[0100] The method for measuring the clearance of the high-overload resistant precision transmission mechanism system provided by the present invention decomposes the system clearance into a radial clearance and an axial clearance; when testing the radial clearance, by applying a torque to the test connecting rod 11, the output rotating shaft 6 is rotated to obtain the resistance change value of the angular displacement sensor 4, and then the radial clearance of the transmission system can be calculated; when testing the axial clearance, the thread between the rotary test disk 13 and the test connecting rod 11 is screwed, and the rotary test disk is fixed through the test limit table 12, and then the rotary test disk 13 is rotated to make the test connecting rod 11 generate a linear motion, so as to convert the rotary force into an axial tension and pressure on the output rotating shaft 6. According to the corresponding relationship between the indicating line on the rotary test disk 13 and the engraved line on the scale disk 1205 of the test limit table 12, the rotation angle of the rotary test disk 13 is read, and the axial clearance of the transmission mechanism can be calculated.

[0101] The rapid measurement method for the clearance of the anti-high-overload precision transmission mechanism system of the present invention has at least the following advantages compared with the prior art:

[0102] (1) Simplified expression of the system clearance

[0103] The rapid measurement method for the clearance of the anti-high-overload precision transmission mechanism system of the present invention decomposes the system clearance after superimposing the meshing clearances of the gear set, the worm and worm gear assembly and the output rotating shaft and the assembly clearance of the worm and worm gear assembly into an axial clearance and a radial clearance, and can calculate the system axial clearance and radial clearance of the transmission mechanism by testing the ultimate deflection angle and the ultimate axial displacement of the output rotating shaft in the power-off state of the transmission mechanism.

[0104] (2) The measurement method is rapid and concise

[0105] The rapid measurement method for the clearance of the anti-high-overload precision transmission mechanism system of the present invention only needs to manually apply tensile force and pressure to cause the output rotating shaft to generate rotational angular displacement and axial displacement, and calculate the radial clearance and axial clearance of the transmission system. There is no need to use complex equipment or measure the dimensions of parts, which greatly reduces the measurement time, reduces the measurement difficulty, reduces the cost of measuring the system clearance without affecting the test accuracy, and improves the efficiency of measuring the system clearance.

[0106] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A measuring device for the clearance of a high-overload precision transmission mechanism system, which is used to measure the clearance of a transmission mechanism (7), and the transmission mechanism (7) includes: Angular displacement sensor (4) and output rotating shaft (6); characterized in that the measuring device comprises: a test positioning table (8), a support frame (10), a test connecting rod (11) and a multimeter (16); the test positioning table (8) is used for installing and positioning the transmission mechanism (7); the test connecting rod (11) is fixedly connected to the output rotating shaft (6) of the transmission mechanism (7); when measuring the radial clearance of the transmission mechanism (7), the test connecting rod (11) is in a freely rotating state, and the multimeter (16) is connected to the angular displacement sensor (4) for recording the resistance change of the angular displacement sensor (4) when the output rotating shaft (6) rotates, so as to calculate the radial clearance of the transmission mechanism (7); when testing the axial clearance of the transmission mechanism (7), the test connecting rod (11) is slidably installed on the support frame (10), and the axial clearance of the transmission mechanism (7) is obtained by calculating the displacement distance of the test connecting rod (11).

2. The measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to claim 1, characterized in that, The test positioning table (8) and the transmission mechanism (7) are positioned by a positioning pin (9).

3. The measuring device for the clearance of the high-overload resistant precision transmission mechanism system according to claim 2, characterized in that, Four positioning pins (9) are equidistantly arranged along the circumferential direction of the transmission mechanism (7), and the positioning pins (9) are used to limit the linear displacement and circumferential rotation of the transmission mechanism (7).

4. The measuring device for the clearance of the high-overload resistant precision transmission mechanism system according to any one of claims 1 to 3, characterized in that, The test connecting rod (11) comprises: a connecting part (1101), a sliding rod part (1102) and a rotating rod part (1103).

5. The measurement device for the clearance of the high-overload precision transmission mechanism system according to claim 4, characterized in that, The connecting part (1101) is connected to the output rotating shaft (6) by screws.

6. The measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to claim 5, characterized in that, The sliding rod part (1102) is slidably connected to the support frame (10).

7. The measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to claim 6, characterized in that, The rotating rod part (1103) is coaxially and fixedly connected to the sliding rod part (1102), and the rotating rod part (1103) is used to drive the sliding rod part (1102) to rotate.

8. The measuring device for the clearance of the high-overload resistant precision transmission mechanism system according to claim 7, characterized in that, Two rotating support rods (1105) are symmetrically arranged on both sides of the rotating rod part (1103), and the sliding rod part (1102) can be driven to rotate by rotating the rotating support rods (1105).

9. The measuring device for the clearance of the anti-high-overload precision transmission mechanism system according to claim 1, characterized in that, It further comprises a workbench (17); the support frame (10) is fixedly connected to the workbench (17) by a first screw pin (14).

10. A method for measuring the clearance of a precision transmission mechanism system against high overload, characterized in that, Using the measuring device for the clearance of the high-overload precision transmission mechanism system according to any one of claims 1-9; the measuring method comprises: Step S1: fixedly connect the test connecting rod (11) to the output rotating shaft (6) of the transmission mechanism (7) by screws. Step S2: Rotate the test connecting rod (11) forward to drive the output rotating shaft (6) to rotate to the first limit position; rotate the test connecting rod (11) backward to drive the output rotating shaft (6) to rotate to the second limit position; record the resistance change of the angular displacement sensor (4) when the output rotating shaft (6) is at the first limit position and the second limit position by the multimeter (16), and calculate the radial clearance of the transmission mechanism (7). Step S3: Drive the test connecting rod (11) to axially displace, record the limit positions of the axial displacement of the test connecting rod (11), and calculate the axial clearance of the transmission mechanism (7).

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